阅读说明：本技术 模糊校正装置和成像装置 (Blur correction device and imaging device ) 是由 古川正英 杉山好功 于 2018-04-13 设计创作，主要内容包括：在本发明中,简化了结构并且减小了移动体的重量。本发明包括：第一可移动体,所述第一可移动体能够相对于基体在第一移动方向上移动；第二可移动体,所述第二可移动体位于第一可移动体的与基体相反的一侧,并且能够相对于第一可移动体在不同于第一移动方向的第二移动方向上移动；以及第一驱动体和第二驱动体,每个对第二可移动体施加驱动力。通过第一驱动体和/或第二驱动体的驱动力使第一可移动体和第二可移动体一体地相对于基体在第一移动方向上移动,以及通过第一驱动体和/或第二驱动体的驱动力使第二可移动体相对于第一可移动体在第二移动方向上移动。(In the present invention, the structure is simplified and the weight of the moving body is reduced. The invention comprises the following steps: a first movable body movable in a first movement direction with respect to the base; a second movable body that is located on an opposite side of the first movable body from the base and is movable relative to the first movable body in a second movement direction different from the first movement direction; and a first driving body and a second driving body each applying a driving force to the second movable body. The first movable body and the second movable body are integrally moved in the first movement direction with respect to the base body by the driving force of the first driving body and/or the second driving body, and the second movable body is moved in the second movement direction with respect to the first movable body by the driving force of the first driving body and/or the second driving body.)

1. A blur correction device comprising:

a first movable body movable in a first movement direction with respect to the base;

a second movable body that is located on an opposite side of the first movable body from the base and is movable relative to the first movable body in a second movement direction different from the first movement direction; and

a first drive body and a second drive body each applying a driving force to the second movable body, wherein

The first movable body and the second movable body are integrally moved in a first movement direction with respect to the base body by a driving force of at least one of the first drive body or the second drive body, and

the second movable body is moved in a second movement direction with respect to the first movable body by a driving force of at least one of the first or second drivers.

2. The blur correction device according to claim 1, wherein

The first movable body and the second movable body are located side by side in the optical axis direction,

making the first moving direction orthogonal to the optical axis direction, an

The second moving direction is made orthogonal to both the optical axis direction and the first moving direction.

3. The blur correction device according to claim 1, wherein

A driving force in a first driving direction is applied from the first driving body to the second movable body,

applying a driving force in a second driving direction from the second driving body to the second movable body, an

The first drive direction and the second drive direction are both made orthogonal to the optical axis direction and to each other.

4. The blur correction device according to claim 1, wherein

A first driving force transmitting portion is provided to the first driving body,

a second driving force transmitting portion is provided to the second driving body,

a first surface to be operated and a second surface to be operated are formed on the second movable body,

the first operated surface is pressed against the first driving force transmitting portion in a slidable state,

the second operated surface is pressed against the second driving force transmitting portion in a slidable state, an

At least one of the position of the first driving force transmission portion with respect to the first operated surface or the position of the second driving force transmission portion with respect to the second operated surface is changed, and the second movable body is moved with respect to the base body.

5. The blur correction device according to claim 4, wherein

A biasing unit is provided that biases in a direction in which the first operated surface is pressed against the first driving force transmission portion and the second operated surface is pressed against the second driving force transmission portion.

6. The blur correction device according to claim 5, wherein

The first movable body and the second movable body are biased by the biasing unit in a direction approaching the base.

7. The blur correction device according to claim 4, wherein

The first operated surface and the second operated surface are both inclined with respect to the first moving direction and the second moving direction.

8. The blur correction device according to claim 7, wherein

The inclination angles of the first operated surface and the second operated surface with respect to the first moving direction and the second moving direction are made equal to each other.

9. The blur correction device according to claim 4, wherein

A plurality of first driving force transmitting portions and a plurality of second driving force transmitting portions are provided, respectively.

10. The blur correction device according to claim 3, wherein

The first movement direction is made different from the first drive direction, an

The second moving direction is made different from the second driving direction.

11. The blur correction device according to claim 1, wherein

The first driving body includes a first actuator and a first slider operated by the first actuator,

the second driving body includes a second actuator and a second slider operated by the second actuator, an

The second movable body is made slidable by the first slider and the second slider.

12. The blur correction device according to claim 11, wherein

The first moving direction and the second moving direction are made to be mutually orthogonal directions, an

The first slider and the second slider are operated in a direction orthogonal to both the first moving direction and the second moving direction.

13. The blur correction device according to claim 11, wherein

Attaching the first actuator and the second actuator to the base.

14. The blur correction device according to claim 13, wherein

The base body is provided with a substantially rectangular arrangement unit in which the first movable body and the second movable body are arranged, and

the first and second drivers are attached to the corners of the arrangement unit, respectively, at the outer sides of the first and second movable bodies.

15. The blur correction device according to claim 1, wherein

The outer shape of the first movable body is made smaller than the outer shape of the second movable body.

16. The blur correction device according to claim 1, wherein

The base body is formed with an arrangement space in which the first movable body, the second movable body, the first drive body, and the second drive body are arranged.

17. The blur correction device according to claim 1, wherein

Provided with a first guide member that guides the first movable body in a first moving direction, and

and a second guide member that guides the second movable body in the second moving direction.

18. The blur correction device according to claim 17, wherein

The first guide is integrally formed with the base, and

the second guide is integrally formed with the first movable body.

19. The blur correction device according to claim 1, wherein

Arranging a first rolling member between the base body and the first movable body, the first rolling member rolling when the first movable body moves in the first moving direction, an

A second rolling member is disposed between the first movable body and the second movable body, the second rolling member rolling when the second movable body moves in the second moving direction.

20. An image forming apparatus comprising:

a lens unit including at least one lens; an imaging element that photoelectrically converts an optical image captured by the lens; and a blur correction device that corrects an image blur of the optical image,

the blur correction device comprises

A first movable body movable in a first movement direction with respect to the base,

a second movable body that is located on an opposite side of the first movable body from the base body and is movable relative to the first movable body in a second movement direction different from the first movement direction, an

A first drive body and a second drive body each applying a driving force to the second movable body, wherein

The first movable body and the second movable body are integrally moved in a first movement direction with respect to the base body by a driving force of at least one of the first drive body or the second drive body, and

the second movable body is moved in a second movement direction with respect to the first movable body by a driving force of at least one of the first or second drivers.

Technical Field

The present technology relates to the technical field of a blur correction device including a first movable body that moves in a first movement direction and a second movable body that moves in a second movement direction, and an imaging device including the blur correction device.

CITATION LIST

Patent document

Patent document 1: japanese patent application laid-open No.2008-78852

Background

Among imaging devices such as video cameras, still cameras, and various devices including camera units, there are, for example, imaging devices provided with a blur correction device that performs image blur correction by moving a lens or an imaging element in a direction orthogonal to an optical axis direction (see, for example, patent document 1).

The blur correction device described in patent document 1 includes a movable body that holds a lens or an imaging element, and a moving mechanism that moves the movable body in a first moving direction and a second moving direction that are orthogonal to each other. The moving mechanism includes a first moving body, a second moving body, a third moving body, a first actuator, and a second actuator, and the first moving body, the second moving body, and the third moving body are in contact with respective positions of the movable body in a movable state.

The first movable body is moved in the second moving direction by the first actuator, and when the first movable body is moved in the second moving direction, the movable body is moved in the second moving direction. At this time, the second movable body and the third movable body are slid by the movable body, and the movable body is moved in the second movement direction while being held on a plane orthogonal to the optical axis.

Further, the second movable body is moved in the first moving direction by the second actuator, and when the second movable body is moved in the first moving direction, the movable body is moved in the first moving direction. At this time, the first and third movable bodies are slid by the movable body, and the movable body is moved in the first movement direction while being held on a plane orthogonal to the optical axis.

Disclosure of Invention

Problems to be solved by the invention

Incidentally, the blur correction device described in patent document 1 is configured to apply a plurality of driving forces in different directions to one movable body, and does not attach a moving mechanism to the movable body, so that the weight of the movable body can be reduced, but includes three movable bodies, and therefore the number of parts is large, which may hinder simplification of the structure.

Therefore, it is desirable to simplify the structure even in a blur correction device configured to apply a plurality of driving forces in different directions to one movable body.

Therefore, it is an object of the blur correction device and the imaging device of the present technology to reduce the weight of a movable body while simplifying the structure.

Solution to the problem

First, a blur correction device according to the present technology includes: a first movable body movable in a first movement direction with respect to the base; a second movable body that is located on an opposite side of the first movable body from the base and is movable relative to the first movable body in a second movement direction different from the first movement direction; and a first drive body and a second drive body each applying a driving force to the second movable body, wherein the first movable body and the second movable body are integrally moved in a first moving direction with respect to the base body by the driving force of at least one of the first drive body or the second drive body, and the second movable body is moved in a second moving direction with respect to the first movable body by the driving force of at least one of the first drive body or the second drive body.

As a result, a driving force is applied to the second movable body by each of the first and second driving bodies, and the second movable body is moved in the first or second movement direction by the driving force of at least one of the first or second driving bodies.

Second, in the blur correction device according to the present technology described above, it is desirable that the first movable body and the second movable body are located side by side in the optical axis direction, that the first movement direction is orthogonal to the optical axis direction, and that the second movement direction is orthogonal to both the optical axis direction and the first movement direction.

As a result, the first movement direction in which the first movable body is moved and the second movement direction in which the second movable body is moved are mutually orthogonal directions, and are both orthogonal to the optical axis.

Third, in the blur correction device according to the present technology described above, it is desirable that a driving force in the first driving direction is applied from the first driving body to the second movable body, a driving force in the second driving direction is applied from the second driving body to the second movable body, and both the first driving direction and the second driving direction are orthogonal to the optical axis direction and to each other.

As a result, the first driving direction and the second driving direction are mutually orthogonal directions and are both orthogonal to the optical axis.

Fourth, in the blur correction device according to the present technology described above, it is desirable that a first driving force transmission portion is provided to the first driving body, a second driving force transmission portion is provided to the second driving body, a first operated surface and a second operated surface are formed on the second movable body, the first operated surface is pressed against the first driving force transmission portion in a slidable state, the second operated surface is pressed against the second driving force transmission portion in a slidable state, and at least one of a position of the first driving force transmission portion with respect to the first operated surface or a position of the second driving force transmission portion with respect to the second operated surface is changed, and the second movable body is moved with respect to the base body.

As a result, the driving force of the first driving body is transmitted to the first operated surface, the driving force of the second driving body is transmitted to the second operated surface, and the second movable body is moved.

Fifth, in the blur correction device according to the present technology described above, it is desirable to provide a biasing unit that biases in a direction in which the first operated surface is pressed against the first driving force transmission portion and the second operated surface is pressed against the second driving force transmission portion.

As a result, the first operated surface is pressed against the first driving force transmitting portion and the second operated surface is pressed against the second driving force transmitting portion by the biasing unit.

Sixth, in the above-described blur correction device according to the present technology, it is desirable that the first movable body and the second movable body are biased in the direction toward the base by the biasing unit.

As a result, it is not necessary to separately provide a biasing unit that biases the first operated surface and the second operated surface so as to press against the first driving force transmitting portion and the second driving force transmitting portion, respectively, and a biasing unit that biases the first movable body and the second movable body in a direction toward the base.

Seventh, in the blur correction device according to the present technology described above, it is desirable that both the first operated surface and the second operated surface are inclined with respect to the first moving direction and the second moving direction.

As a result, the driving force of the first driving body is transmitted to the first operated surface which becomes the inclined surface, the driving force of the second driving body is transmitted to the second operated surface which becomes the inclined surface, and the second movable body is moved.

Eighth, in the blur correction device according to the present technology described above, it is desirable that the inclination angles of the first operated surface and the second operated surface with respect to the first movement direction and the second movement direction are made equal to each other.

As a result, the driving force of the first driver is transmitted to the first operated surface which becomes the inclined surface, the driving force of the second driver is transmitted to the second operated surface inclined at the same inclination angle as that of the first operated surface, and the second movable body is moved, so that the amount of movement of the second movable body in the first moving direction and the amount of movement in the second moving direction can be made the same as each other by the same driving force of the first driver and the second driver.

Ninth, in the above-described blur correction device according to the present technology, it is desirable that a plurality of first driving force transmission portions and a plurality of second driving force transmission portions are provided separately.

As a result, the first operated surface is pressed against the plurality of first driving force transmitting portions, and the second operated surface is pressed against the plurality of second driving force transmitting portions.

Tenth, in the above-described blur correction device according to the present technology, it is desirable that the first movement direction is made different from the first driving direction, and the second movement direction is made different from the second driving direction.

As a result, the driving force of both the driving force of the first driving body and the driving force of the second driving body is transmitted, and the second movable body is moved so that the second movable body is moved in the first moving direction or the second moving direction depending on the magnitude of the driving forces of the first driving body and the second driving body.

Eleventh, in the blur correction device according to the present technology described above, it is desirable that the first drive body includes a first actuator and a first slider operated by the first actuator, the second drive body includes a second actuator and a second slider operated by the second actuator, and the second movable body is made slidable by the first slider and the second slider.

As a result, the driving force of the first driving body and the driving force of the second driving body are transmitted from the first slider and the second slider to the second movable body, respectively.

Twelfth, in the above-described blur correction device according to the present technology, it is desirable that the first moving direction and the second moving direction are made to be mutually orthogonal directions, and that the first slider and the second slider are operated in directions orthogonal to both the first moving direction and the second moving direction.

As a result, the first slider and the second slider are operated in the direction orthogonal to the moving direction of the first movable body and the second movable body, so that the arrangement space of the first slider and the second slider is reduced on the plane including the moving direction of the first movable body and the second movable body.

Thirteenth, in the blur correction device according to the present technology described above, it is desirable that the first actuator and the second actuator are attached to the base.

As a result, no special parts for attaching the first actuator and the second actuator are required.

Fourteenth, in the blur correction device according to the present technology described above, it is desirable that the base body is provided with a substantially rectangular arrangement unit in which the first movable body and the second movable body are arranged, and the first drive body and the second drive body are attached to corners of the arrangement unit on outer sides of the first movable body and the second movable body, respectively.

As a result, the first and second drive bodies are arranged in the portion near the outer periphery in the arrangement unit.

Fifteenth, in the above-described blur correction device according to the present technology, it is desirable that the outer shape of the first movable body is made smaller than the outer shape of the second movable body.

As a result, the first movable body and the second movable body can be arranged in a state where the first movable body does not protrude outward from the second movable body.

Sixteenth, in the blur correction device according to the present technology described above, it is desirable that the base body is formed with an arrangement space in which the first movable body, the second movable body, the first drive body, and the second drive body are arranged.

As a result, the first movable body, the second movable body, the first drive body, and the second drive body can be arranged in the same space formed in the base body.

Seventeenth, in the blur correction device according to the present technology described above, it is desirable to provide a first guide that guides the first movable body in the first moving direction, and a second guide that guides the second movable body in the second moving direction.

As a result, the first movable body is guided with respect to the base by the first guide, and the second movable body is guided with respect to the first movable body by the second guide.

Eighteenth, in the blur correction device according to the present technology described above, it is desirable that the first guide is integrally formed with the base body, and the second guide is integrally formed with the first movable body.

As a result, it is not necessary to form the first guide and the second guide as separate members from the base body and the first movable body.

Nineteenth, in the blur correction device according to the present technology described above, it is desirable that a first rolling member that rolls when the first movable body moves in the first moving direction is disposed between the base body and the first movable body, and a second rolling member that rolls when the second movable body moves in the second moving direction is disposed between the first movable body and the second movable body.

As a result, the first rolling member rolls when the first movable body moves in the first moving direction, and the second rolling member rolls when the second movable body moves in the second moving direction.

Twentieth, an imaging apparatus according to the present technology includes: a lens unit including at least one lens; an imaging element that photoelectrically converts an optical image captured by the lens; and a blur correction device that corrects image blur of the optical image, the blur correction device including: a first movable body movable in a first movement direction with respect to the base; a second movable body that is located on an opposite side of the first movable body from the base and is movable relative to the first movable body in a second movement direction different from the first movement direction; and a first drive body and a second drive body each applying a driving force to the second movable body, wherein the first movable body and the second movable body are integrally moved in a first moving direction with respect to the base body by the driving force of at least one of the first drive body or the second drive body, and the second movable body is moved in a second moving direction with respect to the first movable body by the driving force of at least one of the first drive body or the second drive body.

As a result, in the blur correction device, a driving force is applied to the second movable body by each of the first and second driving bodies, and the second movable body is moved in the first or second movement direction by the driving force of at least one of the first or second driving bodies.

Effects of the invention

In the blur correction device and the imaging device of the present technology, a driving force is applied to the second movable body by each of the first and second drivers, and the second movable body is moved in the first or second movement direction by the driving force of at least one of the first or second drivers, so that the weight of the movable body can be reduced while simplifying the structure.

Note that the advantageous effects described in this specification are merely examples, and the advantageous effects of the present technology are not limited to these effects, and other effects may be included.

Drawings

Fig. 1 illustrates a blur correction device and an imaging device of the present technology together with fig. 2 to 58, and the figure is a conceptual diagram of the imaging device.

Fig. 2 is a block diagram illustrating a configuration example of an imaging apparatus.

Fig. 3 illustrates the blur correction device according to the first embodiment together with fig. 4 to 32, and is an exploded perspective view of the blur correction device.

Fig. 4 is an exploded perspective view of the blur correction device seen from a direction different from that in fig. 3.

Fig. 5 is a perspective view of the blur correction device.

Fig. 6 is a perspective view illustrating a base body and the like.

Fig. 7 is a perspective view illustrating the first movable body and the like.

Fig. 8 is a perspective view of the first movable body and the like seen from a direction different from that in fig. 7.

Fig. 9 is a front view illustrating a state in which the first movable body is supported by the base.

Fig. 10 is a perspective view illustrating a second movable body and the like.

Fig. 11 is a perspective view illustrating the second movable body and the like seen from a direction different from that in fig. 10.

Fig. 12 is a front view illustrating a state in which the first movable body is supported by the base and the second movable body is supported by the first movable body.

Fig. 13 is an exploded perspective view illustrating an example in which a guide (guide) is integrally formed with a base body and a first movable body.

Fig. 14 is a perspective view illustrating the first movable body, the second movable body, and the driving body.

Fig. 15 is a perspective view illustrating a driving body.

Fig. 16 is a front view illustrating a driving body.

Fig. 17 illustrates the blur correction operation together with fig. 18 to 26, and is a schematic plan view illustrating a state in which the first movable body and the second movable body are located at the reference positions.

Fig. 18 is a schematic front view illustrating a state in which the first movable body and the second movable body are located at the reference positions.

Fig. 19 is a schematic plan view illustrating a state in which the first slider and the second slider are moved forward.

Fig. 20 is a schematic front view illustrating a state in which the first slider and the second slider are moved forward and the second movable body is moved in the second moving direction.

Fig. 21 is a schematic plan view illustrating a state in which the first slider and the second slider are moved rearward.

Fig. 22 is a schematic front view illustrating a state in which the first slider and the second slider are moved rearward and the second movable body is moved in the second moving direction.

Fig. 23 is a schematic plan view illustrating a state in which the first slider is moved forward and the second slider is moved backward.

Fig. 24 is a schematic front view illustrating a state in which the first slider is moved forward and the second slider is moved backward, and the first movable body and the second movable body are integrally moved in the first moving direction.

Fig. 25 is a schematic plan view illustrating a state in which the first slider is moved backward and the second slider is moved forward.

Fig. 26 is a schematic front view illustrating a state in which the first slider is moved backward and the second slider is moved forward, and the first movable body and the second movable body are integrally moved in the first moving direction.

Fig. 27 is a schematic front view illustrating an example of making the first driving direction and the second driving direction directions other than the mutually orthogonal directions.

Fig. 28 is a schematic side view illustrating an example in which the first driving direction (second driving direction) is inclined with respect to a direction orthogonal to the optical axis.

Fig. 29 is a schematic front view illustrating the configuration of a blur correction device for describing a control example of the blur correction operation.

Fig. 30 is a flowchart illustrating a control example of the blur correction operation.

Fig. 31 is a schematic front view illustrating the configuration of a blur correction device for describing another control example of the blur correction operation.

Fig. 32 is a flowchart illustrating another control example of the blur correction operation.

Fig. 33 illustrates a blur correction device according to a second embodiment together with fig. 34 to 43, which are exploded perspective views of the blur correction device.

Fig. 34 is an exploded perspective view of the blur correction device seen from a direction different from that in fig. 33.

Fig. 35 is a perspective view of the blur correction device.

Fig. 36 is a perspective view illustrating a base body and the like.

Fig. 37 is a perspective view illustrating the first movable body and the like.

Fig. 38 is a perspective view of the first movable body and the like seen from a direction different from that in fig. 37.

Fig. 39 is a front view illustrating a state where the first movable body is supported by the base.

Fig. 40 is a perspective view illustrating a second movable body and the like.

Fig. 41 is a perspective view illustrating the second movable body and the like seen from a direction different from that in fig. 40.

Fig. 42 is a front view illustrating a state in which the first movable body is supported by the base and the second movable body is supported by the first movable body.

Fig. 43 is a schematic sectional view of the blur correction device.

Fig. 44 illustrates the blur correction operation together with fig. 45 to 53, and is a schematic plan view illustrating a state in which the first movable body and the second movable body are at the reference positions.

Fig. 45 is a schematic front view illustrating a state in which the first movable body and the second movable body are located at the reference positions.

Fig. 46 is a schematic plan view illustrating a state in which the second slider is moved forward.

Fig. 47 is a schematic front view illustrating a state in which the second slider is moved forward and the second movable body is moved in the second moving direction.

Fig. 48 is a schematic plan view illustrating a state where the second slider is moved rearward.

Fig. 49 is a schematic front view illustrating a state where the second slider is moved rearward and the second movable body is moved in the second moving direction.

Fig. 50 is a schematic plan view illustrating a state in which the first slider is moved forward.

Fig. 51 is a schematic front view illustrating a state in which the first slider is moved forward and the first movable body and the second movable body are integrally moved in the first movement direction.

Fig. 52 is a schematic plan view illustrating a state in which the first slider is moved rearward.

Fig. 53 is a schematic front view illustrating a state in which the first slider is moved rearward and the first movable body and the second movable body are integrally moved in the first movement direction.

Fig. 54 is a schematic front view illustrating an example of applying a driving force of an actuator not including a slider to the second movable body.

Fig. 55 is a diagram illustrating an example of a schematic configuration of an endoscopic surgery system.

Fig. 56 is a block diagram illustrating a functional configuration example of the camera head and the CCU.

Fig. 57 is a block diagram illustrating a schematic configuration example of the vehicle control system.

Fig. 58 is an explanatory diagram illustrating an example of the mounting positions of the vehicle exterior information detecting unit and the imaging unit.

Detailed Description

Hereinafter, embodiments of a blur correction device and an imaging device of the present technology are described with reference to the drawings. The embodiments described below apply the imaging device of the present technology to an interchangeable lens, and apply the blur correction device of the present technology to a blur correction device provided in the interchangeable lens.

Note that the application ranges of the imaging device and the blur correction device of the present technology are not limited to the interchangeable lens and the blur correction device provided in the interchangeable lens, respectively. The imaging apparatus and the blur correction apparatus of the present technology can be widely applied to, for example, imaging apparatuses included in various apparatuses such as still cameras, video cameras, personal computers, and portable terminals, or blur correction apparatuses provided in these imaging apparatuses.

In the following description, it is assumed that the front, rear, up, down, left, and right directions are represented by directions seen from an image photographer in a state where an interchangeable lens is mounted on the apparatus main body of the camera. Therefore, the subject side is the front, and the image photographer side is the rear.

Note that the front, rear, up, down, left, and right directions shown below are for convenience of description, and these directions are not limitations on the embodiments of the present technology.

Further, the meaning of the lens described below includes both a lens constituted by a single lens and a lens constituted by a plurality of lenses as a lens group.

< general configuration of image Forming apparatus >

An imaging apparatus (interchangeable lens) 1 includes a lens barrel 2 and necessary units arranged within the lens barrel 2 (see fig. 1). At least one lens group 3,3 is arranged in the lens barrel 2 movably in the optical axis direction or in a fixed state. The lens group 3 includes a single lens or a plurality of lenses. In the lens barrel 2, in addition to the lens groups 3, 3.. other optical elements (not shown), such as an aperture stop, are arranged.

One of the lens groups 3,3 or a part of the lens group 3 is provided as a shift lens group 3a that moves in a direction orthogonal to the optical axis. Note that the lens group 3 may include a plurality of sub lens groups including a single or a plurality of lenses, for example, a front group and a rear group, and in this case, the sub lens groups may be provided as the shift lens group 3 a.

The imaging device 1 as an interchangeable lens is made detachable to a device main body (not shown) of a still camera and is used by being attached to the device main body. The apparatus main body is provided with an operation unit such as a power button and a zoom knob, a display unit on which a screen is displayed, and the like.

Note that, in the present technology, the imaging apparatus may be configured by mounting the imaging apparatus 1 on the apparatus main body as a whole, or only an apparatus main body of a type in which an interchangeable lens is not used may be configured as the imaging apparatus. However, in the case where only an apparatus body of a type in which an interchangeable lens is not used is configured as an imaging apparatus, the lens groups 3, 3.

The imaging apparatus 1 includes a Central Processing Unit (CPU)4, a driver circuit 5, a drive motor 6, an imaging element 7, and a video separation circuit 8 (see fig. 2).

Note that the CPU 4, the driver circuit 5, the drive motor 6, the imaging element 7, and the video separation circuit 8 are provided in the apparatus main body in the case where the imaging apparatus is configured as a whole by mounting the imaging apparatus 1 on the apparatus main body or in the case where only an apparatus main body of a type in which an interchangeable lens is not used is configured as the imaging apparatus.

The CPU 4 comprehensively controls the entire imaging apparatus 1, and sends an image captured by the lens groups 3, 3.

The CPU 4 executes various processes based on input of an operation signal such as a focusing operation from the outside. For example, in the case where a focus operation signal is input, focus processing is performed to operate the drive motor 6 through the driver circuit 5 in accordance with the input focus operation signal. The lens group 3 provided as a focusing lens group is moved in the optical axis direction by the focusing process. At this time, the CPU 4 feeds back the position information of the focus lens group, and stores reference information when the focus lens group is moved by the drive motor 6 next time. Further, for example, in a case where a zoom operation signal is input, the CPU 4 performs zoom processing to operate the drive motor 6 through the driver circuit 5 in accordance with the input zoom operation signal.

Further, the CPU 4 transmits a drive signal to the driver circuit 5 based on a signal output from a position detection unit described later to perform blur correction. The driver circuit 5 operates a first actuator and a second actuator, which will be described later, based on the input drive signal. The blur correction is performed by the operation of the first actuator and the second actuator.

As the imaging element 7, for example, a photoelectric conversion element such as a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS) is used.

The video separation circuit 8 sends the video signal to a video processing circuit (not shown). The video processing circuit converts an input video signal into respective signal formats suitable for subsequent processing, and performs processing of each of video display processing on the display unit, recording processing on a recording medium, data transfer processing through the communication interface, and the like.

Inside the lens barrel 2, a blur correction device 9 (see fig. 1 and 2) that moves the shift lens group 3a is arranged. Thereby, blur correction is performed by moving the shift lens group 3a in the direction orthogonal to the optical axis.

Note that, above, an example of blur correction by moving the shift lens group 3a in the direction orthogonal to the optical axis by the blur correction device 9 is described; however, a configuration may be made in which the shift lens group 3a is not moved in the direction orthogonal to the optical axis, but the imaging element 7 is moved by the blur correction device 9. In this case, blur correction is performed by moving the imaging element 7 in a direction orthogonal to the optical axis.

< configuration of blur correction apparatus according to first embodiment >

Hereinafter, the configuration of the blur correction device 9 according to the first embodiment is described (see fig. 3 to 16).

The blur correction device 9 includes a base 10 arranged in a fixed state, a first movable body 11 movable in the left-right direction as a first moving direction with respect to the base 10, and a second movable body 12 movable in the up-down direction as a second moving direction with respect to the first movable body 11 (see fig. 3 to 5).

The base body 10 includes an arrangement unit 13 formed in a box-like shape opened forward, and supported protrusions (supported protrusions) 14 and 14 protruding leftward and rightward (protrusion) from the arrangement unit 13.

The arrangement unit 13 includes a base surface portion 15, an upper surface portion 16, a lower surface portion 17, and side surface portions 18 and 18 (see fig. 6). The inner space of the arrangement unit 13 is formed as an arrangement space 13 a. The base surface portion 15 faces the front-rear direction, the upper surface portion 16 projects forward from the upper end of the base surface portion 15, the lower surface portion 17 projects forward from the lower end of the base surface portion 15, and the side surface portions 18 and 18 project forward from both the left and right ends of the base surface portion 15, respectively.

The base surface portion 15 is formed in a rectangular plate-like shape. The base surface portion 15 is formed with a light transmission hole 15a which is circular and penetrates in the front-rear direction. The base face portion 15 is formed with arrangement holes 15b and 15b penetrating in the front-rear direction at both left and right ends of the upper end. On the base surface portion 15, arrangement recesses (contacts) 15c and 15c opened forward are formed to be spaced apart on the left and right sides of the light transmitting hole 15 a. The base surface portion 15 is formed with a support recess 15d that opens forward below the light transmitting hole 15 a.

The arrangement unit 13 is provided with support projections 19, 19, 20 and 20. The support projections 19 and 19 project inward from positions straddling the upper end of one of the left and right ends of the upper surface portion 16 and one of the side surface portions 18, and are located at positions separated forward and rearward. The support protrusion 19 is formed with a support hole 19a penetrating in the front-rear direction. The support projections 20 and 20 project inward from positions straddling the other of the left and right ends of the upper surface portion 16 and the upper end of the other of the side surface portions 18, and are located at positions separated forward and rearward. The support protrusion 20 is formed with a support hole 20a penetrating in the front-rear direction.

On the lower surface portion 17, spring support projections 17a and 17a projecting upward are provided at left and right sides separately.

The positioning pin 14a and the insertion hole 14b are located at positions separated in the vertical direction in the supported projection 14. In the base body 10, the supported protrusions 14 and 14 are attached to the lens barrel 2 or an attachment member (not shown) disposed inside the lens barrel 2. At this time, the base body 10 is positioned with respect to the lens barrel 2 or the attachment member by the positioning pins 14a and 14a, and the base body 10 is attached to the lens barrel 2 or the attachment member by mounting screws (not shown) inserted into the insertion holes 14b and 14 b.

First guides 21 and 21 are arranged in the arrangement recesses 15c and 15c of the base body 10, respectively. The first guide 21 is formed in a cylindrical shape or a columnar shape, and is disposed in the disposition recess 15c in a state where the axial direction coincides with the left-right direction. So that the first guide 21 cannot move relative to the base surface portion 15.

The first rolling member 22 is supported by the support recess 15d of the base body 10. The first rolling member 22 is formed in a cylindrical shape or a columnar shape, and is supported by the support concave portion 15d in a state where the axial direction coincides with the up-down direction, and the first rolling member 22 is allowed to rotate in the direction around the shaft with respect to the base body 10. Note that the supporting concave portions 15d and 15d may be formed above and below the light transmitting hole 15a in the base 10, and the first rolling members 22 and 22 may be supported by the supporting concave portions 15d and 15d, respectively (see a circled view a in the two-dot chain line of fig. 3).

The first movable body 11 is formed in a substantially annular shape, and is formed with an inner space as a through hole 11a (see fig. 7 and 8).

On the rear surface 23 of the first movable body 11, guided groove portions 23a and 23a that open rearward are formed on the left and right of the through hole 11a separately (see fig. 8). The guided groove portions 23a and 23a are formed in a shape extending to the left and right. On the rear surface 23 of the first movable body 11, a support recess 23b that opens rearward is formed below the through hole 11 a.

On the front surface 24 of the first movable body 11, arrangement recesses 24a and 24a that are open forward are separately formed outside the through hole 11a in the circumferential direction of the through hole 11a (see fig. 7). A support recess 24b that opens forward is formed on the front surface 24 of the first movable body 11 outside the through hole 11 a. The arrangement recesses 24a and the support recess 24b are formed so as to be sequentially separated in the circumferential direction.

The first guides 21 and 21 are disposed in the guided groove portions 23a and 23a of the first movable body 11, respectively (see fig. 9), and the guided groove portions 23a and 23a are guided by the first guides 21 and 21, respectively, whereby the first movable body 11 is movable in the left-right direction (first moving direction) with respect to the base body 10. Thus, the first movable body 11 is disposed in the disposition space 13a of the disposition unit 13 in a state of being supported by the base surface portion 15 of the base body 10 via the first guides 21 and 21.

The first rolling members 22 are supported by the support concave portions 23b of the first movable body 11, and the first rolling members 22 roll between the base 10 and the first movable body 11, whereby the first movable body 11 moves smoothly in the left-right direction with respect to the base 10. Note that support recesses 23b and 23b may be formed above and below the through hole 11a in the first movable body 11, and the first rolling members 22 and 22 may be supported by the support recesses 23b and 23b, respectively (see a circled view D in the two-dot chain line of fig. 4).

Second guides 25 and 25 are arranged in the arrangement recesses 24a and 24a of the first movable body 11, respectively (see fig. 7). The second guide 25 is formed in a cylindrical shape or a columnar shape, and is disposed in the disposition recess 24a in a state where the axial direction coincides with the up-down direction. So that the second guide 25 cannot move relative to the first movable body 11.

The second rolling member 26 is supported by the support concave portion 24b of the first movable body 11. The second rolling member 26 is formed in a cylindrical shape or a columnar shape, is supported by the support concave portion 24b in a state where the axial direction coincides with the left-right direction, and enables the second rolling member 26 to rotate in the direction around the shaft with respect to the first movable body 11. Note that support recesses 24B and 24B may be formed around the through hole 11a in the first movable body 11, and the second rolling members 26 and 27 may be supported by the support recesses 24B and 24B, respectively (see the surrounding views B and C in the two-dot chain line of fig. 3). The second rolling member 26 is formed in a cylindrical shape or a columnar shape, is supported by the support concave portion 24b in a state where the axial direction coincides with the left-right direction, and enables the second rolling member 26 to rotate in the direction around the shaft with respect to the first movable body 11. The second rolling member 27 is formed in a spherical shape, for example, and the second rolling member 27 is rotatable in the same direction as the second rolling member 26 with respect to the first movable body 11 along the shape of the support concave portion 24 b. Further, the second rolling members 26 and 26 may be supported by both the supporting recesses 24b and 24b, respectively, or the second rolling members 27 and 27 may be supported by both the supporting recesses 24b and 24b, respectively.

The second movable body 12 includes a base surface portion 28 formed in a ring shape and a peripheral surface portion 29 protruding forward from an outer peripheral portion of the base surface portion 28 (see fig. 10 and 11). The outer shape of the second movable body 12 is made larger than the outer shape of the first movable body 11. The inner side space in the base surface portion 28 is formed as a through hole 28 a.

The shift lens group 3a is held by the second movable body 12 to cover the through hole 28 a. The imaging light taken by the lens group 3,3, including the shift lens group 3a, is incident on the imaging element 7. At this time, the imaging light sequentially passes through the through hole 28a of the second movable body 12, the through hole 11a of the first movable body 11, and the light-passing hole 15a of the base 10, and is incident on the imaging element 7.

On the rear surface 30 of the base surface portion 28, guided groove portions 30a and 30a that open rearward are separately formed outside the through hole 28a in the circumferential direction of the through hole 28a (see fig. 11). The guided groove portions 30a and 30a are formed in a shape extending upward and downward. On the rear surface 30 of the base surface portion 28, a support recess 30b opened rearward is formed outside the through hole 28 a.

Both left and right ends of a portion in the vicinity of the upper end of the circumferential surface portion 29 are provided as inclined surface portions 31 and 32, respectively (see fig. 10 and 11). The inclined surface portions 31 and 32 are inclined displaceably downward when they move so as to be apart from each other in the left-right direction.

The peripheral surface portion 29 is provided with receiving projections 33 and 34 projecting from the outer faces of the inclined surface portions 31 and 32. A first operated surface 33a is formed on the receiving projection 33, and a second operated surface 34a is formed on the receiving projection 34.

The first operated surface 33a on the left side is inclined to face the upper left direction and the upper front direction, and the second operated surface 34a on the right side is inclined to face the upper right direction and the upper front direction. The first operated surface 33a and the second operated surface 34a are made to have the same inclination angle in the left-right direction and the up-down direction with respect to the horizontal plane.

At the front end of the peripheral surface portion 29, spring support protrusions 29a, and 29a protruding forward are provided separately in the circumferential direction. At the front end of the peripheral surface portion 29, stopper projections (29 b ) projecting forward are provided separately in the circumferential direction.

The second guides 25 and 25 are disposed in the guided groove portions 30a and 30a of the second movable body 12, respectively (see fig. 12), and the second guided groove portions 30a and 30a are guided by the guides 25 and 25, respectively, whereby the second movable body 12 is movable in the up-down direction (second moving direction) with respect to the first movable body 11. Thus, the second movable body 12 is supported by the first movable body 11 via the second guides 25 and 25, and is arranged in the arrangement space 13a of the arrangement unit 13.

The second rolling members 26 are supported by the support recesses 30b of the second movable body 12, and the second rolling members 26 roll between the first movable body 11 and the second movable body 12, whereby the second movable body 12 smoothly moves in the up-down direction with respect to the first movable body 11 with less friction during movement of the second movable body 12 with respect to the first movable body 11. The second movable body 12 moves in the up-down direction with respect to the first movable body 11, and the first movable body 11 moves in the left-right direction with respect to the base 10, so that the second movable body 12 supported by the first movable body 11 moves integrally with the first movable body 11 in the left-right direction with respect to the base 10. Note that support recesses 30b and 30b may be formed around the through hole 28a in the second movable body 12, and the second rolling members 26 and 27 may be supported by the support recesses 30b and 30b, respectively (see an encircled view E in the two-dot chain line of fig. 4).

As described above, the blur correction device 9 is provided with the first guides 21 and 21 that guide the first movable body 11 in the first moving direction, and the second guides 25 and 25 that guide the second movable body 12 in the second moving direction.

Therefore, the first movable body 11 is guided relative to the base 10 by the first guides 21 and 21, and the second movable body 12 is guided relative to the first movable body 11 by the second guides 25 and 25, so that the first movable body 11 and the second movable body 12 can be reliably moved in the first movement direction and the second movement direction, respectively.

Note that, above, an example was described in which the first guides 21 and 21 were provided as members separate from the base 10 and the second guides 25 and 25 were provided as members separate from the first movable body 11; however, the first guides 21 and 21 may be formed integrally with the base 10 as first guides 21A and 21A, and the second guides 25 and 25 may be formed integrally with the first movable body 11 as second guides 25A and 25A (see fig. 13).

The first guides 21 and 21 are formed integrally with the base 10 as the first guides 21A and 21A, and the second guides 25 and 25 are formed integrally with the first movable body 11 as the second guides 25A and 25A, so that it is not necessary to form the first guides 21 and the second guides 25 and 25 as separate members from the base 10 and the first movable body 11, and the first movable body 11 and the second movable body 12 can be reliably moved in the first moving direction and the second moving direction, respectively, while reducing the number of parts.

Note that, instead of the first guides 21 and the second guides 25 and 25, a first guided member that is immovable with respect to the first movable body 11 may be provided between the base 10 and the first movable body 11, and a second guided member that is immovable with respect to the second movable body 12 may be provided between the first movable body 11 and the second movable body 12. In this case, the following configuration may be implemented: a first guide groove portion is formed in the base 10, a second guide groove portion is formed in the first movable body 11, the first movable body 11 is guided by the first guide groove portion via a first guided member, and the second movable body 12 is guided by the second guide groove portion via a second guided member. Further, in this case, the first guided member may be formed integrally with the first movable body 11, and the second guided member may be formed integrally with the second movable body 12.

Further, between the base 10 and the first movable body 11, a first rolling member 22 that rolls when the first movable body 11 is moved in the first moving direction is arranged, and between the first movable body 11 and the second movable body 12, a second rolling member 26 that rolls when the second movable body 12 is moved in the second moving direction is arranged.

Thereby, the first rolling members 22 roll when the first movable body 11 is moved in the first movement direction, and the second rolling members 26 roll when the second movable body 12 is moved in the second movement direction, so that the first movable body 11 and the second movable body 12 can be smoothly moved in the first movement direction and the second movement direction, respectively.

Between the lower surface of the peripheral surface portion 29 in the second movable body 12 and the upper surface of the lower surface portion 17 in the base body 10, pressing springs 35 and 35 (see fig. 6 and 12) serving as biasing units are arranged. The pressing springs 35 and 35 are, for example, compression coil springs, and lower ends are supported by the spring supporting protrusions 17a and 17a of the base body 10. The second movable body 12 is biased upward by the pressing springs 35 and 35. Note that the number of the pressing springs 35 to be provided may be one.

The first driving body 36 is attached to the supporting protrusions 19 and 19 of the base body 10 (see fig. 3 and 14). The first driving body 36 includes a first actuator 37 and a first slider 38 (see fig. 15 and 16).

The first actuator 37 is, for example, an actuator using a piezoelectric element, and includes a fixed portion 37a, a piezoelectric element 37b, and a driving shaft 37c, and the piezoelectric element 37b projects forward from the fixed portion 37a, and the driving shaft 37c is continuously provided on the front side of the piezoelectric element 37b, and the piezoelectric element 37b and the driving shaft 37c are arranged in a state of extending in the front-rear direction.

In the first actuator 37, in a state where the fixing portion 37a is disposed in the disposition hole 15b of the base surface portion 15 and fixed to the base body 10, the drive shaft 37c is movably supported in the front-rear direction by the support holes 19a and 19a of the support projections 19 and 19. When a voltage is applied to the piezoelectric element 37b in the first actuator 37, the piezoelectric element 37b expands and contracts and moves the driving shaft 37c in the front-rear direction.

The first slider 38 includes a base part 39 bent at a right angle and a coupling part 40 coupled to the base part 39 in the longitudinal direction, and both ends in the longitudinal direction of the coupling part 40 are coupled to both ends in the longitudinal direction of the base part 39, respectively. In the base member 39, one side is provided as a first portion 39a and the other side is provided as a second portion 39b with the bent portion as a reference. In the coupling member 40, portions other than both ends in the longitudinal direction are provided as flat plate-like contact surface portions 40 a.

The first slider 38 has an elastic force in a direction in which the base part 39 and the coupling part 40 approach each other. The drive shaft 37c of the first actuator 37 is inserted between the base member 39 and the coupling member 40, and the first and second portions 39a and 39b in the base member 39 and the contact surface portion 40a of the coupling member 40 are pressed against the shaft 37 c.

The transmission member 41 is attached to the surface of the contact surface portion 40a opposite to the surface in contact with the drive shaft 37 c. In the transmission member 41, first driving force transmission portions 41a and 41a protruding toward the opposite side of the contact surface portion 40a are separately provided in the longitudinal direction of the coupling member 40. The first driving force transmitting portions 41a and 41a are formed with a gently curved surface having a convex outer surface.

The first driving body 36 is located at the upper left corner in the arranging unit 13 of the base body 10, and the first driving force transmitting portions 41a and 41a of the transmitting member 41 are in contact with the first operated surface 33a in the receiving protrusion 33 of the second movable body 12 in a slidable state (see fig. 16). The conveying member 41 contacts the first operated surface 33a from the upper left direction.

At this time, since the second movable body 12 is biased upward by the pressing springs 35 and 35, the first operated surface 33a is pressed against the first driving force transmitting portions 41a and 41a of the transmitting member 41.

The second driving body 42 is attached to the supporting protrusions 20 and 20 of the base body 10 (see fig. 3 and 14). The second driving body 42 includes a second actuator 43 and a second slider 44 (see fig. 15 and 16).

The second actuator 43 is, for example, an actuator using a piezoelectric element, and includes a fixed portion 43a, a piezoelectric element 43b, and a driving shaft 43c, and the piezoelectric element 43b projects forward from the fixed portion 43a, and the driving shaft 43c is continuously provided on the front side of the piezoelectric element 43b, and the piezoelectric element 43b and the driving shaft 43c are arranged in a state of extending in the front-rear direction.

In the second actuator 43, in a state where the fixing portion 43a is disposed in the disposition hole 15b of the base surface portion 15 and fixed to the base body 10, the drive shaft 43c is movably supported in the front-rear direction by the support holes 20a and 20a supporting the projections 20 and 20. When a voltage is applied to the piezoelectric element 43b in the second actuator 43, the piezoelectric element 43b expands and contracts and moves the driving shaft 43c in the front-rear direction.

The second slider 44 includes a base part 45 bent at a right angle and a coupling part 46 coupled to the base part 45 in the longitudinal direction, and both ends in the longitudinal direction of the coupling part 46 are coupled to both ends in the longitudinal direction of the base part 45, respectively. In the base member 45, one side is provided as a first portion 45a and the other side is provided as a second portion 45b with respect to the bent portion. In the coupling member 46, portions other than both ends in the longitudinal direction are provided as flat plate-like contact surface portions 46 a.

The second slider 44 has an elastic force in a direction in which the base member 45 and the coupling member 46 approach each other. The drive shaft 43c of the second actuator 43 is interposed between the base member 45 and the coupling member 46, and the first portion 45a and the second portion 45b in the base member 45 and the contact surface portion 46a of the coupling member 46 are pressed against the shaft 43 c.

The transmission member 47 is attached to the surface of the contact surface portion 46a opposite to the surface in contact with the drive shaft 43 c. In the transmission member 47, second driving force transmission portions 47a and 47a protruding toward the opposite side of the contact surface portion 46a are separately provided in the longitudinal direction of the coupling member 46. The first driving force transmitting portions 47a and 47a are formed with a slowly curved surface having a convex outer surface.

The second driving body 42 is located at the upper right corner of the arranging unit 13 of the base body 10, and the second driving force transmitting portions 47a and 47a of the transmitting member 47 are in contact with the second operated surface 34a of the receiving protrusion 34 of the second movable body 12 in a slidable state (see fig. 16). The conveying member 47 contacts the second surface to be operated 34a from the upper right direction.

At this time, since the second movable body 12 is biased upward by the pressing springs 35 and 35, the second operated surface 34a is pressed against the second driving force transmitting portions 47a and 47a of the transmitting member 47.

As described above, in the first power driver 36, the transfer member 41 is in contact with the first operated surface 33a of the second movable body 12 from the upper left direction, and the driving force is applied to the second movable body 12 from the first power driver 36 in the lower right direction or the upper left direction, which is the first driving direction. Further, in the second drive body 42, the conveyance member 47 is in contact with the second operated surface 34a of the second movable body 12 from the upper right direction, and a driving force is applied to the second movable body 12 from the second drive body 42 in the lower left direction or the upper right direction, which becomes the second driving direction.

The first drive direction and the second drive direction are made orthogonal to each other, and the first drive direction and the second drive direction are made 45 degrees different from the first movement direction of the first movable body 11 and the second movement direction of the second movable body 12 (see fig. 12).

Note that, above, an example in which both the first drive body 36 and the second drive body 42 include the piezoelectric elements 37b and 43b is described; however, both the first and second driving bodies may be, for example, an electromagnetic actuator that generates a driving force by a coil and a magnet, or may be an electric actuator that generates a driving force by rotation of a lead screw (lead screw).

In the arrangement unit 13 of the base 10, a cover 48 is attached from the front side in a state where the first movable body 11, the second movable body 12, the first driving bodies 36, and the second driving bodies 42 are arranged in the arrangement space 13a, and the first movable body 11, the second movable body 12, the first driving bodies 36, and the second driving bodies 42 are closed by the cover 48 (see fig. 3 to 5). The cover 48 is formed with a through hole 48a penetrating in the front-rear direction.

Bias springs 49, and 49 are disposed between the front surface of the peripheral surface portion 29 in the second movable body 12 and the rear surface of the cover 48 (see fig. 5 and 10). The biasing springs 49, and 49 are, for example, compression coil springs, and the rear ends are supported by the spring supporting projections 29a, and 29a of the second movable body 12. The second movable body 12 is biased rearward by the biasing springs 49, and the second movable body 12 is biased rearward, whereby the first movable body 11 is also biased rearward.

Thus, the second movable body 12 is pressed against the second guides 25 and the second rolling members 26, the second guides 25 and the second rolling members 26 are pressed against the first movable body 11, the first movable body 11 is pressed against the first guides 21 and the first rolling members 22, and the first guides 21 and the first rolling members 22 are pressed against the base surface portion 15 of the base body 10.

Note that, in the blur correction device 9, since the base body 10 is provided with the stop protrusions 29b,29b.. that protrude forward, when a large impact is applied to the imaging device 1 due to dropping or the like, the stop protrusions 29b,29b.. contact the rear surface of the cover 48, thus preventing excessive forward movement of the second movable body 12 and the first movable body 11.

As described above, since the first actuator 37 and the second actuator 43 are attached to the base 10 that supports the first movable body 11, a dedicated component for attaching the first actuator 37 and the second actuator 43 is not necessary, and the structure of the blur correction device 9 can be simplified.

Further, the base body 10 is provided with a substantially rectangular arrangement unit 13 in which the first movable body 11 and the second movable body 12 are arranged, and the first drive body 36 and the second drive body 42 are attached to the corners of the arrangement unit 13, respectively, on the outer sides of the first movable body 11 and the second movable body 12.

Thereby, the first and second drive bodies 36 and 42 are arranged in the portion near the outer periphery in the arrangement unit 13, so that the size of the blur correction device 9 can be reduced by effectively utilizing the space.

Note that the first and second driving bodies 36 and 42 may be attached to portions of the arrangement unit 13 other than the corners.

Further, since the outer shape of the first movable body 11 is made smaller than the outer shape of the second movable body 12, the first movable body 11 and the second movable body 12 can be arranged in a state where the first movable body 11 does not protrude outward from the second movable body 12, and the size of the blur correction device 9 can be further reduced.

In particular, the first movable body 11 can move only in the left-right direction with respect to the base body 10, and has a function of restricting rotation of the second movable body 12 and the shift lens group 3a held by the second movable body 12 in the direction around the optical axis, and the first movable body 11 restricting the rotation is located inside the second movable body 12, whereby the size of the imaging device 1 can be reduced in the radial direction of the lens barrel 2, and the structure can be simplified.

Further, since the base body 10 is formed with the arrangement space 13a in which the first movable body 11, the second movable body 12, the first drive body 36, and the second drive body 42 are arranged, the first movable body 11, the second movable body 12, the first drive body 36, and the second drive body 42 are arranged in the same space formed in the base body 10, and the size of the blur correction device 9 can be further reduced by effectively utilizing the arrangement space.

< operation of the blur correction apparatus according to the first embodiment >

Hereinafter, the blur correction operation in the blur correction device 9 will be described (see fig. 17 to 26). Note that, in fig. 17 to 26, each unit is illustrated in a simplified manner in order to facilitate understanding of the blur correction operation.

Note that, in the blur correction device 9, the first movable body 11 is movable only in the left-right direction (first movement direction) with respect to the base 10 by the first guides 21 and 21, and the second movable body 12 is movable only in the up-down direction (second movement direction) with respect to the first movable body 11 by the second guides 25 and 25. Therefore, in the blur correction operation described below, a so-called rolling operation, which is an operation in the rotational direction of the first movable body 11 and the second movable body 12 with respect to the base 10 in the direction around the optical axis, does not occur. Further, since the first movable body 11 and the second movable body 12 are biased rearward by the biasing springs 49, the first movable body 11 and the second movable body 12 are not moved in the front-rear direction in the blur correction operation.

In a state before the blur correction operation is performed, the first and second driving bodies 36 and 42 are not operated. The first drive body 36 is brought into a state in which the first drive force transmission portions 41a and 41a of the transmission member 41 are in contact with the central portion in the front-rear direction of the first operated surface 33a formed on the receiving projection 33 of the second movable body 12, and the second drive body 42 is brought into a state in which the second drive force transmission portions 47a and 47a of the transmission member 47 are in contact with the central portion in the front-rear direction of the second operated surface 34a formed on the receiving projection 34 of the second movable body 12 (see fig. 17).

Thus, in the blur correction device 9, the first movable body 11 and the second movable body 12 are located at the reference positions and do not move in either the left-right direction or the up-down direction (see fig. 18).

First, the blur correction operation in the second moving direction (up-down direction) in the blur correction device 9 will be described (see fig. 19 to 22).

In the blur correction device 9, when a voltage is applied to the piezoelectric elements 37b and 43b of the first actuator 37 and the second actuator 43, and the driving shafts 37c and 43c are operated and the first slider 38 and the second slider 44 are moved forward, the first driving force transmission portions 41a and 41a slide on the first operated surface 33a and move to the front end side of the first operated surface 33a, and the second driving force transmission portions 47a and 47a slide on the second operated surface 34a and move to the front end side of the second operated surface 34a (see fig. 19).

When the first driving force transmitting portions 41a and 41a are moved to the front end side of the first operated surface 33a and the second driving force transmitting portions 47a and 47a are moved to the front end side of the second operated surface 34a, the second movable body 12 biased upward by the pressing springs 35 and 35 is guided by the second guides 25 and 25 with respect to the first movable body 11 and moved upward (see fig. 20).

On the other hand, in the blur correction device 9, when a voltage is applied to the piezoelectric elements 37b and 43b of the first actuator 37 and the second actuator 43, and the driving shafts 37c and 43c are operated and the first slider 38 and the second slider 44 are moved rearward, the first driving force transmission portions 41a and 41a slide on the first operated surface 33a and move to the rear end side of the first operated surface 33a, and the second driving force transmission portions 47a and 47a slide on the second operated surface 34a and move to the rear end side of the second operated surface 34a (see fig. 21).

When the first driving force transmission portions 41a and 41a are moved to the rear end side of the first operated surface 33a and the second driving force transmission portions 47a and 47a are moved to the rear end side of the second operated surface 34a, the second movable body 12 is guided by the second guides 25 and 25 with respect to the first movable body 11 against the biasing force of the pressing springs 35 and 35, and moves downward (see fig. 22).

Next, a blur correction operation in the first moving direction (left-right direction) in the blur correction device 9 will be described.

In the blur correcting device 9, when a voltage is applied to the piezoelectric elements 37b and 43b of the first actuator 37 and the second actuator 43, and the driving shafts 37c and 43c are operated and the first slider 38 is moved forward and the second slider 44 is moved backward, the first driving force transmitting portions 41a and 41a slide on the first operated surface 33a and move to the front end side of the first operated surface 33a, and the second driving force transmitting portions 47a and 47a slide on the second operated surface 34a and move to the rear end side of the second operated surface 34a (see fig. 23).

When the first driving force transmission portions 41a and 41a are moved to the front end side of the first operated surface 33a and the second driving force transmission portions 47a and 47a are moved to the rear end side of the second operated surface 34a, a leftward moving force is applied to the second movable body 12, and the applied moving force is transmitted from the second movable body 12 to the first movable body 11, and the first movable body 11 is guided integrally with the second movable body 12 by the first guides 21 and moves leftward (see fig. 24).

On the other hand, in the blur correction device 9, when a voltage is applied to the piezoelectric elements 37b and 43b of the first actuator 37 and the second actuator 43, and the driving shafts 37c and 43c are operated and the first slider 38 is moved backward and the second slider 44 is moved forward, the first driving force transmission portions 41a and 41a slide on the first operated surface 33a and move to the rear end side of the first operated surface 33a, and the second driving force transmission portions 47a and 47a slide on the second operated surface 34a and move to the front end side of the second operated surface 34a (see fig. 25).

When the first driving force transmission portions 41a and 41a are moved to the rear end side of the first operated surface 33a and the second driving force transmission portions 47a and 47a are moved to the front end side of the second operated surface 34a, a rightward moving force is applied to the second movable body 12, and the applied moving force is transmitted from the second movable body 12 to the first movable body 11, and the first movable body 11 is guided integrally with the second movable body 12 by the first guides 21 and moved rightward (see fig. 26).

As described above, the second movable body 12 moves in the up-down direction with respect to the first movable body 11 and moves in the left-right direction integrally with the first movable body 11, thereby performing blur correction in which the shift lens group 3a held by the second movable body 12 also moves in the up-down and left-right directions and the optical axis of the shift lens group 3a is shifted, thereby correcting image blur.

Note that, above, an example is described in which the first driving force transmission portions 41a and the second driving force transmission portions 47a and 47a are moved simultaneously with respect to the first operated surface 33a and the second operated surface 34 a; however, only one of the first driving force transmission portions 41a and 41a or the second driving force transmission portions 47a and 47a may be moved relative to the first operated surface 33a or the second operated surface 34 a. Further, by changing the magnitude of the voltage and the direction of the current applied to the first actuator 37 and the second actuator 43, it is possible to adjust the amount of movement and the direction of movement of the first driving force transmitting portions 41a and the second driving force transmitting portions 47a and 47a in the front-rear direction, and move the second movable body 12 to an arbitrary position on the plane orthogonal to the optical axis.

As described above, in the blur correction device 9, the first movable body 11 and the second movable body 12 are placed side by side in the optical axis direction (front-rear direction), and the first movement direction is made to be a direction orthogonal to the optical axis direction and the second movement direction is made to be a direction orthogonal to both the optical axis direction and the first movement direction.

Thereby, the first moving direction in which the first movable body 11 moves and the second moving direction in which the second movable body 12 moves are mutually orthogonal directions and both are orthogonal to the optical axis, so that highly reliable blur correction can be performed.

Note that, above, an example is described in which the first movable body 11 moves in the first movement direction as the left-right direction and the second movable body 12 moves in the second movement direction as the up-down direction; however, conversely, the first movable body 11 may move in the up-down direction, and the second movable body 12 may move in the left-right direction.

Further, in the blur correction device 9, the first driving direction, which is the driving direction of the driving force applied from the first driving body 36 to the second movable body 12, is made to be the lower right direction and the upper left direction, the second driving direction, which is the driving direction of the driving force applied from the second driving body 42 to the second movable body 12, is made to be the lower left direction and the upper right direction, and both the first driving direction and the second driving direction are made to be orthogonal to the optical axis direction and to each other.

Thereby, the first driving direction and the second driving direction are mutually orthogonal directions and are both orthogonal to the optical axis, so that highly reliable blur correction can be performed.

Note that the first driving direction and the second driving direction may be made directions other than mutually orthogonal directions, and for example, the first driving direction and the second driving direction may be made to have an angle smaller than 90 degrees in the circumferential direction (see fig. 27). Further, the first driving direction and the second driving direction may be made to have an angle larger than 90 degrees in the circumferential direction.

Even in the case where the first driving direction and the second driving direction are made to have angles other than mutually orthogonal directions (90 degrees) as described above, by changing the magnitude of the voltage and the direction of the current applied to the first actuator 37 and the second actuator 43, it is possible to adjust the moving amounts and the moving directions of the first driving force transmission portions 41a and the second driving force transmission portions 47a and 47a, and to move the second movable body 12 to an arbitrary position on a plane orthogonal to the optical axis.

Further, in the blur correction device 9, the first driving force transmission portions 41a and 41a are pressed against the first operated surface 33a in a slidable state, the second driving force transmission portions 47a and 47a are pressed against the second operated surface 34a in a slidable state, at least one of the positions of the first driving force transmission portions 41a and 41a with respect to the first operated surface 33a or the positions of the second driving force transmission portions 47a and 47a with respect to the second operated surface 34a is changed, and the second movable body 12 is moved with respect to the base body 10.

Thus, the driving force of the first driver 36 is transmitted to the first operated surface 33a, the driving force of the second driver 42 is transmitted to the second operated surface 34a, and the second movable body 12 is moved, so that the second movable body 12 can be reliably moved with a simple arrangement.

Further, pressing springs 35 and 35 are provided, the pressing springs 35 and 35 being biased in a direction in which the first operated surface 33a is pressed against the first driving force transmission portions 41a and the second operated surface 34a is pressed against the second driving force transmission portions 47a and 47 a.

Thereby, the first operated surface 33a is pressed against the first driving force transmission portions 41a and the second operated surface 34a is pressed against the second driving force transmission portions 47a and 47a by the pressing springs 35 and 35, whereby the driving force is reliably transmitted from the first and second driving bodies 36 and 42 to the second movable body 12, and highly reliable blur correction can be performed while reducing the number of parts.

Further, the first driving direction of the first driving body 36 and the second driving direction of the second driving body 42 are made different directions and inclined with respect to the upward, downward, leftward and rightward directions, and the biasing directions of the pressing springs 35 and 35 are made upward directions, whereby it is not necessary to provide springs that bias in different directions to press the first operated surface 33a and the second operated surface 34a of the second movable body 12 against the first driving force transmission parts 41a and the second driving force transmission parts 47a and 47a, respectively, and the structure can be simplified by reducing the number of parts.

Further, since the first operated surface 33a and the second operated surface 34a are both inclined with respect to the first moving direction and the second moving direction, the driving force of the first driver 36 is transmitted to the first operated surface 33a which becomes the inclined surface, the driving force of the second driver 42 is transmitted to the second operated surface 34a which becomes the inclined surface, and the second movable body 12 is moved, and the second movable body 12 can be reliably moved with a relatively simple arrangement.

Further, the inclination angle of the first operated surface 33a with respect to the first moving direction and the second moving direction is made the same as the inclination angle of the second operated surface 34a with respect to the first moving direction and the second moving direction.

As a result, the driving force of the first driver 36 is transmitted to the first operated surface 33a which becomes the inclined surface, the driving force of the second driver 42 is transmitted to the second operated surface 34a which is inclined at the same inclination angle as the inclination angle of the first operated surface 33a, and the second movable body 12 is moved, so that the amount of movement of the second movable body 12 in the first movement direction and the amount of movement in the second movement direction can be made equal to each other by the same driving force of the first driver 36 and the second driver 42, and the movement control of the second movable body 12 in the first movement direction and the second movement direction can be easily performed.

However, in the blur correction device 9, an arrangement may be made such that the inclination angles of the first operated surface 33a with respect to the first and second movement directions are different from the inclination angles of the second operated surface 34a with respect to the first and second movement directions, and the inclination angles of the first operated surface 33a and the second operated surface 34a are different from each other, whereby the amounts of movement of the second movable body 12 in the first and second movement directions with respect to the same driving force of the first and second drivers 36 and 42 can be changed.

This makes it possible to control the second movable body 12 based on the movement speeds in the first and second movement directions required for the second movable body and the characteristics (for example, the driving force and the driving speed) of the first and second drivers 36 and 42, and to improve the degree of freedom in designing the movement control of the second movable body 12.

Note that, above, an example was described in which the first operated surface 33a and the second operated surface 34a are inclined with respect to the first moving direction and the second moving direction, respectively, and the first driving direction of the first driving body 36 and the second driving direction of the second driving body 42 are directions orthogonal to the optical axis; however, for example, the first operated surface 33a and the second operated surface 34a may face a direction orthogonal to the optical axis, and the first driving direction of the first driving body 36 and the second driving direction of the second driving body 42 may be inclined with respect to the direction orthogonal to the optical axis (see fig. 28).

Further, above, an example in which the second movable body 12 is biased by the pressing springs 35 and 35 is described; however, for example, instead of the pressing springs 35 and 35, other means may be provided for biasing the first operated surface 33a and the second operated surface 34a of the second movable body 12 in the directions to press the first driving force transmitting portions 41a and the second driving force transmitting portions 47a and 47a, respectively. For example, the receiving projections 33 and 34 of the second movable body 12 may include a magnetic material, and the transmission member 41 of the first driving body 36 and the transmission member 47 of the second driving body 42 may include a magnet, and the receiving projection 33 may be attracted by the transmission member 41 so that the first operated surface 33a may be pressed against the first driving force transmission portions 41a and 41a, and the receiving projection 34 may be attracted by the transmission member 47 so that the second operated surface 34a may be pressed against the second driving force transmission portions 47a and 47 a. Note that, conversely, the receiving projections 33 and 34 of the second movable body 12 may include magnets, and the transmission members 41 and 47 may include magnetic materials.

In the blur correction device 9, as described above, a plurality of the first driving force transmission portions 41a and the second driving force transmission portions 47a and 47a, for example, two of each are provided.

Thereby, the first operated surface 33a is pressed against the plurality of first driving force transmission portions 41a and 41a, and the second operated surface 34a is pressed against the plurality of second driving force transmission portions 47a and 47a, so that the positions of the first and second driving bodies 36 and 42 with respect to the second movable body 12 can be stabilized, and the driving force can be transmitted from the first and second driving bodies 36 and 42 to the second movable body 12 in a stable state.

Further, a first movement direction in which the first movable body 11 is moved is a direction different from a first driving direction of the driving force applied from the first drive body 36 to the second movable body 12, and a second movement direction in which the second movable body 12 is moved is a direction different from a second driving direction of the driving force applied from the second drive body 42 to the second movable body 12.

Thereby, the second movable body 12 is moved while transmitting the driving force of both the driving force of the first driver 36 and the driving force of the second driver 42, so that the second movable body 12 moves in the first movement direction or the second movement direction depending on the magnitude of the driving force of the first driver 36 and the second driver 42, and the degree of freedom of movement control of the second movable body 12 can be improved.

Further, the first drive body 36 includes a first actuator 37 and a first slider 38 operated by the first actuator 37, and the second drive body 42 includes a second actuator 43 and a second slider 44 operated by the second actuator 43, and the first slider 38 and the second slider 44 are made slidable on the second movable body 12.

Thus, the driving force of the first drive body 36 and the driving force of the second drive body 42 are transmitted from the first slider 38 and the second slider 44 to the second movable body 12, respectively, so that the driving forces of the first drive body 36 and the second drive body 42 can be reliably transmitted to the second movable body 12 with a simple configuration.

Further, the first moving direction and the second moving direction are made orthogonal to each other, and the first slider 38 and the second slider 44 are operated in a direction (front-rear direction) orthogonal to both the first moving direction and the second moving direction.

Thereby, the first slider 38 and the second slider 44 are operated in the direction orthogonal to the moving direction of the first movable body 11 and the second movable body 12, so that the arrangement space of the first slider 38 and the second slider 44 is reduced on the plane including the moving direction of the first movable body 11 and the second movable body 12 (in other words, on the plane orthogonal to the optical axis), and the size of the imaging device 1 can be reduced in the radial direction of the lens barrel 2.

Further, in the blur correction device 9, the first slider 38 and the second slider 44 are operated in the optical axis direction (front-rear direction), and the first movable body 11 and the second movable body 12 are operated in the direction orthogonal to the optical axis, whereby the moving directions of the first slider 38 and the second slider 44 are made different from the moving directions of the first movable body 11 and the second movable body 12.

The moving directions of the first and second slides 38, 44 are made different from the moving directions of the first and second movable bodies 11, 12 as described above, so that the influences of the inertial masses of the first and second slides 38, 44 and the first and second movable bodies 11, 12 are dispersed in the operating direction and the moving direction, respectively. Thereby, when a large impact is applied due to the falling of the image forming apparatus 1 or the like, the impact is dispersed in each direction, so that the occurrence of breakage or damage of each unit due to the impact can be suppressed.

Hereinafter, a control example in the blur correction operation of the blur correction device 9 will be described (see fig. 29 and 30).

The image forming apparatus 1 is provided with a control unit 50 (see fig. 29). As the control unit 50, for example, a CPU 4 that comprehensively controls the entire imaging apparatus 1 is used.

The blur correction device 9 is provided with a first position detection unit 51 that detects the position of the second movable body 12 in the first driving direction a, and a second position detection unit 52 that detects the position of the second movable body 12 in the second driving direction B. As the first position detecting unit 51 and the second position detecting unit 52, various detectors such as a photodetector or a magnetic detector are used.

The control in the blur correction operation is performed as follows (see fig. 30).

The control unit 50 (1A,1B) calculates each of the position in the first driving direction a and the position in the second driving direction B to which the second movable body 12 is to be moved to correct the image blur.

(2A,2B) calculates an output value to be applied to the first actuator 37 based on the position of the second movable body 12 in the first driving direction a detected by the first position detection unit 51 and the position in the first driving direction a calculated in (1A), and outputs the calculated output value to the first actuator 37. Meanwhile, based on the position of the second movable body 12 in the second driving direction B detected by the second position detection unit 52 and the position in the second driving direction B calculated in (1B), an output value to be applied to the second actuator 43 is calculated, and the calculated output value is output to the second actuator 43.

(3A,3B) the position of the second movable body 12 in the first driving direction a, which is operated based on the output value of (2A), is detected by the first position detection unit 51, and the detection result is output to the control unit 50 and the operation of (2A) is performed. Meanwhile, the position of the second movable body 12 in the second driving direction B, which is operated based on the output value of (2B), is detected by the second position detection unit 52, and the detection result is output to the control unit 50 and the operation of (2B) is performed.

As described above, by detecting and controlling the positions of the second movable body 12 in the first drive direction a and the second drive direction B by the first position detection unit 51 and the second position detection unit 52, respectively, the detection position of the second movable body 12 by the first position detection unit 51 and the second position detection unit 52 is made to coincide with the drive directions of the first drive body 36 and the second drive body 42, so that the control related to the blur correction can be performed by simple logic.

Next, another control example in the blur correction operation of the blur correction device 9 will be described (see fig. 31 and 32).

The image forming apparatus 1 is provided with a control unit 50 (see fig. 31). As the control unit 50, for example, a CPU 4 that comprehensively controls the entire imaging apparatus 1 is used.

The blur correction device 9 is provided with a first position detection unit 53 that detects the position of the second movable body 12 in the first movement direction X, and a second position detection unit 54 that detects the position of the second movable body 12 in the second movement direction Y. As the first position detecting unit 53 and the second position detecting unit 54, various detectors such as a photo detector or a magnetic detector are used.

The control in the blur correction operation is performed as follows (see fig. 32).

The control unit 50 (1A,1B) calculates each of the position in the first driving direction a and the position in the second driving direction B to which the second movable body 12 is to be moved to correct the image blur.

(2) Based on the positions of the second movable body 12 in the first moving direction X and the second moving direction Y detected by the first position detection unit 53 and the second position detection unit 54, respectively, and the positions in the first driving direction a and the second driving direction B calculated in (1A,1B), output values to be applied to the first actuator 37 and the second actuator 43 are calculated, respectively, and the calculated output values are output to the first actuator 37 and the second actuator 43.

(3A,3B) the position of the second movable body 12 in the first moving direction X, which is operated based on the output value of (2), is detected by the first position detecting unit 53, and the detection result is output to the control unit 50 and the operation of (2) is performed. Meanwhile, the position of the second movable body 12 in the second moving direction Y, which is operated based on the output value of (2), is detected by the second position detection unit 54, and the detection result is output to the control unit 50 and the operation of (2) is performed.

As described above, the positions of the second movable body 12 in the first movement direction X and the second movement direction Y are detected by the first position detecting unit 53 and the second position detecting unit 54, and control is performed, whereby it is not necessary to make the positions of the second movable body 12 in the first driving direction a and the second driving direction B coincide with the detection directions of the first position detecting unit 53 and the second position detecting unit 54. Thereby, the degree of freedom in design of the blur correction device 9 is increased, and the first position detection unit 53 and the second position detection unit 54 can be disposed at positions that minimize the blur correction device 9, for example, whereby the size of the imaging device 1 can be reduced.

< configuration of blur correction apparatus according to second embodiment >

Next, the configuration of the blur correction device 9A according to the second embodiment is described (see fig. 33 to 43).

Note that the following blur correction device 9A differs from the above-described blur correction device 9 only in the moving direction of the first movable body and the second movable body, and in the biasing direction of the compression spring against the second movable body, and therefore only a different portion compared to the blur correction device 9 will be described in detail, and other portions will be denoted by the same reference numerals as similar portions in the blur correction device 9, and description thereof will be omitted.

The blur correction device 9A includes a base 10A arranged in a fixed state, a first movable body 11A movable in a first movement direction with respect to the base 10A, and a second movable body 12A movable in a second movement direction with respect to the first movable body 11A (see fig. 33 to 35). The first moving direction and the second moving direction are both orthogonal to the optical axis, and the first moving direction is a direction connecting the lower right direction and the upper left direction and inclined at 45 degrees with respect to the front-rear direction and the left-right direction, and the second moving direction is a direction connecting the lower left direction and the upper right direction and inclined at 45 degrees with respect to the front-rear direction and the left-right direction.

The base body 10A includes an arrangement unit 13A and supported projections 14 and 14, and the arrangement unit 13A includes a base surface portion 15A, an upper surface portion 16, a lower surface portion 17A, and side surface portions 18 and 18 (see fig. 36).

Support recesses 15d, and 15d are formed in the base surface portion 15A. In the base surface portion 15A, instead of arranging the recessed portions 15c and 15c, guide holes 15e and 15e penetrating in the front-rear direction are formed. The guide holes 15e and 15e are located at positions separated in the circumferential direction of the light transmission hole 15a, and are formed in a long hole shape extending in the first moving direction.

In the lower surface portion 17A, spring mounting holes 17b and 17b separated in the left-right direction are formed instead of the spring support projections 17A and 17A.

The first rolling members 22, and 22 are supported by the support recesses 15d, and 15d of the base body 10A, respectively. The first rolling member 22 is supported by the support recess 15d in a state where the axial direction coincides with the second moving direction, and the first rolling member 22 is allowed to rotate in the direction around the shaft with respect to the base body 10A.

On the rear surface 23 of the first movable body 11A, instead of the guided groove portions 23a and 23a, there are provided guided protrusion portions 23c and 23c that protrude rearward and are separated in the circumferential direction of the through hole 11A (see fig. 38). On the rear surface 23 of the first movable body 11A, support recesses 23b, and 23b that open rearward and are separated in the circumferential direction of the through hole 11A are formed.

On the front surface 24 of the first movable body 11A, support recesses 24b, and 24b (see fig. 37) that are separated in the circumferential direction of the through hole 11A are formed. On the front surface 24 of the first movable body 11A, instead of arranging the recesses 24a and 24a, guide holes 24c and 24c that open forward are formed. The guide holes 24c and 24c are located at positions separated in the circumferential direction of the light transmission hole 15a, and are formed in a long hole shape extending in the second moving direction.

The guided protrusions 23c and 23c of the first movable body 11A are slidably supported by the guide holes 15e and 15e of the base body 10A, respectively (see fig. 39), and the guided protrusions 23c and 23c are guided by the guide holes 15e and 15e, respectively, whereby the first movable body 11A is movable in the first moving direction relative to the base body 10A.

The first rolling members 22, and 22 are supported by the support recesses 23a, and 23a of the first movable body 11A, respectively, and the first rolling members 22, and 22 roll between the base 10A and the first movable body 11A, whereby the first movable body 11A moves smoothly in the first movement direction with respect to the base 10A.

The second rolling members 26, and 26 are supported by the support recesses 24b, and 24b of the first movable body 11A, respectively. The second rolling member 26 is formed in a cylindrical shape or a columnar shape, is supported by the support concave portion 24b in a state where the axial direction coincides with the first moving direction, and enables the second rolling member 26 to rotate in the direction around the axis with respect to the first movable body 11A.

The second movable body 12A includes a base surface portion 28A formed in a ring shape and a peripheral surface portion 29A protruding forward from an outer peripheral portion of the base surface portion 28A (see fig. 40 and 41). The outer shape of the second movable body 12A is made larger than the outer shape of the first movable body 11A. The shift lens group 3a is held by the second movable body 12A.

On the rear surface 30 of the base surface portion 28A, instead of the guided groove portions 30a and 30a, guided portions 30c and 30c that project rearward are provided separately in the circumferential direction of the through hole 28A (see fig. 41). On the rear surface 30 of the base surface portion 28A, support recesses 30b, and 30b that open rearward are formed separately in the circumferential direction outside the through hole 28A. The spring support projection 29A is not provided on the peripheral surface portion 29A.

The guided portions 30c and 30c of the second movable body 12A are slidably supported by the guide holes 24c and 24c, respectively, of the first movable body 11A (see fig. 42), and the guided protrusions 30c and 30c are guided by the guide holes 24c and 24c, respectively, whereby the first movable body 11A is movable in the second moving direction with respect to the base body 10A.

The second rolling members 26, and 26 are supported by the support recesses 30b, and 30b of the second movable body 12A, respectively, and the second rolling members 26, and 26 roll between the first movable body 11A and the second movable body 12A, whereby the second movable body 12A moves smoothly in the second moving direction with respect to the first movable body 11A. The second movable body 12A moves in the second moving direction relative to the first movable body 11A, and the first movable body 11A moves in the first moving direction relative to the base 10A, so that the second movable body 12A supported by the first movable body 11A moves in the first moving direction relative to the base 10A integrally with the first movable body 11A.

In the blur correction device 9A, the guided protrusion 23c for guiding the first movable body 11A in the first movement direction is provided integrally with the first movable body 11A, and the guided portion 30c for guiding the second movable body 12A in the second movement direction is provided integrally with the second movable body 12A, so that a dedicated member for guiding the first movable body 11A and the second movable body 12A is not necessary, and the number of parts can be reduced.

Note that, contrary to the above, a guide protrusion may be provided on the base 10A and a guided groove may be formed on the first movable body 11A, and a guide protrusion may be provided on the first movable body 11A and a guided groove may be formed on the second movable body 12A.

The pressing spring 55 serving as a biasing unit is attached to spring mounting holes 17b and 17b (see fig. 36, 40, and 43) formed in the lower surface portion 17A of the base body 10A. The pressing spring 55 is, for example, a plate spring, and includes an intermediate plate portion 55a formed in a laterally elongated shape, pressing plate portions 55b and 55b each protruding upward from the intermediate plate portion 55a, and attachment plate portions 55c and 55c each protruding downward from the intermediate plate portion 55 a.

The pressing spring 55 is brought into a state in which the attachment plate portions 55c and 55c are inserted into the spring mounting holes 17b and 17b, respectively, and attached to the lower surface portion 17a, and the pressing plate portions 55b and 55b contact the front edge of the lower end in the peripheral surface portion 29A of the second movable body 12A (see fig. 43). The pressing spring 55 is brought into a state in which the pressing plate portions 55b and 55b contact the front edge in the lower end of the peripheral surface portion 29A from obliquely downward front, and the second movable body 12A is biased upward and rearward by the pressing spring 55.

As described above, the second movable body 12A is biased upward and rearward by the pressing spring 55, and by the pressing spring 55, the first operated surface 33a is pressed against the first driving force transmitting portions 41A and 41A, the second operated surface 34a is pressed against the second driving force transmitting portions 47a and 47a, and the first movable body 11A and the second movable body 12A are biased in the direction toward the base 10A.

Thus, it is not necessary to separately provide springs that bias the first operated surface 33a and the second operated surface 34a so as to press the first driving force transmitting portions 41A and the second driving force transmitting portions 47a and 47a, respectively, and springs that bias the first movable body 11A and the second movable body 12A in the direction toward the base 10A, and it is possible to bias the second movable body 12A in a plurality of directions while reducing the number of parts.

In the first driver 36, the conveyance member 41 contacts the first operated surface 33a of the second movable body 12A from the upper left direction, and applies a driving force to the second movable body 12A from the first driver 36 in the lower right direction or the upper left direction so that the direction becomes the first driving direction. In the second drive body 42, the conveyance member 47 contacts the second operated surface 34a of the second movable body 12A from the upper right direction, and applies a driving force to the second movable body 12A from the second drive body 42 in the lower left direction or the upper right direction so that the direction becomes the second driving direction.

Thereby, the first driving direction is made to coincide with the first moving direction, and the second driving direction is made to coincide with the second moving direction.

The bias spring 49 is not provided in the blur correction device 9A.

< operation of the blur correction device according to the second embodiment >

Hereinafter, the blur correction operation in the blur correction device 9A will be described (see fig. 44 to 53). Note that in fig. 44 to 53, each unit is illustrated in a simplified manner in order to facilitate understanding of the blur correction operation.

In the blur correction device 9A, the first movable body 11A can move in the first moving direction with respect to the base body 10A only by the guide hole 15e and the guided protrusion 23c, and the second movable body 12A can move in the second moving direction with respect to the first movable body 11A only by the guide hole 24c and the guided portion 30 c. Therefore, in the blur correction operation described below, a so-called scroll operation, which is an operation in the rotational direction of the first movable body 11A and the second movable body 12A with respect to the base 10A in the direction around the optical axis, does not occur. Further, since the first movable body 11A and the second movable body 12A are biased rearward by the pressing spring 55, the first movable body 11A and the second movable body 12A are not moved in the front-rear direction in the blur correction operation.

In a state before the blur correction operation is performed, the first and second driving bodies 36 and 42 are not operated. The first drive body 36 is brought into a state in which the first drive force transmission portions 41a and 41a provided on the transmission member 41 are in contact with the central portion in the front-rear direction of the first operated surface 33a formed on the receiving projection 33 of the second movable body 12A, and the second drive body 42 is brought into a state in which the second drive force transmission portions 47a and 47a provided on the transmission member 47 are in contact with the central portion in the front-rear direction of the second operated surface 34a formed on the receiving projection 34 of the second movable body 12A (see fig. 44).

Thus, in the blur correction device 9A, the first movable body 11A and the second movable body 12A are located at the reference positions and do not move in either the first movement direction or the second movement direction (see fig. 45).

First, the blur correcting operation in the second moving direction in the blur correcting device 9A will be described (see fig. 46 to 49).

In the blur correction device 9A, when a voltage is applied to the piezoelectric element 43b of the second actuator 43 and the drive shaft 43c is operated and the second slider 44 is moved forward, the second driving force transmission portions 47a and 47a slide on the second operated surface 34a and move to the front end side of the second operated surface 34a (see fig. 46).

When the second driving force transmitting portions 47a and 47a are moved to the front end side of the second operated surface 34a, the second movable body 12A biased upward by the pressing spring 55 is moved in the second moving direction with respect to the first movable body 11A (see fig. 47). At this time, the first driving force transmitting portions 41a and 41a of the first slider 38 slide on the first operated surface 33 a.

On the other hand, in the blur correction device 9A, when a voltage is applied to the piezoelectric element 43b of the second actuator 43 and the driving shaft 43c is moved and the second slider 44 is moved rearward, the second driving force transmission portions 47a and 47a slide on the second operated surface 34a and move to the rear end side of the second operated surface 34a (see fig. 48).

When the second driving force transmission portions 47a and 47a are moved to the rear end side of the second operated surface 34a, the second movable body 12A biased upward by the pressing spring 55 is moved downward in the second moving direction relative to the first movable body 11A against the biasing force of the pressing spring 55 (see fig. 49). At this time, the first driving force transmitting portions 41a and 41a of the first slider 38 slide on the first operated surface 33 a.

Next, a blur correcting operation in the first moving direction in the blur correcting device 9A will be described (see fig. 50 to 53).

In the blur correction device 9A, when a voltage is applied to the piezoelectric element 37b of the first actuator 37 and the drive shaft 37c is operated and the first slider 38 is moved forward, the first driving force transmission portions 41a and 41a slide on the first operated surface 33a and move to the front end side of the first operated surface 33a (see fig. 50).

When the first driving force transmission portions 41A and 41A are moved to the front end side of the first operated surface 33a, a moving force in the first moving direction is applied to the second movable body 12A biased upward by the pressing spring 55, the applied moving force is transmitted from the second movable body 12A to the first movable body 11A, and the first movable body 11A is moved upward in the first moving direction integrally with the second movable body 12A (see fig. 51). At this time, the second driving force transmitting portions 47a and 47a of the second slider 44 slide on the second operated surface 34 a.

On the other hand, in the blur correction device 9A, when a voltage is applied to the piezoelectric element 37b of the first actuator 37 and the drive shaft 37c is operated and the first slider 38 is moved backward, the first driving force transmission portions 41a and 41a slide on the first operated surface 33a and move to the rear end side of the first operated surface 33a (see fig. 52).

When the first driving force transmission portions 41A and 41A are moved to the rear end side of the first operated surface 33a, a moving force in the first moving direction is applied to the second movable body 12A biased upward by the pressing spring 55, the applied moving force is transmitted from the second movable body 12A to the first movable body 11A, and the first movable body 11A is moved downward in the first moving direction integrally with the second movable body 12A against the biasing force of the pressing spring 55 (see fig. 53). At this time, the second driving force transmitting portions 47a and 47a of the second slider 44 slide on the second operated surface 34 a.

As described above, the second movable body 12A moves in the second moving direction relative to the first movable body 11A and moves in the first moving direction integrally with the first movable body 11A, whereby the shift lens group 3a held by the second movable body 12A also moves in the first moving direction or the second moving direction, and blur correction of optical axis displacement of the shift lens group 3a is performed, whereby image blur is corrected.

Note that, above, an example in which the first moving direction, the second moving direction, the first driving direction, and the second driving direction are inclined with respect to the upward, downward, left, and right directions is described; however, it is sufficient that the first moving direction, the second moving direction, the first driving direction, and the second driving direction are any directions in a plane orthogonal to the optical axis. For example, the first moving direction and the first driving direction may be an up-down direction or a left-right direction, and the second moving direction and the second driving direction may be a left-right direction or an up-down direction.

As described above, in the blur correction device 9A, the first movable body 11A and the second movable body 12A are placed side by side in the optical axis direction (front-rear direction), and both the first movement direction and the second movement direction are made orthogonal to the optical axis direction.

Thereby, the first moving direction in which the first movable body 11A moves and the second moving direction in which the second movable body 12A moves are orthogonal to each other and both are orthogonal to the optical axis, so that highly reliable blur correction can be performed.

Note that, above, an example is described in which the first movable body 11A moves in a first movement direction as a first movement direction and the second movable body 12A moves in a second movement direction as a second movement direction; however, conversely, the first movable body 11A may move in the second moving direction, and the second movable body 12A may move in the first moving direction.

In the blur correction device 9A, a first driving direction as a driving direction of the driving force applied from the first driving body 36 to the second movable body 12A and a second driving direction as a driving direction of the driving force applied from the second driving body 42 to the second movable body 12A are orthogonal to the optical axis direction and are orthogonal to each other.

Thereby, the first driving direction and the second driving direction are mutually orthogonal directions and are both orthogonal to the optical axis, so that highly reliable blur correction can be performed.

Note that the first driving direction and the second driving direction may be made directions other than mutually orthogonal directions, and for example, the first driving direction and the second driving direction may be made to have an angle smaller than 90 degrees in the circumferential direction. Further, the first driving direction and the second driving direction may be made to have an angle larger than 90 degrees in the circumferential direction.

< others >

Above, an example in which the first drive body 36 is provided with the first slider 38 and the second drive body 42 is provided with the second slider 44 is described; however, each of the first and second driving bodies may include only an actuator (see fig. 54).

For example, only the first actuator 37 is provided as the first drive body 36B, and only the second actuator 43 is provided as the second drive body 42B, and the first actuator 37 and the second actuator can be pressed against the first operated surface 33a and the second operated surface 34a, respectively, and the first movable body 11 or 11A and the second movable body 12 or 12A can be operated.

With this configuration, the first slider 38 and the second slider 44 become unnecessary, and the manufacturing cost can be reduced and the structure can be simplified by reducing the number of parts.

However, even in such a configuration, the first slider 38 and the second slider 44 may be used, and the first slider 38 and the second slider 44 may be moved in the direction orthogonal to the optical axis, and the driving force may be transmitted to the second movable body 12 or 12A via the first slider 38 and the second slider 44.

< conclusion >

As described above, in the blur correction device 9 or 9A and the imaging device 1, the first movable body 11 or 11A and the second movable body 12 or 12A are integrally moved in the first moving direction with respect to the base 10 by the driving force of at least one of the first driver 36 or 36B or the second driver 42 or 42B, and the second movable body 12 or 12A is moved in the second moving direction with respect to the first movable body 11 or 11A by the driving force of at least one of the first driver 36 or 36B or the second driver 42 or 42B.

Thereby, the driving force is applied to the second movable body 12 or 12A by each of the first drive body 36 or 36B and the second drive body 42 or 42B, and the second movable body 12 or 12A is moved in the first movement direction or the second movement direction by the driving force of at least one of the first drive body 36 or 36B or the second drive body 42 or 42B, so that the weight of the movable body can be reduced while simplifying the structure.

In particular, since it is not necessary to attach one of the first drive body 36 or 36B or the second drive body 42 or 42B to the first movable body 11 or 11A, the weight of the movable body is reduced, and the reliability of the blur correction operation and the speed can be improved.

Further, since the first drive body 36 or 36B and the second drive body 42 or 42B are not attached to the first movable body 11 or 11A and the second movable body 12 or 12A, it is not necessary to connect wires or a flexible printed wiring board for feeding electric power to the first actuator 37 and the second actuator 43.

Thereby, no burden is imposed on the operation of the first movable body 11 or 11A and the second movable body 12 or 12A by the wire or the wiring board, and the reliability of the blur correction operation can be further improved and the speed can be further increased.

Further, since the first drive body 36 or 36B and the second drive body 42 or 42B are not attached to the first movable body 11 or 11A and the second movable body 12 or 12A, the difference in weight of the movable bodies between when the second movable body 12 or 12A is moved and when the first movable body 11 or 11A and the second movable body 12 or 12A are integrally moved can be reduced.

Thus, when the first driver 36 or 36B and the second driver 42 or 42B are driven, a difference in servo characteristics with respect to the moving direction of the movable body can be reduced.

Further, the first movable body 11 or 11A and the second movable body 12 or 12A are moved in a state where the first operated surface 33a is pressed against the first driving force transmitting portions 41A and the second operated surface 34a is pressed against the second driving force transmitting portions 47a and 47a by the pressing spring 35 or the pressing spring 55.

Thereby, it is possible to improve the accuracy of the movement positions of the first movable body 11 or 11A and the second movable body 12 or 12A, and reduce the influence of disturbance due to vibration or the like, and reduce the occurrence of inclination due to deformation of the wire or the like, as compared with a structure that moves the first movable body and the second movable body in a state in which the movable bodies are suspended by the wire or the like.

Further, configuring the blur correction device 9 or 9A so that the first movable body 11 or 11A, the second movable body 12 or 12A, the first drive body 36, and the second drive body 42 are assembled to the base body 10 or 10A from one direction (optical axis direction) makes it possible to assemble each unit in the same process, and to improve workability in the assembly operation.

< application example to endoscopic surgery System >

The technique according to the present disclosure (present technique) can be applied to various products. For example, techniques according to the present disclosure may be applied to endoscopic surgical systems.

Fig. 55 is a diagram illustrating a schematic configuration example of an endoscopic surgery system to which the technique according to the present disclosure (present technique) can be applied.

Fig. 55 illustrates a state in which an operator (doctor) 11131 is performing an operation on a patient 11132 on a bed 11133 using the endoscopic surgery system 11000. As illustrated, the endoscopic surgery system 11000 includes an endoscope 11100, other surgical tools 11110 such as a veress tube 11111 and an energy treatment tool 11112, a support arm device 11120 that supports the endoscope 11100, and a cart 11200 on which various devices for endoscopic surgery are mounted.

The endoscope 11100 includes a lens barrel 11101 in which a region of a predetermined length from a distal end is inserted into a body cavity of a patient 11132, and a camera head 11102 connected to a proximal end of the lens barrel 11101. In the illustrated example, the endoscope 11100 formed as a so-called rigid mirror including the rigid lens barrel 11101 is illustrated, but the endoscope 11100 may be formed as a so-called flexible mirror including a flexible lens barrel.

At the distal end of the lens barrel 11101, an opening is provided in which an objective lens is embedded. The light source device 11203 is connected to the endoscope 11100, and light generated by the light source device 11203 is guided to the distal end of the lens barrel by a light guide extending inside the lens barrel 11101, and irradiated to an observation target in the body cavity of the patient 11132 via an objective lens. Note that the endoscope 11100 may be a direct view mirror, an oblique view mirror, or a side view mirror.

An optical system and an imaging element are provided in the camera head 11102, and light reflected from an observation object (observation light) is focused on the imaging element by the optical system. The observation light is photoelectrically converted by the imaging element, and an electric signal corresponding to the observation light, that is, an image signal corresponding to an observation image is generated. The image signal is transmitted as RAW data to a Camera Control Unit (CCU) 11201.

The CCU11201 includes a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and the like, and comprehensively controls the operation of the endoscope 11100 and the display device 11202. Further, the CCU11201 receives an image signal from the camera head 11102 and applies various image processing, for example, development processing (demosaicing processing) or the like, to the image signal to display an image based on the image signal.

The display device 11202 displays an image based on the image signal subjected to the image processing by the CCU11201 by the control from the CCU 11201.

The light source device 11203 includes a light source, for example, a Light Emitting Diode (LED) or the like, and supplies irradiation light for imaging a surgical portion or the like to the endoscope 11100.

The input device 11204 is an input interface with the endoscopic surgery system 11000. The user can input various information and instructions to the endoscopic surgery system 11000 via the input device 11204. For example, the user inputs an instruction to change the imaging conditions (the type of irradiation light, magnification, focal length, and the like) of the endoscope 11100, or the like.

The treatment tool control device 11205 controls the driving of the energy treatment tool 11112 for cauterizing tissue, cutting, sealing blood vessels, etc. The pneumoperitoneum device 11206 injects gas into the body cavity of the patient 11132 through the pneumoperitoneum tube 11111 to inflate the body cavity to secure the visual field of the endoscope 11100 and secure the operation space of the operator. The recorder 11207 is a device capable of recording various information relating to the operation. The printer 11208 is a device capable of printing various information related to the operation in various formats such as text, images, graphics, and the like.

Note that the light source device 11203 that supplies irradiation light for imaging the surgical portion to the endoscope 11100 may include a white light source including, for example, an LED, a laser light source, or a combination thereof. In the case where the white light source includes R, G in combination with a B laser light source, the output intensity and the output timing of each color (each wavelength) can be controlled with high accuracy, so that adjustment of the white balance of a captured image can be performed in the light source device 11203. Further, in this case, it is also possible to time-divisionally capture images corresponding to each of R, G and B by time-divisionally irradiating laser light from each of R, G and the B laser light source to the observation target and controlling the driving of the imaging element of the camera head 11102 in synchronization with the irradiation timing. According to this method, a color image can be obtained without providing a color filter in the imaging element.

Further, the driving of the light source device 11203 may be controlled so that the intensity of light to be output is changed at predetermined time intervals. By controlling the driving of the imaging element of the camera head 11102 in synchronization with the timing of change in light intensity to time-divisionally obtain images and synthesizing these images, a high dynamic range image can be generated without so-called blocking shadow or overexposure to highlight.

Further, the light source device 11203 may provide light of a predetermined wavelength band corresponding to the special light observation. In special light observation, for example, by irradiating narrow-band light compared with irradiation light at the time of ordinary observation (in other words, white light) by utilizing wavelength dependence of light absorption in body tissue, so-called narrow-band imaging is performed in which predetermined tissue such as blood vessels in a mucosal surface layer is imaged with high contrast. Alternatively, in the special light observation, fluorescence observation in which an image is obtained using fluorescence generated by irradiation with excitation light may be performed. In fluorescence observation, for example, a body tissue may be irradiated with excitation light to observe fluorescence from the body tissue (autofluorescence observation), or an agent such as indocyanine green (ICG) may be locally injected into the body tissue and the body tissue may be irradiated with excitation light corresponding to a fluorescence wavelength of the agent to obtain a fluorescence image. The light source device 11203 may provide narrow band light and/or excitation light corresponding to such special light observations.

Fig. 56 is a block diagram illustrating a functional configuration example of the camera head 11102 and the CCU11201 illustrated in fig. 55.

The camera head 11102 includes a lens unit 11401, an imaging unit 11402, a driving unit 11403, a communication unit 11404, and a camera head control unit 11405. The CCU11201 includes a communication unit 11411, an image processing unit 11412, and a control unit 11413. The camera head 11102 and the CCU11201 are communicably connected to each other by a transmission cable 11400.

The lens unit 11401 is an optical system provided at a connection portion with the lens barrel 11101. Observation light acquired from the distal end of the lens barrel 11101 is guided to the camera head 11102 and is incident on the lens unit 11401. The lens unit 11401 includes a combination of a plurality of lenses including a zoom lens and a focus lens.

The imaging element constituting the imaging unit 11402 may be one (so-called single plate type) element or a plurality of (so-called multi-plate type) elements. For example, in the case where the imaging unit 11402 includes a multi-plate type element, image signals corresponding to R, G and B may be generated by the respective imaging elements, and a color image may be obtained by synthesizing the image signals. Alternatively, the imaging unit 11402 may include a pair of imaging elements for obtaining each of right and left eye image signals corresponding to three-dimensional (3D) display. By performing the 3D display, the operator 11131 can grasp the depth of the living tissue in the operation portion more accurately. Note that in the case where the imaging unit 11402 includes a multi-plate type element, a plurality of systems of the lens units 11401 corresponding to the respective imaging elements may be provided.

Further, the imaging unit 11402 is not necessarily provided in the camera head 11102. For example, the imaging unit 11402 may be disposed inside the lens barrel 11101 immediately after the objective lens.

The driving unit 11403 includes an actuator, and moves the zoom lens and the focus lens of the lens unit 11401 by a predetermined distance along the optical axis by the control of the camera head control unit 11405. As a result, the magnification and focus of the captured image of the imaging unit 11402 can be appropriately adjusted.

A communication unit 11404 includes a communication device for transmitting/receiving various information to/from the CCU 11201. The communication unit 11404 transmits the image signal obtained from the imaging unit 11402 to the CCU11201 as RAW data through the transmission cable 11400.

Further, the communication unit 11404 receives a control signal for controlling driving of the camera head 11102 from the CCU11201, and supplies the control signal to the camera head control unit 11405. The control signal includes information related to imaging conditions, for example, information specifying a frame rate of a captured image, information specifying an exposure value at the time of imaging, and/or information specifying a magnification and a focus of the captured image.

Note that imaging conditions such as a frame rate, an exposure value, a magnification, and a focus may be appropriately specified by a user, or automatically set by the control unit 11413 of the CCU11201 based on the obtained image signal. In the latter case, a so-called Auto Exposure (AE) function, an Auto Focus (AF) function, and an Auto White Balance (AWB) function may be installed in the endoscope 11100.

The camera head control unit 11405 controls driving of the camera head 11102 based on a control signal received from the CCU11201 via the communication unit 11404.

The communication unit 11411 includes a communication device for transmitting/receiving various information to/from the camera head 11102. The communication unit 11411 receives an image signal transmitted from the camera head 11102 via the transmission cable 11400.

Further, the communication unit 11411 transmits a control signal for controlling driving of the camera head 11102 to the camera head 11102. The image signal and the control signal may be transmitted by electrical communication, optical communication, or the like.

The image processing unit 11412 performs various image processes on the image signal transmitted from the camera head 11102 as RAW data.

The control unit 11413 performs various controls related to imaging of the surgical site and the like by the endoscope 11100, display of a captured image obtained by imaging of the surgical site, and the like. For example, the control unit 11413 generates a control signal for controlling driving of the camera head 11102.

Further, the control unit 11413 causes the display device 11202 to display a captured image of the surgical portion or the like based on the image signal subjected to the image processing by the image processing unit 11412. At this time, the control unit 11413 may recognize various objects in the photographed image by using various image recognition techniques. For example, the control unit 11413 detects the color, edge shape, and the like of the object included in the captured image, thereby enabling recognition of a surgical tool such as a forceps, a specific body part, bleeding, fog when the energy therapy tool 11112 is used, and the like. When causing the display device 11202 to display the photographed image, the control unit 11413 may cause the display device 11202 to superimpose and display various kinds of operation assistance information on the image of the operation portion by using the recognition result. The operation assistance information is displayed superimposed and presented to the operator 11131, whereby the burden on the operator 11131 can be reduced, so that the operator 11131 can perform an operation reliably.

The transmission cable 11400 connecting the camera head 11102 and the CCU11201 together is an electrical signal cable suitable for communication of electrical signals, an optical fiber suitable for optical communication, or a composite cable thereof.

Here, in the illustrated example, the communication is performed by wire using the transmission cable 11400, but the communication between the camera head 11102 and the CCU11201 may be performed wirelessly.

In the above, examples of endoscopic surgical systems to which the techniques according to the present disclosure may be applied are described. The technique according to the present disclosure can be applied to, for example, the endoscope 11100, (the imaging unit 11402 of) the camera head 11102, (the image processing unit 11412 of) the CCU11201 in the above-described configuration. Specifically, the imaging element 7 may be applied to the imaging unit 10402. By applying the technique according to the present disclosure to (the imaging unit 11402 of) the endoscope 11100, the camera head 11102, and (the image processing unit 11412 of) the CCU11201, a clearer surgical portion image can be obtained, so that the operator can reliably confirm the surgical portion.

Note that the endoscopic surgical system is described herein as an example; however, the techniques according to the present disclosure may be applied to other systems, such as, for example, microsurgical systems and the like.

< example of application to Mobile body >

Further, the technology according to the present disclosure (present technology) may be implemented as a device mounted on any type of moving body (e.g., an automobile, an electric automobile, a hybrid electric automobile, a motorcycle, a bicycle, a personal mobile device, an airplane, a drone, a boat, a robot, etc.).

Fig. 57 is a block diagram illustrating a schematic configuration example of a vehicle control system that is an example of a mobile body control system to which the technique according to the present disclosure can be applied.

The vehicle control system 12000 includes a plurality of electronic control units connected to each other via a communication network 12001. In the example illustrated in fig. 57, the vehicle control system 12000 includes a drive system control unit 12010, a vehicle body system control unit 12020, an outside-vehicle information detection unit 12030, an inside-vehicle information detection unit 12040, and an integrated control unit 12050. Further, as a functional configuration of the integrated control unit 12050, a microcomputer 12051, an audio image output unit 12052, and an in-vehicle network interface (I/F)12053 are illustrated.

The drive system control unit 12010 controls the operations of devices related to the drive system of the vehicle according to various programs. For example, the drive system control unit 12010 functions as a control device of a drive force generation device (such as an internal combustion engine or a drive motor) for generating drive force of the vehicle, a drive force transmission mechanism for transmitting the drive force to wheels, a steering mechanism for adjusting a steering angle of the vehicle, a brake device for generating brake force of the vehicle, and the like.

The vehicle body system control unit 12020 controls the operations of various devices equipped on the vehicle body according to various programs. For example, the vehicle body system control unit 12020 functions as a control device of a keyless entry system, a smart key system, a power window device, or various lamps such as a front lamp, a rear lamp, a brake lamp, a turn signal lamp, and a fog lamp. In this case, a radio wave transmitted from a portable device instead of a key, or a signal of various switches may be input to the vehicle body system control unit 12020. The vehicle body system control unit 12020 receives input of these radio waves or signals, and controls the door lock device, power window device, lamp, and the like of the vehicle.

The vehicle exterior information detection unit 12030 detects information on the outside of the vehicle to which the vehicle control system 12000 is mounted. For example, the imaging unit 12031 is connected to the vehicle exterior information detecting unit 12030. The vehicle exterior information detection unit 12030 causes the imaging unit 12031 to take an image of the outside of the vehicle and receives the taken image. The vehicle exterior information detection unit 12030 can perform object detection processing or distance detection processing on a person, a vehicle, an obstacle, a logo, characters on a road surface, and the like based on the received image.

The imaging unit 12031 is a photosensor that receives light and outputs an electric signal corresponding to the amount of received light. The imaging unit 12031 can output an electric signal as an image or as ranging information. Further, the light received by the imaging unit 12031 may be visible light or invisible light such as infrared light.

The in-vehicle information detection unit 12040 detects information about the interior of the vehicle. The in-vehicle information detection unit 12040 is connected to, for example, a driver state detection unit 12041 that detects the state of the driver. The driver state detection unit 12041 includes, for example, a camera that takes an image of the driver, and the in-vehicle information detection unit 12040 may calculate the degree of fatigue or concentration of the driver, or determine whether the driver is dozing, based on the detection information input from the driver state detection unit 12041.

The microcomputer 12051 can calculate a control target value of the driving force generation device, the steering mechanism, or the brake device based on the information on the inside and outside of the vehicle obtained by the outside-vehicle information detection unit 12030 or the inside-vehicle information detection unit 12040, and output a control command to the driving system control unit 12010. For example, the microcomputer 12051 can perform coordinated control intended to realize functions of an Advanced Driver Assistance System (ADAS) including collision avoidance or impact reduction of the vehicle, follow-up running based on the inter-vehicle distance, vehicle speed keeping driving, vehicle collision warning, lane departure warning, and the like.

Further, the microcomputer 12051 can perform cooperative control of automatic driving or the like intended for autonomous traveling without depending on the operation of the driver, by controlling the driving force generation device, the steering mechanism, the brake device, and the like, based on the information about the vehicle surroundings obtained by the vehicle exterior information detection unit 12030 or the vehicle interior information detection unit 12040.

Further, the microcomputer 12051 can output a control command to the vehicle body system control unit 12030 based on the information on the outside of the vehicle obtained by the vehicle-exterior information detecting unit 12030. For example, the microcomputer 12051 can perform cooperative control such as switching from high beams to low beams with the aim of preventing glare by controlling headlights according to the position of the preceding vehicle or oncoming vehicle detected by the vehicle exterior information detecting unit 12030.

The audio image output unit 12052 transmits at least one of an audio and an image output signal to an output device capable of visually or audibly notifying information to a passenger inside the vehicle or outside the vehicle. In the example of fig. 57, as output devices, an audio speaker 12061, a display unit 12062, and a dashboard 12063 are illustrated. The display unit 12062 may include, for example, at least one of an on-board display or a heads-up display.

Fig. 58 is a diagram illustrating an example of the mounting position of the imaging unit 12031.

In fig. 58, as the imaging unit 12031, imaging units 12101, 12102, 12103, 12104, and 12105 are included.

The imaging units 12101, 12102, 12103, 12104, and 12105 are provided at positions such as a front nose, side mirrors, a rear bumper, a rear door, an upper portion of a windshield in the vehicle interior, and the like of the vehicle 12100. The imaging unit 12101 provided at the nose and the imaging unit 12105 provided at the upper portion of the windshield in the vehicle interior mainly acquire images of the front of the vehicle 12100. The imaging units 12102 and 12103 provided at the side mirrors mainly obtain images of the sides of the vehicle 12100. An imaging unit 12104 provided at a rear bumper or a rear door mainly acquires an image of the rear of the vehicle 12100. The imaging unit 12105 provided at the upper portion of the windshield in the vehicle is mainly used to detect a preceding vehicle, a pedestrian, an obstacle, a traffic signal, a traffic sign, a lane, and the like.

Note that fig. 58 illustrates an example of the imaging ranges of the imaging units 12101 to 12104. An imaging range 12111 represents an imaging range of the imaging unit 12101 provided at the nose, imaging ranges 12112 and 12113 represent imaging ranges of the imaging units 12102 and 12103 provided at the side mirrors, respectively, and an imaging range 12114 represents an imaging range of the imaging unit 12104 provided at the rear bumper or the rear door. For example, the image data captured by the imaging units 12101 to 12104 are superimposed on each other, thereby obtaining an overhead image of the vehicle 12100 seen from above.

At least one of the imaging units 12101 to 12104 may have a function of obtaining distance information. For example, at least one of the imaging units 12101 to 12104 may be a stereo camera including a plurality of imaging elements, or may be an imaging element including pixels for phase difference detection.

For example, based on the distance information obtained from the imaging units 12101 to 12104, the microcomputer 12051 obtains the distance to each three-dimensional object within the imaging ranges 12111 to 12114, and the temporal change (relative speed with respect to the vehicle 12100) of the distance, thereby being able to extract, as a preceding vehicle, a three-dimensional object, which is particularly the closest three-dimensional object on the traveling path of the vehicle 12100, and travels at a predetermined speed (for example, greater than or equal to 0km/h) in substantially the same direction as the direction of the vehicle 12100. Further, the microcomputer 12051 may set an inter-vehicle distance to be secured in advance before the preceding vehicle, and may perform automatic braking control (including stop following control), automatic acceleration control (including start following control), and the like. As described above, it is possible to perform cooperative control of automatic driving or the like that aims at autonomous traveling without depending on the operation of the driver.

For example, based on the distance information obtained from the imaging units 12101 to 12104, the microcomputer 12051 can extract three-dimensional object data relating to a three-dimensional object by classifying the object into a two-wheeled vehicle, a conventional vehicle, a large vehicle, a pedestrian, and other three-dimensional objects such as utility poles, and use the data to perform automatic avoidance of an obstacle. For example, the microcomputer 12051 recognizes obstacles around the vehicle 12100 as obstacles that can be visually recognized by a driver of the vehicle 12100 and obstacles that are difficult to visually recognize. Then, the microcomputer 12501 determines a collision risk indicating the risk of collision with each obstacle, and when the collision risk is greater than or equal to a set value and there is a possibility of collision, the microcomputer 12501 outputs an alarm to the driver via the audio speaker 12061 and the display unit 12062, or performs forced deceleration or avoidance steering by the drive system control unit 12010, thereby enabling assisted driving for avoiding collision.

At least one of the imaging units 12101 to 12104 may be an infrared camera that detects infrared rays. For example, the microcomputer 12501 can recognize a pedestrian by determining whether or not a pedestrian is present in the captured images of the imaging units 12101 to 12104. Such pedestrian recognition is performed to determine whether or not the object is a pedestrian by, for example, a process of extracting feature points in the captured images of the imaging units 12101 to 12104 as infrared cameras, and a process of performing pattern matching processing on a series of feature points representing the outline of the object. When the microcomputer 12051 determines that a pedestrian is present in the captured images of the imaging units 12101 to 12104 and identifies a person, the audio image output unit 12052 controls the display unit 12062 so that a rectangular outline for emphasis is superimposed and displayed on the identified pedestrian. Further, the audio image output unit 12052 may control the display unit 12062 so that an icon or the like representing a pedestrian is displayed at a desired position.

In the above, examples of the vehicle control system to which the technique according to the present disclosure can be applied are described. The technique according to the present disclosure can be applied to the imaging unit 12031 in the above-described configuration. Specifically, the imaging unit 7 may be applied to the imaging unit 12031. By applying the technique according to the present disclosure to the imaging unit 12031, a captured image that can be viewed more easily can be obtained, so that fatigue of the driver can be reduced.

< present technology >

The present technology can be configured as follows.

(1)

A blur correction device comprising:

a first movable body movable in a first movement direction with respect to the base;

a second movable body that is located on an opposite side of the first movable body from the base and is movable relative to the first movable body in a second movement direction different from the first movement direction; and

a first drive body and a second drive body each applying a driving force to the second movable body, wherein

The first movable body and the second movable body are integrally moved in a first movement direction with respect to the base body by a driving force of at least one of the first drive body or the second drive body, and

the second movable body is moved in a second movement direction with respect to the first movable body by a driving force of at least one of the first or second drivers.

(2)

The blur correction device according to (1), wherein

The first movable body and the second movable body are located side by side in the optical axis direction,

making the first moving direction orthogonal to the optical axis direction, an

The second moving direction is made orthogonal to both the optical axis direction and the first moving direction.

(3)

The blur correction device according to (1) or (2), wherein

A driving force in a first driving direction is applied from the first driving body to the second movable body,

applying a driving force in a second driving direction from the second driving body to the second movable body, an

The first drive direction and the second drive direction are both made orthogonal to the optical axis direction and to each other.

(4)

The blur correction device according to any one of (1) to (3), wherein

A first driving force transmitting portion is provided to the first driving body,

a second driving force transmitting portion is provided to the second driving body,

a first surface to be operated and a second surface to be operated are formed on the second movable body,

the first operated surface is pressed against the first driving force transmitting portion in a slidable state,

the second operated surface is pressed against the second driving force transmitting portion in a slidable state, an

At least one of the position of the first driving force transmission portion with respect to the first operated surface or the position of the second driving force transmission portion with respect to the second operated surface is changed, and the second movable body is moved with respect to the base body.

(5)

The blur correction device according to (4), wherein

A biasing unit is provided that biases in a direction in which the first operated surface is pressed against the first driving force transmission portion and the second operated surface is pressed against the second driving force transmission portion.

(6)

The blur correction device according to (5), wherein

The first movable body and the second movable body are biased by the biasing unit in a direction approaching the base.

(7)

The blur correction device according to any one of (4) to (6), wherein

The first operated surface and the second operated surface are both inclined with respect to the first moving direction and the second moving direction.

(8)

The blur correction device according to (7), wherein

The inclination angles of the first operated surface and the second operated surface with respect to the first moving direction and the second moving direction are made equal to each other.

(9)

The blur correction device according to any one of (4) to (8), wherein

A plurality of first driving force transmitting portions and a plurality of second driving force transmitting portions are provided, respectively.

(10)

The blur correction device according to (3), wherein

The first movement direction is made different from the first drive direction, an

The second moving direction is made different from the second driving direction.

(11)

The blur correction device according to any one of (1) to (10), wherein

The first driving body includes a first actuator and a first slider operated by the first actuator,

the second driving body includes a second actuator and a second slider operated by the second actuator, an

The second movable body is made slidable by the first slider and the second slider.

(12)

The blur correction device according to (11), wherein

The first moving direction and the second moving direction are made to be mutually orthogonal directions, an

The first slider and the second slider are operated in a direction orthogonal to both the first moving direction and the second moving direction.

(13)

The blur correction device according to (11) or (12), wherein

Attaching the first actuator and the second actuator to the base.

(14)

The blur correction device according to (13), wherein

The base body is provided with a substantially rectangular arrangement unit in which the first movable body and the second movable body are arranged, and

the first and second drivers are attached to the corners of the arrangement unit, respectively, at the outer sides of the first and second movable bodies.

(15)

The blur correction device according to any one of (1) to (14), wherein

The outer shape of the first movable body is made smaller than the outer shape of the second movable body.

(16)

The blur correction device according to any one of (1) to (15), wherein

The base body is formed with an arrangement space in which the first movable body, the second movable body, the first drive body, and the second drive body are arranged.

(17)

The blur correction device according to any one of (1) to (16), wherein

Provided with a first guide member that guides the first movable body in a first moving direction, and

and a second guide member that guides the second movable body in the second moving direction.

(18)

The blur correction device according to (17), wherein

The first guide is integrally formed with the base, and

the second guide is integrally formed with the first movable body.

(19)

The blur correction device according to any one of (1) to (18), wherein

Arranging a first rolling member between the base body and the first movable body, the first rolling member rolling when the first movable body moves in the first moving direction, an

A second rolling member is disposed between the first movable body and the second movable body, the second rolling member rolling when the second movable body moves in the second moving direction.

(20)

An image forming apparatus comprising:

a lens unit including at least one lens; an imaging element that photoelectrically converts an optical image captured by the lens; and a blur correction device that corrects an image blur of the optical image,

the blur correction device comprises

A first movable body movable in a first movement direction with respect to the base,

a second movable body that is located on an opposite side of the first movable body from the base body and is movable relative to the first movable body in a second movement direction different from the first movement direction, an

A first drive body and a second drive body each applying a driving force to the second movable body, wherein

The first movable body and the second movable body are integrally moved in a first movement direction with respect to the base body by a driving force of at least one of the first drive body or the second drive body, and

the second movable body is moved in a second movement direction with respect to the first movable body by a driving force of at least one of the first or second drivers.

List of reference numerals

1 image forming apparatus

9 blur correction device

10 base body

11 first movable body

12 second movable body

13 arrangement unit

13a arrangement space

21 first guide piece

22 first rolling member

25 second guide piece

26 second rolling element

27 second rolling element

33a first surface to be operated

34a second surface to be operated

35 pressing spring (bias unit)

36 first driving body

37 first actuator

38 first slide

41a first driving force transmitting portion

42 second driving body

43 second actuator

44 second slider

47a second driving force transmitting portion

21A first guide

25A second guide

9A blur correction device

10A base

11A first movable body

12A second movable body

13A arrangement unit

55 biasing unit

36B first drive body

42B second drive body