JPH10104682A - Image stabilizing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the structure of a gimbal hanging means simple and to facilitate the assembly thereof by forming an outer gimbal hanging member by dividing it into two and executing the assembly by fitting a bearing in both end parts of the gimbal member in an image stabilizing device constituted so that an erect prism is loaded on the gimbal hanging means and fixed to an inertia system. SOLUTION: This device is formed so that the outer gimbal hanging member 7 is constituted of a pair of gimbal halves 7A and 7B obtained by forming bearing interposing parts 7Ab and 7Bb at the central parts of frames 7Aa and 7Ba. By fitting the bearings 71 and 72 in bearing fitting parts 7Ac and 7Bc formed at both end parts of the frames on a condition that the divided surfaces 7Ad and 7Bd are joined, the gimbal hanging member 7 is assembled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

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

[0002]

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

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

That is, in this technique, an erect prism is arranged on an optical axis between an objective lens and an eyepiece of binoculars, and the erect prism is fixed on gimbal suspension means to which a rotating inertia body is attached. In addition, even if the binoculars vibrate due to camera shake or the like, the erecting prism is held at substantially the same spatial position to prevent blurring of the observation image of the binoculars.

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

[0006]

However, such a conventional technique has the following problem because the gimbal suspension means is accommodated in the case of the optical device. That is, since the gimbal suspension means is attached to the case so as to be rotatable around two rotation axes extending in the left-right direction and / or the up-down direction, the erect prism is fixedly supported. The outer gimbal suspension member must be rotatably supported by the outer gimbal suspension member, and the outer gimbal suspension member must be rotatably supported by the case. For this reason, the gimbal suspension means has a problem that the structure is complicated and the assembling thereof is troublesome.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides an image stabilizing apparatus capable of easily mounting a gimbal suspension unit having an erect prism with a simple structure. It is intended for.

[0008]

The image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erect prism is disposed between an objective lens and an eyepiece, and the objective lens of these optical systems is used. And an image stabilizing device mounted on an optical device having an eyepiece fixed in a case,
Gimbal suspension means having two rotation shafts extending in the left-right direction and up-down direction of the optical device, and rotatably mounting the erect prism on the case, wherein the gimbal suspension means is An inner gimbal suspension member for fixedly supporting the erecting prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and a first bearing for rotatably supporting the inner gimbal suspension member on the outer gimbal suspension member; A second bearing for rotatably supporting the outer gimbal suspension member on the case, wherein the outer gimbal suspension member comprises a pair of gimbal halves assembled so as to sandwich the first bearing; Assembling the pair of gimbal halves includes fitting the second bearing into the ends of the pair of gimbal halves. It is characterized in that is made by. Actuator means for rotating the gimbal suspension means around the two rotation axes;
Two angular position information detecting means for respectively detecting the angular positions of the gimbal suspension means around the rotation axis of the book, and the angular velocity of the gimbal suspension means fixed to the gimbal suspension means due to a change in the attitude of the optical device Two angular velocity information detecting means for detecting information, and the actuator means for fixing the erecting prism to an inertial system based on information detected by the angular position information detecting means and the angular velocity information detecting means. Preferably, the apparatus further comprises feedback control means for driving and controlling rotation of the gimbal suspension means around two rotation axes.

The first bearing may be provided only at one end of the pair of gimbal halves, but is preferably provided at both ends of the pair of gimbal halves. The same applies to the second bearing.

[0010]

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

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

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

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

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

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

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

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

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

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

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

Since the angular velocity sensors 8 and 108 have a simple structure and a very small size, the image stabilizing device 20 itself can have a simple structure and a small size. Further, since the S / N ratio is high and the accuracy is high, the angular velocity control can be performed with high accuracy. Further, as shown in FIG. 2, the outer gimbal suspension member 7 is
The left and right ends are rotatably supported by the case 30 via bearings 71 and 72, while the inner gimbal suspension member 107 has bearings at the upper and lower ends.
It is rotatably supported by the gimbal suspension member 7 via 171 and 172.

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

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

As shown in detail in FIG. 8, the outer gimbal suspension member 7 comprises a pair of gimbal halves 7A and 7B divided into two parts. Each of these gimbal halves 7A, 7B is composed of a rectangular frame 7Aa, 7Ba
It comprises a pair of upper and lower bearing holding portions 7Ab, 7Bb formed at the center of 7Aa, 7Ba, and bearing fitting portions 7Ac, 7Bc formed at both left and right ends of the frames 7Aa, 7Ba.
The split surface 7A of the pair of gimbal halves 7A and 7B
With the d and 7Bd together, the bearing fitting portions 7Ac and 7B
The gimbal suspension member 7 is assembled by fitting the bearings 71 and 72 into c.
In this assembly, the bearing holding portions 7Ab and 7Bb formed in a substantially arc shape hold the bearings 171 and 172 and the plate 153 fitted to the upper and lower ends of the inner gimbal suspension member 107 from front and rear. It has become.

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

Therefore, according to the present embodiment, when an image stabilizing device equipped with a speed sensor is employed, the gimbal suspension means can be of a simple structure and easy to assemble. Note that the image stabilizing device of the present invention is not limited to the above-described embodiment, but may be replaced with the above-described type in which the gimbal suspension unit is controlled using the output value from the angular velocity sensor. It can be applied to a type that increases the inertial force of the gimbal suspension means using

Other various modes can be changed. For example, as the angular velocity information detecting means, a triangular prism vibrator type, a quadrangular prism vibrator type, or a tuning fork vibrator can be used in addition to a cylindrical vibrator type piezoelectric vibrating gyro sensor. It is possible to use a piezoelectric vibration gyro sensor using various types of vibrators such as a child type, and it is also possible to use other various angular velocity sensors. Note that various angle sensors such as a resolver, a synchro, and a rotary encoder can be used as the angular position information detecting means instead of the position sensor.

Although the apparatus of the above embodiment is configured to be applied to binoculars, the image stabilizing apparatus of the present invention may be configured to be applicable to monocular. The same effect can be obtained even when the camera is mounted on a camera such as a video camera.

[0029]

According to the present invention, the outer gimbal suspension member of the gimbal suspension means constituting the image stabilizing device sandwiches the first bearing for rotatably supporting the inner gimbal suspension member on the outer gimbal suspension member. A pair of gimbal halves assembled in such a manner, the assembling is performed by fitting a second bearing that rotatably supports the outer gimbal suspension member to the case at the ends of the gimbal halves. Therefore, the inner gimbal suspension member can be incorporated inside the outer gimbal suspension member and the outer gimbal suspension member itself can be assembled without using screws or other new fastening means. That is, it is possible to assemble the gimbal suspension means rotatable around the two rotation axes only by the constituent members of the gimbal suspension means. Therefore, according to the image stabilizing device of the present invention, the gimbal suspension means can have a simple structure and can be easily assembled.

[Brief description of the drawings]

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

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

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

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

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

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

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

FIG. 8 is a perspective view showing in detail the outer gimbal suspension member shown in FIG. 1;

[Explanation of symbols]

1a, 1b Objective lens (objective lens system) 2a, 2b Eyepiece lens (eyepiece lens system) 3a, 3b Erect prism 4a, 4b Optical axis 5 Rotary drive motor (ToruCa) 105 Rotary drive motor (ToruCa) 6,106 Rotation Shaft 7 Gimbal suspension member (outer gimbal suspension member) 7Aa, 7Ba frame 7Ab, 7Bb Bearing holding portion 7Ac, 7Bc Bearing fitting portion 7Ad, 7Bd Dividing surface 107 Gimbal suspension member (inner gimbal suspension member) 8, 108 Angular velocity sensor 9, 109 Position sensor 10a, 10b Telescope optical system 12 CPU 20 Image stabilizer 53, 153 Plate 54, 154 Coil 55, 155 Plate 56, 156 Magnet 71, 72 Bearing (second bearing) 171, 172 Bearing (first bearing) bearing)

[Procedure amendment]

[Submission date] October 31, 1996

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0002

[Correction method] Change

[Correction contents]

[0002]

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

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

That is, in this technique, an erect prism is arranged on an optical axis between an objective lens and an eyepiece of binoculars, and the erect prism is fixed on gimbal suspension means to which a rotating inertia body is attached. In addition, even if the binoculars vibrate due to camera shake or the like, the erecting prism is held in substantially the same posture to prevent blurring of the observation image of the binoculars.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

On the other hand, the applicant of the present application mounts an angular velocity sensor on the gimbal suspension means in place of the rotary inertia body, and controls the rotational position of the gimbal suspension means based on the output value from the angular velocity sensor to erect the erect. An image stabilizing device has been proposed in which the attitude of a prism is fixed with respect to the earth (inertial system) (Japanese Patent Laid-Open No. Hei 6-250100). According to this device, the basic
The erect prism held by the gimbal suspension means
Vibration, especially high vibration speed, high vibration frequency
Appearance of relatively large amplitude vibration
High power retention. Therefore, the output from the angular velocity sensor
The control force of the rotational position based on the force may be small. But,
Vari-angle prism and other image stabilization with lens drive
The device requires an active drive and high frequency vibration
In order to correct large amplitudes, it is necessary to operate the drive unit at high speed.
It is necessary to make corrections in a large angle range
difficult.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

Further , in such a conventional technique, since the gimbal suspension means is housed in the case of the optical device, there is the following problem. That is, since the gimbal suspension means is attached to the case so as to be rotatable around two rotation axes extending in the left-right direction and / or the up-down direction, the erect prism is fixedly supported. The outer gimbal suspension member must be rotatably supported by the outer gimbal suspension member, and the outer gimbal suspension member must be rotatably supported by the case. Therefore, the gimbal suspension means
There is a problem that the structure is complicated and the assembling thereof is troublesome.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction contents]

[0008]

The image stabilizing device of the present invention has a monocular optical system or a binocular optical system in which an erect prism is disposed between an objective lens and an eyepiece, and the objective lens of these optical systems is used. And an image stabilizing device mounted on an optical device having an eyepiece fixed in a case,
Gimbal suspension means having two rotation shafts extending in the left-right direction and up-down direction of the optical device, and rotatably mounting the erect prism on the case, wherein the gimbal suspension means is An inner gimbal suspension member for fixedly supporting the erecting prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and a first bearing for rotatably supporting the inner gimbal suspension member on the outer gimbal suspension member; A second bearing for rotatably supporting the outer gimbal suspension member on the case, wherein the outer gimbal suspension member comprises a pair of gimbal halves assembled so as to sandwich the first bearing; Assembling the pair of gimbal halves includes fitting the second bearing into the ends of the pair of gimbal halves. It is characterized in that is made by. An actuator for rotating the gimbal suspension means around the two rotation axes; and two angular position information detection means for detecting the angular positions of the gimbal suspension means around the two rotation axes, respectively. Two angular velocity information detection means fixed to the gimbal suspension means for respectively detecting angular velocity information of the gimbal suspension means due to a change in attitude of the optical device; the angular position information detection means and the angular velocity information detection means Based on the information detected by
Wherein A to secure the erecting prism to the inertial system
It is preferable that the apparatus further includes feedback control means for driving the actuator and controlling rotation of the gimbal suspension means around two rotation axes.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction contents]

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

Claims (2)

[Claims] 1. An optical system comprising a monocular optical system or a binocular optical system in which an erecting prism is disposed between an objective lens and an eyepiece lens, wherein the objective lens and the eyepiece lens of these optical systems are fixed in a case. An image stabilizing device mounted on the device, comprising two rotating shafts extending in a horizontal direction and a vertical direction of the optical device, and a gimbal suspension for rotatably mounting the erect prism to the case. The gimbal suspension means comprises an inner gimbal suspension member for fixedly supporting the erect prism, an outer gimbal suspension member surrounding the inner gimbal suspension member, and an outer gimbal suspension member for connecting the inner gimbal suspension member to the outer gimbal suspension member. A first bearing for rotatably supporting the outer gimbal suspension member, and a second bearing for rotatably supporting the outer gimbal suspension member in the case. The outer gimbal suspension member is composed of a pair of gimbal halves assembled so as to sandwich the first bearing, and the assembling of the pair of gimbal halves connects the second bearing to the pair of gimbal halves. An image stabilizing device characterized by being fitted into an end. 2. An actuator means for rotating said gimbal suspension means around said two rotation axes, and two angles each detecting an angular position of said gimbal suspension means around said two rotation axes. Position information detecting means, two angular velocity information detecting means fixed to the gimbal suspending means, each detecting angular velocity information of the gimbal suspending means due to a change in attitude of the optical device, the angular position information detecting means, Based on the information detected by the angular velocity information detecting means, the actuator means is driven so as to fix the erecting prism to an inertial system, and the gimbal suspension means is controlled to rotate around two rotation axes. 2. The image stabilizing apparatus according to claim 1, further comprising a control unit.