JPH03282372A - Motion detecting device for body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Field of Application in Business A] The present invention provides an apparatus for detecting the movement of a target object in space by installing a so-called inertial sensor such as a gyro that detects the movement of the object, for example, for the above purpose. The present invention relates to a device that detects information regarding spatial motion of an object, such as the amount of movement, amount of rotation, speed, angular velocity, acceleration, and angular acceleration.

[Prior Art] In general, detecting information regarding the three-dimensional translational movement or rotational movement of an object that moves freely in space using an inertial sensor or the like is carried out in various fields.

Recently, so-called image pre-suppression devices have been introduced that automatically suppress blurring of photographed images caused by vibrations caused by camera shake in photographic equipment such as still cameras and video cameras (hereinafter simply referred to as "cameras"). It is also used when installing.

Hereinafter, an object motion detection device will be explained using an example of camera hand motion detection means using an inertial sensor. However, the present invention is not limited to camera hand motion detection means, and can be used to detect motion information of a general object. It can also be used as a detection means.

In the present invention, the inertial sensor is exemplified by a physical quantity sensor such as an angular velocity meter such as a gyro or a vibration gyro, a semiconductor accelerometer, a servo accelerometer, or a servo angular accelerometer.

Camera shake, which is a problem with cameras, is vibration at a relatively low frequency, and in order to prevent blurring in the captured image even when subjected to such vibration, it is necessary to accurately control the camera vibration caused by camera shake. It is necessary to accurately and quickly drive a means for detecting blur and correcting it.

Camera shake is generally detected using an inertial sensor that detects angular velocity, angular acceleration, etc. that have a large effect on camera shake, and a shake detection means that electrically or mechanically integrates the signal to determine the angular displacement. It will be done.

An example of a conventional image pre-suppressing device equipped with such a pre-detection means will be briefly explained with reference to the ninth drawing.

The image pre-suppressing device shown in FIG. 9 is for suppressing the influence of image blur due to the vertical shake 81p and horizontal shake 81y occurring in the lens barrel 82, and uses the blur detection information detected by the pre-detection means. Based on this, the optical axis is changed by the correction lens system 86, and the photographed image is apparently kept stationary on the image plane 89, thereby suppressing image pretension.

83p is a vertical shake angular velocity meter, 83y is a horizontal shake angular velocity meter,
84p and 8431 indicate the direction of the angular velocity detected by these. The signals detected by these angular velocity meters are then sent to analog integration circuits 85p and 85, respectively.
Integrate by y and convert to angular displacement corresponding to camera shake. Based on this angular displacement signal, the driving units 87p and 87y drive the correction lens system 86 to change the optical axis, and the image plane 89
Image precipitate is suppressed by keeping the photographed image apparently still.

Note that 88p and 88y are position detection sensors of the correction lens system 86 with respect to the lens barrel 82, and are used, for example, to obtain a control signal for holding the correction lens system 86 at a neutral position when image pre-suppression is not performed.

FIG. 6(a) shows a vibrating gyroscope which is an example of an inertial sensor for detecting the above-mentioned angular velocity, and includes a vibrating mechanism 61,
An angular velocity meter case (not shown), a support means 62 for supporting the vibration mechanism 61 on the angular velocity meter case, and a vibration mechanism 61
The control circuit 63 is connected to the control circuit 63 and the like.

In the figure, the vibration mechanism 61 includes a vibration drive part 64 formed in a tuning fork shape, and a vibration drive part 64 arranged so that the rigidity in the direction perpendicular to the vibration surface is weak, and extended from the tip of the vibration drive part 64. It has a pair of vibrating pieces 65a and 65b.

A piezoelectric transducer 66 for vibration drive provided on one piece, and a piezoelectric transducer 67 (not shown) for vibration drive detection provided on the other piece are fixed to the vibration drive unit 64. There is.

When an excitation signal is input from the control circuit 63 to the first piezoelectric transducer 66 of the vibration drive unit as described above, the vibration drive unit 64 and the vibrating piece 65a integrally formed therewith,
65b vibrate in opposite directions as indicated by an arrow 68, and the piezoelectric transducer 67 detects this vibration and outputs a detection signal to the control circuit 63.

As shown in the figure, concentrated masses 69a and 69b are provided at the ends of the vibrating pieces 65a and 65b, respectively, so that these act as alternating loads and have alternating speeds in response to the vibrations.

With such a configuration, when an angular velocity Ω is applied from the outside around the axis 610 of the vibration mechanism 61, the Coriolis force Fc, which is determined by the product of the concentrated mass, the alternating velocity, and the input angular velocity, is expressed by the arrow 811a,
661b. The arrows 811a and 661b are in opposite directions because the vibrating pieces 65a and 65b are vibrating in opposite directions.

Here, the alternating speed is always kept at a constant amplitude by a control circuit 63, which will be described later, and the concentrated mass does not change, so the Coriolis force Fc changes in proportion to the human angular velocity, and the vibrating element 65
a, 65b are distorted in proportion to the Coriolis force Fc,
This strain is detected by the third piezoelectric transducers 612a and 612b, which are fixed with opposite polarization directions, and by processing this detection signal in the control circuit 63, the angular velocity applied from the outside is determined.

In the control circuit 63, the terminal output of the piezoelectric transducer 67 is grounded by a resistor 613 and then input to a non-inverting amplifier 615, and the terminal output of each piezoelectric transducer 612a, 612b is grounded by a resistor 614 and then input to a non-inverting amplifier 616. It is input and generates an amplified detection voltage.

The phase shift circuit 617 changes the phase by 9 in response to this amplified detection voltage.
The phase is shifted by 0 degrees and a phase voltage is generated. The most efficient vibration amplitude of the vibration mechanism 61 with respect to the excitation signal is to vibrate the vibration mechanism 61 at the resonant frequency of the vibration drive unit 64, but in a resonant state, the vibration amplitude input to the piezoelectric transducer 66 is the most efficient. The actual vibration phase is delayed by 90° relative to the vibration signal.
Therefore, the non-inverting amplifier 615 via the piezoelectric transducer 67
The amplified detection voltage from the excitation signal is delayed in phase by 90° with respect to the excitation signal. The role of the phase shift circuit 617 is this non-inverting amplifier 615
The purpose is to advance the phase of the signal from the source by 90 degrees to align the phase with the excitation signal.

The above-mentioned phase-aligned signals are input to the excitation signal 66 to form a so-called positive feedback circuit, and the amplified detection voltage of the non-inverting amplifier 615 is made larger than the input signal voltage. Vibration begins.

The rectifier circuit 618 rectifies the phase-shifted voltage from the B-phase circuit 617 to generate a rectified voltage.

The reference signal 619 generates a reference voltage for controlling the excitation signal to the piezoelectric transducer 66 and serves to keep the amplified detection signal from the non-inverting amplifier 615 constant.

Differential amplifier 620 amplifies the difference between the rectified voltage from rectifier circuit fi18 and the reference voltage from reference signal 619 to generate a differential amplified voltage.

The multiplier circuit 621 multiplies the phase voltage from the phase shift circuit 817 by the differential amplification voltage from the differential amplifier 620, and uses this multiplication result as a feedback voltage corresponding to the excitation signal to apply to the piezoelectric conversion element 6.
6 to use human power.

As mentioned above, the excitation signal voltage causes the non-inverting amplifier 615 to
When the amplified detection voltage is increased, the vibration driving section 64 starts to vibrate, but if this continues, the vibration gradually increases and becomes unstable with a distorted waveform due to the limitations of the power supply voltage. However, when the output of the multiplier circuit 621 is fed back positively, the vibration increases and the rectified voltage increases, and as it approaches the reference voltage, the output of the multiplier circuit 621 becomes smaller. The voltage ratio becomes smaller. That is, the amplification factor of the positive feedback circuit is controlled by the vibration amplitude and the reference signal, and the vibration driving section 64 performs stable vibration with a constant amplitude.

From the output of the non-inverting amplifier 616, a bandpass circuit 622 that passes only the vibration frequency component removes disturbances in a frequency band that is extremely low compared to the vibration frequency.

Such disturbances include, for example, distortion of the vibrating pieces 65a and 65b caused by gravitational acceleration, which is caused by the piezoelectric transducer 61.
Examples include acceleration signals detected and generated by 2a and 612b.

The synchronous detection circuit 623 synchronously detects the band amplified detection voltage from the band pass circuit 622 in relation to the phase shift voltage from the phase shift circuit 617 to generate a synchronous detection voltage.

FIG. 6(b) shows the state of the above-mentioned synchronous detection, in which the phase of the alternating velocity shown by a dashed-dotted line 626 is 90' ahead of the vibration 625 of the vibration drive unit 64 shown by the solid line.

Piezoelectric conversion elements 612a, 6 using external angular velocity Ω
The output of 12b is in the same phase as the alternating speed, as shown by a two-dot chain line 627.

The broken line indicates the output 628 of the piezoelectric transducer 67 that detects the vibration of the vibration drive unit 64, and the output of the piezoelectric transducers 612a and 612b is obtained by advancing this output 628 by 90 degrees in the phase shift circuit 617. 627 is synchronously detected.

FIG. 6(c) shows a synchronously detected voltage that has been synchronously detected, and by integrating the area indicated by diagonal lines in the diagram by a smoothing circuit 624, an angular velocity voltage representing the angular velocity Ω is obtained.

Above, FIGS. 6(a), (b), and (C) describe the conventional angular velocity meter, which is an example of an inertial sensor, but FIG.
The structure of the conventional servo angular acceleration sensor which is an example of another inertial sensor used for the said pre-detection means is shown.

The general structure of the above-mentioned servo angular acceleration sensor is such that a seesaw equipped with a thin plate with slits and a coil is sandwiched between an outer frame bottom plate equipped with a magnetic circuit back plate and a lid that also serves as a circuit board. ing.

In the figure, the outer frame bottom 74 includes a flange 75 and a bearing 76a with a low ms made of a ball bearing or the like.
7δb are integrally fixed, and the bearings 76a,
Both ends of the shaft 77 are supported by 76b. A seesaw 79 is supported on the shaft 77 so as to be swingable around the shaft 77. The seesaw 79 has frame-shaped structures 80a and 80b that are symmetrical to the left and right in the figure, sandwiching the shaft 77 between them.

A coil 78a is placed on the frame-shaped structure 80a,
Furthermore, a magnetic circuit back plate 713a to which a thin plate 714a and permanent magnets 711a and 712a are fixed is provided so as to sandwich the structure 80a and the coil 78a.

At the center of the thin plate 714a placed on the coil 78a, there is a slit 715 that penetrates in the thickness direction of the thin plate 714a.
A is provided.

A lid portion 710a that also serves as a magnetic circuit board is provided to cover the thin plate 714a, and a circuit board 71 is provided above the lid portion 710a.
6a is placed.

A light receiver 717a (for example, a semiconductor device detection element PSD) is provided on the circuit board 716a, and a light projector 718a (for example, an infrared light emitting diode IRED) is provided on the magnetic circuit back plate 713a.

Furthermore, on the side of the structure 80b, members such as the coil 78b, which have the same structure and function as the above-mentioned members such as the coil 78a, and whose reference numeral a has been replaced, are disposed.
In order to simplify the explanation, only the members marked with the symbol a will be explained below, and the explanations of the members marked with the symbol ``s'' will be omitted.

The magnetic flux from the permanent magnet 711a passes through the magnetic circuit board 710a of the Koisifu 8a1, the coil 78a, and the permanent magnet 712a, forming a closed magnetic circuit as a whole, and forming magnetic flux in a direction perpendicular to the coil 78a.

In this example, the winding direction of the coil 788 and the permanent magnet 7 are set so that when the coil 78a is energized, a force is generated in the opposite direction to the swing of the seesaw 79 due to the external angular acceleration a.
The polarity of 11a and 712a is set, and the seesaw 7
9 moves along the deflection direction of the angular acceleration a.

The signal circuit shown in the figure shows an example of an angular acceleration detection circuit, and includes a displacement detection amplifier 720 that amplifies the output of the light receiver 717, a compensation circuit 721 that stabilizes this feedback circuit, and a displacement detection amplifier 720. The coil 78a is connected in series with a drive circuit 722 that further amplifies the current of the amplified output from the coil 78a and energizes the coil 78a.

In the servo angular acceleration sensor having the above configuration, if an external angular acceleration a acts on the outer frame of the sensor as shown by an arrow 719, the seesaw 79 will move relative to the outer frame due to inertial force. It swings in the direction opposite to the arrow 719, and the slit 715a of the thin plate 714a moves in the direction of the arrow.

For this reason, the center of the light flux incident on the light receiver 717a from the light projector 718a is displaced, and an output of the light receiver 717a is generated in proportion to the amount of displacement of the center of the light flux.

This output is amplified by the displacement detection amplifier 720 as described above, and is further current amplified by the drive circuit 722 to form the coil 78.
A is energized.

When a current flows through the coil 78a, a force acts on the seesaw 79 in the direction of arrow R, which is opposite to the direction of the angular acceleration a, and returns the seesaw 79 to the position (origin) when the angular acceleration a is not applied. A control current is generated to try to return it. At this time, the value of the control current flowing through the coil 78a is proportional to the rotational force applied to the seesaw 79, and this rotational force is proportional to the force that returns the seesaw 79 to its origin, that is, the external angular acceleration a. By reading the control current as a voltage through the resistor 723, the magnitude of the angular acceleration a can be determined.

By integrating this angular acceleration, for example, the angular displacement required for the image pre-suppression device is determined.

[Problems to be Solved by the Invention] However, for example, a vibrating gyroscope used as a conventional angular velocity meter has the drawback of outputting an extremely large error in response to impact.

For example, when the vibration drive unit 64 of the vibration gyroscope described in FIG. 6(a) is vibrating at a certain specific frequency n,
Does it contain a vibration component of frequency n from the outside? #Strike is support means 6
Considering the case where the vibration component of frequency n changes the vibration amplitude of the vibration drive section 64 or distorts the vibrating pieces 65a and 85b, an error output is generated.

Therefore, in the image pre-suppressing device shown in FIG.
3p and 83y output errors, and the accompanying driving errors of the correction lens system 86 may cause disturbances in the image on the image plane 89 during exposure.

In order to eliminate such drawbacks, for example, Fig. 8 (a)
), it is conceivable to provide a buffer member 73 between the vibrating gyroscope and the lens barrel.

In the configuration shown in FIG. 8(a), the angular velocity meter shown in FIG. 6(a) is housed inside the angular velocity meter case 71, and the angular velocity meter case 71 is arranged so that the angular velocity detection direction is in the direction of the arrow 72. The vibration mechanism 61 is coupled with a support means 62, and the angular velocity meter case 71 is connected to the lens barrel 82 via a buffer member 73.
It is installed on.

As a result, even if a shock is transmitted to the lens barrel 82 at the time of release, the shock is attenuated by the buffer member 73 and is not transmitted to the angular velocity meter case 71, thereby preventing error output from the vibrating gyro.

However, such an angular velocity meter case 71 cannot be used with the buffer member 73.
On the other hand, if a configuration that supports this is adopted, the following problems may occur.

FIG. 8(b) is a diagram for explaining this problem,
This figure shows a state in which vertical camera shake 81p is input to the lens barrel 82. In this case, if the buffer member 73 is present, its elasticity will attenuate the vertical shake 81p that is originally intended to be detected. occurs, the vertical vibration 81p of the lens barrel 82 is not accurately transmitted to the angular velocity meter case 71, and therefore the output of the angular velocity meter housed in the angular velocity meter case 71 does not accurately reflect the actual vertical vibration 81p. .

In addition, if a vibration with a frequency close to the natural frequency determined by the elasticity of the buffer member 73 and the mass of the angular velocity meter case 71 is input, the angular velocity meter case 71 force ≦ the vibration will be larger than the actual vibration. The output of a vibrating gyro also has the disadvantage of being larger than the actual vibration.

IS diagrams (c) and (d) explain the state of erroneous output caused by such causes. For example, FIG. It shows the frequency characteristics of the value, for example 3
01 (Z) outputs five times the actual blurring, and conversely the output decreases at frequencies higher than that.

Further, Fig. 8(d) shows the phase relationship shown in Fig. 8(C), but it can be seen that when the frequency exceeds IGHz, the phase begins to lag and accurate pre-detection cannot be performed.

In order to solve this problem, '88 Figures (C) and (d)
) is a fill circuit that cancels the frequency characteristics of the smoothing circuit 62.
4 ('1fiS diagram (a)), but the method using a filter circuit has the following problems.

The first problem is that the elasticity of the vertical vibration 81p member 73 changes depending on the temperature, so the natural frequencies of the angular velocity meter case 71 and the buffer member 73 have temperature characteristics, and the filter circuit also has to follow this. This necessitates the use of a temperature sensing element or the like. However, even in this case, the temperature change in the elasticity of the buffer member 73 is not necessarily linear, and there are large individual differences, so it is difficult to accurately follow the change.

Secondly, Q (Quality factor), which represents the sharpness of the resonance at the natural frequency in FIG. 348(e), is sharp, and it is not easy to set up a filter circuit that cancels this characteristic.

As mentioned above, although pre-detection using a vibrating gyroscope has many advantages, there are still problems to be solved in order to actually realize accurate detection.

In addition to the vibration gyroscope, a servo angular acceleration sensor as shown in Figure 'i47 may be used for pre-detection. However, with such a pre-detection means using a servo angular acceleration sensor, when an impact is input at the time of release, for example, the seesaw 79 swings greatly while the impact continues, and then the seesaw 79 returns to its original position when the impact disappears. When returning, between the shaft 77 and the bearings 76a and 76b, and between the bearing 7
6a, 76b Due to the slight gap (play) between the balls of the ball bearings and the sleeve, the seesaw 79
The disadvantage is that the position of the output deviates from the initial position, resulting in an error in the output.

In order to overcome this problem, it is possible to use an ms member as in the case of the vibrating gyroscope, but Mf11
If such a component is used, the problem of frequency deterioration will occur as in the case of a vibrating gyro.

Further, as an example of another image pre-suppressing device using an inertial sensor, for example, an acceleration sensor 7 as shown in FIG.
24p, 724y, 7251), and 725y are arranged at equal intervals on the circumference in the radial direction of the lens barrel 82, and the sixth
Similarly to the explanation in FIG.
There is a method of finding the angular acceleration using 26y and finding the pre-angle from the output.

However, even with this method, an error output occurs due to play in the supporting means of the sensing pendulum in the acceleration sensor when an impact is input, and distortion in each component part, and an M impact means is required as in the case of each side described above. Therefore, it has the same drawbacks as mentioned above.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of conventional detection devices and to provide a means for detecting movement information that is resistant to impact and has high accuracy.

[Means for Solving the Problems] The features of the present invention that achieve the above objects include an object capable of spatial movement, and a device supported by the object via a buffer means to detect the movement of the object. a motion detection means, and the above yi
Relative motion detection means detects the relative movement between the object and the motion detection means based on the deformation of the city means, and the amount of movement, amount of rotation, and speed of the movement of the object based on the detection information from the two detection means. The present invention provides an object motion detection device having a calculating means for determining at least one of angular velocity, acceleration, and angular acceleration.

[Function] According to the present invention configured as described above, the problem that the motion detecting means generates a large output in response to an impact is solved by the buffering means, and the problem that is caused by the provision of the buffering means is solved. Since the problem can be corrected using the output of the relative motion detection means that detects the relative motion between the object and the motion detection means, it is possible to detect accurate information regarding motion that is less susceptible to impact. .

[Example] The present invention will be described in detail below based on the example shown in FIGS. 1(a) to 5(c).

Note that the same reference numerals are used for common elements in these figures and elements common to the conventional example shown in FIGS. 6 to 9, and detailed explanation thereof will be omitted.

Example 1 FIG. 1(a) shows Example 1 of the object motion detection device of the present invention.
FIG.

In this example, in order to obtain the relative angular displacement between the lens barrel, which is an object that can move spatially, and the angular velocity meter, which is the motion detection means, we will use a plurality of magnetic sensors installed on the lens barrel and an angular velocity sensor. An example is shown in which a relative motion detection means is configured with a magnetic body provided in a case housing the meter, and the relative angular displacement between the lens barrel and the angular velocity meter is determined.

That is, in the figure, 84 is an axis related to the movement of the object to be detected (hereinafter simply referred to as the "detection axis" for convenience of explanation), and in this example, it is the axis for detecting the angular velocity of blurring occurring in the lens barrel. be. An angular velocity meter (not shown) having the axis 84 as a detection axis is housed in an angular velocity meter case 71, and this case is supported by the lens barrel 82 via a buffer member 73.

On the other hand, a magnetic belt 13 is wound around the outer peripheral surface of the angular velocity meter case 71, and the opposing surfaces of the belt 13 and the lens barrel 82 are parallel surfaces, and the plane of one of the lens barrels 82 is Magnetic sensors lla and llb, such as MR elements, are arranged at two locations facing the belt and spaced apart from each other.

With this configuration, if the outputs of these magnetic sensors lla and 11b are manually input to the differential amplifier 12 to find the difference, the outputs of the magnetic sensors lla and 11b can be calculated around the detection axis 84 (arrow 7) between the lens barrel 82 and the angular velocity meter.
relative angular displacement in two directions) can be obtained.

Note that the calculation means on the angular velocity meter side is composed of an integrator and an adder, and a signal indicating the angular velocity of the lens barrel to be determined by Kiri, that is, the output of the angular velocity meter, is inputted to the integrator 85 via the control circuit 63. It is converted into an angular displacement and inputted to the adder 15 manually.

On the other hand, the calculation means on the side of the relative motion detection means is a differential amplifier,
A magnetic sensor l comprising a gain adjuster and an adder and indicating the relative position of the lens barrel 82 and the case 71.
The difference between the outputs of la and llb is determined by the differential amplifier 12, and the gain adjuster 14 calculates the scale factor of this difference and the integrator 8.
The scale factors of the outputs of 5 and 5 are matched and outputted to the adder 15.

The adder 15 adds the output of the integrator 85 and the output of the gain adjuster 14, thereby making it possible to obtain an angular displacement close to the true value.

FIG. 1(b) is a diagram illustrating the reason why the signal based on the output of the angular velocity meter is appropriately corrected as described above with the above configuration in terms of the relationship between the movement of the object and the motion detection device. That is, the camera shake 16 that occurs in the lens barrel 82 is absorbed by the buffer member 73.
When transmitted to the angular velocity meter case 71 via the angular velocity meter case 71, the output of the angular velocity meter generally exhibits a shake as shown by an arrow 17, which is different from the original camera shake 16, due to the elasticity of the buffer member 73.

Then, the output corresponding to this arrow 17 is passed through the control circuit 63, integrated by an integrator 85, and converted into an angular displacement.

On the other hand, the difference between the vibrations 16 and 17 can be detected by the magnetic sensors lla, llb and the differential amplification 512 as described above.

Therefore, if the above-mentioned two outputs are added by the adder 15, the output of the gain adjuster 14 is the same in magnitude as the output of the integrator 85, but has opposite polarity, so they cancel each other out, and in the end, the output from the adder 15 The output shows the improved characteristics shown in FIGS. 8(C) and 8(d).

Furthermore, when high-frequency vibration is applied to the lens barrel 82, there is almost no vibration as indicated by the arrow 17, so the output of the integrator 85 is extremely small, but the difference between vibrations 16 and 17 becomes large. The output of the gain adjuster 14 is also large, and the adder 15 can output a blur 16.

Embodiment 2 This embodiment shows an example of relative motion detection means that utilizes the elasticity of a rubber tube or the like in order to determine only the relative angular displacement between the lens barrel and the angular velocity meter around the angular velocity detection axis.

Note that, as in the first embodiment, an angular velocity meter case 71 housing an angular velocity meter having an axis 84 as a detection axis is supported on a lens barrel 82 via a buffer member 73.

FIG. 2(a) is a perspective view schematically showing the object motion detection device of this second embodiment.

In the figure, 21 is a shaft that is fixed to the angular velocity meter case 71 and extends in the direction of the angular velocity detection axis 84, and 23 is a shaft that is rotatably supported through a support base 28 that is integrated with the lens barrel 82. be. These shafts 21, 23 are connected via a member having high torsional rigidity and low bending rigidity, such as a rubber tube 22.

In this example, a slit plate 24 is fixed to the shaft 23 to which only the rotation about the detection axis 84 of the case 71 is transmitted, on the opposite side of the angular velocity meter case 71 with the support stand 28 in between, so that the slit plate 24 is integrated with the angular velocity meter case 71. It rotates. In addition, in order to observe the movement of the slit 25 provided in the slit plate 24, a beam of light is inputted from the projector 26 fixed to the lens barrel 82 through the slit to the light receiver 27 fixed to the support base 28. It is designed to detect vibration.

According to such a configuration, the rotation of the angular velocity meter case 71 around the angular velocity detection axis 84 is expanded, and there is an effect that only the relative rotation can be accurately detected.

Further, there is an advantage that only one detection means is required and there is no need for a differential amplifier.

Example 3 In this example, in order to determine the relative angular displacement between the lens barrel and the angular velocity meter around the angular velocity detection axis, a magnetic seesaw rotatably supported on the fixed part of the lens barrel is used as the relative motion detection means. An example of its use is shown. In this example, as in the first embodiment, an angular velocity meter case 71 housing an angular velocity meter having an axis 84 as a detection axis is supported on a lens barrel 82 via a buffer member 73.

FIG. 2(b) is a perspective view schematically showing the object motion detection device of this third embodiment.

As shown in the figure, in this example, a fixed support base 214 on the lens barrel 82 is provided with a shaft 212 parallel to the angular velocity detection axis, and a seesaw 211 made of a magnetic material that can rotate around this shaft 212 is provided. In addition, the angular velocity meter case 7
Soft wires 210a and 210b suspended from protrusions 29a and 29b provided spaced apart from each other are connected to both ends of the seesaw.

With this configuration, when a shake occurs in the lens barrel 82, the seesaw 211 also rotates in conjunction with the rotation of the angular velocity meter. Therefore, the degree of rotation of this seesaw is determined by the support base 21.
4 is detected by a magnetic sensor 213 such as a Hall element.

This detection output is input to the gain adjuster 14, and after adjusting the scale factor, is output to the adder 15.

The output of the angular velocity meter, which is converted into an angular displacement via the control circuit 63 and the integrator 85, is also input to the adder 15, and by adding these two outputs, the angular velocity of the lens barrel 82 and the angular velocity are determined. This embodiment is similar to the second embodiment in that only the relative angular displacement with respect to the meter can be detected.

Embodiment 4 This example shows a type that detects the relative angular velocity between a lens barrel and an angular velocity meter using the principle of a tachometer generator, which is a generator for a tachometer, as a relative motion detection means.

In this example, as in the first embodiment, an angular velocity meter case 71 that houses an angular velocity meter is supported on a lens barrel 82 via a buffer member 73.

'T%3 FIG. 3 is a perspective view schematically showing the object motion detection device of the fourth embodiment.

In this example shown in this figure, an annular internal tooth 31 is provided on the outer circumferential surface of the angular velocity meter case leaf 1, and a circular ring having external teeth 32 on the opposite lens barrel 82 side is provided outside the internal tooth 31. A ring-shaped member is provided.

By providing a coil (not shown) on the internal teeth 31, a tacho generator is configured in relation to the external teeth 32.

The scale factor of the relative angular velocity between the lens barrel 82 and the angular velocity meter detected by the tachometer generator is adjusted by the gain adjuster 14, and added to the angular velocity output from the control circuit 63 by the adder 15.

Note that the output of the adder 15 can also be converted into an angular displacement by an integrator (not shown).

According to the angular velocity meter with such a configuration, since the accurate relative angular velocity around the angular velocity detection axis is detected at the stage of angular velocity detection by the tacho generator, the output of the tacho generator is added as described above and the resulting signal is For example, there is an advantage that the drive means for the correction lens of a normal image pre-suppressing device can be used manually.

Embodiment 5 FIG. 4(a) is a perspective view schematically showing an object motion detection device according to Embodiment 5.

In Examples 1 to 4 already described, a buffer member is provided between the angular velocity meter storage case and the lens barrel, whereas in this example, the angular velocity meter case is provided with a lens barrel. It is directly attached to and integrated with the vibration gyro support means (6th
Figure (a) shows an example of a type that has a flexible structure that also serves as a buffer such as shock absorption.

That is, the supporting members 62a and 62b shown in FIG.
This corresponds to the support means 62 in a), but in this example it is made of a thin plate that is easily flexible, and itself functions as a buffer member.

The vibration mechanism 61 (see FIG. )) and the angular velocity meter case can be detected.

FIG. 4(b) is a diagram illustrating the relationship between the movement of the object and the motion detection device in such a configuration.

Now, if we consider the case where, for example, high frequency vibration is applied to the device of this example, the angular velocity meter case 71 will shake in the direction of arrow 16 as shown in the figure. This vibration is absorbed by the supporting members 62a and 62b, which have the above-mentioned characteristic of being easily bent, and the vibration itself is not transmitted to the vibration mechanism 61.

Therefore, the detection signal output from the vibrating gyroscope does not include the vibration element corresponding to the absorbed vibration as it is.

Therefore, in this example, the distortion generated in the supporting members 62a and 62b is taken out as the output of the differential amplifier 12, and
The adder 15 adds the angular displacement signal from the integrator 85 to enable accurate angular displacement detection.

Embodiment 6 FIG. 5(a) is a perspective view schematically showing an object motion detection device according to Embodiment 6.

Similar to the fifth embodiment, this example also shows an example in which the case of the gyro meter is directly attached to the lens barrel, and the supporting means of the vibrating gyroscope is made of a flexible structure so that it also serves as the M transmission means.

That is, in the apparatus of the fifth embodiment, the support member 62a
Elastic thin plates are used as the support members 62a and 62b, and the strain is directly detected. However, in this example, the vibration mechanism is suspended using thin wires as the support members 62a and 62b, and the movement of the vibration mechanism is detected. I am trying to detect it directly.

To specifically explain the structure for this purpose, in the wooden example, the upper and lower portions of the vibration driving section 64 of the vibrating gyroscope are suspended by thin wires 62a and 62b to serve as a support means that also serves as a buffer means.

Then, the magnetic targets 52a and 52b provided separately on the vibration drive unit 64 can be detected by magnetic sensors 51a and 51b fixed to a lens barrel (not shown), whereby the object and the motion detection means can be detected. The relative angular displacement with the

In the motion detection device of this example, the same effects as in the fifth embodiment can be obtained.

Embodiment 7 This embodiment shows an example in which displacement in a rectilinear motion of an object is detected using an acceleration sensor as a motion detection means.

FIG. 5(b) is a perspective view schematically showing an object motion detection device according to a seventh embodiment.

In the figure, 58 is an acceleration sensor housed in a case, and its acceleration detection axis is in the direction of movement of the object (direction of arrow 59 in the figure). In order to detect the displacement in the direction of linear motion based on the output of the acceleration sensor 58, the output of the sensor is double integrated by the integrator 55 in this example.

By the way, this acceleration sensor applies N to an object (not shown).
It is supported via a surface member 73.

Therefore, as the object moves in a straight line, the acceleration sensor also moves, but since the buffer member 73 has elasticity, the movement of the object in the detection axis direction and the movement of the acceleration sensor cannot be said to be completely the same.

Therefore, in order to detect the true displacement of the object in the direction of linear motion, as in each of the above embodiments, the relative displacement between the object and the acceleration sensor is detected, and the displacement based on the output of the acceleration sensor is detected. It is necessary to correct the information.

Therefore, in this example, a target 511 is provided as a relative movement detection means in front of the acceleration sensor in the straight direction, and the movement of the target 511 is detected by an eddy current distance sensor 510 fixed to an object opposite to this target 511. The relative distance between the object and the acceleration sensor 58 in the direction of the arrow 59 is detected.

Therefore, after adjusting the detected relative distance information using the gain adjuster 14, the output of the acceleration sensor 58 is double integrated using the integrator 55 based on the same idea as in each of the above embodiments. By manually inputting the calculated displacement to the adder 15, true displacement information of the object to be determined can be obtained.

In addition, four sets of the devices shown in FIG. 5(b) including this acceleration sensor are used, for example, the entire shake detection means 58°p, 58°y shown in FIG. 8(e), shown in FIG. 5(b). ), it is possible to configure a highly accurate image pre-suppression device for the camera.

Embodiment 8 This example uses a pre-detection means in which two servo angular acceleration sensors as shown in FIG. 7 are provided on the outer circumferential surface of the lens barrel in order to detect blurring occurring in the lens barrel. An example is shown.

FIG. 5(c) is a perspective view schematically showing an object motion detection device according to an eighth embodiment.

In the figure, 54 is an annular ring attached to the outer peripheral surface of the lens barrel 82 via a buffer member 73, and on the ring 54, for example, servo angular acceleration sensors 57p and 57Y as shown in FIG. 7 are mounted, respectively. Case 71p, 71y
It is installed in two axes that are orthogonal to each other.

Note that the detection axes of the servo angular acceleration sensors 57p and 57y are in the directions of arrows 53p and 53y that are orthogonal to each other.

The outputs of the servo angular acceleration sensors 57p and 57y are double-integrated by integrators S5p and 55y, respectively, and converted into an angular displacement of the shake, thereby determining the relative shake in the two axial directions.

Here, the outputs of the servo angular acceleration sensors 57p and 57y are N? Due to the elasticity of the # member 73, the lens barrel 82
Since this takes a value different from the actual shake that occurs in the lens barrel 82, in order to obtain information on the shake that actually occurs in the lens barrel 82, the relative shake between the lens barrel 82 and the servo angular acceleration sensor is detected,
It is necessary to correct the output of the servo angular acceleration sensor.

Therefore, in this example, three distance sensors 56a, 56b, and 56c are arranged at appropriate intervals on the outer peripheral surface of the lens mirror WJB2, and the relative distance between the lens barrel 82 and the ring 54 in the optical axis Y direction is A relative movement detecting means for detecting distance is configured. According to such a configuration, the outputs of the distance sensors 58a and 56b and the outputs of the distance sensors 56b and 5
The outputs of 8c are input to differential amplifiers 12p and 12y, respectively, and converted into angular displacement, and gain adjusters 14p and 14y
The gain is adjusted and inputted to adders 15p and tsy.

According to such a configuration, the servo angular acceleration sensor 57p
and 57y, not only no error output is generated due to the impact generated on the lens barrel 82, but also there is no deterioration of frequency characteristics, so that highly accurate pre-detection is possible.

The present invention is not limited to the object motion detection device of each embodiment described above, and even if the same configuration is applied to a device using an optical fiber gyro or the like as an angular velocity sensor,
Similar good effects can be obtained.

Further, in each of the above embodiments, the gain adjuster 14 is not connected to the output of the differential amplifier 15, and the control circuit 63 and the integrator 8
5, or between the integrator 85 and the adder 15, or between the detection means 11a and ttb (Figure 341(a)
), 41a, 41b (Fig. 4(a)), 51
a, 51b (Fig. 5(a)) and the differential amplifier 12
The adder 15 may be connected in series between them, and the adder 15 may be replaced with a differential amplifier depending on the polarity of the output of the detection means or the angular velocity meter.

Similarly, the differential amplifier 12 also has detection means 11a, 11b.
, 41a, 41b, 51a, and 51b may be replaced with adders by reversing their polarities.

Various methods can be considered for detecting the relative change between the lens barrel 82 and the angular velocity meter, such as one using capacitance, one using differential transformer, or one using inertia. It is not limited to the means shown.

Furthermore, although the present invention has been explained using a lens barrel as an example of an object capable of spatial movement, the present invention is applicable not only to lens barrels but also to general objects whose motion is to be detected. It is possible to do so.

[Effects of the Invention] As explained above, according to the present invention, the problem that the motion detection means generates a large output in response to an impact can be solved.
This can be resolved by intervening a means of conflict, and
The problem caused by providing this buffering means is corrected by using the output of the relative movement detection means that detects the relative movement between the object and the movement detection means, so in the end, the problem as a whole This has the advantage that it is possible to configure object motion detection that is less susceptible to impact, has a wide detection frequency band, and can detect accurate information regarding motion.

[Brief explanation of drawings]

FIG. 1(a) is a perspective view schematically showing the object motion detection device according to the first embodiment of the present invention, and FIG. 1(b) shows that the signal based on the output of the angular velocity meter in the above embodiment is appropriate. FIG. 3 is a diagram illustrating the reason why the motion is corrected in terms of the relationship between the motion of the object and the motion detection device. FIG. 2(a) is a perspective view schematically showing a second embodiment of the object motion detection device of the present invention. FIG. 2(b) is a perspective view schematically showing an object motion detection device according to a third embodiment of the present invention. Embodiment 4 FIG. 3 is a perspective view schematically showing an object motion detection device according to a fourth embodiment of the present invention. FIG. 4(a) is a perspective view showing an outline of the object motion detection device according to the fifth embodiment of the present invention, and FIG. 4(b) is a perspective view showing the movement of the object and the motion detection device in the above embodiment. FIG. FIG. 5(a) is a perspective view schematically showing an object motion detection device according to a sixth embodiment of the present invention. FIG. 5(b) is a perspective view schematically showing an object motion detection device according to a seventh embodiment of the present invention. FIG. 5(c) is a perspective view schematically showing an object motion detection device according to an eighth embodiment of the present invention. Figure 6(a) is a structural diagram of a conventional vibrating gyro;
FIG. 6(b) is an explanatory diagram of the state of synchronous detection of the vibration gyroscope, and FIG. 6(c) is a diagram showing the synchronous detection voltage. 'gS7 is an exploded view showing the structure of a conventional servo angular acceleration sensor. FIG. 8(a) is a perspective view showing an outline of an angular velocity meter using a conventional vibrating gyro, FIG. 8(b) is an explanatory diagram of its operation, and FIG. 8(C) is a vertical view of the camera. FIG. 8(d) is a diagram showing the integral frequency characteristic of the output of the vibrating gyroscope with respect to the amplitude, and FIG. 8(d) is a diagram showing the phase relationship in FIG. 8(c). FIG. 8 is a perspective view showing a conventional angular velocity meter using two servo angular acceleration sensors. FIG. 9 is a perspective view schematically showing an image pre-suppressing device equipped with a conventional pre-detection means. 11a, llb: Magnetic sensor 12: Differential amplifier 14: Gain adjuster 15: Adder 2: Shaft 22: Rubber tube 23: Shaft 24 Nislit plate 25 Nislit 26: Emitter 27: Light receiving @ 28: Support stand 29a, 2
9b: Protrusion 31: Internal tooth 32: External tooth 41a, 41b: Strain gauge 51a, 51b: Distance sensor 52a, 52b: Target 54: Ring 55: Integrator 56a 56
b, 56c: Distance sensor 57p, 57y
: Servo angular acceleration sensor 58 Biangular acceleration sensor 61 : Vibration mechanism 62a, 62b : Support member 63 : Control circuit 64 : Vibration drive unit 71 : Angular velocity meter case 73 : Buffer member 82 : Lens barrel 84
: Angular velocity detection axis 85: Integrators 210a, 210b: Wire 211: Lever 212: Axis 213: Magnetic sensor 214: Support base 510: Distance sensor 511: Target Fig. 1 (b) Fig. 5 Fig. 5 (b) 5 Figure (C) 4v 〉 Figure (b) (C) ゛(-m-/' Figure (e)

Claims (1)

[Claims] 1. An object capable of spatial movement, a motion detection means supported by the object via a buffer means for detecting the motion of the object, and the above-mentioned method based on a modification of the buffer means. Relative motion detection means detects relative motion between the object and the motion detection means, and based on detection information from the two detection means, the movement amount, rotation amount, speed, angular velocity, acceleration, and angular acceleration of the movement of the object are detected. A motion detection device for an object, characterized in that it has a calculation means for determining at least one of the following. 2. In claim 1, the relative motion detection means is a means for detecting the relative distance between the motion detection means and the object at a plurality of positions in a plane perpendicular to an axis related to the motion to be detected among the motions of the object. An object motion detection device characterized by: 3. In claim 1, the relative motion detection means detects a member that rotates together with the motion detection means around an axis related to the motion to be detected among the motions of the object, and the relative rotation between this member and the object. An object motion detection device characterized in that it is a means for detecting motion of an object. 4. In claim 1, the relative motion detection means is rotatably supported by the object in a plane perpendicular to an axis related to the movement to be detected among the motions of the object, and 1. A motion detection device for an object, comprising: a member that is rotated in conjunction with the motion of the object; and means for detecting the rotation of the member. 5. In claim 1, the motion detecting means is a means for detecting a linear motion in the axial direction related to the motion to be detected among the motions of the object, and the relative motion detecting means is a means for detecting a linear motion in the axial direction related to the motion to be detected among the motions of the object, and the relative motion detecting means is a means for detecting a linear motion in the axial direction related to the motion to be detected among the movements of the object. A motion detection device for an object, characterized in that the device is a means for detecting a relative distance to the object. 6. The object motion detection device according to claim 1, wherein the object capable of spatial movement is a lens barrel. 7. In claim 6, the motion detection means is a detection means for detecting rotational motion of the lens barrel around two mutually orthogonal radial axes, and the relative motion detection means is
A motion detection device for an object, characterized in that the device is a means for detecting relative distances between the detection means and the lens barrel around each of the two axes.