WO2014108448A1 - Système optique pour former une image d'un objet et procédé permettant de faire fonctionner ce système optique - Google Patents

Système optique pour former une image d'un objet et procédé permettant de faire fonctionner ce système optique Download PDF

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Publication number
WO2014108448A1
WO2014108448A1 PCT/EP2014/050249 EP2014050249W WO2014108448A1 WO 2014108448 A1 WO2014108448 A1 WO 2014108448A1 EP 2014050249 W EP2014050249 W EP 2014050249W WO 2014108448 A1 WO2014108448 A1 WO 2014108448A1
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WIPO (PCT)
Prior art keywords
unit
optical system
filter
control unit
signal
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PCT/EP2014/050249
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German (de)
English (en)
Inventor
Christian Bach
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Carl Zeiss Sports Optics GmbH
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Carl Zeiss Sports Optics GmbH
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Publication of WO2014108448A1 publication Critical patent/WO2014108448A1/fr
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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/02—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices involving prisms or mirrors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake

Definitions

  • the invention relates to an optical system for imaging an object and to a method for operating the optical system.
  • the optical system is designed to image an object, the optical system having a lens, an image stabilization unit and an image plane.
  • the optical system is additionally provided with an eyepiece.
  • optical system is used, for example, in a telescope or a pair of binoculars.
  • optical systems in the form of binoculars which have two housings in the form of two tubes.
  • a first imaging unit is arranged, which has a first optical axis.
  • a second imaging unit is arranged, which has a second optical axis.
  • binoculars are known from the prior art, which have a first housing in the form of a first tube having a first optical axis and a second housing in the form of a second tube having a second optical axis.
  • the first housing is connected to the second housing via a buckling bridge, wherein the buckling bridge has a first hinge part arranged on the first housing, and wherein the buckling bridge has a second hinge part arranged on the second housing.
  • the buckling bridge has a bending axis.
  • the image captured by the telescope or the binoculars by an observer is often perceived as blurred, since dithering or rotating movements of the user's hands, as well as movements of the background in turn cause movements of the optical system relative to the environment.
  • Known solutions use stabilizers to stabilize the image by means of a mechanical device and / or an electronic device.
  • an optical system in the form of a telescope which has a lens, an image stabilization unit in the form of a prism reversing system and an eyepiece.
  • the prism reversing system is gimballed in a housing of the telescope. This is understood to mean that the prism reversing system is arranged in a housing of the telescope such that the prism reversing system is rotatably mounted about two axes arranged at right angles to one another.
  • a device is usually used, which is referred to as Kardanik.
  • a hinge point of the gimbal-mounted in the housing reversing system is arranged centrally between an image-side main plane of the lens and an object-side main plane of the eyepiece.
  • the gimbal-mounted prism reversing system is not moved due to its inertia due to rotational movements occurring. It thus remains firmly in the room. In this way, image degradation caused by movement of the housing is compensated.
  • a binocular telescope with an image stabilization unit which has a prism reversing system.
  • the prism reversing system has Porro prisms, each having a tilt axis.
  • the Porro prisms are formed pivotable about their respective tilt axis.
  • Engines are provided for pivoting the Porro prisms.
  • the panning is dependent on a dithering motion that causes a wobble of an observed image.
  • US Pat. No. 6,414,793 B1 another binocular telescope with an image stabilization unit is known.
  • US Pat. No. 7,460,154 B2 discloses a device for compensating vibrations using a coordinate transformation.
  • Drive units (actuators), the image stabilization unit or at least one optical element of the image stabilization unit. These drive units are controlled by control signals provided by a control unit or by several control units.
  • the drive units are to move the image stabilization unit or the optical element of the image stabilization unit to a specific setpoint position in order, for example, to compensate for the dithering movements, in particular rotational jitter movements.
  • due to mechanical conditions for example, the inertia of the drive units, the inertia of the image stabilizing unit, and / or the inertia of the optical element of the image stabilizing unit
  • inaccuracies occur in the adjustment of the position of the image stabilizing unit or the optical element of the image stabilizing unit.
  • the setpoint position to be set deviates from the real position of the image stabilization unit and / or the optical element of the image stabilization unit. This is unfavorable for image stabilization.
  • a PID control unit for example, a PID control unit is used in the prior art.
  • a control signal provided by the known PID control unit is supplied to the drive units.
  • the control signal provided by the PID control unit is dependent on the deviation of the real position from the target position. The more the actual position deviates from the setpoint position, the greater the speed of the drive units is selected by means of the provided actuating signal.
  • a power supply unit for example, a rechargeable battery of the optical system
  • signals of a motion detector which detects movement of the optical system are controlled in the known PID control unit, the frequency of the signals being above the detection limit or very close to the detection limit.
  • the signals include information about the type of movement, in particular their frequency or their frequency spectrum.
  • the perceptual limit is the cutoff frequency at which a human eye can still perceive a movement of the optical system as a disturbing movement.
  • a movement of the optical system is characterized by a frequency which is above this cut-off frequency (usually around 20 Hz)
  • the human eye perceives no trembling or flickering, but rather an image blurring due to a movement which passes through a smearing is given.
  • Signals of the motion detector with a low frequency have a higher amplitude than signals of the motion detector with a much higher frequency. Because of the higher amplitude, signals of this low frequency then lead to large deviations of the desired position from the real position of the image stabilization unit or the optical element of the image stabilization unit. These large deviations are quite small in direct comparison to the higher amplitudes of the signals of the motion detector with the low frequency.
  • the PID control unit of the prior art due to the large variations in the control by means of the PID control unit of the prior art, the high speeds and the oscillation phenomena which have already been explained above again occur. This is not wanted.
  • the invention is therefore an object of the invention to provide an optical system and a method for operating the optical system, in which a
  • the optical system according to the invention is designed to image an object.
  • the optical system is designed, for example, as a binocular binocular or a binocular telescope. However, it is explicitly pointed out that the invention is not limited to such an optical system.
  • the optical system according to the invention has at least one first objective, at least one first image stabilization unit and at least one first image plane, wherein, viewed from the first objective in the direction of the first image plane, first the first objective, then the first image stabilization unit and then the first image plane along a first optical Axis are arranged. Accordingly, the aforementioned units are arranged in the following order along the first optical axis: first objective - first image stabilization unit - first image plane.
  • the optical system according to the invention has at least one first drive unit, which is arranged on the first image stabilization unit and provided for moving the first image stabilization unit.
  • the optical system according to the invention has at least one first control unit for controlling the first drive unit.
  • the control unit provides a control signal available. The control signal determines the
  • the optical system has at least one first position detector for detecting the position of the first image stabilization unit or of an optical element of the first
  • Image stabilization unit on.
  • the real position of the first image stabilization unit or of an optical element of the first image stabilization unit relative to a housing of the optical unit is determined.
  • the first position detector has a first output line, which is arranged on a first subtraction unit.
  • the first control unit also has an output line, namely a second output line, which is likewise arranged on the first subtraction unit.
  • both the first position detector and the first control unit are connected to the first subtraction unit via the aforementioned output lines.
  • the first subtraction unit has a third output line, which is arranged on a first filter unit.
  • the first filter unit is arranged on a first control unit, and the first control unit is arranged on the first drive unit.
  • the invention is based on the consideration that it is indeed possible to determine specific frequency ranges by means of filter units (for example a low-pass filter, a high-pass filter or a bandpass filter) which are then used for further signal processing for driving the first image stabilization unit or an optical element of the first image stabilization unit.
  • filter units for example a low-pass filter, a high-pass filter or a bandpass filter
  • the surprising finding of the invention is that the first filter unit is used not only for selecting a frequency range, but the first filter unit in the control loop for setting a desired position of the first image stabilization unit or an optical element of the first
  • the first control unit, the first filter unit, the first subtraction unit and the first control unit together form a first control unit with which a real position (hereinafter referred to as real position) of the first image stabilization unit or an optical element of the first image stabilization unit is brought as close as possible to the target position becomes.
  • the first position detector is also part of the first control unit.
  • the first control unit precisely guides the real position of the first image stabilization unit or of an optical element of the first image stabilization unit to the desired position.
  • the first filter unit is thus part of the first control unit.
  • the first filter unit is part of a first control loop.
  • a first control signal of the first control unit of the first subtraction unit is supplied.
  • a first position signal of the first position detector is supplied to the first subtraction unit.
  • a first subtraction signal is now generated from the subtraction of the first control signal and the first position signal.
  • the first subtraction signal is supplied to the first filter unit.
  • the first filter unit generates a first filter signal.
  • the first filter signal is then fed to the first control unit, which generates a first positioning signal.
  • the first positioning signal is now supplied to the first drive unit for moving the first image stabilization unit or an optical element of the first image stabilization unit.
  • the optical system according to the invention has the advantage that, for example, high-frequency signals which lead to the problems described above are not taken into account in the control in the first control unit. Also, it does not come to the above-described problems with very low-frequency signals, since these are also not taken into account in the control in the first control unit.
  • the first filter unit is designed as a first low-pass filter, as a first high-pass filter or as a first band-pass filter.
  • the first filter unit for example, the first high-pass filter
  • the first filter unit is designed to filter out signals from a measured motion spectrum with frequencies below 2 Hz. Accordingly, only signals with a frequency above 2 Hz pass the first high-pass filter.
  • the first filter unit for example the first low-pass filter
  • the first filter unit is designed to filter out signals from a measured movement spectrum with frequencies above 20 Hz. Accordingly, only signals with a frequency below 20 Hz pass the first low-pass filter.
  • the first filter unit (for example the first bandpass filter) is designed to filter out signals from a measured motion spectrum with frequencies above 20 Hz and below 2 Hz. Accordingly, only signals in the bandwidth between 2 Hz and 20 Hz pass through the first bandpass filter.
  • the filtered spectrum thus obtained is then further processed according to the invention to drive the first image stabilization unit.
  • the first position detector is designed as a Hall sensor.
  • the invention is not limited to the use of a Hall sensor. Rather, any suitable detector can be used as the first position detector.
  • the first control unit is designed as a PID control unit.
  • the invention is not limited to the use of a PID control unit. Rather, as a first control unit any suitable control unit can be used.
  • the first control unit has at least one first control low-pass filter.
  • the first control unit additionally has at least one first integration unit, which is connected downstream of the first control low-pass filter.
  • the first control low-pass filter and the first integration unit are arranged such that a signal first passes through the first control low-pass filter and only then the first integration unit.
  • the first embodiment of the optical system according to the invention is based on the following considerations.
  • the first control low-pass filter or several first control low-pass filters ensure that low frequencies pass unhindered through the first control low-pass filter and the first control low-pass filter, respectively further signal processing for image stabilization can be supplied.
  • the high frequencies are filtered out by the first control low-pass filter or the first control low-pass filter.
  • image stabilization makes little sense, since the effect of image stabilization is barely recognizable.
  • basically only the low frequencies form the basis for the image stabilization and serve to control a movement of the first image stabilization unit or an optical element of the first image stabilization unit.
  • the invention starts from the consideration that a deliberate pivoting of the optical system according to the invention is characterized in particular by two properties. On the one hand this is the low frequency of the wanted pivoting, but on the other hand also a large amplitude of the wanted pivoting. Unwanted Verschwenkungen, in particular Drehzitterschulen, namely, in general, a much smaller amplitude than desired pivoting of the optical system. It was recognized that the amplitude of the intentional pivoting additionally or alternatively to the determination (detection) of the type of movement of the optical system with can draw on.
  • the first control unit has the first integration unit, which is connected downstream of the first control low-pass filter.
  • the first integration unit has at least one input line with at least one input signal and at least one output line with at least one output signal, the output signal being determined by the following equation:
  • a (ti) is the input signal at a first time
  • ⁇ ( ⁇ ( ⁇ )) is a function for controlling a timing of the
  • I (t 2 ) is the output signal at a second time t 2 .
  • the function ⁇ can be varied in a non-linear manner as a function of the amplitude of the pivoting of the optical system.
  • the integration by means of the first integration unit then takes place nonlinearly such that the lower the speed of the pivoting of the optical system and the greater the deflection (amplitude) of the pivoting, the output signal of the first integration unit leads to a decreasing stabilization by the first image stabilization unit.
  • the compensation of the dithering movement ie the image stabilization due to the jitter movement
  • is "intrinsically adapted" ie adjusted within the recognition unit as a function of the amplitude of the pivoting of the optical system.
  • the optical system has at least one second drive unit, which is arranged on the first image stabilization unit and provided for moving the first image stabilization unit.
  • the second drive unit can be connected to the further units of the optical system according to the invention and cooperate, as the first drive unit with the other units of the optical system according to the invention.
  • optical system has the following features:
  • first the second objective, then the second image stabilization unit and then the second image plane are arranged along a second optical axis.
  • the aforementioned units are arranged in the following order along the second optical axis: second objective - second image stabilization unit - second image plane.
  • the aforementioned embodiment of the optical system is designed, for example, as a binocular optical system, in particular as binocular binoculars or binocular telescope. It therefore has two imaging units, namely a first imaging unit (with the first lens, the first image stabilization unit and the first image plane) and a second imaging unit (with the second lens, the second image stabilization unit and the second image plane).
  • a third drive unit is provided, which is arranged on the second image stabilization unit and is provided for moving the second image stabilization unit.
  • the third drive unit is connected to the first control unit in such a way and interacts with the first control unit in the same way as the first drive unit.
  • the embodiment of the optical system according to the invention may comprise at least one second control unit for controlling the third drive unit and at least one second position detector for detecting a position of the second image stabilization unit or an optical element of the second image stabilization unit relative to a housing of the optical system.
  • the second position detector has a fourth output line, which is arranged on a second subtraction unit.
  • the second control unit has a fifth output line which is arranged on the second subtraction unit.
  • both the second position detector and the second control unit are connected to the second subtraction unit via the aforementioned output lines.
  • the second subtraction unit has a sixth output line which is arranged on a second filter unit.
  • the second filter unit is arranged on a second control unit.
  • the second control unit in turn is arranged on the third drive unit.
  • the second filter unit is not only used to select a frequency range, but also incorporates the second filter unit into the control loop for setting a desired position of the second image stabilization unit or an optical element of the second image stabilization unit.
  • the second control unit, the second filter unit, the second subtraction unit and the second control unit together form a second control unit with which a real position of the second image stabilization unit or an optical element of the second image stabilization unit is brought as close as possible to the target position.
  • the second position detector may also be part of the second control unit.
  • the second control unit accurately guides the real position of the second image stabilization unit or an optical element of the second image stabilization unit to the target position.
  • the second filter unit is thus part of the second control unit.
  • the second filter unit is part of a second control loop.
  • a second control signal is supplied to the second control unit of the second subtraction unit.
  • a second position signal of the second position detector is supplied to the second subtraction unit.
  • a second subtraction signal is now generated from the subtraction of the second control signal and the second position signal.
  • the second subtraction signal is supplied to the second filter unit.
  • the second filter unit generates a second filter signal.
  • the second filter signal is now the second
  • Control unit supplied, which generates a second positioning signal.
  • the second positioning signal is now supplied to the third drive unit for moving the second image stabilization unit or an optical element of the second image stabilization unit.
  • the second filter unit is designed as a second low-pass filter, as a second high-pass filter or as a second band-pass filter.
  • the second filter unit for example the second high-pass filter
  • the second filter unit is designed to filter out signals of movements with frequencies below 2 Hz. Accordingly, only signals with a frequency above 2 Hz pass the second high-pass filter.
  • the second filter unit for example, the second low-pass filter
  • the second filter unit is designed to filter out signals of movements with frequencies above 20 Hz. Accordingly, only signals with a frequency below 20 Hz pass through the second low-pass filter.
  • the second filter unit (for example the second bandpass filter) is designed to filter out signals of movements with frequencies above 20 Hz and below 2 Hz. Accordingly, only signals in the bandwidth between 2 Hz and 20 Hz pass through the second bandpass filter.
  • the second position detector as Hall sensor is formed.
  • the invention is not limited to the use of a Hall sensor. Rather, any suitable detector can be used as the second position detector.
  • the second control unit is designed as a PID control unit.
  • the invention is not limited to the use of a PID control unit. Rather, as a second control unit any suitable control unit can be used.
  • the second control unit has at least one second control low-pass filter.
  • the second control unit additionally has at least one second integration unit, which is connected downstream of the second control low-pass filter.
  • the second control low-pass filter and the second integration unit are arranged such that a signal first passes through the second control low-pass filter and only then the second integration unit.
  • the optical system has at least one fourth drive unit, which is arranged on the second image stabilization unit and provided for moving the second image stabilization unit.
  • the fourth drive unit may be so connected to the second control unit and cooperate, as the third drive unit with the second control unit.
  • the first lens, the first image stabilization unit and the first image plane are arranged in a first housing and that the second lens, the second
  • Image stabilization unit and the second image plane are arranged in a second housing.
  • the first housing is connected to the second housing via at least one buckling bridge, that the buckling bridge has a first hinge part arranged on the first housing and that the buckling bridge has a second hinge part arranged on the second housing.
  • the buckling bridge has a bending axis. If the two housings are pivoted relative to one another about the bending axis, the distance of the two housings from one another changes.
  • At least one first motion detector is connected to the first control unit
  • Detection of movement of the optical system relative to the environment arranged. Additionally or alternatively, it is provided that at least a second motion detector for detecting a movement of the optical system relative to the environment is arranged on the second control unit.
  • the first motion detector and / or the second motion detector may be configured, for example, as an angular velocity detector. However, it is explicitly pointed out that the invention is not limited to an angular velocity detector. Rather, any suitable motion detector can be used in the invention.
  • the invention also relates to a method of operating an optical system having at least one of the above or below features or a combination of at least two of the above or below features.
  • the method has already been explained above, so that reference is now made to these explanations.
  • Show 1A is a first schematic representation of an optical system in the form of a binocular with a buckling bridge.
  • Fig. 1B is a second schematic representation of the binoculars after
  • Fig. 2A is a schematic representation of a first optical
  • Fig. 2B is a third schematic representation of the binoculars after
  • Fig. 2C is a first sectional view of the binoculars along the line
  • 2D is a second sectional view of the binoculars along the
  • FIG. 2E is an enlarged sectional view of the image stabilization unit of the binoculars according to FIGS. 2C and 2D; FIG.
  • 3A to 3C are schematic representations of a piezo-bending actuator
  • Fig. 4 is a schematic representation of a block diagram of
  • Control and measurement units such as
  • FIG. 5 shows a further schematic representation of the block diagram of control and measuring units according to FIG. 4.
  • FIG. 1A shows a first schematic representation of the binoculars 1, which has a tube-shaped first housing part 2 and a tubular second housing part 3.
  • a second optical axis 1 extends through the second housing part 3.
  • the first housing part 2 is connected to the second housing part 3 via a bending bridge 4.
  • the buckling bridge 4 has a first hinge part 5, which is integrally formed on the first housing part 2.
  • the buckling bridge 4 has a second hinge part 6, which is arranged on the second housing part 3.
  • the first hinge part 5 has a first receiving part 7 and a second receiving part 8, between which a third receiving part 9 of the second hinge part 6 is arranged.
  • the second receiving part 8 and the third receiving part 9 extends a pivot pin (not shown), so that the relative position of the first housing part 2 and the second housing part 3 about a hinge axis 74 can be adjusted to each other.
  • the first housing part 2 and the second housing part 3 it is possible to adjust the first housing part 2 and the second housing part 3 to the pupil distance of a user, so that on the one hand the first housing part 2 is arranged on the one of the two eyes of the user and so that on the other the second housing part 3 at the other of the two eyes of the user is arranged.
  • FIG. 1B shows a further illustration of the binoculars 1.
  • the first housing part 2 has a first optical subsystem 12.
  • the first optical subsystem 12 is provided with a first objective 14A, with a first image stabilization unit 16A designed as a first prism system and a first eyepiece 17A.
  • a first eye 15A of a user for observing an object O may be arranged.
  • the first optical axis 10 of the first optical subsystem 12 is displaced laterally somewhat due to the first prism system 16A (first image stabilization unit 16A), resulting in a stepped configuration of the first optical axis 10.
  • the first objective 14A in this embodiment consists of a first front unit 51A and a first focusing unit 52A.
  • Other embodiments of the first lens 14A provide a different number of individual lenses or lens components made of lenses.
  • either the first eyepiece 17A or the first focusing unit 52A may be axially along the first optical axis Axis 10 are moved.
  • the first front unit 51A or even the complete first objective 14A is displaced along the first optical axis 10.
  • the first front unit 51A and the first focusing unit 52A are displaced relative to one another.
  • the second housing part 3 has a second optical subsystem 13.
  • the second optical subsystem 13 is provided with a second objective 14B, with a second image stabilization unit 16B embodied as a prism system and with a second eyepiece 17B.
  • a second eye 15B of the user for observing the object O can be arranged.
  • the second optical axis 1 of the second optical subsystem 13 is displaced laterally somewhat due to the second image stabilizing unit 16B (prism system), so that a stepped formation of the second optical axis 1 1 occurs.
  • the second lens 14B in this embodiment consists of a second front unit 51B and a second focusing unit 52B.
  • Other embodiments of the second lens 14B provide a different number of individual lenses or lenticum lenses.
  • either the second eyepiece 17B or the second focusing unit 52B may be displaced axially along the second optical axis 11.
  • the second front unit 51B or even the complete second objective 14B is displaced along the second optical axis 11.
  • the second front unit 51B and the second focusing unit 52B are displaced relative to each other.
  • the beam direction of the light beams incident in the optical subsystems 12, 13 is as follows:
  • a rotary knob 53 is arranged on the articulated bridge 4, with which the first focusing unit 52A and the second focusing unit 52B can be displaced together along the two optical axes 10 and 11.
  • the first objective 14A and the second objective 14B (or at least units of the first objective 14A and the second objective 14B) are displaced relative to each other.
  • both the first objective 14A and the second objective 14B generate a real image, which is upside down relative to the object O under observation, in an image plane associated with the respective objective 14A, 14B.
  • the first prism system 16A (first image stabilization unit) associated with the first lens 14A and the second prism system 16B (second image stabilization unit) associated with the second lens 14B are used for image erection.
  • the upside down image is repositioned and displayed in a new image plane, the left intermediate image plane 23A or the right intermediate image plane 23B.
  • the first prism system 16A (first image stabilization unit) and the second prism system 16B (second image stabilization unit) may be constructed as Abbe-König prism system, Schmidt-Pechan prism system, Uppendahl prism system, Porro prism system or other prism system variant.
  • a field field which sharply delimits the field of vision is arranged in the left intermediate image plane 23A.
  • a field field sharply defining the field of view may be arranged in the right intermediate image plane 23B.
  • the first eyepiece 17A is used to adjust the image of the left intermediate image plane 23A to any distance, e.g. to the infinite or to another distance. Further, the second eyepiece 17B is used to move the image of the right intermediate image plane 23B to an arbitrary distance, e.g. at infinity or at a different distance.
  • the first aperture stop 54A of the first optical subsystem 12 and the second aperture stop 54B of the second optical subsystem 13 can either by a socket of an optical element of the corresponding optical subsystem 12, 13, usually through the socket of the lenses of the first front unit 51 A or second front unit 51 B, or be formed by a separate aperture. It can be imaged in the beam direction through the corresponding optical subsystem 12 or 13 into a plane which, in the direction of the beam, is located behind the corresponding speaking eyepiece 17A or 17B, and typically has 5 to 25 mm distance to this. This plane is called the plane of the exit pupil.
  • a retractable, turnable or foldable first eyecup 55A may be provided on the first eyepiece 17A and an extendable, turnable or foldable second eyecup 55B may be provided on the second eyepiece 17B.
  • FIG. 2A shows a schematic representation of the first optical subsystem 12, which is arranged in the first housing part 2.
  • the arranged in the second housing part 3 second optical subsystem 13 has an identical structure as the first optical subsystem 12.
  • the following statements with regard to the first optical subsystem 12 also apply to the second optical subsystem 13.
  • the first objective 14A, the first image stabilizing unit 16A and the first eyepiece 7A are arranged along the first optical axis 10 from the object O in the direction of the first eye 15A of the user.
  • the first image stabilization unit 16A is designed as a prism reversing system.
  • the first image stabilization unit 16A is designed as a lens reversing system.
  • the second optical subsystem 13 has an identical structure as the first optical subsystem 12.
  • the second prism system is designed as a second image stabilization unit 16B.
  • FIG. 2B shows a further schematic representation of the binoculars 1.
  • FIG. 2B is based on FIG. 1B. Identical components are provided with the same reference numerals.
  • Figure 2B now also shows the moving devices for the first image stabilizing unit 16A and the second image stabilizing unit 16B.
  • the first image stabilization unit 16A is arranged in a first gimbal 60A.
  • the second image stabilization unit 16B is arranged in a second gimbal 60B.
  • the arrangement of the two image stabilization units 16A and 16B is shown in more detail in FIG. 2C.
  • the first gimbal 60A has a first outer one Suspension 61 A, which is arranged on a first axis 18 A on the first GeHouseteii 2.
  • the first outer suspension 6A is rotatably disposed about the first axis 18A. Furthermore, the first gimbal 60A has a first inner suspension 62A, which is rotatably arranged on a second axis 19A on the first outer suspension 61A. Via a first drive unit 24A, the first inner suspension 62A is rotated about the second axis 19A. Further, a second drive unit 24B is provided, by means of which the first outer suspension 61A is rotated about the first axis 18A.
  • Figure 2E shows the above in an enlarged view.
  • the first image stabilizing unit 16A is held on the first inner suspension 62A by means of clamp holders 71.
  • the second image stabilizing unit 16B is disposed on the second gimbals 60B.
  • the second gimbal 60B has a second outer suspension 61 B, which is disposed on the second housing part 3 via a third axis 18B.
  • the second outer suspension 61 B is rotatably disposed about the third axis 18 B.
  • the second gimbal 60B has a second inner suspension 62B which is rotatably disposed on the second outer suspension 61B via a fourth axis 19B.
  • the second inner suspension 62B Via a third drive unit 24C, the second inner
  • Suspension 62B is rotated about the fourth axis 19B. Furthermore, a fourth drive unit 24D is provided, by means of which the second outer suspension 61B is rotated about the third axis 18B.
  • FIG. 2A shows the first optical subsystem 12.
  • the first image stabilizing unit 16A is arranged by means of the first gimbals 60A such that it is rotatably mounted about two mutually perpendicular axes, namely around the first axis 18A and around the second Axis 19A, which projects into the leaf level.
  • the first axis 18A and the second axis 19A intersect at a first intersection 20A.
  • the first intersection point 20A is arranged differently from a first optically neutral point on the first optical axis 10.
  • An optically neutral point is understood to mean that point on the optical axis of an afocal optical system to which a force non-driven image stabilization unit (for example a prism reversal system) which is directionally inert relative to the environment must be gimballed so as to be transmitted through the afocal optical system observed image of an object in its direction is automatically stabilized.
  • This point is approximately halfway between the lens (Here, the first lens 14A) and the eyepiece (here the first eyepiece 17A) optical axis (here, the first optical axis 10).
  • the first image stabilization unit 16A has a first entrance surface 21 and a first exit surface 22.
  • the first exit surface 22 is arranged in a range of 1 mm to 20 mm apart from the left intermediate image plane 23A.
  • the first exit surface 22 is disposed in a range of 2 mm to 15 mm apart from the left intermediate image plane 23A.
  • the first exit surface 22 is arranged in a range of 3 mm to 12 mm apart from the left intermediate image plane 23A.
  • FIGS. 3A-3C show schematic representations of a drive unit 24 in the form of a piezo-bending actuator, wherein an actuator is understood as an actuating element which can generate a force or a movement. In the literature, such an actuator is often referred to as an actuator.
  • the first drive unit 24A, the second drive unit 24B, the third drive unit 24C and the fourth drive unit 24D are constructed, for example, identically to the drive unit 24.
  • FIG. 3A shows a schematic representation of the drive unit 24.
  • the drive unit 24 has a first piezoceramic 25 and a second piezoceramic 26, which are arranged on top of each other. Via a voltage unit 27, both the first piezoceramic 25 and the second piezoceramic 26 can be supplied with a voltage. In other words, a first voltage is applied to the first piezoceramic 25, and a second voltage is applied to the second piezoceramic 26.
  • the two aforementioned stresses on the first piezoceramic 25 and on the second piezoceramic 26 are switched in opposite polarity, so that, for example, the first piezoceramic 25 expands and, secondly, the second piezoceramic 26 contracts. This bends the overall arrangement of the first piezoceramic 25 and the second piezoceramic 26, as shown in Figures 3B and 3C.
  • Movements are now used to control the first image stabilization unit 6A or to move the second image stabilizing unit 16B, as will be explained in more detail below.
  • the invention is not limited to the described drive unit 24 in the form of a piezo-bending actuator. Rather, any types of drive units suitable for performing movement of the first image stabilization unit 16A or the second image stabilization unit 16B may be used. This also includes drive units that do not work on the basis of piezo technology. Further suitable drive units based on the piezo technology are, for example, a piezo linear actuator, a piezo traveling wave actuator or an ultrasonic motor. Piezoactuators are particularly well suited because they have a large amount of self-locking, so that an additional locking of the first image stabilizing unit 16A or the second image stabilizing unit 16B can be dispensed with. Furthermore, their power consumption is very low, so the life of batteries used for power supply is longer.
  • the movement of the first image stabilization unit 16A or the second image stabilization unit 16B and thus also the position of the first image stabilization unit 16A or the second image stabilization unit 16B are monitored with at least one position detector.
  • a first position detector is provided for movement relative to the first axis 18A and a second position detector for movement relative to the second axis 19A.
  • a third position detector for movement relative to the third axis 18B and a fourth position detector for movement relative to the fourth axis 19B are provided.
  • a Hall sensor is used as the position detector.
  • the invention is not limited to this type of position detectors. Rather, any suitable type of position detector and any suitable number of position detectors may be used.
  • FIG. 4 is a block diagram of an embodiment of control and measurement units.
  • This embodiment has two control units, namely one first control unit 37A and a second control unit 37B.
  • the first control unit 37A is connected to an angular velocity detector 38, to the first gimbals 60A of the first image stabilization unit 16A, to the first drive unit 24A, and to the second drive unit 24B.
  • the first control unit 37A is arranged, for example, in the first housing part 2.
  • the second control unit 37B is connected to a second angular velocity detector 39, to the second gimbals 60B of the second image stabilization unit 16B, to the third drive unit 24C, and to the fourth drive unit 24D.
  • the second control unit 37B is arranged, for example, in the second housing part 3.
  • a buckling bridge sensor 40 is connected to both the first control unit 37A and the second control unit 37B.
  • the first angular velocity detector 38 is connected to the second control unit 37B.
  • the second angular velocity detector 39 is connected to the first control unit 37A. Accordingly, this exemplary embodiment in each case uses a separate control unit on the one hand for the first optical subsystem 12 in the first housing part 2 and on the other hand for the second optical subsystem 13 in the second housing part 3
  • Angular velocity detectors 38, 39 are shared for detecting movements of the binoculars 1.
  • the embodiment shown here has a voltage supply unit 63 which is connected to the first drive unit 24A, to the second drive unit 24B, to the third drive unit 24C and to the fourth drive unit 24D for supplying the aforementioned drive units is connected with tension.
  • the voltage supply unit 63 is designed, for example, as a (rechargeable) battery whose remaining voltage is measured with a voltage measuring unit 64.
  • the voltage measuring unit 64 is connected to both the first control unit 37A and the second control unit 37B.
  • the use of the buckling bridge sensor 40 has the following background.
  • the relative position of the axes of rotation (namely, the first axis 18A and the second axis 19A of the first image stabilizing unit 16A and the third axis 18B and the fourth axis 19B of the second image stabilizing unit 16B) changes when the eyepoint is adjusted via the bending bridge 4.
  • the buckling bridge sensor 40 now determines a so-called buckling bridge angle ⁇ between a first hinge part axis 72 of the first hinge part 5 and a second hinge part axis 73 of the second hinge part 6, wherein the first hinge part axis 72 and the second hinge part axis 73 have a common point of intersection with the hinge axis 74 (cf. Figures 2C and 2D).
  • it is provided, for example, to determine the actual buckling bridge angle ⁇ by means of the buckling bridge sensor 40, which will be explained below.
  • the buckling angle ⁇ in the figure 2C in which the first axis 18A and the third axis 18B are arranged parallel to each other, already 175 °.
  • the adjustment of the position (rotational position) of the first image stabilizing unit 16A and the position (rotational position) of the second image stabilizing unit 16B is performed, for example, as follows.
  • the first angular velocity detector 38 and the second angular velocity detector 39 an angular velocity due to movement of the binoculars 1 relative to the observed environment is detected.
  • the first angular velocity detector 38 and the second angular velocity detector 39 provide motion dependent angular velocity signals.
  • rotation angles about the rotation axes of the first image stabilizing unit 16A for example, the first axis 18A and the second axis 19A
  • rotation angles about the rotation axes of the second image stabilizing unit 16B for example, the third axis 18B and the fourth axis 19B.
  • the rotation angles determined are now converted into first correction angles by which the first image stabilization unit 16A has to be rotated in order to be positioned in space.
  • a second correction angle is calculated by which the second image stabilizing unit 16B needs to be rotated to be positioned in space.
  • the intersection of the axes of rotation with the optically neutral point of the binoculars 1 does not match.
  • the first optical subsystem 12 in the first housing part 2 that the first intersection 20A of the first axis 18A and the second axis 19A does not coincide with the optically neutral point of the binoculars 1 on the first optical axis 10. Therefore, the determined rotation angle should be multiplied by a factor depending on the binoculars 1 to obtain the necessary correction angle.
  • the relative position of measuring axes of the two angular velocity detectors 38 and 39 as well as the axes of rotation of the first image stabilizing unit 16A and the second image stabilizing unit 16B should be taken into account.
  • a suitable transformation results in the corresponding correction angle.
  • the position of the measuring axes of the two angular velocity detectors 38 and 39 corresponds to the position of the first axis 18A and the second axis 19A of the first image stabilizing unit 16A.
  • Rotation angle of the first image stabilization unit 16 A in rotation angle of the second image stabilization unit 16 B are transformed.
  • FIG. 5 shows a further block diagram, which is based on FIG.
  • FIG. 5 illustrates the relationship between the angular velocity detectors 38 and 39, the first control unit 37A and the second control unit 37B and the drive units 24A to 24D.
  • the first control unit 37A is connected to the first angular velocity detector 38.
  • the first control unit 37A further includes a first control unit 98A.
  • the first control unit 98A is provided with a first control low pass filter 80A directly connected to the first angular velocity detector 38.
  • the first control unit 98A is provided with a first analog-to-digital converter 81A, which is connected downstream of the first control low-pass filter 80A.
  • the first control unit points 98A a first integration unit 82A, which is the first analog-to-digital converter 81A downstream.
  • the type of the first control low pass filter 80A is arbitrary. In a particular embodiment of the binoculars 1, however, it is intended to use a combination of an electrical low-pass filter, a digital low-pass filter and a digital first-order shelving filter, wherein the aforementioned filters are connected in series. In this combination of filters, it is advantageous that a delay of the input signal of the combination of the aforementioned filters to the output signal of the combination of the aforementioned filters of 45 ° takes place. Pure low-pass filters have a delay of 90 °. A small delay is beneficial to achieve "real time" image stabilization.
  • the first angular velocity detector 38 For this purpose, initially by means of the first angular velocity detector 38 an angular velocity due to a movement of the femal glass 1 relative to the observed environment is detected.
  • the first angular velocity detector 38 provides motion dependent angular velocity signals.
  • the angular velocity signal of the first angular velocity detector 38 is supplied to the first control unit 37A. More specifically, the angular velocity signal of the first angular velocity detector 38 is supplied to the first control low-pass filter 80A.
  • the first control low-pass filter 80A ensures that low frequencies (for example less than 20 Hz) pass unhindered through the first control low-pass filter 80A and can be fed to further signal processing for image stabilization.
  • the high frequencies eg greater than 20 Hz are filtered out by the first control low pass filter 80A. They therefore do not contribute to the image stabilization.
  • the filtered signal of the first control low-pass filter 80A is forwarded via the first analog-to-digital converter 81A to the first integration unit 82A.
  • the output signal of the first integration unit 82A is determined by Equation 1, which is given below:
  • the function ⁇ is given, for example, as follows:
  • ⁇ - ⁇ is a freely selectable parameter which determines how fast the output signal of the first integration unit 82A drops back to zero for small amplitudes of the swivels. If a small parameter ⁇ ⁇ ⁇ (for example 0, 1) is selected, only in Signa! remaining higher frequencies used for the image stabilization. If the parameter ⁇ 1 is close to 1 (for example 0.9), then basically all the remaining frequencies in the signal are used for the image stabilization.
  • j 2 is also a freely selectable parameter that determines how strong the influence of the amplitude of the pivoting of the binoculars 1 is. At small values of y 2 (for example 0, 1), higher amplitudes still used in the signal for larger amplitudes are used for the image stabilization. If the parameter ⁇ 2 is large (for example, 0.9), then this already happens at small amplitudes.
  • the output signal of the first integration unit 82A is now forwarded to a first subtraction unit 95A.
  • the first subtraction unit 95A is further connected to a first Hall sensor 94A.
  • a first filter unit 96A is connected between the first subtraction unit 95A and a first control unit 97A.
  • the first control unit 97A is connected to the first drive unit 24A and the second drive unit 24B.
  • the two drive units 24A and 24B are in turn connected to the first Kardanik 60 A.
  • a signal line connects the first gimbals 60A to the first Hall sensor 94A.
  • the second control unit 37B is connected to the second angular velocity detector 39.
  • the second control unit 37B has a second control unit 98B.
  • the second control unit 98B in turn has a second control low-pass filter 80B which is directly connected to the second angular velocity detector 39.
  • the second control unit 98B has a second analog-to-digital converter 81B, which follows the second control low-pass filter 80B.
  • the second control unit 98B has a second integration unit 82B, which is connected downstream of the second analog-to-digital converter 81B.
  • the type of the second low-pass filter 80B is arbitrary.
  • the binoculars 1 it is also provided here to use a combination of an electrical low-pass filter, a digital low-pass filter and a digital first-order shelving filter, the aforementioned filters being connected in series.
  • the second angular velocity detector 39 By means of the second angular velocity detector 39, an angular velocity due to movement of the binoculars 1 relative to the observed environment is detected.
  • the second angular velocity detector 39 provides motion dependent angular velocity signals.
  • the angular velocity signal of the second angular velocity detector 39 is supplied to the second control unit 37B. More specifically, the angular velocity signal of the second angular velocity detector 39 is supplied to the second control low-pass filter 80B.
  • the second control low-pass filter 80B ensures that low frequencies (for example less than 20 Hz) pass unhindered through the second control low-pass filter 80B and are added to the further signal processing for image stabilization. can be led.
  • the filtered signal of the second control low-pass filter 80B is forwarded to the second integration unit 82B via the second analog-to-digital converter 81B.
  • the output of the second integration unit 82B is also determined by Equation 1. Reference is made to the above statements.
  • the output signal of the second integration unit 82B is now forwarded to a second subtraction unit 95B.
  • the second subtraction unit 95B is further connected to a second Hall sensor 94B.
  • a second filter unit 96B is connected between the second subtraction unit 95B and a second control unit 97B.
  • the second control unit 97B is connected to the third drive unit 24C and the fourth drive unit 24D.
  • the two drive units 24C and 24D are in turn connected to the second gimbals 60B.
  • a signal line connects the second gimbals 60B to the second Hall sensor 94B.
  • a first control signal is now supplied to the first integration unit 82A of the first subtraction unit 95A. Furthermore, a first position signal of the first Hall sensor 94A is fed to the first subtraction unit 95A. A first subtraction signal is now from the subtraction of the first
  • the first subtraction signal is supplied to the first filter unit 96A.
  • the first filter unit 96A generates a first filter signal.
  • the first filter signal is then fed to the first control unit 97A, which generates a first positioning signal.
  • the first positioning signal is now supplied to the first drive unit 24A and the second drive unit 24B for moving the first gimbals 60A.
  • a second control signal is now supplied to the second integration unit 82B of the second subtraction unit 95B.
  • a second position signal of the second Hall sensor 94B is supplied to the second subtraction unit 95B.
  • a second subtraction signal is now generated from the subtraction of the second control signal and the second position signal.
  • the second subtraction signal is supplied to the second filter unit 96B.
  • Filter unit 96 B generates a second filter signal.
  • the second filter signal is now supplied to the second control unit 97B, which is a second positioning signal
  • the second positioning signal is now supplied to the third drive unit 24C and the fourth drive unit 24D for moving the second gimbals 60B.
  • the first filter unit 96A and / or the second filter unit 96B is / are designed as a low-pass filter, as a high-pass filter or as a band-pass filter.
  • the first filter unit 96A and / or second filter unit 96B is / are designed as a high-pass filter for filtering out signals with frequencies below 2 Hz. Accordingly, only signals with a frequency above 2 Hz pass the high-pass filter.
  • the first filter unit 96A and / or the second filter unit 96B is / are designed as a low-pass filter for filtering out signals with frequencies above 20 Hz. Accordingly, only signals with a frequency below 20 Hz pass the low-pass filter.
  • the first filter unit 96A and / or the second filter unit 96B is designed as a band-pass filter for filtering out signals with frequencies above 20 Hz and below 2 Hz. Accordingly, only signals in the bandwidth between 2 Hz and 20 Hz pass through the bandpass filter.
  • the first control unit 97A and / or the second control unit 97B are formed as a PID control unit. But it can also be used any other suitable control unit.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Adjustment Of Camera Lenses (AREA)
  • Telescopes (AREA)

Abstract

Système optique pour former une image d'un objet et procédé permettant de faire fonctionner ce système optique. Une première unité filtre (96A) constitue une partie d'une première unité de commande (98A). Un premier signal de commande produit par la première unité de commande (98A) est envoyé à une première unité de soustraction (95A). En outre, un premier signal de position produit par un premier détecteur de position (94A) est envoyé à la première unité de soustraction (95A). Un premier signal de soustraction est alors produit par soustraction du premier signal de commande et du premier signal de position. Le premier signal de soustraction est envoyé à la première unité filtre (96A). La première unité filtre (96A) produit un premier signal de filtre. Le premier signal de filtre est ensuite envoyé à une première unité de réglage (97A) qui produit un premier signal de positionnement. Le premier signal de positionnement est alors envoyé à une première unité d'entraînement (24A) pour déplacer une première unité de stabilisation d'image.
PCT/EP2014/050249 2013-01-11 2014-01-08 Système optique pour former une image d'un objet et procédé permettant de faire fonctionner ce système optique Ceased WO2014108448A1 (fr)

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