JPH10104528A - Image stabilizing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the damage of a wire by being bent and rubbed together with each part in a case without using an expensive member such as a slip ring and flexible spiral cord by pulling out the wire from an electric member on a gimbal hunging member through a through hole provided in the vicinity of a rotary shaft of a rotor member composing an actuator arranged on the rotary shaft of the relevant gimbal hunging member. SOLUTION: A coil 54 is arranged in the internal space of a bearing 71 a plate 84 for holding a wire is arranged in the inner part of the central through hole 82 of the coil 54 and wires 83a, 83b, pulled out of the coil of a rotary driving motor (a torque motor) for rotating the inner gimbal hunging member, are pulled out to the outside through two through holes 82a, 82b perforated in the mid part of the plate 84.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical device such as a monocular, a binocular, and a video camera, which vibrates, when the angle of emergence of a light beam from an observation object with respect to the optical axis of the optical device fluctuates. The present invention relates to an image stabilizing device provided in an optical device for preventing an optical image from being blurred and observed.

[0002]

2. Description of the Related Art When an optical device such as a monocular or a binocular for optical observation is held and operated by hand, particularly when the optical device is used by being brought into an aircraft or a vehicle, etc.
Vibrations and swings of aircraft, vehicles, and the like are transmitted to the optical device, and the exit angle of the light beam from the observation object with respect to the optical axis fluctuates, often deteriorating the observed optical image. The vibration transmitted to such an optical device, even if its amplitude is small,
The field of view of monoculars, binoculars, etc. is narrow, the exit angle of the luminous flux is enlarged by the eyepiece, and the image of the objective lens is enlarged and observed by the eyepiece, and finally the image appealing to the vision deteriorates From being observed,
As the magnification increases, fluctuations in the exit angle of the light beam with respect to the optical axis and deterioration in the observed image caused by vibrations and the like cannot be ignored.

Hitherto, various devices have been proposed for stabilizing an image in order to prevent the angle of emission of the light beam with respect to the optical axis from fluctuating due to vibrations and swings transmitted to the optical device, thereby preventing the observed image from deteriorating. Have been. For example, Japanese Patent Publication No. 57-37852 discloses a binocular provided with an anti-vibration means using a rotating inertial body (gyromotor) in order to correct blurring of an observation image in the binocular.

That is, in this technique, an erect prism is arranged on an optical axis between an objective lens and an eyepiece of binoculars, and the erect prism is fixed on gimbal suspension means to which a rotating inertia body is attached. In addition, even if the binoculars vibrate due to camera shake or the like, the erecting prism is held at substantially the same spatial position to prevent blurring of the observation image of the binoculars. The conventional technology using the rotating inertial body and the gimbal suspension means can stabilize the image with high accuracy, but the magnification of the binoculars and the effective diameter of the objective lens increase as the resolution increases, and the positive The vertical prism becomes larger, which increases the weight of the rotating inertial body that spatially holds the prism,
Further, power consumption for driving the rotary inertia body also increases.

Therefore, the applicant of the present application mounts an angular velocity sensor on the gimbal suspension means instead of the rotary inertia body, and controls the rotational position of the gimbal suspension means based on the output value from the angular velocity sensor to erect. An image stabilizing device has been proposed in which the attitude of a prism is fixed with respect to the earth (inertial system) (Japanese Patent Laid-Open No. 6-250100). According to this device, unlike other image stabilizing devices using an angular velocity sensor, there is no need to positively move an optical element (for example, a vari-angle prism or a lens) in response to vibration. There is an advantage that correction can be performed over a larger angle range. Also, there is no disadvantage in terms of lens aberration as in these other techniques. Further, the size of the optical device can be reduced.

[0006]

However, an image stabilizing device of the type which controls the rotational position of the gimbal suspension means based on the output value from the angular velocity sensor mounted on the gimbal suspension means (hereinafter referred to as "angular velocity"). In the case where the sensor-mounted image stabilizing device is used, the gimbal suspension means is housed in the case of the optical device.

That is, the attitude of the gimbal suspension means is electrically controlled, and drive power is supplied to an element such as an angular velocity sensor and an actuator means which are mounted on the gimbal suspension means and constitute a control system thereof. Need to supply. And since this driving power is supplied using a wire from an external power source, every time the gimbal suspension means is driven to rotate, the wire is bent or rubbed with each part in the case to damage. There is also a risk of disconnection. If a slip ring or a flexible spiral cord is used as a means for supplying power, such a problem can be solved to some extent. However, all of these members are expensive and the manufacturing cost of the apparatus cannot be reduced.

The present invention has been made in view of such circumstances, and when an image stabilizing device equipped with an angular velocity sensor is employed, power is supplied from the outside to an electric element mounted on a gimbal suspension means, and It is an object of the present invention to provide an image stabilizing apparatus which can reduce damage to a wire for transmitting a detection signal from an electric element to the outside and which is inexpensive to manufacture.

[0009]

The image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erect prism is disposed between an objective lens and an eyepiece, and the objective lens of these optical systems is used. And an image stabilizing device mounted on an optical device having an eyepiece fixed in a case,
Gimbal suspension means having two rotation shafts extending in the left-right direction and the up-down direction of the optical device, and the erect prism is rotatably mounted on the case; Actuator means for rotating around a moving axis, two angular position information detecting means for detecting the angular positions of the gimbal suspension means around the two rotation axes, respectively, and fixed to the gimbal suspension means. Based on information detected by the two angular velocity information detecting means for detecting angular velocity information of the gimbal suspension means due to a change in the attitude of the optical device, and the angular position information detecting means and the angular velocity information detecting means. Feedback control for driving the actuator means so as to fix the prism to the inertial system and controlling the rotation of the gimbal suspension means around two rotation axes. A step, wherein the gimbal suspension means includes an inner gimbal suspension member for fixedly supporting the erect prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and an outer gimbal suspension member for connecting the inner gimbal suspension member to the outer gimbal suspension member. A first bearing rotatably supported by a member, and a second bearing rotatably supporting the outer gimbal suspension member to the case, wherein the actuator means comprises an actuator for rotating the inner gimbal suspension member. And the outer gimbal suspension member rotating actuator, at least one of these two actuators is disposed on a rotation axis of the gimbal suspension member to be rotated, is constituted by a rotor member and a stator member, The rotor member has a through hole near the rotation shaft, and the through hole Through it is characterized in that become configured to draw the wire from the electric element on said gimbal suspension means to the outside.

One of the rotor member and the stator member may be a coil member, and the other may be a magnet member.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. 1, 2, 3, and 4 are a plan cross-sectional view, a front cross-sectional view, a side cross-sectional view, and a perspective view, respectively, showing a state where the image stabilizing device according to the embodiment of the present invention is incorporated in binoculars. As shown, the binoculars incorporating the image stabilizing device 20 of the present embodiment in a case 30 include a pair of objective lens systems 1a and 1b, a pair of eyepiece systems 2a and 2b, and a pair of upright lenses. Equipped with prisms 3a and 3b, objective lens 1
a, eyepiece 2a, erect prism 3a are first telescope system 10a
The objective lens 1b, the eyepiece 2b, and the erecting prism 3b similarly constitute a second telescope system 10b.
A pair of second telescope systems 10a and 10b constitute a binocular system.

A pair of objective lens systems 1a, 1b and eyepiece lens systems 2a, 2b constituting the binocular system are fixed to a case 30 of the present optical device, and the erecting prisms 3a, 3b are vertically moved ( The direction in which the optical axis extends and the objective lens systems 1a and 1
a rotating shaft 6 extending in the direction perpendicular to the arrangement direction of the b) and in the lateral direction of the apparatus (the arrangement direction of the objective lens systems 1a and 1b);
Gimbal suspension member 7, 107 having 106 (see FIG. 5)
It is rotatably mounted on the case 30 via the.

The basic functions which are the premise of the present embodiment will be described below with reference to FIGS. In this specification, the vertical direction of the apparatus indicates the direction of arrow A in the figure,
The horizontal direction of the device indicates the direction of arrow C in the figure. In FIG. 5, the gimbal suspension members 7, 107 on which the upright prisms 3a, 3b are mounted are fixed to the case 30, and therefore the upright prisms 3a, 3a mounted on the gimbal suspension members 7, 107 are provided. In the state where 3b is fixed to the case 30, the present optical device has a configuration of a normal binocular system, and the optical axes 4a and 4b of the telescope optical systems 10a and 10b at this time are referred to as the optical axes of the present optical device. It shall be.

It should be noted that the appropriate arrangement positions of the objective lens systems 1a and 1b, the eyepiece lens systems 2a and 2b, the erect prisms 3a and 3b, the gimbal suspension members 7 and 107, and the rotating shafts 6 and 106 are known. Since it is described in detail in a literature (for example, Japanese Patent Publication No. 57-37852), it is omitted here.

As shown in FIG. 5, in the present embodiment, the inner gimbal suspension member 107 is replaced with the outer gimbal suspension member 7.
, And the gimbal suspension device has a double inner and outer structure. While the outer gimbal suspension member 7 is rotated by a rotation shaft 6 extending in the left-right direction of the apparatus so as to correct vertical image blur, the inner gimbal suspension member 10 is rotated.
Numeral 7 is rotated by a rotating shaft 106 extending in the vertical direction of the apparatus so as to correct image blur in the horizontal direction. Erect prism 3a,
3b is attached to the inner gimbal suspension member 107. In FIG. 5, for convenience of description, the upper and lower relations are shown to be opposite to those in FIGS.

An angular velocity sensor 8 is fixedly provided at the center of the upper side wall of the outer gimbal suspension member 7, while an angular velocity sensor 108 is provided at the center of the front side wall of the inner gimbal suspension member 107. Is fixed. The angular velocity sensor 8 detects the rotational angular velocity ω ₁ when the outer gimbal suspension member 7 rotates in the direction of arrow B due to the vertical movement of the case 30, whereas the angular velocity sensor 8 Reference numeral 108 denotes a sensor for detecting the rotational angular velocity ω ₂ when the inner gimbal suspension member 107 rotates in the direction of arrow D due to the lateral movement of the case 30.

A position sensor 9 for detecting the rotation angle θ ₁ of the rotating shaft 6 is mounted at _{one end} of the rotating shaft 6 for performing position feedback control in addition to the speed feedback control based on the detected angular velocity. At the other end of the rotating shaft 6, the erecting prisms 3a and 3b are always returned to the initial posture against the shake of the case 30 based on the detection values from the angular velocity sensor 8 and the position sensor 9. A rotation drive motor (torquer) 5 for rotating the rotation shaft 6 of the gimbal suspension member 7 is attached. On the other hand, a position sensor 109 for detecting the rotation angle θ ₂ of the rotation shaft 106 for performing position feedback control in addition to the speed feedback control based on the detected angular velocity is attached to one end of the rotation shaft 106. Pivot axis
The other end of the erecting prism 3 is connected to the other end of the prism 106 based on the detection values from the angular velocity sensor 108 and the position sensor 109.
The rotation axis 10 of the inner gimbal suspension member 107 is set so that the a and 3b always return to the initial postures against the horizontal movement of the case 30.
A rotary drive motor (torquer) 105 for rotating 6 is attached.

Next, the basic concept of the control loop of the apparatus of this embodiment will be described with reference to FIG. As shown, the apparatus comprises amplifiers 11a and 11a for amplifying an angular velocity signal from an angular velocity sensor 8 and an angular signal from a position sensor 9, respectively.
b, a CPU 12 for calculating a drive amount of the rotary drive motor 5 based on the angular velocity signal and the angle signal so as to return the erect prisms 3a and 3b to the original posture, and outputting a control signal based on the calculation; A motor drive circuit 13 for driving the rotary drive motor 5 by amplifying the control signal from the CPU 12 is provided. On the other hand, the detection signals from the angular velocity sensor 108 and the position sensor 109 are similar to the detection signals from the angular velocity sensor 8 and the position sensor 9 as shown in FIG.
The control signal is converted into a control signal by a control loop similar to the control loop shown in FIG.

Therefore, in the apparatus of this embodiment, two sets of control loops are required to return the two outer and inner gimbal suspension members 7, 107 to their original postures, but a common CPU 12 may be used. .

The above-mentioned erecting prisms 3a and 3b include an erecting prism of Schmidt, an erecting prism of Abbe, an erecting prism of Bauern fend, an erecting prism of Polo and There is an erect prism of Dach, etc. FIG. 7 shows an erect prism of Schmidt. The Schmidt erect prism includes a prism 23 and a prism 24 as shown in the figure, and a part 25 of the prism 24 is a roof reflection surface. In such an erect prism, there is an incident optical axis position where the incident optical axis 21 and the exit optical axis 22 can be on the same straight line as shown in the figure. In such an erect prism capable of taking the incident optical axis 21 and the exit optical axis 22 on the same straight line, FIG.
As shown in FIG.
Is parallel to the optical axis 22 after passing through the erecting prism and separated by h below the exit optical axis 22.
It has the property of becoming 22 '.

Each of the angular velocity sensors 8 and 108 comprises a columnar vibrator having a columnar shape and a plurality of piezoelectric ceramics.
A piezoelectric vibrating gyroscope utilizing Coriolis force, wherein at least two detecting piezoelectric ceramics and at least one feedback piezoelectric ceramic are provided on a side surface of a columnar vibrator. Each of the detection piezoelectric ceramics outputs a detection signal having a different value according to the vibration, and an angular velocity is obtained by calculating a difference between the detection signals. Note that the feedback piezoelectric ceramic is used for correcting the phase of the detection signal.

Since the angular velocity sensors 8 and 108 have a simple structure and are very small, the image stabilizing device 20 itself can be simple and small in structure. Further, since the S / N ratio is high and the accuracy is high, the angular velocity control can be performed with high accuracy. As shown in FIG. 2, the outer gimbal suspension member 7 is rotatably supported by the case 30 via bearings 71 and 72 at both left and right ends thereof, while the inner gimbal suspension member 107 is Bearings 171 and 17 at upper and lower ends
2 and is rotatably supported by the gimbal suspension member 7.

A rotary drive motor (torquer) 5 for rotating the gimbal suspension member 7 is provided near the right end of the gimbal suspension member 7. This rotary drive motor 5 is
A plurality of coils 54 distributed on the left side circumference of a plate 53 fixed to the case 30, and an annular magnet 56 attached to the right side of a plate 55 screwed to the right end of the gimbal suspension member 7 Are arranged in close proximity to each other. The magnet 56 is provided so as to be located in a space on the inner peripheral side of the bearing 71. For this reason,
The bearing 71 has a larger diameter than the bearing 72 located at the left end of the gimbal suspension member 7.

On the other hand, a rotary drive motor (torquer) 105 for rotating the gimbal suspension member 107 is provided near the upper end of the gimbal suspension member 107. The rotary drive motor 105 is provided with a plurality of coils 154 distributed on the lower surface circumference of a plate 153 fixed to the gimbal suspension member 7.
And an annular magnet 15 attached to the upper surface of a plate 155 screwed to the upper end of the gimbal suspension member 107.
6 are arranged in close proximity to each other. Above magnet
156 is provided so as to be located in the space on the inner peripheral side of the bearing 171. The bearing 172 located at the lower end of the gimbal suspension member 107 is
The position sensor 109 is mounted in a space on the inner peripheral side of the inner diameter of the sensor.

As described in detail above, in the present embodiment, the gimbal suspension members 7 and 107 constituting the image stabilizing device 20 are used.
Rotating motors (torquers) 5,1 that respectively rotate
05 includes magnets 56, 156 arranged in the space on the inner peripheral side of the bearings 71, 171 which rotatably support the gimbal suspension members 7, 107, and coils 54, 154 arranged close to and opposed to the magnets 56, 156. With this configuration, the space for the magnets 56 and 156 occupying a large space in the rotary drive motors 5 and 105 can be minimized. Thus, the case 30 of the binoculars on which the image stabilizing device 20 is mounted can be made compact.

By the way, the drive power of the above-mentioned rotary drive motors (torquers) 5, 105 is supplied from an external power source (not shown) via wires. In the present embodiment, the coils 54, 1
54 is the stator, and the outer gimbal suspension member 7
The coil 54 of the rotary drive motor (torquer) 5 for driving the motor is fixed with respect to the case 30.
There is no problem with the arrangement of the wires for supplying electric power to the motor, but the coil 154 of the rotary drive motor (torquer) 105 for driving the inner gimbal suspension member 107 rotates together with the outer gimbal suspension member 7 in the vertical direction. There is a problem with the arrangement of the wires that supply power to 154. In other words, since the generally used wire is not flexible, the wire portion having a margin is pulled or pushed back with the rotation of the coil 154, and rubs against each part of the inner wall of the case 30. , And may be damaged with the passage of time, which may lead to disconnection.

Therefore, in this embodiment, the wire 83 pulled out from the coil 154 of the rotary drive motor (torquer) 105 for rotating the inner gimbal suspension member 107 is used as shown in FIG. To the right end thereof along the outer wall of the motor, and the center of the plate 55 and the magnet 56 of the rotary drive motor (torka) 5 attached to the right end for rotating the outer gimbal suspension member 7. Through the through hole, the through hole in the center of the coil 54
The gimbal suspension device 70 is drawn out of the gimbal suspension device 70 through the central through hole of the plate 82 and the plate 53, and then wired to an external power source (not shown).

Thus, the inner gimbal suspension member 107
The wire 83 pulled out of the coil 154 of the rotary drive motor (torquer) 105 is connected to the center of the coil 54 of the rotary drive motor (torquer) 5 for rotating the outer gimbal suspension member 7 on the motor rotation axis. Since the gimbal suspension members 7 and 107 are not pulled or pushed back by the rotating operation of the two gimbal suspension members 7 and 107 because they are connected to the external power supply through the through holes 82, the wire 83
0 No damage is caused by rubbing against the inner wall or the like.

FIG. 8 is a diagram showing a state in which the wire rod 83 is pulled out from the central portion of the rotary drive motor (torquer) 5 to the outside. That is, the coil 54 is disposed in the inner space of the bearing 71, a plate 84 for holding a wire is disposed behind the central through-hole 82 of the coil 54, and two coils drilled in the center of the plate 84. Wire rod through through holes 82a, 82b
83a, 83b (83) is drawn out. In addition, near the two through holes 82a and 82b, screws 81 for fixing magnets are used.
a, 81b are arranged.

The angular velocity sensors 8,108 and the position sensors 9,108 mounted on the gimbal suspension members 7,107,
Wires for supplying drive power to other electric drive elements such as 109 and wires for sending output signals from these elements to the outside are provided in the same manner as the wire 83 described above for the rotary drive motor (torquer) 5. It is also possible to draw the wire to the outside through the central through hole 82 of the coil 54. In this case, these wires are moved to the center of the coil 154 of the rotary drive motor 105 for rotating the inner gimbal suspension member 107. It is also useful to configure the through holes.

As shown in detail in FIG. 9, the outer gimbal suspension member 7 is composed of a pair of gimbal halves 7A and 7B divided into two parts in the front and rear. Each of these gimbal halves 7A, 7B is composed of a rectangular frame 7Aa, 7Ba
It comprises a pair of upper and lower bearing holding portions 7Ab, 7Bb formed at the center of 7Aa, 7Ba, and bearing fitting portions 7Ac, 7Bc formed at both left and right ends of the frames 7Aa, 7Ba.
The split surface 7A of the pair of gimbal halves 7A and 7B
With the d and 7Bd together, the bearing fitting portions 7Ac and 7B
The gimbal suspension member 7 is assembled by fitting the bearings 71 and 72 into c.
In this assembly, the bearing holding portions 7Ab and 7Bb formed in a substantially arc shape hold the bearings 171 and 172 and the plate 153 fitted to the upper and lower ends of the inner gimbal suspension member 107 from front and rear. It has become.

As described in detail above, in the present embodiment, the gimbal suspension members 7 and 107 constituting the image stabilizing device 20 are used.
The outer gimbal suspension member 7 is composed of a pair of gimbal halves 7A and 7B assembled so as to sandwich bearings 171 and 172 for rotatably supporting the inner gimbal suspension member 107 on the gimbal suspension member 7. The mounting is performed by fitting bearings 71 and 72 for rotatably supporting the outer gimbal suspension member 7 to the case 30 to the left and right ends of the pair of gimbal halves 7A and 7B. The gimbal suspension member 107 can be incorporated inside the gimbal suspension member 7 and the gimbal suspension member 7 itself can be assembled without using the new fastening means. That is, it is possible to assemble the gimbal suspension means rotatable around the two rotation axes only by the members constituting the gimbal suspension means.

Therefore, according to the present embodiment, when an image stabilizing device equipped with a speed sensor is employed, the gimbal suspension means can be made simple in structure and easy to assemble. Wiring of the wire 83 can be facilitated.

The image stabilizing device of the present invention is not limited to the above-described embodiment, and various other modifications can be made. For example, the angular velocity information detecting means may be a columnar vibrator. In addition to piezoelectric vibrating gyro sensors of the type, it is possible to use piezoelectric vibrating gyro sensors using various types of vibrators such as a triangular prism vibrator type, a square prism vibrator type, a tuning fork vibrator type, and the like. , And various other angular velocity sensors can be used.

As the angle position information detecting means, various angle sensors such as a resolver, a synchro, and a rotary encoder can be used instead of the position sensor. Further, the apparatus of the above embodiment is configured to be applied to binoculars, but the image stabilizing apparatus of the present invention may be configured to be applicable to monoculars. The same effect can be obtained even when the camera is mounted on a camera such as a video camera.

[0036]

According to the present invention, when an image stabilizing device equipped with an angular velocity sensor is employed, at least the outer gimbal suspension member of the two actuators for rotating the inner gimbal suspension member and the outer gimbal suspension member is used. The gimbal is constituted by a rotor member and a stator member which are arranged on a rotation axis of a gimbal suspension member to be rotated, and a through-hole provided near the rotation axis of the rotor member. The wire from the electric member on the suspension member is drawn out. As a result, the wire is not pulled or pushed back each time the gimbal suspension member is driven to rotate, so that the wire is bent without using an expensive member such as a slip ring or a flexible spiral cord. It can be prevented from being damaged by being rubbed with each part in the case.

[Brief description of the drawings]

FIG. 1 is a cross-sectional plan view showing binoculars incorporating an image stabilizing device according to an embodiment of the present invention.

FIG. 2 is a front sectional view showing binoculars having a built-in image stabilizing device according to an embodiment of the present invention.

FIG. 3 is a side cross-sectional view showing binoculars incorporating the image stabilizing device according to the embodiment of the present invention.

FIG. 4 is a perspective view showing binoculars incorporating the image stabilizing device according to the embodiment of the present invention.

FIG. 5 is a schematic perspective view of the image stabilizing apparatus according to the embodiment of the present invention, for explaining basic functions of the apparatus.

FIG. 6 is a block diagram for explaining a basic function of the image stabilizing device according to the embodiment of the present invention.

FIG. 7 is a side view for explaining the erect prism shown in FIG. 1;

8 is an external view of the rotary drive motor portion of the outer gimbal suspension member shown in FIG. 1 when viewed from the outside.

FIG. 9 is a perspective view showing in detail the outer gimbal suspension member shown in FIG. 1;

[Explanation of symbols]

1a, 1b Objective lens (Objective lens system) 2a, 2b Eyepiece lens (Ocular lens system) 3a, 3b Erect prism 4a, 4b Optical axis 5 Rotation drive motor (Toruca) (Outer gimbal suspension member rotation actuator) 105 Rotation drive Motor (torquer) (actuator for rotating the inner gimbal suspension member) 6,106 Rotating shaft 7 Gimbal suspension member (outer gimbal suspension member) 107 Gimbal suspension member (inner gimbal suspension member) 8,108 Angular velocity sensor 9,109 Position sensor 10a , 10b Telescope optical system 12 CPU 20 Image stabilizer 53, 153 Plate 54, 154 Coil 55, 155 Plate 56, 156 Magnet 71 Bearing (second bearing) 171 Bearing (first bearing) 72, 172 Bearing 82, 82a, 82b Through-hole 83,83a, 83b Wire rod

[Procedure amendment]

[Submission date] October 31, 1996

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0002

[Correction method] Change

[Correction contents]

[0002]

BACKGROUND OF THE INVENTION AND SUMMARY OF THE INVENTION monocular, when operating in a hand held optical device for the purpose of optical observation such as binoculars, especially bring the optical device into an aircraft or a vehicle or the like When used, vibrations and fluctuations of an aircraft, a vehicle, and the like are transmitted to the optical device, and the exit angle of the light beam from the observation object with respect to the optical axis fluctuates, often deteriorating the observed optical image. Vibration transmitted to such an optical device
Is suitable for monocular or binoculars even if its amplitude is small.
In that case, the view is narrow and the observation object is enlarged and observed.
Therefore, the fluctuation angle with respect to the optical axis is also enlarged. That
Therefore, even at the time of swinging with a relatively small angle fluctuation speed,
The observed object moves rapidly in the field of view, or the angle of fluctuation is large.
When it is hard, there is an inconvenience of being out of sight
I will. Also, at the time of swinging with a relatively large angle fluctuation speed,
Observe only the magnification of the optical device even if the angle of change is relatively small
Observed when the angle fluctuation speed of the image of the object increases
Therefore, there is a disadvantage that the image is blurred and the image is deteriorated.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

That is, in this technique, an erect prism is arranged on an optical axis between an objective lens and an eyepiece of binoculars, and the erect prism is fixed on gimbal suspension means to which a rotating inertia body is attached. In addition, even if the binoculars vibrate due to camera shake or the like, the erecting prism is held in substantially the same posture to prevent blurring of the observation image of the binoculars. like this,
Prior art utilizing the rotational inertial body and the gimbal suspension means while attained the image stabilization with high accuracy, large in a small space
A high-speed rotating body is necessary to obtain inertial force,
Because it is necessary to reduce the vibration generated by the body itself
Must be highly accurate. This small, high-speed, high-precision
The problems with demands are price, life, and even power-on.
Disadvantageous in the time required to obtain the necessary inertial force from
It is. Also, as the magnification and resolution of the binoculars are increased,
When the effective diameter of the objective lens is increased, the erect prism
As the size increases, a large inertia force is required
In addition to increasing the problem of
It becomes bigger with it.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

Therefore, the applicant of the present application mounts an angular velocity sensor on the gimbal suspension means instead of the rotary inertia body, and controls the rotational position of the gimbal suspension means based on the output value from the angular velocity sensor to erect. An image stabilizing device has been proposed in which the attitude of a prism is fixed with respect to the earth (inertial system) (Japanese Patent Laid-Open No. Hei 6-250100). According to this device,
The erect prism held on the gimbal suspension means
Inertia force, especially high vibration speed, high vibration frequency
For vibrations with relatively large amplitude,
High posture holding ability. Therefore, from the angular velocity sensor
The control force of the rotational position based on the output may be small. Only
And other image sources that drive the vari-angle prism and lens.
The stabilization device requires an active drive and has a high frequency
To compensate for large amplitudes in vibration, drive the
Must be adjusted in a large angle range.
And difficult.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

Also , an image stabilizing device of the type which controls the rotational position of the gimbal suspension means on the basis of the output value from the angular velocity sensor mounted on the gimbal suspension means (hereinafter referred to as an "angular velocity sensor mounted image stabilization type"). In this case, since the gimbal suspension means is housed in the case of the optical device, the following problem arises.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

[0009]

The image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erect prism is disposed between an objective lens and an eyepiece, and the objective lens of these optical systems is used. And an image stabilizing device mounted on an optical device having an eyepiece fixed in a case,
Gimbal suspension means having two rotation shafts extending in the left-right direction and the up-down direction of the optical device, and the erect prism is rotatably mounted on the case; An actuator for rotating about a moving axis, two angular position information detecting means for detecting the angular positions of the gimbal suspension means around the two rotation axes, respectively, and a fixed to the gimbal suspension means. Provided, two angular velocity information detecting means for respectively detecting angular velocity information of the gimbal suspension means due to a change in the attitude of the optical device, and based on information detected by the angular position information detecting means and the angular velocity information detecting means, said erecting prism to drive the actuator to secure to the inertial system, two feedback control means for controlling the rotation about the rotation axis of said gimbal suspension means Wherein the gimbal suspension means comprises an inner gimbal suspension member for fixedly supporting the erect prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and the inner gimbal suspension member being attached to the outer gimbal suspension member. A first bearing rotatably supported, and a second bearing rotatably supporting the outer gimbal suspension member in the case, wherein the actuator is the inner gimbal suspension member rotation actuator; An outer gimbal suspension member rotating actuator, wherein at least one of the two actuators is constituted by a rotor member and a stator member disposed on a rotation axis of the gimbal suspension member to be rotated. Has a through hole near the rotating shaft, The present invention is characterized in that a wire from an electric member on the gimbal suspension means is drawn out to the outside.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction contents]

The above-mentioned erecting prisms 3a and 3b include an erecting prism of Schmidt, an erecting prism of Abbe, an erecting prism of Bauern fend, an erecting prism of Polo, and There is an erect prism of Dach, etc. FIG. 7 shows an erect prism of Schmidt. The Schmidt erecting prism is composed of a prism 23 and a prism 24 as shown in the figure, and a part 25 of the prism 24 is a roof reflection surface. In such an erect prism, there is an incident optical axis position where the incident optical axis 21 and the exit optical axis 22 can be on the same straight line as shown in the figure. As shown in FIG. 7, in an erecting prism capable of taking the incident optical axis 21 and the emitting optical axis 22 on the same straight line, as shown in FIG.
After passing through the erecting prism, the ray 21 'parallel to 1 has the property of becoming a ray 22' parallel to the optical axis 22 and separated by h below the exit optical axis 22. In addition,
With an erect prism, the incident optical axis and the exit optical axis are the same straight line.
Other prisms can be used without being limited to those above.

Claims (2)

[Claims] 1. An optical system comprising a monocular optical system or a binocular optical system in which an erecting prism is disposed between an objective lens and an eyepiece lens, wherein the objective lens and the eyepiece lens of these optical systems are fixed in a case. An image stabilizing device mounted on the device, comprising two rotating shafts extending in a horizontal direction and a vertical direction of the optical device, and a gimbal suspension for rotatably mounting the erect prism to the case. Means, actuator means for rotating the gimbal suspension means around the two rotation axes, and two angular position information for detecting the angular positions of the gimbal suspension means around the two rotation axes, respectively. Detecting means; two angular velocity information detecting means fixed to the gimbal suspending means for respectively detecting angular velocity information of the gimbal suspending means due to a change in attitude of the optical device; Means for driving the actuator means to fix the erect prism to an inertial system based on the information detected by the means and the angular velocity information detection means, and to rotate the gimbal suspension means around two rotation axes. Feedback control means for controlling, the gimbal suspension means, an inner gimbal suspension member for fixedly supporting the erect prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and the inner gimbal suspension member A first bearing rotatably supported by the outer gimbal suspension member, and a second bearing rotatably supported by the case with the outer gimbal suspension member.
Wherein the actuator means comprises the inner gimbal suspension member rotation actuator and the outer gimbal suspension member rotation actuator, and at least the outer gimbal suspension member rotation actuator of these two actuators is A rotor member and a stator member disposed on a rotation axis of the gimbal suspension member to be rotated, the rotor member having a through hole near the rotation axis, and the gimbal suspension through the through hole; An image stabilizing apparatus characterized in that a wire from an electric member on the means is drawn out. 2. An image stabilizing apparatus according to claim 1, wherein one of said rotor member and said stator member is a coil member and the other is a magnet member.