Vibration isolation device, optical device, binoculars, control method for vibration isolation device, and storage medium

Abstract

A vibration isolation device having a shake correction unit, the vibration isolation device including: a first vibration detector disposed in the shake correction unit; a second vibration detector disposed outside the shake correction unit; and a processor that performs vibration isolation control based on a first output value output from the first vibration detector and a second output value output from the second vibration detector.

Description

Technical Field

[0001] The present invention relates to a vibration damping device, an optical device, binoculars, and a control method and procedure for the vibration damping device. Background Technology

[0002] Japanese Patent Application Publication No. 2009-55568 discloses an image shake correction device for a camera, which includes an image shake correction component. This component performs image shake correction to eliminate image shake caused by vibrations applied to the photographic optical system, based on a sensor signal output from a shake detection sensor used to detect image shake. The image shake correction device includes: a vibration signal acquisition component that acquires vibration signals from an external device; a noise removal component that removes noise from the vibration signal acquired by the vibration signal acquisition component; and a setting component that sets the frequency of the signal component used for noise removal by the noise removal component based on the vibration signal acquired by the vibration signal acquisition component when there is no vibration. When the image shake correction component performs image shake correction based on the vibration signal acquired by the vibration signal acquisition component instead of the sensor signal from the shake detection sensor, after the setting component is completed, image shake correction is performed based on the vibration signal acquired by the vibration signal acquisition component.

[0003] Japanese Patent Application Publication No. 2009-38515 discloses a vibration damping device for a camera device capable of rotating around a predetermined axis to change the shooting direction. The device is characterized by comprising: a first vibration detection member disposed on the camera device's imaging direction side from the center of rotation; a second vibration detection member disposed on the opposite side of the camera device's imaging direction from the center of rotation; a vibration correction member for correcting camera shake caused by vibration; a determination member for determining whether a rotation operation is in progress using vibration information detected by the first and second vibration detection members; and a control member for controlling the device so that, if the determination member determines that a rotation operation is not in progress, the vibration correction member performs vibration correction using the vibration information detected by either the first or second vibration detection member; conversely, if the determination member determines that a rotation operation is in progress, the vibration correction member does not perform vibration correction. Summary of the Invention

[0004] One embodiment of the present invention provides a vibration damping device, an optical device, binoculars, a control method and program for the vibration damping device, which can achieve vibration damping corresponding to the usage of the vibration damping device compared to the case where a second vibration detector is not configured in addition to the vibration correction unit.

[0005] means for solving technical problems

[0006] The first aspect of the present invention is a vibration damping device having a vibration correction unit. The vibration damping device includes: a first vibration detector disposed in the vibration correction unit; a second vibration detector disposed outside the vibration correction unit; and a processor that performs vibration damping control based on a first output value output from the first vibration detector and a second output value output from the second vibration detector.

[0007] The second aspect of the technology of the present invention is the vibration damping device involved in the first aspect, wherein the vibration damping device is an integral device.

[0008] The third aspect of the present invention is the vibration damping device involved in the first or second aspect, wherein the vibration detection axis of the first vibration detector and the second vibration detector are parallel to the rotation axis of the vibration correction unit.

[0009] The fourth aspect of the present invention is the vibration damping device involved in the third aspect, wherein the vibration correction unit has multiple rotating axes, and the vibration detection axis is parallel to the rotating axis for each axis of the vibration detection axis of the first vibration detector and the second vibration detector.

[0010] The fifth aspect of the present invention is a vibration damping device according to any one of the first to fourth aspects, wherein the second vibration detector has a lower sensitivity than the first vibration detector.

[0011] The sixth aspect of the present invention is a vibration damping device according to any one of the first to fourth aspects, wherein the second vibration detector has the same sensitivity as the first vibration detector.

[0012] The seventh aspect of the present invention is a vibration damping device involved in any of the first to sixth aspects, wherein the second vibration detector has a wider detection bandwidth than the first vibration detector.

[0013] The eighth aspect of the present invention is a vibration damping device involved in any of the first to sixth aspects, wherein the frequency band that the second vibration detector can detect is the same as the frequency band that the first vibration detector can detect.

[0014] The ninth aspect of the present invention is a vibration damping device according to any one of the first to eighth aspects, wherein, in vibration damping control, the processor performs control to make the first output value close to a predetermined value.

[0015] The tenth aspect of the present invention is a vibration damping device involved in any of the first to ninth aspects, wherein the processor detects the usage of the vibration damping device according to the second output value and performs vibration damping control according to the detection result.

[0016] The eleventh aspect of the present invention is the vibration damping device according to the tenth aspect, wherein the usage conditions include those caused by the usage environment of the vibration damping device.

[0017] The 12th aspect of the present invention is the vibration damping device according to the 10th aspect, wherein the use is at least one of the start and end of the rotational operation of the vibration damping device.

[0018] The 13th aspect of the present invention is the vibration damping device involved in the 12th aspect, wherein the rotational action is at least one of the lateral and longitudinal actions.

[0019] The 14th aspect of the present invention is the vibration damping device involved in the 12th or 13th aspect, wherein the detectable frequency band of the first vibration detector can be changed, the processor sets the detectable frequency band to a wide frequency band when the jitter correction unit performs vibration damping operation, and the processor changes the detectable frequency band to a narrow frequency band with a bandwidth narrower than the wide frequency band when it detects the start of the rotation operation.

[0020] The 15th aspect of the present invention is the vibration damping device involved in the 14th aspect, wherein the processor changes the detectable frequency band from a narrow frequency band to a wide frequency band when it detects that the rotation action has ended.

[0021] The 16th aspect of the present invention is a vibration damping device involved in any of the 12th to 14th aspects, wherein, when the processor detects that the rotation action has ended, it changes the lower limit of the detectable frequency band of the first vibration detector to the high frequency side.

[0022] The 17th aspect of the present invention is a vibration damping device according to any one of the 14th to 16th aspects, wherein the processor determines the frequency of the vibration applied to the vibration damping device based on the second output value, and widens the detectable frequency band to at least one of the high frequency side and the low frequency side based on the determined frequency.

[0023] The 18th aspect of the present invention is a vibration damping device involved in any of the 1st to 17th aspects, wherein the processor stores at least one of the amplitude and frequency of the vibration included in the second output value in a memory, and determines the control content of the vibration damping control when the vibration damping device is started based on at least one of the amplitude and frequency stored in the memory.

[0024] The 19th aspect of the present invention is a vibration damping device according to any one of the 1st to 18th aspects, wherein the processor predicts the displacement of the jitter correction unit from the reference position by integrating the second output value, and controls the jitter correction unit to be fixed at the reference position when the predicted displacement exceeds a predetermined range.

[0025] The 20th aspect of the present invention is a vibration damping device according to any one of the 1st to 19th aspects, which includes a frame housing a vibration correction unit and a second vibration detector disposed on the frame.

[0026] The 21st aspect of the present invention is the vibration damping device involved in the 20th aspect, wherein the vibration damping device is a device integrated with a frame.

[0027] The 22nd aspect of the present invention is an optical device comprising: a vibration damping device as described in any of the 1st to 21st aspects; and one or more observation optical systems.

[0028] The 23rd aspect of the present invention is a binoculars, which is an optical device according to the 22nd aspect including two observation optical systems, with a first vibration detector disposed at the center of the two observation optical systems.

[0029] The 24th aspect of the present invention is the binoculars of the 23rd aspect, wherein the second vibration detector is mounted on the object holding the shake correction unit.

[0030] The 25th aspect of the present invention is the binoculars involved in the 24th aspect, wherein the object is a frame holding the shake correction unit or the frame of the binoculars.

[0031] The 26th aspect of the present invention relates to a control method for a vibration damping device, the vibration damping device comprising: a vibration correction unit; a first vibration detector disposed in the vibration correction unit; and a second vibration detector disposed outside the vibration correction unit, the control method of the vibration damping device comprising the following processing: performing vibration damping control based on a first output value output from the first vibration detector and a second output value output from the second vibration detector.

[0032] The 27th aspect of the present invention is a program for causing a computer applicable to a vibration damping device to perform processing, the vibration damping device comprising: a vibration correction unit; a first vibration detector disposed in the vibration correction unit; and a second vibration detector disposed outside the vibration correction unit, the processing comprising performing vibration damping control based on a first output value output from the first vibration detector and a second output value output from the second vibration detector. Attached Figure Description

[0033] Figure 1 This is a schematic perspective view showing an example of the appearance of binoculars.

[0034] Figure 2 This is a cross-sectional view showing an example of the internal structure of a binocular telescope.

[0035] Figure 3 This is a longitudinal sectional view showing an example of the internal structure of a binocular telescope.

[0036] Figure 4 This is a perspective view showing an example of the structure of the optical system and shake correction unit included in binoculars.

[0037] Figure 5 This is a perspective view showing an example of the structure of a shake correction unit and fixing mechanism included in binoculars.

[0038] Figure 6 This is a perspective view illustrating an example of how a jitter correction unit is fixed by a fixing mechanism.

[0039] Figure 7 This is a conceptual diagram illustrating an example of how a fixed mechanism releases the fixing rod of the vibration correction unit.

[0040] Figure 8 This is a conceptual diagram illustrating an example of how a fixed mechanism secures the fixing rod of a vibration correction unit.

[0041] Figure 9 This is a block diagram illustrating an example of the electrical structure of the binoculars according to the first embodiment.

[0042] Figure 10 This is a block diagram illustrating an example of the main functions of the binoculars according to the first embodiment.

[0043] Figure 11 This is a graph showing an example of the outputs of the first and second gyroscope sensors during the anti-vibration operation and the roll operation of the binoculars according to the first embodiment.

[0044] Figure 12 This is a conceptual diagram illustrating an example of wideband and narrowband settings in the filter function of the first gyroscope sensor in the binoculars according to the first embodiment.

[0045] Figure 13 This is a flowchart illustrating an example of the control processing of the binoculars according to the first embodiment.

[0046] Figure 14This is a graph showing an example of the outputs of the first and second gyroscope sensors during the anti-vibration operation and the roll operation of the binoculars according to the second embodiment.

[0047] Figure 15 This is a block diagram illustrating one example of the main functions of the binoculars according to the third embodiment.

[0048] Figure 16 This is a graph showing an example of the outputs of the first and second gyroscope sensors when small-amplitude, low-frequency vibrations and large-amplitude, high-frequency vibrations are applied to the binoculars according to the third embodiment.

[0049] Figure 17 This is a graph illustrating an example of how the lower limit of the detectable frequency band of the first gyroscope sensor changes when a small-amplitude, low-frequency vibration is applied in the binoculars according to the third embodiment.

[0050] Figure 18 This is a graph illustrating an example of how the upper limit of the detectable frequency band of the first gyroscope sensor changes when subjected to large-amplitude, high-frequency vibrations in the binoculars according to the third embodiment.

[0051] Figure 19 This is a block diagram illustrating one example of the main functions of the binoculars according to the fourth embodiment.

[0052] Figure 20 This is a reference diagram illustrating an example of a matrix table in the binoculars according to the fifth embodiment, which determines the detectable frequency band of the first gyroscope sensor and the ratio of the first parameter to the second parameter based on the amplitude and frequency of the vibration.

[0053] Figure 21 This is a block diagram illustrating one example of the main functions of the binoculars according to the sixth embodiment.

[0054] Figure 22 This is a block diagram illustrating an example of changing the main function of a binocular in vibration control by altering the detectable frequency band of the first gyroscope sensor.

[0055] Figure 23 This is a block diagram illustrating an example of the main function of a binocular telescope in vibration control, where the ratio of the first parameter to the second parameter is changed.

[0056] Figure 24 This is a conceptual diagram illustrating an example of how a control program stored in a storage medium is installed in the computer of binoculars. Detailed Implementation

[0057] Hereinafter, an example of an embodiment of the ranging camera device according to the present invention will be described with reference to the accompanying drawings.

[0058] First, the terminology used in the following description will be explained.

[0059] CPU stands for Central Processing Unit. RAM stands for Random Access Memory. EEPROM stands for Electrically Erasable Programmable Read-Only Memory. SSD stands for Solid State Drive. ASIC stands for Application Specific Integrated Circuit. PLD stands for Programmable Logic Device. FPGA stands for Field-Programmable Gate Array. SoC stands for System-on-a-Chip. USB stands for Universal Serial Bus. HDD stands for Hard Disk Drive. HPF stands for High-Pass Filter. LPF stands for Low-Pass Filter. IC stands for Integrated Circuit. DRAM stands for "Dynamic Random Access Memory". SRAM stands for "Static Random Access Memory".

[0060] In this specification, "parallel" means parallelism, other than complete parallelism, encompassing a degree of error that is generally permissible in the technical field to which the technology of this invention pertains and does not depart from the spirit of the invention. Similarly, "consistent" means consistency, other than complete consistency, encompassing a degree of error that is generally permissible in the technical field to which the technology of this invention pertains and does not depart from the spirit of the invention. Furthermore, "equivalent" means equivalence, other than complete equivalence, encompassing a degree of error that is generally permissible in the technical field to which the technology of this invention pertains and does not depart from the spirit of the invention. Finally, "constant" means constant, other than complete constancy, encompassing a degree of error that is generally permissible in the technical field to which the technology of this invention pertains and does not depart from the spirit of the invention.

[0061] [First Implementation]

[0062] As an example, such as Figure 1 As shown, the binoculars 10 include a generally rectangular frame 11, a pair of objective lens units 12R and 12L disposed at the front of the frame 11, and a pair of eyepiece lens units 13R and 13L disposed at the rear of the frame 11. In the following description, the width direction of the binoculars 10 is designated as the X direction, the front-to-back direction as the Y direction, and the vertical direction as the Z direction. Furthermore, in the binoculars 10, the direction facing the object of observation, i.e., the direction where the objective lens units 12R and 12L are disposed, is designated as "front". Furthermore, the direction where the user of the binoculars 10 (hereinafter referred to as "user") is located, i.e., the direction where the eyepiece lens units 13R and 13L are disposed, is designated as "rear". Moreover, the optical system used to generate the image observed by the user's right eye is referred to as the right-eye optical system, and the optical system used to generate the image observed by the user's left eye is referred to as the left-eye optical system. Furthermore, the binoculars 10 are an example of the "binoculars" and "optical device" involved in the technology of this invention. The right-eye optical system and the left-eye optical system are examples of "one or more observation optical systems" and "two observation optical systems" involved in the technology of this invention. Hereinafter, for ease of explanation, the right-eye optical system and the left-eye optical system will be simply referred to as "optical system" unless it is not necessary to distinguish between them.

[0063] Objective lens unit 12R and eyepiece unit 13R are arranged along the Y direction and constitute part of the optical system for the right eye. Objective lens unit 12L and eyepiece unit 13L are arranged along the Y direction and constitute part of the optical system for the left eye.

[0064] A push-button power switch 15 is provided on the rear surface of the frame 11. By pressing the power switch 15, the power supply of the binoculars 10 is switched on and off.

[0065] A sliding vibration damping switch 16 is provided on the upper surface of the frame 11. By sliding the vibration damping switch 16 backward, vibration correction based on the shake correction unit 30 (described later) is activated. Figure 2 and Figure 3 The vibration damping operation (hereinafter also referred to as "vibration damping operation") is activated. The vibration damping operation is stopped by sliding the vibration damping switch 16 forward.

[0066] As an example, such as Figure 2 and Figure 3 As shown, a shake correction unit 30 is housed within the housing 11. The shake correction unit 30 includes a mechanism to prevent image shake caused by vibrations (hereinafter also simply referred to as "vibrations") applied to the binoculars 10. Examples of vibrations include those caused by hand tremors of the user holding the binoculars 10, or vibrations caused by the swaying of a vehicle (e.g., a vehicle or ship). Here, "image" refers to, for example, an optical image formed by light representing the object of observation incident on the optical system. The shake correction unit 30 is disposed in the Y direction between the objective lens units 12R and 12L and the eyepiece units 13R and 13L. Furthermore, the shake correction unit 30 is an example of a "shake correction unit" according to the technology of this invention, and the housing 11 is an example of a "housing" according to the technology of this invention.

[0067] Eyepiece units 13R and 13L each have an eyepiece 20, an eyepiece tube 21 for holding the eyepiece 20, and a prism holder 22 connected to the eyepiece tube 21. A bending prism 23 is housed on the prism holder 22. The bending prism 23 moves the optical axis parallel by bending the incident light. Figure 3 In the example shown, the left eye uses the optical axis BL to bend and move parallel to the Z-axis direction via prism 23.

[0068] Objective lens units 12R and 12L each have an objective lens 26 and an objective lens tube 27 for holding the objective lens 26. Figure 2 and Figure 3 For ease of illustration, the eyepiece 20 and objective lens 26 are depicted as a single lens, but in reality, the eyepiece 20 and objective lens 26 are lens groups comprising multiple lenses.

[0069] The jitter correction unit 30 houses correction optical elements 31R and 31L. The correction optical elements 31R and 31L are, for example, Dach prism-type uprighting prisms, which restore the inverted image formed by the objective lens 26 and eyepiece 20 to an upright image. Alternatively, Porro prism-type uprighting prisms can be used as correction optical elements 31R and 31L, or uprighting lenses can be used instead of uprighting prisms.

[0070] The right-eye optical system includes an objective lens 26, a corrective optics element 31R, and a bending prism 23. The objective lens 26, corrective optics element 31R, and bending prism 23 are arranged in the order of objective lens 26, corrective optics element 31R, and bending prism 23 along the right-eye optical axis BR from the object side. The left-eye optical system includes an objective lens 26, a corrective optics element 31L, and bending prism 23. The objective lens 26, corrective optics element 31L, and bending prism 23 are arranged in the order of objective lens 26, corrective optics element 31L, and bending prism 23 along the left-eye optical axis BL from the object side. The light from the object is incident on the eyepiece 20 via the right-eye and left-eye optical systems. Thus, the user can observe the object by viewing it through the right-eye and left-eye optical systems, as if the magnified object were right in front of their eyes.

[0071] As an example, such as Figure 4 As shown, the jitter correction unit 30 has, for example, a gimbal structure. The jitter correction unit 30 includes a first bracket 32 ​​and a second bracket 33. The first bracket 32 ​​holds the correction optical elements 31R and 31L. The second bracket 33 holds the first bracket 32. The first bracket 32 ​​is cuboid in shape and is arranged along the X-direction in its length direction.

[0072] The jitter correction unit 30 has multiple rotation axes. The rotation axes of the jitter correction unit 30 are rotation axes 28 and 29. The first bracket 32 ​​is supported by rotation axis 29, which is disposed on the second bracket 33 along the Z-direction, and can rotate freely about the rotation axis 29 in the direction of arrow RA around the Z-axis. The second bracket 33 is a cuboid shape larger than the first bracket 32, and its length direction is arranged along the X-direction. The second bracket 33 is... Figure 4 In the illustrated configuration, the second support 33 is frame-shaped with a surface parallel to the optical axis BR for the right eye and the optical axis BL for the left eye. The first support 32 is rotatably housed inside the second support 33. The second support 33 is supported by a rotation axis 28 disposed along the X-direction and is rotatable in the direction of arrow RE about the X-axis. The rotation axis 28 is supported by a pair of bearing portions 45R and 45L disposed on the frame 11. Furthermore, the rotation axes 28 and 29 are examples of the "rotation axis" involved in the technology of this invention.

[0073] As an example, such as Figure 2As shown, the first support 32 has an element receiving portion 34R on the right eye optical axis BR and an element receiving portion 34L on the left eye optical axis BL. A correction optical element 31R is housed in the element receiving portion 34R, and a correction optical element 31L is housed in the element receiving portion 34L. Openings 35R are provided on the front and rear surfaces of the first support 32. The openings 35R expose the correction optical element 31R from the element receiving portion 34R on the right eye optical axis BR. Similarly, the openings 35L expose the correction optical element 31L from the element receiving portion 34L on the left eye optical axis BL.

[0074] When the frame 11 is vibrated due to factors such as hand tremors of the user holding the binoculars 10, the image observed through the binoculars 10 will jitter. However, since the inertial force corresponding to the vibration applied to the frame 11 acts on the jitter correction unit 30 with a gimbal structure, the vibration is less likely to be transmitted to the correction optical elements 31R and 31L compared to the case without a gimbal structure or other vibration-damping structure. As a result, relative displacement occurs between the correction optical elements 31R and 31L, the objective lens units 12R and 12L, and the eyepiece units 13R and 13L, thus reducing the jitter in the observed image compared to the case without a gimbal structure or other vibration-damping structure.

[0075] As an example, such as Figure 3 As shown, the jitter correction unit 30 includes a first gyroscope sensor 39 that detects the angular velocity caused by the rotation of the jitter correction unit 30. Furthermore, as an example, such as... Figure 4 As shown, the jitter correction unit 30 includes a jitter correction motor 40 driven by the detection result of the first gyroscope sensor 39.

[0076] As an example, such as Figure 3 As shown, the first gyroscope sensor 39 is disposed in the jitter correction unit 30. More specifically, the first gyroscope sensor 39 is disposed at the center of the right-eye optical system and the left-eye optical system. The first gyroscope sensor 39 detects the angular velocity caused by the rotation of the jitter correction unit 30 and uses it as the first angular velocity signal (reference). Figure 9 and Figure 10 Output. The first gyroscope sensor 39 is an example of the "first vibration detector" involved in the technology of this invention.

[0077] The first gyroscope sensor 39 includes an X-axis gyroscope sensor 38 and a Z-axis gyroscope sensor 37 (reference). Figure 3A gyroscope sensor 38 is mounted on the upper inner surface of the second bracket 33. The X-axis gyroscope sensor 38 detects the angular velocity of the second bracket 33 rotating about a vibration detection axis 38A parallel to the X-axis, i.e., the angular velocity of the second bracket 33 about the X-axis. A gyroscope sensor 37 is mounted on the front surface of the first bracket 32. The Z-axis gyroscope sensor 37 detects the angular velocity of the first bracket 32 ​​rotating about a vibration detection axis 37A parallel to the Z-axis, i.e., the angular velocity of the first bracket 32 ​​about the Z-axis. Furthermore, vibration detection axes 38A and 37A are examples of "vibration detection axes" according to the technology of this invention, and the X-axis and Z-axis directions are examples of "axial directions" according to the technology of this invention.

[0078] As the X-axis gyroscope sensor 38 and the Z-axis gyroscope sensor 37, for example, a piezoelectric vibration gyroscope sensor using a cylindrical oscillator and multiple piezoelectric ceramics and utilizing Coriolis force can be used. Alternatively, a piezoelectric vibration gyroscope sensor using a triangular prism oscillator, a square prism oscillator, or a tuning fork oscillator can be used instead of a piezoelectric vibration gyroscope sensor using a cylindrical oscillator.

[0079] As an example, such as Figure 4 As shown, the jitter correction motor 40 includes an X-axis motor 42 and a Z-axis motor 41. The X-axis motor 42 is mounted on a bearing portion 45L. The X-axis motor 42 is connected to one end of a rotating shaft 28, which rotates the second bracket 33 around the X-axis. The Z-axis motor 41 is mounted on the second bracket 33. The Z-axis motor 41 is connected to one end of a rotating shaft 29, which rotates the first bracket 32 ​​around the Z-axis.

[0080] The jitter correction motor 40 generates a driving force based on the detection result of the first gyroscope sensor 39 and transmits the generated driving force to the rotation axes 28 and 29. By transmitting the driving force generated by the jitter correction motor 40 to the rotation axes 28 and 29, the first bracket 32 ​​and the second bracket 33 oscillate around the Z-axis and X-axis, respectively. Here, by performing anti-vibration control as described later, the jitter correction unit 30 rotates at a predetermined value close to the first angular velocity signal. Therefore, image jitter is corrected with higher precision compared to the case with only a gimbal structure. In addition, zero can be cited as an example of the predetermined value. By rotating the jitter correction unit 30 at a predetermined value close to zero, the vibration applied to the frame 11 is eliminated. Here, "eliminates" means not only eliminating vibration in a way that completely eliminates image jitter, but also eliminating vibration to a degree that reduces image jitter. Zero can be cited as an example of the predetermined value, but the technology of the present invention is not limited to this, and other values ​​besides zero are also possible. The predetermined value can be changed by setting.

[0081] As an example, such as Figure 3As shown, a second gyroscope sensor 80 is disposed on the frame 11. The second gyroscope sensor 80 is disposed outside the jitter correction unit 30. Furthermore, the second gyroscope sensor 80 is disposed at a position that does not interfere with either the optical axis BR for the right eye or the optical axis BL for the left eye. Figure 3 In the example shown, the second gyroscope sensor 80 is mounted in front of the housing 11 and below the objective lens barrel 27. The second gyroscope sensor 80 detects the angular velocity caused by the vibration applied to the housing 11 and uses it as a second angular velocity signal (reference). Figure 9 and Figure 10 Output. The second gyroscope sensor 80 is an example of the "second vibration detector" involved in the technology of this invention.

[0082] The second gyroscope sensor 80 includes an X-axis gyroscope sensor (not shown) and a Z-axis gyroscope sensor (not shown). The X-axis gyroscope sensor detects the angular velocity about a vibration detection axis 80A that is parallel to the X-axis applied to the frame 11. The Z-axis gyroscope sensor detects the angular velocity about a vibration detection axis 80B that is parallel to the Z-axis applied to the frame 11. Furthermore, vibration detection axes 80A and 80B are examples of "vibration detection axes" according to the technology of this invention.

[0083] In the binoculars 10, the vibration detection axes of the first gyroscope sensor 39 and the second gyroscope sensor 80 are parallel to the rotation axis of the jitter correction unit 30. That is, in the binoculars 10, for each axis of the vibration detection axis of the first gyroscope sensor 39 and the second gyroscope sensor 80, the vibration detection axis is parallel to the rotation axis of the jitter correction unit 30. More specifically, the X-axis gyroscope sensors 38 and 80 are arranged such that their vibration detection axes 38A and 80A are parallel to the rotation axis 28. Furthermore, the Z-axis gyroscope sensors 37 and 80 are arranged such that their vibration detection axes 37A and 80B are parallel to the rotation axis 29.

[0084] In this first embodiment, the first gyroscope sensor 39 and the second gyroscope sensor 80 have the same sensitivity. Furthermore, the frequency band that the second gyroscope sensor 80 can detect is the same as the frequency band that the first gyroscope sensor 39 can detect.

[0085] As an example, such as Figure 4 As shown, the jitter correction unit 30 includes a position sensor 47. The position sensor 47 detects the angle that changes with the relative rotation between the frame 11 and the jitter correction unit 30, and uses it as the current position signal (reference). Figure 9 and Figure 10 Output.

[0086] The position sensor 47 includes an X-axis position sensor 43 and a Z-axis position sensor 44. The X-axis position sensor 43 is mounted on the bearing portion 45R. The X-axis position sensor 43 is connected to one end of the rotating shaft 28 and detects the angle of the second support 33 rotating around the X-axis, i.e., the angle of the second support 33 around the X-axis. The Z-axis position sensor 44 is mounted on the second support 33. The Z-axis position sensor 44 is connected to one end of the rotating shaft 29 and detects the angle of the first support 32 rotating around the Z-axis, i.e., the angle of the first support 32 around the Z-axis. Here, position sensors are used as both the X-axis position sensor 43 and the Z-axis position sensor 44. Alternatively, an angle reducer, synchronizer, or rotary encoder, etc., can be used instead of the aforementioned position sensors as the angular position information detection component.

[0087] As an example, such as Figure 5 As shown, the jitter correction unit 30 has a fixing mechanism 50 on the rear surface side of the frame 11. The jitter correction unit 30 has a fixing rod 46. The fixing rod 46 is a protruding part that protrudes from the jitter correction unit 30. Specifically, the fixing rod 46 protrudes in a cylindrical shape from the center of the rear surface 32A of the first bracket 32 ​​along the optical axis. The fixing mechanism 50 fixes the position of the jitter correction unit 30 by contacting the fixing rod 46 provided in the jitter correction unit 30.

[0088] The fixing mechanism 50 includes: a base plate portion 51 fixed to the frame 11; a rotating ring 54 disposed on the rear surface side of the base plate portion 51; and a displacement member 55 assembled between the base plate portion 51 and the rotating ring 54 (see reference). Figure 6 The base plate 51 and the rotating ring 54 are respectively provided with circular openings 51a and 54a for inserting the fixing rod 46. The rotating ring 54 can rotate relative to the base plate 51 around the opening 54a. A pin 53 is erected on the rotating ring 54 and is connected to the displacement member opening and closing motor 56 provided in the frame 11.

[0089] The displacement member 55 moves between a fixed position (where the position of the fixed jitter correction unit 30 is fixed) and a released position (where the fixed position is released). The displacement member 55 is supported by a rotation shaft (not shown) provided on the base plate 51 and the rotating ring 54. The fixed position is a position in which the displacement member 55 protrudes into the openings 51a and 54a by rotating the rotating ring 54. The released position is a position in which the displacement member 55 retracts from the openings 51a and 54a by rotating the rotating ring 54.

[0090] Specifically, by sliding the anti-vibration switch 16 forward to disconnect it, the displacement component opening / closing motor 56 is driven, causing the pin 53 to rotate downwards. As the pin 53 rotates downwards, the rotating ring 54 rotates, and the displacement component 55 is displaced to a fixed position protruding into the openings 51a and 54a. Thus, the fixing mechanism 50 is in a fixed state, fixing the position of the vibration correction unit 30.

[0091] On the other hand, by sliding the anti-vibration switch 16 backward, the anti-vibration switch 16 is activated, causing the displacement member opening and closing motor 56 to drive in the opposite direction, causing the pin 53 to rotate upward. As the pin 53 rotates upward, the rotating ring 54 rotates, and the displacement member 55 is displaced to a released position, retracting from the openings 51a and 54a. Thus, the fixing mechanism 50 is in a released state where the vibration correction unit 30 is not fixed.

[0092] As an example, such as Figure 7 As shown, when the fixing mechanism 50 is in the released state, the fixing rod 46 can move freely within the openings 51a and 54a, and the vibration correction unit 30 can perform vibration reduction. On the other hand, as an example, such as... Figure 8 As shown, when the fixing mechanism 50 is in the fixed state, the fixing rod 46 is held by the displacement member 55. Therefore, the position of the shake correction unit 30 is fixed, and thus the shake correction unit 30 cannot perform its anti-vibration function. For example, if the displacement member 55 is released while the binoculars 10 is being moved, the shake correction unit 30 will operate within the frame 11, and the fixing rod 46 may collide with the fixing mechanism 50 and break. Therefore, it is preferable to keep the displacement member 55 in the fixed state during periods when the power to the binoculars 10 is off.

[0093] As an example, such as Figure 9 As shown, a computer 60 is mounted on the frame 11 of the binoculars 10. The computer 60 is mounted on a control board 58 located below the first support 32 and the second support 33 (see reference). Figure 3 )superior.

[0094] The computer 60 includes a CPU 62, a program memory 64, and a working memory 66. The CPU 62 is an example of a "processor" according to the technology of this invention, and centrally controls the operation of the binoculars 10. The program memory 64 stores the control program 72 and various parameters. The working memory 66 temporarily stores various information. The CPU 62, program memory 64, and working memory 66 are interconnected via a bus 74.

[0095] CPU 62 uses a single-core processor. A multi-core processor can also be used instead. Program memory 64 uses non-volatile memory. Flash memory is used here. Other types of non-volatile memory, such as EEPROM or SSD, can also be used instead of flash memory. Working memory 66 uses volatile memory. DRAM is used here. Various types of volatile memory, such as SRAM, can also be used instead of DRAM.

[0096] CPU 62 reads control program 72 from program memory 64 and executes the read control program 72 in working memory 66, thereby operating as the fixed mechanism drive unit 68 and the jitter correction unit drive unit 70. Thus, CPU 62, operating as the jitter correction unit drive unit 70, together with jitter correction unit 30, first gyroscope sensor 39, and second gyroscope sensor 80, constitutes a vibration damping device. Furthermore, jitter correction unit 30, first gyroscope sensor 39, CPU 62, and second gyroscope sensor 80 are an example of a "vibration damping device" according to the technology of this invention.

[0097] The vibration damping device is an integrated device. Here, "integrated device" means a device that is integrated into the housing 11 without accessories such as a tripod or focusing handle. In this first embodiment, the integrated device is achieved by housing at least the jitter correction unit 30, the first gyroscope sensor 39, the CPU 62, and the second gyroscope sensor 80 in the housing 11.

[0098] The fixing mechanism drive unit 68 controls the displacement member opening and closing motor 56 to change the fixing mechanism 50 between a fixed state and a released state. Specifically, when the anti-vibration switch 16 is turned on, an anti-vibration operation on signal is output to the fixing mechanism drive unit 68 of the computer 60. Upon receiving the anti-vibration operation on signal, the fixing mechanism drive unit 68 outputs a displacement member on signal to the displacement member opening and closing motor 56. Correspondingly, the displacement member opening and closing motor 56 operates, and the drive shaft of the displacement member opening and closing motor 56 rotates in the direction that causes the displacement member 55 to retract according to the displacement member on signal, thus changing the fixing mechanism 50 from a fixed state to a released state.

[0099] On the other hand, when the anti-vibration switch 16 is opened, an anti-vibration operation disconnect signal is output to the fixing mechanism drive unit 68 of the computer 60. Upon receiving the anti-vibration operation disconnect signal, the fixing mechanism drive unit 68 outputs a displacement member closing signal to the displacement member opening / closing motor 56. Correspondingly, the displacement member opening / closing motor 56 operates, and the drive axis of the displacement member opening / closing motor 56 rotates the displacement member 55 in the protruding direction, thus changing the fixing mechanism 50 from the released state to the fixed state.

[0100] The jitter correction unit drive unit 70 performs anti-vibration control based on a first angular velocity signal output from the first gyroscope sensor 39 and a second angular velocity signal output from the second gyroscope sensor 80. Here, the first angular velocity signal is an example of a "first output value" according to the technology of this invention, and the second angular velocity signal is an example of a "second output value" according to the technology of this invention. Furthermore, in this first embodiment, the first angular velocity signal and the second angular velocity signal are cited as examples of the first and second output values ​​according to the technology of this invention, but the technology of this invention is not limited thereto. For example, the technology of this invention is valid even if an acceleration signal representing acceleration is used instead of the angular velocity signal or used together with the angular velocity signal.

[0101] The following is for reference. Figures 10-12 The vibration control performed by the vibration correction unit drive unit 70 will be explained.

[0102] As an example, such as Figure 10 As shown, the jitter correction unit drive unit 70 includes a first feedback unit 90, a second feedback unit 91, a subtractor 92, a synthesis unit 93, a rotational motion detection unit 94, and an adjustment unit 95.

[0103] The first feedback unit 90 calculates a first value based on the first angular velocity signal output from the first gyroscope sensor 39. The first value is a value related to the driving force of the jitter correction motor 40 based on the detection result of the first gyroscope sensor 39, that is, a value related to the driving force used to drive the jitter correction motor 40 to correct image jitter caused by the rotation of the jitter correction unit 30 (for example, the gain of the jitter correction motor 40). The first feedback unit 90 outputs the first value to the synthesis unit 93.

[0104] The second feedback unit 91 calculates the second value based on the displacement signal output from the subtractor 92. The second value refers to a value related to the driving force used to drive the jitter correction motor 40 in the direction that aligns the jitter correction unit 30 with the reference position S (e.g., the gain of the jitter correction motor 40). Here, for example, as... Figure 3 As shown, the reference position S refers to the position of the jitter correction unit 30 fixed by the fixing mechanism 50.

[0105] A reference position signal representing the reference position S of the jitter correction unit 30 is assigned to the subtractor 92. The subtractor 92 subtracts the reference position signal from the current position signal output by the position sensor 47, thereby outputting a displacement signal representing the displacement of the jitter correction unit 30 from the reference position S.

[0106] The synthesis unit 93 calculates a third value based on the first and second values ​​and outputs it to the jitter correction motor 40. The third value represents the driving force used to drive the jitter correction motor 40 (e.g., the current or voltage input to the jitter correction motor 40), and is obtained by the synthesis unit 93 synthesizing the first and second values. Here, the synthesis by the synthesis unit 93 refers to operations such as addition and the use of constants.

[0107] Here, the jitter correction unit drive unit 70 adjusts the third value by changing the difference between the first value and the second value. The difference refers to, for example, the ratio of the first value to the second value. By adjusting the third value, the jitter correction unit drive unit 70 changes the driving force used to drive the jitter correction motor 40, thereby controlling the jitter correction unit 30.

[0108] For example, in the third value, when the ratio of the first value is set higher than the ratio of the second value, the first value is a value related to the driving force applied to the shake correction motor 40 to correct image shake. Therefore, compared to the case where the ratio of the second value is set higher than the ratio of the first value, the accuracy of the anti-vibration operation becomes better. On the other hand, in the third value, when the ratio of the second value is set higher than the ratio of the first value, the second value is a value related to the driving force applied to the shake correction motor 40 to align the shake correction unit 30 with the reference position S. Therefore, compared to the case where the ratio of the first value is set higher than the ratio of the second value, the shake correction unit 30 is more likely to remain at the reference position S regardless of the magnitude of the applied vibration. This is effective in preventing damage to the shake correction unit 30, for example, when excessive vibration is applied to the binoculars 10.

[0109] The rotational motion detection unit 94 monitors the second angular velocity signal output from the second gyroscope sensor 80 during the anti-vibration operation using the jitter correction unit 30 (hereinafter referred to as the "anti-vibration operation period"), thereby detecting the usage status of the binoculars 10. Here, usage status refers to the status of the binoculars 10 in use, such as the start and end of the rotational motion. The rotational motion refers to, for example, the action of continuously changing the observation direction of the binoculars 10 with the position of the user of the binoculars 10 as the axis. The rotational motion includes at least one of a roll motion that changes the observation direction to the X-axis direction and a pitch motion that changes the observation direction to the Z-axis direction. Hereinafter, taking the roll motion as an example, the anti-vibration control performed by the jitter correction unit drive unit 70 during the roll motion period (hereinafter referred to as the "roll motion period") will be explained. Furthermore, the roll motion is just one example. Vibration control can also be performed by the vibration correction unit drive unit 70 during the pitch motion (hereinafter referred to as "pitch motion period") in the same manner as the vibration control performed by the vibration correction unit drive unit 70 during the roll motion. Moreover, the vibration correction unit drive unit 70 can perform vibration control during the roll motion and vibration control during the pitch motion in parallel.

[0110] By performing a rolling motion, the second gyroscope sensor 80 detects the vibration of the frame 11, which is rotating at a constant speed in one direction along the X-axis. That is, for example, as... Figure 11 As shown in the lower-level graph, the second angular velocity signal output from the second gyroscope sensor 80 maintains a constant value during the roll motion. The rotation motion detection unit 94 monitors the second angular velocity signal and, for example, determines that a roll motion is in progress if the second angular velocity signal maintains a constant value other than zero for a predetermined time. In this case, the rotation motion detection unit 94 times the timing of the second angular velocity signal reaching a constant value (at...). Figure 11 In the example shown in the lower layer, the timing of the rise of the output of the second gyroscope sensor 80 is detected as the timing of the start of the roll motion.

[0111] Furthermore, the slewing motion detection unit 94 determines that the roll motion has ended when the second angular velocity signal decreases to zero after maintaining a constant value for a predetermined time (e.g., a time of several hundred ms). Here, the predetermined time is derived, for example, as a lower limit time for performing a roll motion through physical machine testing and / or computer simulation.

[0112] The slewing motion detection unit 94 detects the timing when the second angular velocity signal reaches a predetermined threshold as the end timing of the roll motion. Here, the predetermined threshold is, for example, zero. In addition, zero is just one example; for example, any value derived from the value of the second angular velocity signal at the end of the roll motion through physical machine-based testing and / or computer simulation (e.g., a value other than zero that is close to zero).

[0113] As an example, such as Figure 10 As shown, when the slewing motion detection unit 94 detects the start of a roll motion, it sends a start detection signal indicating the start of the roll motion (see reference). Figure 10 The signal is sent to the adjustment unit 95. If the roll motion is detected to have ended, a stop detection signal indicating the end of the roll motion is sent (see reference). Figure 10 The signal is sent to the adjustment unit 95. The adjustment unit 95 determines the period from receiving the start detection signal to receiving the end detection signal as the roll operation period. The adjustment unit 95 changes the filter function setting in the first gyroscope sensor 39 during the anti-vibration operation period and the roll operation period. Furthermore, the adjustment unit 95 changes the parameters assigned to the first feedback unit 90 and the second feedback unit 91 during the anti-vibration operation period and the roll operation period.

[0114] First, the setting of the filter function in the first gyroscope sensor 39 will be explained. As an example, such as... Figure 12 As shown, the first gyroscope sensor 39 functions as a filter: a high-pass filter (HPF) to remove signals below a first frequency F1; and a low-pass filter (LPF) to remove signals above a second frequency F2. Figure 12 In the upper layer, symbol 97 represents an example of an output signal based on HPF, and symbol 98 represents an example of an output signal based on LPF. The first frequency F1 and the second frequency F2 can be changed. When the second frequency F2 is set to a value higher than the first frequency F1, the first gyroscope sensor 39 can output a signal with a frequency band of lower limit of the first frequency F1 and upper limit of the second frequency F2 by using this filter function.

[0115] The first frequency F1 and the second frequency F2 are set by the adjustment unit 95. For example, as Figure 12 As shown, the adjustment unit 95 operates within a wide bandwidth WB (reference) defined by the first frequency F1-1 and the second frequency F2-1. Figure 12 The middle layer) and the narrow band NB defined by the first frequency F1-2 and the second frequency F2-2 (reference) Figure 12 The detectable frequency band (hereinafter referred to as "detectable frequency band") of the first gyroscope sensor 39 is changed between the lower layers. Additionally, as an example, such as Figure 12As shown, the first frequency F1-2 of the narrowband NB is a value on the higher frequency side than the first frequency F1-1 of the wideband WB, and the second frequency F2-2 of the narrowband NB is a value on the lower frequency side than the second frequency F2-1 of the wideband WB. Furthermore, the wideband WB and the narrowband NB only need to be in a relatively wide-narrow relationship.

[0116] During vibration damping operation, the adjustment unit 95 sets the detectable frequency band to a wide band (WB). Upon receiving a start detection signal, the adjustment unit 95 changes the detectable frequency band from wide band (WB) to narrow band (NB). Therefore, during roll operation, the detectable frequency band becomes narrower than during vibration damping operation. That is, during roll operation, the first gyroscope sensor 39 detects vibrations in the narrow band (NB), which is narrower than wide band (WB). Therefore, for the first and second values, the first value output from the first feedback unit 90 based on the first angular velocity signal becomes relatively smaller, and the second value becomes relatively larger. Therefore, compared to the case where the detectable frequency band is always fixed, the jitter correction unit 30 can more easily follow the rotation of the frame 11 caused by the roll operation.

[0117] On the other hand, upon receiving the end detection signal, the adjustment unit 95 changes the detectable frequency band from the narrow band NB to the wide band WB. As a result, the detectable frequency band becomes wider during vibration damping operation than during roll operation. Therefore, since the first value is greater than the second value, the accuracy of vibration damping operation is improved compared to the case where the detectable frequency band remains fixed.

[0118] Next, the parameters applied to the first feedback unit 90 and the second feedback unit 91 will be explained. For example, as follows... Figure 10 As shown, the adjustment unit 95 assigns a first parameter A to the first feedback unit 90 and a second parameter B to the second feedback unit 91. The first feedback unit 90, for example, outputs the product of the first angular velocity signal and the first parameter A as a first value. The second feedback unit 91, for example, outputs the product of the displacement signal and the second parameter B as a second value. The synthesis unit 93 outputs the sum of the first and second values ​​as a third value. The first parameter A and the second parameter B are values ​​used to multiply and normalize by the first angular velocity signal and the displacement signal respectively, and are values ​​dependent on the first angular velocity signal and the displacement signal. Furthermore, the adjustment unit 95 changes the ratio A:B (hereinafter referred to as the parameter ratio) of the first parameter A to the second parameter B, thereby changing the ratio of the first value to the second value in the third value.

[0119] During the roll motion, the adjustment unit 95 sets the parameter ratio such that the second value is greater than the first value. Therefore, compared to setting the parameter ratio such that the first value is greater than the second value, the jitter correction unit 30 can more easily follow the rotation of the frame 11 caused by the roll motion. On the other hand, during vibration damping operation, the adjustment unit 95 sets the parameter ratio such that the first value is greater than the second value. Therefore, compared to setting the parameter ratio such that the second value is greater than the first value, the accuracy of vibration damping operation based on the jitter correction unit 30 is improved.

[0120] As described above, by changing the detectable frequency band and parameter ratio, the jitter correction unit 30 is driven in a direction aligned with the reference position S during the roll motion. For example, as... Figure 11 As shown in the upper layer, when the roll motion begins, the first angular velocity signal output from the first gyroscope sensor 39 increases. This is because, for example, by detecting the start of the roll motion, the jitter correction unit 30, which has shifted significantly from the reference position S during the anti-vibration operation, is driven in a direction aligned with the reference position S. Then, the jitter correction unit 30 follows the rotation of the frame 11 while maintaining alignment with the reference position S, so the first angular velocity signal output has the same value as the second angular velocity signal.

[0121] Next, refer to Figure 13 The function of the binoculars 10 according to the first embodiment will be explained. Furthermore, Figure 13 The control processing shown is implemented by CPU 62 executing control program 72. Furthermore, Figure 13 The control process shown begins when the power switch 15 is turned on.

[0122] exist Figure 13 In the control process shown, firstly, in step ST101, the fixing mechanism drive unit 68 determines whether the anti-vibration switch 16 is turned on. If the anti-vibration switch 16 is turned on in step ST101, the determination is affirmative, and the control process proceeds to step ST102. If the anti-vibration switch 16 is not turned on in step ST101, the determination is negative, and the control process proceeds to step ST114.

[0123] In step ST102, the fixing mechanism drive unit 68 determines whether the displacement member 55 is closed. If the displacement member 55 is closed in step ST102, the determination is affirmative, and the control process proceeds to step ST103. If the displacement member 55 is open in step ST102, the determination is negative, and the control process proceeds to step ST106.

[0124] In step ST103, the fixing mechanism drive unit 68 drives the displacement member opening and closing motor 56 to move the displacement member 55 to the release position. Afterwards, the control process is transferred to step ST104.

[0125] In step ST104, the jitter correction unit drive unit 70 changes the detectable frequency band to wideband WB. Afterward, the control processing proceeds to step ST105.

[0126] In step ST105, the jitter correction unit drive unit 70 changes the parameter ratio so that the first value is greater than the second value. Afterward, the control process proceeds to step ST106.

[0127] In step ST106, the jitter correction unit drive unit 70 outputs a third value calculated based on the first and second values ​​to the jitter correction motor 40, thereby driving the jitter correction motor 40. The jitter correction unit 30 is controlled by driving the jitter correction motor 40. Thus, in the vibration damping process performed in steps ST104 to ST106, the third value is set such that the first value is greater than the second value. Therefore, compared to the case where the second value is greater than the first value, the accuracy of the vibration damping operation based on the jitter correction unit 30 is improved. After executing the process in step ST106, the control process moves to step ST107.

[0128] In step ST107, the rotation motion detection unit 94 determines whether the roll motion of the frame 11 has started by monitoring the second angular velocity signal. If the roll motion has started in step ST107, the determination is affirmative, and the control process proceeds to step ST108. If the roll motion has not started in step ST107, the determination is negative, and the control process proceeds to step ST112.

[0129] In step ST108, the jitter correction unit drive unit 70 changes the detectable frequency band to the narrow frequency band NB. Afterward, the control processing proceeds to step ST109.

[0130] In step ST109, the jitter correction unit drive unit 70 changes the parameter ratio so that the second value is greater than the first value. Afterward, the control process proceeds to step ST110.

[0131] In step ST110, the jitter correction unit drive unit 70 outputs a third value calculated based on the first and second values ​​to the jitter correction motor 40, thereby driving the jitter correction motor 40. The jitter correction unit 30 is controlled by driving the jitter correction motor 40. Thus, in the roll processing performed in steps ST108 to ST110, the third value is set such that the second value is greater than the first value. Therefore, compared to the case where the first value is greater than the second value, the jitter correction unit 30 can more easily follow the roll motion of the frame 11. After executing the processing in step ST110, the control processing transfers to step ST111.

[0132] In step ST111, the rotation motion detection unit 94 determines whether the rolling motion of the frame 11 has ended by monitoring the second angular velocity signal. In step ST111, if the rolling motion has ended, the determination is affirmative, and the control process proceeds to step ST104. In step ST111, if the rolling motion has not ended, the determination is negative, and the control process proceeds to step ST110.

[0133] In step ST112, the fixing mechanism drive unit 68 determines whether the vibration damping switch 16 is open. If the vibration damping switch 16 is open in step ST112, the determination is affirmative, and the control process proceeds to step ST113. If the vibration damping switch 16 is not open in step ST112, the determination is negative, and the control process proceeds to step ST114.

[0134] In step ST113, the fixing mechanism drive unit 68 drives the displacement member to open and close the motor 56, causing the displacement member 55 to move to a fixed position. Afterward, the control process is transferred to step ST114.

[0135] In step ST114, the fixing mechanism drive unit 68 determines whether the power switch 15 is off. If the power switch 15 is off in step ST114, the determination is affirmative, and the control process proceeds to step ST115. If the power switch 15 is not off in step ST114, the determination is negative, and the control process proceeds to step ST101.

[0136] In step ST115, the fixing mechanism drive unit 68 determines whether the displacement member 55 is open. If the displacement member 55 is open in step ST115, the determination is affirmative, and the control process proceeds to step ST116. If the displacement member 55 is closed in step ST115, the determination is negative, and the control process ends.

[0137] In step ST116, the fixing mechanism drive unit 68 drives the displacement member to open and close the motor 56, causing the displacement member 55 to move to a fixed position. After this, the control process ends.

[0138] As explained above, the vibration damping device of this first embodiment includes a vibration correction unit 30, a first gyroscope sensor 39 disposed in the vibration correction unit 30, a second gyroscope sensor 80 disposed outside the vibration correction unit 30, and a CPU 62. The vibration correction unit drive unit 70 of the CPU 62 performs vibration damping control based on a first angular velocity signal output from the first gyroscope sensor 39 and a second angular velocity signal output from the second gyroscope sensor 80. Therefore, the binoculars 10 of this first embodiment can achieve vibration damping corresponding to the usage conditions of the binoculars 10.

[0139] The vibration damping device of this first embodiment is an integrated device. Specifically, the vibration damping device includes a frame 11 that houses the vibration correction unit 30, and the second gyroscope sensor 80 is disposed on the frame 11. Furthermore, an integrated device refers to a device that is integrated into the frame 11.

[0140] In the vibration damping device of this first embodiment, the vibration detection axis 38A of the X-axis gyroscope sensor 38 constituting the first gyroscope sensor 39 and the vibration detection axis 80A of the second gyroscope sensor 80 are parallel to the rotation axis 28 of the jitter correction unit 30. Furthermore, the vibration detection axis 37A of the Z-axis gyroscope sensor 37 constituting the first gyroscope sensor 39 and the vibration detection axis 80B of the second gyroscope sensor 80 are parallel to the rotation axis 29 of the jitter correction unit 30. Therefore, compared to the case where the vibration detection axes 38A and 37A of the first gyroscope sensor 39 and the vibration detection axes 80A and 80B of the second gyroscope sensor 80 are not parallel to the rotation axes 28 and 29 of the jitter correction unit 30, it is easier to compare the first angular velocity signal, which is the output value of the first gyroscope sensor 39, with the second angular velocity signal, which is the output value of the second gyroscope sensor 80.

[0141] In the vibration damping device of this first embodiment, the first gyroscope sensor 39 and the second gyroscope sensor 80 have the same sensitivity. Therefore, compared with the case where the sensitivity of the first gyroscope sensor 39 and the second gyroscope sensor 80 is different, it is easier to compare the first angular velocity signal and the second angular velocity signal.

[0142] In the vibration damping device of this first embodiment, the frequency band that the second gyroscope sensor 80 can detect is the same as the frequency band that the first gyroscope sensor 39 can detect. Therefore, compared with the case where the frequency band that the second gyroscope sensor 80 can detect is different from the frequency band that the first gyroscope sensor 39 can detect, it is easier to compare the first angular velocity signal and the second angular velocity signal.

[0143] According to the vibration damping device of this first embodiment, the vibration correction unit drive unit 70 performs control in the vibration damping control to bring the first angular velocity signal close to a predetermined value, such as zero. Therefore, compared with the case where the vibration damping control does not perform control to bring the first angular velocity signal close to, for example, zero, the vibration damping performance of the binoculars 10 can be improved.

[0144] In the vibration damping device of this first embodiment, the rotational motion detection unit 94 of the vibration correction unit drive unit 70 detects the usage status of the vibration damping device based on the second angular velocity signal, and performs vibration damping control based on the detection results. Therefore, compared with the case where the usage status of the vibration damping device is not detected, vibration damping corresponding to the usage status of the vibration damping device can be performed with high precision.

[0145] In the vibration damping device of this first embodiment, the usage occurs at the start and end of the rotational operation of the vibration damping device. Therefore, according to this structure, vibration damping that takes into account the start and end of the rotational operation of the vibration damping device can be achieved.

[0146] In the vibration damping device of this first embodiment, the rotational motion is at least one of the rolling motion and the pitching motion. Therefore, vibration damping corresponding to the rolling motion and / or the pitching motion can be achieved.

[0147] In the vibration damping device of this first embodiment, the detectable frequency band can be changed. When performing vibration damping operation based on the jitter correction unit 30, the jitter correction unit drive unit 70 sets the detectable frequency band to a wide band (WB). Furthermore, when the jitter correction unit drive unit 70 detects the start of a roll motion of the frame 11, it changes the detectable frequency band to a narrow band (NB). Therefore, compared to not changing the detectable frequency band, the jitter correction unit 30 can more easily follow the rotational motion of the frame 11 during a roll motion.

[0148] In the vibration damping device of this first embodiment, when the jitter correction unit drive unit 70 detects that the swaying motion of the frame 11 has ended, it changes the detectable frequency band from the narrow band NB to the wide band WB. Therefore, compared with the case where the detectable frequency band is not changed, vibration damping can be performed with high precision during vibration damping operation.

[0149] The binoculars 10 of this first embodiment include a vibration damping device, a right-eye optical system, and a left-eye optical system. Therefore, compared to the case where the binoculars 10 does not have a vibration damping device, vibration damping corresponding to the usage of the binoculars 10 can be achieved.

[0150] In the binoculars 10 of this first embodiment, the first gyroscope sensor 39 is disposed at the center of the right-eye optical system and the left-eye optical system. Therefore, compared with the case where the first gyroscope sensor 39 is disposed at a location other than the center of the right-eye optical system and the left-eye optical system, the binoculars 10 can be anti-vibration with high precision.

[0151] In addition, in this first embodiment, the rotation motion detection unit 94 detects the start and end of the rotation motion of the frame 11 based on the second angular velocity signal. However, the technology of the present invention is not limited to this, and it is also possible to detect only one of the start and end of the rotation motion of the frame 11.

[0152] Furthermore, in this first embodiment, the rotational motion detection unit 94 detects the start and end of the rotational motion of the frame 11 based on the second angular velocity signal as a usage condition. However, the technology of the present invention is not limited to this, and may also include user hand tremors. Moreover, for example, as a usage condition, conditions caused by the usage environment of the binoculars 10 can also be detected. Here, examples of the usage environment of the binoculars 10 include, for example, vibrations caused by waves at sea, vibrations from roads or tracks, and vibrations caused by engines or motors inside vehicles. Thus, vibration protection corresponding to the usage environment of the binoculars 10 can be achieved.

[0153] [Second Implementation]

[0154] Due to the filtering function of the first gyroscope sensor 39, the first gyroscope sensor 39 has the characteristic that the output signal jitters towards the negative side when the input signal drops to zero. For example, as... Figure 14 As shown, at the timing of the end of the roll motion of the frame 11, the second angular velocity signal 104 output from the second gyroscope sensor 80 drops to zero. The first angular velocity signal 102 output from the first gyroscope sensor 39 also drops to zero following the end of the roll motion, but the first angular velocity signal 102... Figure 14 As shown by the dotted line, it trembles significantly towards the negative side.

[0155] Therefore, in this second embodiment, when the rotation motion detection unit 94 detects the end of the roll motion by monitoring the second angular velocity signal 104, the adjustment unit 95 changes the lower limit of the detectable frequency band of the first frequency F1 value set in the HPF of the first gyroscope sensor 39 to the higher frequency side. This suppresses the jitter of the first angular velocity signal 102 towards the negative side. After a predetermined time (e.g., about several hundred ms), the adjustment unit 95, in the same manner as in the first embodiment, changes the detectable frequency band to the wideband WB, thus performing vibration-damping operation of the binoculars 10 with high precision.

[0156] As explained above, according to this second embodiment, when the slewing motion detection unit 94 detects the end of the roll motion, the adjustment unit 95 changes the lower limit of the detectable frequency band to the high-frequency side. Therefore, compared to the case where the lower limit of the detectable frequency band is not changed to the high-frequency side, the noise of the first angular velocity signal generated by the filter function can be quickly reduced.

[0157] [Third Implementation]

[0158] As an example, such as Figure 15As shown, the jitter correction unit drive unit 71 of the third embodiment includes a vibration measuring unit 96 instead of a rotational motion detection unit 94. The other structures of the jitter correction unit drive unit 71 are the same as those of the jitter correction unit drive unit 70 of the first embodiment.

[0159] The vibration measurement unit 96 measures the amplitude and frequency of the vibration applied to the frame 11 based on the second angular velocity signal output from the second gyroscope sensor 80. The vibration measurement unit 96 outputs the measured amplitude and frequency to the adjustment unit 95. The adjustment unit 95 adjusts the detectable frequency band and parameter ratio based on the input amplitude and frequency.

[0160] More specifically, as an example, such as Figure 16 As shown, when the amplitude measured by the vibration measuring unit 96 is less than a predetermined value and the frequency is lower than a predetermined value, i.e., in the case of small-amplitude, low-frequency vibration, the adjustment unit 95 sets the parameter ratio so that the first value is greater than the second value. This improves the vibration damping performance for small-amplitude vibrations. Furthermore, the adjustment unit 95 widens the detectable frequency band towards the low-frequency side. Specifically, as... Figure 17 As shown, the adjustment unit 95, for example, changes the first frequency to a value F1-4 lower than F1-3 within the detectable frequency band defined by the first frequency F1-3 and the second frequency F2-3. This improves the vibration damping performance against low-frequency vibrations.

[0161] Furthermore, as an example, such as Figure 16 As shown, when the amplitude measured by the vibration measuring unit 96 is greater than a predetermined value and the frequency is higher than a predetermined value, i.e., in the case of large-amplitude, high-frequency vibration, the adjustment unit 95 sets the parameter ratio so that the second value is greater than the first value. This improves the vibration damping performance against large-amplitude vibrations. Furthermore, the adjustment unit 95 widens the detectable frequency band towards higher frequencies. Specifically, as... Figure 18 As shown, the adjustment unit 95, for example, changes the second frequency to a value F2-4 higher than F2-3 within the detectable frequency band defined by the first frequency F1-3 and the second frequency F2-3. This improves the vibration damping performance against high-frequency vibrations.

[0162] As explained above, according to this third embodiment, the vibration measuring unit 96 measures the frequency of the vibration applied to the binoculars 10 based on the second angular velocity signal, and the adjustment unit 95 widens the detectable frequency band to at least one of the high-frequency and low-frequency sides based on the measured frequency. Therefore, compared to the case where the detectable frequency band remains constant regardless of the frequency of the vibration applied to the binoculars 10, the vibration damping performance against at least one of the high-frequency and low-frequency vibrations can be improved.

[0163] [Fourth Implementation]

[0164] As an example, such as Figure 19As shown, the vibration measurement unit 96 of the fourth embodiment stores the amplitude data and frequency data of the vibration measured based on the second angular velocity signal in the working memory 66 of the computer 60.

[0165] More specifically, in vibration control, the amplitude and frequency of vibration are continuously sampled. The vibration measurement unit 96 measures the amplitude and frequency in each cycle and averages the measured amplitude and frequency. If the amplitude and frequency change and the change continues, the vibration measurement unit 96 recognizes that the usage of the binoculars 10 has changed and stores the average amplitude and average frequency up to the point before the change as an environmental data in the working memory 66. The vibration measurement unit 96 repeats the above process in vibration control. At the end of vibration control, the adjustment unit 95 selects the environment with the highest frequency (e.g., a frequency of 7 Hz and a small amplitude) based on the amplitude and frequency data stored in the working memory 66 up to this point, and uses the selected environment as the usage of the binoculars 10 when starting the next vibration control.

[0166] The adjustment unit 95 determines the default values ​​of the detectable frequency band and the parameter ratio based on the selected environment. Here, the default value of the detectable frequency band refers to the value of the detectable frequency band set when the anti-vibration device, consisting of the jitter correction unit 30, the first gyroscope sensor 39, the second gyroscope sensor 80, and the CPU 62 including the jitter correction unit drive unit 71, is activated. Furthermore, the anti-vibration device is activated when the fixing mechanism 50 is in the disengaged state by turning on the anti-vibration switch 16. Similarly, the default value of the parameter ratio refers to the parameter ratio set when the anti-vibration device is activated. That is, the adjustment unit 95 determines the anti-vibration control content when the anti-vibration device is activated based on the selected average amplitude and average frequency. Thus, from the start of anti-vibration operation, anti-vibration performance corresponding to the vibration tendency is provided.

[0167] As explained above, according to this fourth embodiment, the vibration measuring unit 96 stores the average values ​​of the amplitude and frequency of the vibration measured based on the second angular velocity signal in the working memory 66, and the adjustment unit 95 determines the control content of the vibration damping control when the vibration damping device is activated based on the amplitude and frequency stored in the working memory 66. Therefore, compared with the case where the control content of the vibration damping control when the vibration damping device is activated is not determined based on the amplitude and frequency stored in the working memory 66, vibration damping performance corresponding to the vibration tendency can be provided immediately after the vibration damping device is activated.

[0168] Furthermore, in this fourth embodiment, the vibration measuring unit 96 determines the vibration control content when the vibration damping device is activated based on the amplitude and frequency stored in the working memory 66, but the technology of the present invention is not limited to this. The vibration measuring unit 96 may also determine the vibration control content when the vibration damping device is activated based on either vibration or frequency. Furthermore, the vibration measuring unit 96 stores both amplitude data and frequency data in the working memory 66, but the vibration measuring unit 96 may also store only either amplitude data or frequency data in the working memory 66.

[0169] Furthermore, in this fourth embodiment, the adjustment unit 95 calculates the average amplitude and average frequency based on the amplitude data and frequency data, but the technology of the present invention is not limited to this. The adjustment unit 95 may also calculate the maximum frequency value or the median value instead of the average value of the amplitude and frequency, and determine the control content of the vibration control when the vibration damping device is activated based on the calculated maximum frequency value or median value.

[0170] [Fifth Implementation]

[0171] As an example, such as Figure 20 As shown, in the fifth embodiment, a matrix table 106 for searching detectable frequency bands and parameter ratios based on the frequency and amplitude of the applied vibration is prepared in advance and stored in the working memory 66. Figure 20 In matrix table 106, frequency values ​​X1, X2, ... are recorded in the row direction, and amplitude values ​​Y1, Y2, ... are recorded in the column direction. Each cell of matrix table 106 records the detectable frequency band and parameter ratio determined by each combination of frequency and amplitude. For example, matrix table 106 is obtained by calculating the detectable frequency band and parameter ratio to obtain the optimal third value in vibration control while changing the frequency and amplitude of the vibration applied to the binoculars 10 through physical machine-based experiments and / or computer simulations. Here, the optimal third value in vibration control represents a value related to the driving force of the jitter correction motor 40, which can prevent damage to the fixing rod 46 and / or fixing mechanism 50 caused by the rotation of the jitter correction unit 30 while minimizing image jitter caused by vibration.

[0172] The vibration measurement unit 96 measures the amplitude and frequency of the vibration applied to the binoculars 10 based on the second angular velocity signal, and outputs the measured amplitude and frequency to the adjustment unit 95. The adjustment unit 95 refers to the matrix table 106 to obtain the detectable frequency band and parameter ratio corresponding to the input amplitude and frequency. The adjustment unit 95 uses the obtained detectable frequency band and parameter ratio to set the first gyroscope sensor 39, the first feedback unit 90, and the second feedback unit 91.

[0173] As explained above, according to this fifth embodiment, the detectable frequency band and parameter ratio are determined based on the combination of the amplitude and frequency of each vibration applied to the binoculars 10. Therefore, an appropriate detectable frequency band and parameter ratio can be used based on the combination of the amplitude and frequency of the vibration applied to the binoculars 10.

[0174] Furthermore, in this fifth embodiment, the matrix table 106 records the detectable frequency bands and parameter ratios determined according to each combination of frequency and amplitude, but the technology of the present invention is not limited to this. The matrix table 106 may also record at least one of the detectable frequency bands and parameter ratios. Moreover, in this fifth embodiment, the adjustment unit 95 uses the detectable frequency bands and parameter ratios obtained from the matrix table 106 to set the jitter correction unit drive unit 71, but the technology of the present invention is not limited to this. The adjustment unit 95 may also use at least one of the detectable frequency bands and parameter ratios obtained from the matrix table 106 to set the jitter correction unit drive unit 71.

[0175] Furthermore, in this fifth embodiment, instead of matrix table 106, an expression can be used that uses frequency and amplitude as independent variables and detectable frequency band and parameter ratio as dependent variables. Using this expression, the detectable frequency band and parameter ratio can be determined based on the combination of amplitude and frequency of each vibration applied to the binoculars 10, achieving the same effect as described above.

[0176] [Sixth Implementation]

[0177] As an example, such as Figure 21 As shown, in this sixth embodiment, the vibration measuring unit 96 integrates the second angular velocity signal to calculate the moving distance of the frame 11 caused by the applied vibration, and further predicts the displacement of the jitter correction unit 30 from the reference position S based on the calculated moving distance of the frame 11.

[0178] When the predicted displacement value (hereinafter referred to as the "displacement prediction value") of the jitter correction unit 30 exceeds a predetermined range, the adjustment unit 95 controls the jitter correction unit to be fixed at a reference position. More specifically, the adjustment unit 95 controls the jitter correction unit 30 to be fixed at the reference position S when the displacement prediction value (e.g., the absolute value of the displacement prediction value) is greater than a predetermined threshold (e.g., the limit value of displacement determined based on the size of the openings 54a and 51a). Thus, for example, in the event of excessive vibration applied to the binoculars 10, damage to the jitter correction unit 30 due to displacement exceeding the specifications of the jitter correction unit 30 is prevented.

[0179] As explained above, according to this sixth embodiment, the vibration measurement unit 96 predicts the displacement of the jitter correction unit 30 by integrating the second angular velocity signal. When the predicted displacement value exceeds a predetermined threshold, the adjustment unit 95 controls the jitter correction unit 30 to be fixed at a reference position S. Therefore, damage to the jitter correction unit 30 can be prevented.

[0180] Furthermore, in the above embodiments, a ratio was exemplified as the degree of difference between the first value and the second value, but the technology of the present invention is not limited thereto. Another example of the degree of difference could be the absolute value of the difference between the first value and the second value, or the absolute value of the ratio multiplied by the difference.

[0181] Furthermore, in the above embodiments, the first feedback unit 90 outputs the product of the first angular velocity signal and the first parameter A as the first value, and the second feedback unit 91 outputs the product of the displacement signal and the second parameter B as the second value. However, the technology of the present invention is not limited to this. For example, the first value may be the absolute value of the difference between the first angular velocity signal and the first parameter A, and the second value may be the absolute value of the difference between the displacement signal and the second parameter B. In this case, the adjustment unit 95 can change the degree of difference between the first value and the second value in the third value by changing the first parameter A and the second parameter B.

[0182] Furthermore, in the above embodiments, the adjustment unit 95 changes both the detectable frequency band and the parameter ratio based on the second angular velocity signal, but the technology of the present invention is not limited to this. For example, as... Figure 22 As shown, the adjustment unit 95 can also change only the detectable frequency band based on the second angular velocity signal. Furthermore, as an example, such as... Figure 23 As shown, the adjustment unit 95 can also change only the parameter ratio based on the second angular velocity signal. In any case, the difference between the first and second values ​​can be changed by changing the detectable frequency band or the parameter ratio, thus achieving the same effect as the embodiments described above.

[0183] Furthermore, in the above embodiments, different types of gyroscope sensors are used as the first gyroscope sensor 39 and the second gyroscope sensor 80, but the technology of the present invention is not limited to this, and the same type of gyroscope sensor may also be used. Also, the first gyroscope sensor 39 has a filter function, but the second gyroscope sensor 80 may or may not have a filter function.

[0184] Furthermore, in the above embodiments, the second gyroscope sensor 80 has the same sensitivity as the first gyroscope sensor 39, but the technology of the present invention is not limited to this; the second gyroscope sensor 80 may also have a lower sensitivity than the first gyroscope sensor 39. The reasons for this are explained below. In vibration damping control, the jitter correction unit drive unit 70 controls the jitter correction unit 30 to make the first angular velocity signal output from the first gyroscope sensor 39 approach a small value, such as zero. Therefore, it is preferable that the first gyroscope sensor 39 has high sensitivity. On the other hand, the second gyroscope sensor 80 detects vibrations applied to the binoculars 10. That is, the second gyroscope sensor 80 detects vibrations with amplitudes larger than those of the first gyroscope sensor 39; therefore, the sensitivity of the second gyroscope sensor 80 may be lower than that of the first gyroscope sensor 39. Since the second gyroscope sensor 80 has a lower sensitivity than the first gyroscope sensor 39, the accuracy of vibration damping control can be improved compared to the case where the second gyroscope sensor 80 has a higher sensitivity than the first gyroscope sensor 39.

[0185] Furthermore, in the above embodiments, the frequency band that the second gyroscope sensor 80 can detect is the same as the frequency band that the first gyroscope sensor 39 can detect, but the technology of the present invention is not limited to this. The frequency band that the second gyroscope sensor 80 can detect may also be wider than the frequency band that the first gyroscope sensor 39 can detect. The reason for this will be explained below. The jitter correction unit drive unit 70 performs anti-vibration control by bringing the first angular velocity signal output from the first gyroscope sensor 39 close to, for example, zero. Therefore, in order to make the accuracy of anti-vibration control good, it is preferable that the first angular velocity signal does not contain high-frequency components and low-frequency components of the frequency band that are not needed for jitter correction. The first gyroscope sensor 39 uses a filter function to remove the high-frequency components and low-frequency components of the frequency band that are not needed for jitter correction, thereby outputting an angular velocity signal that has been removed as noise as the first angular velocity signal for jitter correction. On the other hand, the second angular velocity signal output from the second gyroscope sensor 80 is used to detect the use of the binoculars 10, and it is not a problem that it contains high-frequency components and low-frequency components. Therefore, it is preferable that the second gyroscope sensor 80 can detect a wider frequency band than the first gyroscope sensor 39.

[0186] Furthermore, in the above embodiments, the second gyroscope sensor 80 is mounted in front of the housing 11 and below the objective lens barrel 27, but the technology of the present invention is not limited to this. The second gyroscope sensor 80 can be mounted on the object holding the jitter correction unit 30, for example, it can also be mounted on the frame holding the jitter correction unit 30. Thus, the second gyroscope sensor 80 can detect vibrations applied to the object holding the jitter correction unit 30, such as the frame holding the jitter correction unit 30.

[0187] Furthermore, in the above embodiments, examples of storing the control program 72 in the program memory 64 have been described, but the technology of the present invention is not limited thereto. For example, as... Figure 24 As shown, the control program 72 can also be stored in the storage medium 100. Examples of storage medium 100 include any portable storage medium such as an SSD or USB flash drive. In this case, the control program 72 stored in the storage medium 100 is installed in the computer 60 and executed by the CPU 62 on the working memory 66.

[0188] Furthermore, the control program 72 can also be stored in the storage unit of another computer or server device connected to the computer 60 via a communication network (not shown). In this case, the control program 72 can also be downloaded from the storage unit of another computer or server device to the program memory 64 and installed in the computer 60.

[0189] Alternatively, it is not necessary to store the entire control program 72 in the storage unit of other computers or server devices connected to the computer 60, or in the program memory 64; a portion of the control program 72 may be stored instead.

[0190] In the above embodiments, for example, the hardware structure of the computer 60, which performs various processes of the fixing mechanism drive unit 68 and the jitter correction unit drive units 70 and 71, can use various processors as shown below. In addition to the CPU 62, which is a general-purpose processor that functions as various processing units by executing software (e.g., control program 72), the various processors also include PLDs, such as FPGAs, which are processors whose circuit structure can be changed after manufacturing, and / or dedicated circuits, such as ASICs, which have circuit structures specifically designed for performing specific processes.

[0191] A processing unit can consist of one of these various processors, or it can consist of a combination of two or more processors of the same or different types (e.g., a combination of multiple FPGAs and / or a combination of a CPU and an FPGA). Furthermore, multiple processing units can also be composed of a single processor.

[0192] As examples of multiple processing units comprised of a single processor, firstly, there is the following approach: as exemplified by client and server computers, a single processor is composed of one or more CPUs and software, which functions as multiple processing units. Secondly, there is the following approach: as exemplified by SoCs (System-on-a-Chip), a processor that implements the overall system functionality including multiple processing units using a single IC chip. In this way, various processing units are constructed using one or more of the aforementioned processors as their hardware architecture.

[0193] Moreover, the hardware architecture of these various processors, more specifically, can utilize circuits composed of circuit elements such as semiconductor components.

[0194] The control process described above is just one example. Therefore, without departing from the main point, unnecessary steps can certainly be deleted, new steps can be added, or the processing order can be changed.

[0195] The technology of this invention can also be appropriately combined with the various embodiments and / or variations described above. Furthermore, it is not limited to the embodiments described above; various structures can be employed as long as the spirit remains unchanged. Moreover, in addition to programs, the technology of this invention also relates to storage media for non-temporary program storage.

[0196] The descriptions and illustrations shown above are detailed explanations of the parts involved in the technology of this invention, and are merely examples of the technology of this invention. For example, the descriptions of the structure, function, effect, and effect described above are examples of the structure, function, effect, and effect of the parts involved in the technology of this invention. Therefore, it is natural that, without departing from the spirit of the technology of this invention, unnecessary parts may be deleted, new elements may be added, or substitutions may be made to the descriptions and illustrations shown above. Furthermore, in order to avoid complexity and facilitate the understanding of the parts involved in the technology of this invention, descriptions related to technical common sense that do not require special explanation have been omitted in the descriptions and illustrations shown above, based on the technology that enables the implementation of this invention.

[0197] In this specification, "A and / or B" has the same meaning as "at least one of A and B". That is, "A and / or B" means that it can be only A, only B, or a combination of A and B. Furthermore, in this specification, when "and / or" is added to represent more than three items, the same concept as "A and / or B" can also be applied.

[0198] All documents, patent applications and technical standards described in this specification are referenced in this specification to the same extent that each document, patent application and technical standard is specifically and separately described and referenced by reference.

[0199] The following notes further disclose the above implementation methods.

[0200] [Note 1]

[0201] A vibration damping device includes a vibration correction unit, the vibration damping device comprising:

[0202] The first vibration detector is configured in the aforementioned vibration correction unit;

[0203] The second vibration detector is located outside the aforementioned vibration correction unit; and

[0204] processor,

[0205] The processor performs vibration damping control based on the first output value from the first vibration detector and the second output value from the second vibration detector.

[0206] The detectable frequency band of the first vibration detector is determined by the combination of the amplitude and frequency of each vibration applied to the vibration damping device.

Claims

1. A vibration isolation device having a shake correction unit, the vibration isolation device comprising: a first vibration detector disposed in the shake correction unit; a second vibration detector disposed outside the shake correction unit; and a processor, the processor performing vibration control based on a first value based on a first output value output from the first vibration detector and a second value based on a second output value output from the second vibration detector, the vibration control including first vibration control for correcting image shake caused by rotation of the shake correction unit and second vibration control for correcting deviation of the shake correction unit from a reference position, the first value being a value that contributes to the first vibration control, the second value being a value that contributes to the second vibration control.

2. The vibration isolation device according to claim 1, wherein the processor changes a ratio of the first value and the second value in correspondence with a use condition of the vibration isolation device.

3. The vibration isolation device according to claim 1 or 2, wherein the processor sets the second value to be greater than the first value during a period in which a turning operation of the vibration isolation device is performed.

4. The vibration isolation device according to claim 1 or 2, wherein the vibration isolation device is an integrated device.

5. The vibration isolation device according to claim 1 or 2, wherein vibration detection axes of the first vibration detector and the second vibration detector are each parallel to a rotation axis of the shake correction unit.

6. The vibration isolation device according to claim 5, wherein the shake correction unit has a plurality of the rotation axes, and the vibration detection axes are parallel to the rotation axes in each of the vibration detection axes of the first vibration detector and the second vibration detector.

7. The vibration isolation device according to claim 1 or 2, wherein the second vibration detector has a lower sensitivity than the first vibration detector.

8. The vibration isolation device according to claim 1 or 2, wherein the second vibration detector has a sensitivity that is the same as the first vibration detector.

9. The vibration isolation device according to claim 1 or 2, wherein a frequency band that can be detected by the second vibration detector is wider than a frequency band that can be detected by the first vibration detector.

10. The vibration isolation device according to claim 1 or 2, wherein a frequency band that can be detected by the second vibration detector is the same as a frequency band that can be detected by the first vibration detector.

11. The vibration isolation device according to claim 1 or 2, wherein in the vibration control, the processor performs control to cause the first output value to approach a prescribed value.

12. The vibration isolation device according to claim 1 or 2, wherein the processor performs processing of: detecting a use condition of the vibration isolation device based on the second output value, and performing the vibration control based on a result of the detection.

13. The vibration isolation device according to claim 12, wherein the use condition includes a condition caused by an environment in which the vibration isolation device is used.

14. The vibration isolation device according to claim 12, wherein the use condition is at least one of a start and an end of a turning operation of the vibration isolation device. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 15. The vibration isolation device according to claim 14, wherein the rotational motion is at least one of a roll motion and a pitch motion.

16. The vibration isolation device according to claim 14 or 15, wherein a detectable frequency band of the first vibration detector is changeable, the processor sets the detectable frequency band to a wide frequency band in a case where the vibration isolation device performs the vibration isolation operation in the jitter correction unit, the processor changes the detectable frequency band from the wide frequency band to a narrow frequency band in a case where the processor detects that the rotational motion starts.

17. The vibration isolation device according to claim 16, wherein the processor changes the detectable frequency band from the narrow frequency band to the wide frequency band in a case where the processor detects that the rotational motion ends.

18. The vibration isolation device according to claim 16, wherein the processor performs the following processing: determines a frequency of a vibration applied to the vibration isolation device from the second output value, widens the detectable frequency band to at least one of a high frequency side and a low frequency side in accordance with the determined frequency.

19. The vibration isolation device according to claim 1 or 2, wherein the processor performs the following processing: predicts a displacement of the jitter correction unit from a reference position by integrating the second output value, performs control to fix the jitter correction unit at the reference position in a case where a predicted value of the displacement exceeds a predetermined range.

20. The vibration isolation device according to claim 1 or 2, comprising a frame that accommodates the jitter correction unit, the second vibration detector is disposed in the frame.

21. The vibration isolation device according to claim 20, wherein the vibration isolation device is a device integrated with the frame.

22. A vibration isolation device having a jitter correction unit, the vibration isolation device comprising: a first vibration detector disposed in the jitter correction unit; a second vibration detector disposed outside the jitter correction unit; and a processor, the processor performs vibration isolation control in accordance with a first output value output from the first vibration detector and a second output value output from the second vibration detector, the processor changes a lower limit of a detectable frequency band of the first vibration detector to a high frequency side in a case where the processor detects that a rotational motion of the vibration isolation device ends.

23. A vibration isolation device having a jitter correction unit, the vibration isolation device comprising: a first vibration detector disposed in the jitter correction unit; a second vibration detector disposed outside the jitter correction unit; and a processor, the processor performs vibration isolation control in accordance with a first output value output from the first vibration detector and a second output value output from the second vibration detector, the processor performs the following processing: stores at least one of an amplitude and a frequency of a vibration included in the second output value in a memory, determines a control content of the vibration isolation control at the time of activation of the vibration isolation device in accordance with at least one of the amplitude and the frequency stored in the memory.

24. An optical device comprising: the vibration isolation device according to any one of claims 1 to 23; and 1 or more observation optical systems.

25. A binocular which is the optical device according to claim 24 including 2 observation optical systems, wherein the first vibration detector is disposed at the center of the 2 observation optical systems.

26. The binocular according to claim 25, wherein the second vibration detector is attached to an object holding the shake correction unit.

27. The binocular according to claim 26, wherein the object is a frame holding the shake correction unit or a frame body of the binocular.

28. A control method of a vibration isolation device including a shake correction unit, a first vibration detector disposed in the shake correction unit, and a second vibration detector disposed outside the shake correction unit, the control method of the vibration isolation device including: performing vibration isolation control in accordance with a first value based on a first output value output from the first vibration detector and a second value based on a second output value output from the second vibration detector, the vibration isolation control including first vibration isolation control for correcting image shake caused by rotation of the shake correction unit and second vibration isolation control for correcting deviation of the shake correction unit from a reference position, the first value is a value contributing to the first vibration isolation control, the second value is a value contributing to the second vibration isolation control.

29. A storage medium storing a program for causing a computer applied to a vibration isolation device including a shake correction unit, a first vibration detector disposed in the shake correction unit, and a second vibration detector disposed outside the shake correction unit, to execute a process, the process including: performing vibration isolation control in accordance with a first value based on a first output value output from the first vibration detector and a second value based on a second output value output from the second vibration detector, the vibration isolation control including first vibration isolation control for correcting image shake caused by rotation of the shake correction unit and second vibration isolation control for correcting deviation of the shake correction unit from a reference position, the first value is a value contributing to the first vibration isolation control, the second value is a value contributing to the second vibration isolation control.

Images