JPS628668A - Photography equipment - Google Patents

Abstract

PURPOSE:To obtain a photographing device having a vibrationproofing function without using a counter weight by changing the detecting gain of a relative angle detecting means to detect the relative position relation of a lens-barrel and a supporting body in accordance with the output signal of a lens-barrel part gravity center position detecting means. CONSTITUTION:A lens-barrel part 101 is composed of a lens part 102 and an image pick-up element 104, an inertia angle speed detecting part 109 outputs an inertia angle speed signal (c) of the lens-barrel part 101, a relative angle detecting device 112 outputs a relative angle signal (b) of the lens-barrel part 101 and the supporting body 105, a gravity center position detecting device 114 processes the output signal of a lens position detecting device 113 and generates a signal (a) of the gravity center position of the lens-barrel part 101. An output signal (d) of a variable amplifier 115 comes to be the product of the signal (a) and the signal (b), and the transferring gain is controlled by the signal (a). A driving device 117 supplies the electric power to an actuator 107 in accordance with the signal synthesized by a synthesizer 116. As the center of gravity of the lens-barrel part 101 comes off from the upper part of a turning shaft 106, the gain of the variable amplifier 115 comes to be large and the large vibrationproofing effect can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a photographing device such as a video camera that is used in combination with a recording device such as a video tape recorder, and in particular to a photographing device such as a video camera that is used in combination with a recording device such as a video tape recorder. The present invention relates to a photographing device having an anti-vibration function that can be obtained.

BACKGROUND OF THE INVENTION In recent years, the performance of video equipment has improved dramatically, and it has become extremely easy to obtain high-quality video. Along with this, advanced photographic techniques are also required. One of these is shooting from locations where it was previously impossible to obtain stable images, such as moving cars, airplanes, horseback riding, etc. Below, with reference to the drawings, we will introduce conventional imaging devices with image stabilization functions. I will explain about it. FIG. 15 is a configuration diagram of a conventional photographing device having an image stabilization function, in which 701 is an imaging section including a lens section and an imaging element, 702 is a counterweight, 703 is a connecting rod, and 704 is a support. It is a stick,
706 is a joint.

The operation of the photographing device configured as described above will be explained. The connecting rod 703 is rotatably coupled to the support rod 704 by a joint 706.

Then, the imaging unit 701. Connecting rod 7o3. The counterweight 702 is adjusted so that the center of gravity G of the movable part 706 composed of the counterweight 702 is located near the joint 705. With such a configuration, the movable portion 706 will have a large moment of inertia around the joint 705. Therefore, even if the support rod 704 supported by the operator of this imaging device swings, the posture of the movable part 706, that is, the imaging part 701, is kept constant due to the action of the moment of inertia of the movable part 70θ.

Problems to be Solved by the Invention However, the lens included in the imaging unit 701 moves back and forth in order to adjust the focal length and angle of view. For example, as shown in the 13th section, the lens 600 includes a fixed lens holding part 601, fixed lenses 602 & 602b, and movable focal length adjustment lenses 603a, 803b,
The focal length adjustment movable lens holder 6o41 is composed of the view angle adjustment movable lenses eosa and eosb, and the view angle adjustment movable lens holder 606. For focal length adjustment, as shown in FIGS. 13a and 13b, the focal length adjusting movable lenses 603+L, 603b and the focal length adjusting movable lens holder 604 move back and forth. In order to adjust the angle of view, as shown in FIGS. 14a and 14b, a moving lens 605 for adjusting the angle of view is used.

605b and the viewing angle adjustment movable lens holding section 606 move back and forth. Therefore, when the focal length or the angle of view is optically adjusted, the position of the center of gravity of the imaging unit 701 shown in FIG. 15 moves. As a result, the center of gravity G of the movable part 706
If it deviates significantly from the rotation axis of the joint 705, a rotational force will be generated around the rotation axis of the joint 706 due to the action of gravity, and the posture of the imaging unit 701 in FIG. 16 will change, resulting in The image obtained by the imaging unit 701 will be blurred. Therefore, in order to reduce the change in the posture of the imaging unit 701 due to this optical adjustment in the configuration shown in FIG. There is a need to. That is, the counterweight 702
It was made considerably heavier than the entire imaging section 701. the result,
The entire weight of this conventional photographing device is very heavy, and it places a great deal of stress on the operator.

The present invention has been made in view of the above, and an object of the present invention is to provide a photographing device having an anti-vibration function that reduces image shift due to changes in the posture of the photographing unit due to optical adjustment without using a counterweight. There is.

Means for Solving the Problems The apparatus of the present invention includes a lens barrel section including a lens section and an image sensor;
A support that rotatably supports the lens barrel, an actuator that generates rotational force between the lens barrel and the support in accordance with supplied power, and an inertial angular velocity detector that detects the inertial angular velocity of the lens barrel. a relative angle detection means for detecting the relative positional relationship between the lens barrel and the support body; a center of gravity position detection means for detecting the center of gravity of the lens barrel that moves due to focal length adjustment or angle of view adjustment; and a center of gravity position detection means gain variable means for changing the detection gain of the relative angle detection means in accordance with the output signal of the relative angle detection means; synthesis means for synthesizing the output signal of the inertial angular velocity detection means and the output signal of the relative angle detection means; The above object is achieved by providing a drive means for supplying electric power to the actuator means.

By having the above-described structure, the present invention realizes a vibration-proofing function that reduces the transmission of vibration of the support body to the lens barrel by the inertial angular velocity detection means, drive means, and actuator means. It is possible to detect and correct the inclination of the lens barrel that occurs as the center of gravity of the lens barrel moves due to adjustment of the lens.

Embodiment Hereinafter, an embodiment of the photographing apparatus of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention. In FIG. 1, 102 is a lens section,
It includes a moving lens 103. Reference numeral 104 denotes an image sensor, and the lens barrel section 1o1 is composed of a lens section 1o2 and the image sensor 104. Reference numeral 106 refers to the rotation axis 10 of the lens barrel 101.
This is a support that is rotatably supported around 6. 107 is an actuator that generates a rotational force between the lens barrel portion 1o1 and the support body 105. 108 is an inertial angular velocity detection element attached to the lens barrel 1o1 and detects the inertial angular velocity of the lens barrel 101, and 109 is an inertial angular velocity detection element that processes the output signal of the inertial angular velocity detection element 10B and outputs an inertial angular velocity signal. It is a vessel.

111 is a relative angle detection element that detects the relative angle between the lens barrel portion 101 and the support body 105, and 112 is a relative angle detector that outputs a relative angle signal.

113 is a lens position detector that detects the position of the moving lens 103, and 114 is a center of gravity position detector that detects the position of the center of gravity of the lens barrel 101 by processing the output signal of the lens position detector 113. . Reference numeral 116 denotes a variable amplifier whose gain changes depending on the output signal B of the center of gravity position detector 114, and amplifies the output signal bft of the relative angle detector 112. 116 is the output signal C of the inertial angular velocity detector 109
A combiner 117 combines the output signal di of the variable amplifier 115 with the output signal di of the variable amplifier 115, and a driver 117 supplies power to the actuator 107 in accordance with the signal combined by the combiner 116.

Next, the operation of each component will be explained. First, FIG. 2 shows a specific configuration of the inertial angular velocity detection means, which includes an inertial angular velocity detection element 10B and an inertial angular velocity detector 1.
Consists of 09. The forced vibration circuit 201 has a sine wave oscillation circuit with a predetermined frequency, and uses the oscillation signal to forcibly vibrate a drive element 202 made of a piezoelectric element of the inertial angular velocity detection element 10B. The sense element 203 made of a piezoelectric element is the drive element 202
Since it is placed in mechanical contact with the drive element (202), it vibrates at the same frequency as the drive element (202). At this time, when the lens barrel 101 rotates around the rotation axis 106 as seen from the inertial coordinates, Coriolis of a size proportional to the inertial angular velocity of the lens barrel 1o1 hits the sense element 203 at the same frequency as the forced vibration. Occur. sense element 2
03 generates mechanical strain due to this Coriolis, and generates an electrical signal due to piezoelectric action. sense element 2o3
If the output is synchronously detected at the same frequency as the forced vibration by the synchronous detection circuit 204 and smoothed by the low-pass filter 205, a signal C proportional to the inertial angular velocity of the rotation axis 1064 of the lens barrel portion 1o1 is obtained.

FIG. 3 shows a specific configuration of the relative angle detection means, including a relative angle detection element 111 and a relative angle detector 1.
It consists of 12. The relative angle detection element 111 is a Hall element and is attached to the support body 105. A magnet 118 is arranged on the lens barrel portion 1o1 side facing the relative angle detection element 111, as shown in FIG. and magnet 118
is magnetized so as to generate a magnetic field on the relative angle detection element 111 according to the relative angle between the support body 105 and the lens barrel section 101 (FIG. 4b). Then, due to the action of this magnet 118,
At the output terminal XX' of the relative angle detection element 111, a voltage proportional to the product of the current flowing from the input terminal Y to Y' and the strength of the magnetic field applied to the relative angle detection element 111 is generated. Third
In the figure, since the current flowing from the input terminal Y to Y' of the relative angle detection element 111 is fixed by the current limiting resistors 206 and 207, the voltage generated at the output terminal xx' is proportional to the strength of the magnetic field. Become. That is, output end X! '
The relative angle between the lens barrel 101 and the support body 105 can be detected by detecting the voltage generated in the lens barrel 101 and the support body 105. The relative angle detector 112 includes an operational amplifier 208 and a resistor 209.2.
10, 211, and 212, which differentially amplifies the output of the relative angle detection element 111 by a predetermined factor to obtain an output signal.

FIG. 5 shows a specific configuration of the gravity center position detecting means, which is composed of a lens position detector 113 and a gravity center position detector 114. FIG. 6 shows a part of the lens unit 102, which includes a movable lens holder 213 that holds the movable lens 103i and moves together with the movable lens 103, and a fixed lens holder 214 that holds the fixed lens. It is shown.

The movable lens holder 213 is aligned with the optical axis 216 by the engagement of the spiral grooves provided on the inside of the cylinder of the movable lens holder 213 and the outside of the cylinder of the fixed lens holder 214.
It moves on the optical axis while rotating with the axis of rotation as the axis of rotation. As shown in FIG. 5, the lens position detector 113 includes a substrate 216 in which a conductive film is provided in a pattern on an insulating substrate (hatched portions indicate the conductive film), and a conductive film on the substrate 216. Brush 2171L arranged to make contact.

217t), 2170, and 217d.

The brush in contact with the conductor film on the substrate 216 has a ground potential. As the movable lens 103 moves, the movable lens holding section 213 rotates, so that the brushes at the ground potential are sequentially switched. That is, the combination of brush potentials changes depending on the position of the moving lens 1o3. The center of gravity position detector 114 includes lifting resistors 2181L, 218b, and 21B0.
, 218d and a digital-to-analog converter 219. Lifting resistance 21BlL, 218k), 2180, 21
8d is the brush 217&, 217b, 21TO.

The potential of 217d is determined to be either ground potential or +12V. The digital-to-analog converter 219
7L, 217m), 21To, and 217d is converted into an output signal wave having a magnitude corresponding to the position of the moving lens 103. However, since the movement of the center of gravity of the lens barrel 101 is caused by the movement of the movable lens 103, the position of the center of gravity of the lens barrel 1010 can be detected by detecting the position of the movable lens 103. Therefore, the output signal a of the digital-to-analog converter 219 represents the position of the moving lens 103, and at the same time represents the position of the moving lens 103.
represents the position of the center of gravity.

FIG. 6 shows a specific configuration of the variable gain means. The output signal d of the variable amplifier 115 is transmitted to the center of gravity position detector 11
4 and the output signal S of the relative angle detector 112. Considering the transmission of the output signal d of the relative angle detector 112 to the output signal d of the variable amplifier 116, the transmission gain is controlled by the output signal d of the center of gravity position detector 114.

FIG. 7 shows a concrete configuration of the combining means, which is composed of an operational amplifier 221 and resistors 222, 223, and 224, and has a combining ratio determined by the resistors 222 and 223, and outputs the output signal d of the variable amplifier 116 and the inertia. Angular velocity detector 10
The output signal C of 9 is combined.

FIG. 8 shows a specific configuration of the driver 117, which is composed of an operational amplifier 225, driving transistors 226 and 227, and a current detection resistor 228. The output signal e of the combiner 116 is applied to the non-inverting input terminal of the operational amplifier 225. The operational amplifier 226 has a potential at a non-inverting input terminal;
The current detection resistor 228 is determined by the potential of the inverting input terminal, that is, the current flowing through the coil 229 of the actuator 107.
It operates to equalize the voltage generated in the Therefore, the coil 229 of the actuator 107 has the combiner 1
A current proportional to the output signal of 16 will flow.

FIG. 9 shows a specific structure of the actuator means, including a magnet 230 and a coil 2292L.

229b and back yoke 231 made of ferromagnetic material.
, 231b are arranged around the rotation axis 106(7). The magnet 230 is coupled to the lens barrel portion 101 via a back yoke 231a, and is magnetized as shown in FIG. On the other hand, the coil 2291L*229b is coupled to the support 106 via the back yoke 231b'ii, and as shown in FIG. 9C, the coil 229! L, 2291
) are placed. Now, coils 229a, 229b
When a current flows through the magnet 230 and the coil 229 & , 2
An electromagnetic force is generated between 29b (7), and in the configuration shown in FIG. 9, a rotational force is generated around the rotating shaft 106 in accordance with the magnitude of the current.

Next, the image stabilization function of the photographing device of the present invention will be explained.

Lens barrel 1 viewed from inertial coordinates (coordinate system viewed from absolute space)
The total angle around the rotation axis 106 of o1 is θm, the inertial angular velocity is ω1, and the angle of the support body 105 seen from the inertial coordinates is θ
. When the rotational force iTd is applied to the lens barrel section 101 due to a cause other than the actuator 107, the control block diagram of the image stabilization function of the photographing apparatus having the configuration shown in FIG. 1 is as shown in FIG. The relative angle between the lens barrel 101 and the support 106 is 0°-
0 m is detected by the relative angle detection element 111. The relative angle detection element 111 and the relative angle detector 112 are
The relative angle θ is represented by block 301 in FIG. -00
Obtain a signal b (output signal of the relative angle detector) that is B times as large as B.

Further, a variable amplifier 116 represented by block 302 obtains a signal di that is 0 times as large as the signal S. On the other hand, the lens barrel 10
The inertial angular velocity ω of 1 is detected by the inertial angular velocity detection element 108 and the inertial angular velocity detector 109. The inertial angular velocity detection element 10B and the inertial angular velocity detector 109 are block 3.
03, and a signal 0 (output signal of the inertial angular velocity detector 109) which is A times the inertial angular velocity ωm of the lens barrel section 101 is obtained. (can be ignored by choosing an appropriate frequency band). Signal d and signal C are added at the addition point 304
(Synthesizer 116) performs two additions to obtain signal 6i. The driver 117 and actuator 107 are block 3
06 and is proportional to the magnitude of the output signal O of the synthesizer 116.
Occurs between. Here, gm is the voltage-current conversion gain of the driver 117, and kt is the torque constant of the actuator 107. The rotational force T& generated by the actuator 107 is added to the rotational force T(1) around the rotational axis 106 generated by a cause other than the actuator 107, and the rotational force T& generated by the actuator 107 is
The surrounding rotational force Tm is applied to the lens barrel section 101.

Block 306 represents the transmission of the rotational force Tm by the mechanical moment of inertia) Jll to the angular velocity ω, and block 307 represents the transmission of the angular velocity ω. and θ. Here, S means the Laplace operator.

Now, D = B - g,! l-kt/Jm
−・・・−(1) F=mu・g1!・kt/Jm
......(2), then the angle θ of the support body. The transfer function from to the lens barrel θm is G(uniform θ what)/θ. (S) = (DI)/(S +F3+Dl) ・・・・・・
(3) becomes. Here, ω, = 2π・fl = (DI)/F (4
) ω2=2π・f2 2F ......β), then. , (・2 °°°”°(6
). Therefore, a broken-line approximate Bode diagram of the frequency transfer function G(jω) is as shown in FIG. That is,
The angle θ of the lens barrel 1o1 with respect to the 0° angle of the support 106 as seen from the inertial coordinates. The transfer characteristic 0 (jω) is the first corner frequency f, and the frequency range below is 1 (odB).
Next (line 1), f.

Above, in the frequency range below the second broken line frequency 12, -
It is attenuated by 6dB10ct (line 2), and in the frequency range above 12 it is attenuated by -12dB10at (line 3).
. From FIG. 11, θ in a frequency range of 11 or more. θ from the vibration of. The amount transmitted to the vibration becomes smaller. Its degree is represented by the difference 2 between oan (line 1) and the characteristic gland.

Next, a case where the optical adjustment state changes will be explained. A specific optical adjustment state, i.e. moving lens 103
By mechanically adjusting the center of gravity of the lens barrel 101 to be on the rotation axis 106 when the lens barrel 101 is at a specific position, the lens barrel 10
10 The center of gravity is 1 on the rotation axis as the movable lens 103 moves.
Move to a position away from 06. Now, the lens barrel 101
Assuming that the entire mass is M and the distance between the rotating shaft 106 and the center of gravity of the lens barrel 101 is 4, a rotational force Td shown in equation 7 is applied to the lens barrel 1o1 due to the action of gravity.

Td=M-g-5 (7) Here g is gravitational acceleration.

On the other hand, in the control block diagram of FIG. 10, the rotational force Td
, the transfer function of the lens barrel portion 1o1 to the angle Om is expressed by Equation 8.

G' (S) = θm(S)/Td(ni) = 1/(J
m-(S2+F-8+Dl)1 (8) Since the center of gravity of the lens barrel portion 1o1 moves slowly, that is, the Td changes slowly, a deviation corresponding to the DC gain in equation 8 occurs.

The DC gain is G0' = 17 (Jm-D-C) -1)
Therefore, the influence of Td in the seventh formula on the angle θ of the lens barrel 1o1 is Δθ, = (M-g-/l)/(Jm 1-C)
−=−(1o). Here, Δθ is Td in the seventh equation
The deviation is 0m due to As mentioned above, this ΔOm appears as a shift in the captured image, so it is desirable that it be as small as possible.

In Equation 10, M and l are determined by the optical design of the lens section 102, and increasing Jmf is not desirable because it increases the volume and weight of the entire imaging device. Therefore, in order to reduce this Δθ, Hk, D−Ci'i
It is necessary to increase i. However, if D−C is chosen to be large, ω, (=2π·fl) expressed by the fourth equation becomes large. That is, from the vibration of the support 106, the lens barrel 1o
Since the frequency at which the transmission of vibration 1 begins to attenuate increases, the vibration isolation effect becomes smaller. Therefore, when the center of gravity of the lens barrel section 1o1 is on the rotation axis 106, the gain O of the variable amplifier 116 is set to a predetermined small value, and as the center of gravity of the lens barrel section 101 moves away from the rotation axis 106, the gain O of the variable amplifier 116 is set to a predetermined small value. The lens position detector 1132, center of gravity position detector 114. The variable amplifier 116 is operated.

A broken line approximate Bode diagram of the frequency transfer function G'(jω) is shown in FIG.

When the center of gravity of the lens barrel 101 is on the rotation axis 106, in other words, when Ta in the seventh equation is O, the variable amplifier 1
The gain Of of 16 is made small. The characteristic is line 4 in FIG. 12, and since the corner frequency f becomes small, a large vibration damping effect can be obtained. On the contrary, the lens barrel section 101
When the center of gravity of deviates from the rotation axis 106, the gain Of of the variable amplifier 116 is increased, so the corner frequency increases from fl to L' and from Td to θ. The transmission to the output voltage decreases by -kdB (line 5) corresponding to the increase in the gain C of the variable amplifier 116. Therefore, the aforementioned Δθm can be made small.

As described above, according to this embodiment, the center of gravity position detection means detects the center of gravity position of the lens barrel section 1010 that moves due to changes in the optical adjustment state of the lens section 102, and the relative angle detection gain is adjusted according to the output signal thereof. By providing a variable gain means for changing the angle, it is possible to reduce changes in the angle of the lens barrel 101 caused by changes in the center of gravity of the lens barrel 101.

Next, a preferred configuration when the movable lens 103 is used for focal length adjustment will be described. The size of the subject is 1m
Consider shooting in the case of . First, the distance to the subject is 10771. In this case, the angle of the subject in the photographer's field of view is t&n (1/1o) Φ6.7°. Here, if the optical axis is tilted by 1 degree due to the hand movement of the photographer, this will be recognized as a hand hole of about 17.6% of the subject's size on the photographed image. Next, if the distance to the subject is 2 m, the angle of the subject in the photographer's field of view is t! Ln (1/2
)−=29°. Similarly, if the optical axis is tilted by 10, this is approximately 3.6% of the size of the subject in the photographed image.
This is recognized as camera shake. It can be said that the former is clearly more sensitive to the tilt of the optical axis.

Therefore, when the movable lens 103 is used for focal length adjustment, when the movable lens 103 is adjusted to the long focal length side (the distance to the subject is long), the center of gravity of the lens barrel 1o1 will be on the rotation axis. It can be said that it is preferable to adopt a configuration in which the By doing so, the gain of the variable amplifier 116 is reduced on the long focal length side, which is sensitive to the tilt of the optical axis, and a large image stabilization effect can be obtained, and conversely, the gain of the variable amplifier 116 is reduced on the short focal length side. As a result, the image stabilization effect decreases, but as mentioned above, on the short focal length side, the effect of the tilt of the optical axis on the photographed image is small.

Even if the anti-vibration effect decreases, it is not a problem.

Next, a preferred configuration when the movable lens is used for adjusting the angle of view will be described. First, assume that the angle of view on the telephoto side is 5°. Here, as before, if the optical axis is tilted by 1 degree due to the photographer's hand movement, this is recognized as a hand movement of 20% of the photographed image.

Next, assume that the angle of view on the wide-angle side is 6oo. Similarly, if the optical axis is tilted by 1°, this is recognized as 2% camera shake in the photographed image. It can be said that the former is clearly more sensitive to the tilt of the optical axis.

Therefore, when the movable lens is used for adjusting the angle of view, when the movable lens 103 is adjusted to the telephoto side, the lens barrel 1
It can be said that it is preferable to adopt a configuration in which the center of gravity of 01 is located on the rotation axis 106.

Note that the movable lenses for focal length adjustment and angle of view adjustment are provided with independent lens position detectors 107 and gravity center position detectors 113, respectively, and the outputs of the two gravity center position detectors are combined to detect the lens barrel. It goes without saying that the present invention may also include detecting the center of gravity of the entire object 101 and changing the relative angle detection gain.

In the embodiment, the variable amplifier 108 is used as the gain variable means, but it is also possible to change the current flowing between the input terminals YY' of the relative angle detection element 1060 using the output signal a of the center of gravity position detector 113. , it is possible to realize variable gain means.

In addition, various modifications can be made without changing the gist of the present invention.

Effects of the Invention As described above, the present invention includes a center of gravity position detection means for detecting the position of the center of gravity of the lens barrel, and a relative angle detection gain between the lens barrel and the support body that is changed in accordance with an output signal of the center of gravity position detection means. By providing a variable gain means, it has an anti-vibration function that allows stable images to be obtained regardless of vibrations of the support, and also reduces changes in the angle of the lens barrel due to changes in the adjustment state of the lens. ing. Therefore, according to the present invention, it is possible to realize a light-weight and small-sized photographing device having an anti-vibration function.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of an embodiment of the photographing device of the present invention, FIG. 2 is a diagram showing an inertial angular velocity detection element and an inertial angular velocity detector, and FIG. 3 is a diagram showing a relative angle detection element and a relative angle detector. Fig. 4 is a diagram showing the arrangement of relative angle detection elements, Fig. 6 is a diagram showing a lens position detector and center of gravity position detector, Fig. 6 is a diagram showing a variable amplifier, and Fig. 7 is a diagram showing a synthesizer. , FIG. 8 is a diagram showing the driver, FIG. 9 is a diagram showing the actuator,
Fig. 1o is a control block diagram in an embodiment of the present invention, and Fig. 11 is a control block diagram in the block diagram of Fig. 10.
The angle θ of the lens barrel from °. 12 is a Bode diagram showing the transfer characteristics from the external rotational force Td applied to the lens barrel to the angle Om of the lens barrel in the control block diagram of FIG. Figure 13 is a diagram showing the movement of the movable lens for adjusting the focal length of the lens, Figure 14 is a diagram showing the movement of the movable lens for adjusting the angle of view of the lens,
FIG. 5 is a configuration diagram of a conventional photographing device. 101・Old... Lens barrel part, 1o2... Lens part,
1o3...Moving lens, 104...Image sensor, 106...Support, 106...
・Rotation axis, 107... Actuator, 10B
...Inertial angular velocity detection element, 109...
Inertial angular velocity detector, 111 old... relative angle detection element,
112...Relative angle detector, 113...
-Lens position detector, 114... Center of gravity position detector, 115... Variable amplifier, 116 - Old... Combiner, 117... Driver. Name of agent: Patent attorney Toshi Nakao (1 person: 10)
1---aMjQM5 toq---@
+Raw angular velocity &, IJLtoz-1-race>rhyme///-Relative angle Jl output element 106---Rotation M us-
°°Variable increase? ! 5 Figure 1 Figure 2 Figure 3 Shima Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 311 Figure 12 Figure 13 <a-) +; Koi tan carp 6θθ Fig. 14 Cα) Minato Kakuryo II (b) T11 Ishaku) ■

Claims (4)

[Claims] (1) A lens section that optically forms an image of light from a subject, an image sensor that converts the optical image obtained by the lens section into electrical information, and a mechanical connection between the lens section and the image sensor. A lens barrel forming an optical axis, a support that rotatably supports the lens barrel with respect to a predetermined rotation axis, and generating a rotational force between the lens barrel and the support. an actuator means, an inertial angular velocity detection means for detecting an angular velocity around the rotational axis with respect to an inertial coordinate of the lens barrel, a relative angle detection means for detecting a relative positional relationship between the lens barrel and the support; combining means for combining the output signal of the inertial angular velocity detecting means and the output signal of the relative angle detecting means; a driving means for supplying electric power to the actuator means according to the combined signal of the combining means; A center of gravity position detecting means for detecting the position of the center of gravity of the lens barrel that moves according to a change in the adjustment state; and a variable gain means for changing the detection gain of the relative angle detecting means in accordance with an output of the center of gravity position detecting means. Photographic equipment to be provided. (2) The center of gravity of the lens barrel when the lens used to adjust the focal length included in the lens unit is adjusted to the long focal length side is
2. The imaging device according to claim 1, wherein the center of gravity of the lens barrel is closer to the rotation axis of the lens barrel than when the lens is adjusted to a short focal length side. (3) The center of gravity of the lens barrel when the lens used to adjust the angle of view included in the lens is adjusted to the telephoto side is higher than the center of gravity of the lens barrel when the lens is adjusted to the wide-angle side. ,
The photographing device according to claim 1, wherein the photographing device is configured to approach the rotation axis of the lens barrel. (4) The photographing device according to claim 1, wherein a lens position detecting means for detecting the adjusted position of the lens portion is used as the gravity center position detecting means.