Camera and method of operation thereof

Abstract

The present application provides a kind of electronic anti-vibration can be properly carried out in the case of high frame rate, and its working method for camera device.The camera device (10, 10A) has: camera sensor (20);Detection sensor, detects the rotational jitter of roll direction;Mechanical anti-vibration mechanism (43), corrects rotational jitter;And processor (40).Processor (40) is configured to perform the following processing: using the mechanical anti-vibration processing of mechanical anti-vibration mechanism (43);Electronic anti-vibration processing for correcting rotational jitter;Drive processing for driving camera sensor (20) in one mode selected from multiple modes including first mode for motion picture camera at first frame rate and second mode for motion picture camera at second frame rate;And correction sharing processing for making mechanical anti-vibration processing share part of the correction of rotational jitter, and making electronic anti-vibration processing share part of the correction of rotational jitter, in correction sharing processing, the correction sharing ratio of mechanical anti-vibration processing and electronic anti-vibration processing is different in first mode and second mode.

Description

TECHNICAL FIELD

[0001] The technology of the present application relates to an image pickup device and a method for operating the same. BACKGROUND

[0002] In Patent Literature 1, there is described a hand-shake correction device characterized by including: a roll angle detection mechanism that detects a roll angle; a rotational shake correction mechanism that, based on the roll angle, calculates a rotational shake and rotates a camera sensor to perform rotational shake correction; a translational shake detection mechanism that detects a translational shake; and a translational shake correction mechanism that, under the rotational shake correction, cuts out a region that has been subjected to the translational shake correction from two images captured by the camera sensor.

[0003] In Patent Literature 2, there is described a vibration control device that acquires information on a shutter speed related to image capturing performed in an image pickup device, and controls so that first and second correction mechanisms of different correction methods correct a vibration generated in the image pickup device. The vibration control device makes the distribution of the vibration correction to the first and second correction mechanisms different depending on the shutter speed for which the information acquisition is performed.

[0004] In Patent Literature 3, there is described an image pickup device that captures an image in an exposure manner in which exposure timings differ for each pixel line, the image pickup device including: a first correction mechanism that electronically corrects an image vibration based on a vibration signal that indicates a vibration of the device; and an RS distortion correction control section that corrects a distortion that occurs in a captured image due to the exposure timings differing for each pixel line, based on the vibration signal. The image pickup device determines a support state of the device based on the vibration signal. Then, in a case where it is determined that the device is in a state of being fixedly supported, the image pickup device expands a movable range of the correction based on the RS distortion correction control section.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2012-242563

[0008] Patent Literature 2: Japanese Patent Application Publication No. 2019-117977

[0009] Patent Literature 3: Japanese Patent Application Publication No. 2015-118147 SUMMARY

[0010] PROBLEMS TO BE SOLVED BY THE INVENTION

[0011] One embodiment of the technology of the present application provides an image pickup device and a method for operating the same, in which electronic vibration control can be appropriately performed even when the frame rate is high.

[0012] Means for solving technical problems

[0013] To achieve the above object, the image pickup apparatus according to the present application includes: an image pickup sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the image pickup sensor; a mechanical vibration isolation mechanism that holds the image pickup sensor so as to be rotatable in the roll direction and corrects the rotational shake by rotating the image pickup sensor; and a processor that performs: a mechanical vibration isolation process using the mechanical vibration isolation mechanism; an electronic vibration isolation process that corrects the rotational shake; a drive process that drives the image pickup sensor in one mode selected from a plurality of modes including a first mode in which a moving image is picked up at a first frame rate and a second mode in which a moving image is picked up at a second frame rate different from the first frame rate; and a correction sharing process in which the mechanical vibration isolation process shares correction of a part of the rotational shake and the electronic vibration isolation process shares correction of a part of the rotational shake, and in the correction sharing process, the processor makes a correction sharing ratio of the mechanical vibration isolation process and the electronic vibration isolation process different between the first mode and the second mode.

[0014] Preferably, the second frame rate is greater than the first frame rate, and in the correction sharing process, the processor makes a correction sharing ratio of the electronic vibration isolation process in the second mode smaller than a correction sharing ratio of the electronic vibration isolation process in the first mode.

[0015] Preferably, the processor sets the correction sharing ratio of the electronic vibration isolation process in the second mode to 0.

[0016] Preferably, the processor performs: in the first mode, separating the rotational shake into a first frequency component and a second frequency component higher in frequency than the first frequency component; and making the electronic vibration isolation process share correction of a first component obtained by multiplying the first frequency component by a coefficient a (0 < a < 1) corresponding to the correction sharing ratio of the electronic vibration isolation process and making the mechanical vibration isolation process share correction of a second component obtained by adding the component obtained by multiplying the first frequency component by (1-a) to the second frequency component.

[0017] Preferably, the processor determines the correction sharing ratio by referring to a look-up table in which a relationship between a frame rate and the coefficient a is recorded, and acquiring the coefficient a corresponding to the frame rate of the mode in which the image pickup sensor is driven.

[0018] Preferably, the coefficient a is different depending on a resolution of an image signal.

[0019] Preferably, a lens can be attached to the main body, and the coefficient a is different depending on the presence or absence of an optical shake correction function of the lens attached to the main body or a zoom ratio.

[0020] The processor preferably changes the recording region selected from within the imaging region of the imaging sensor between a plurality of frames in the electronic anti-vibration processing, and makes the recording region in the second mode larger than the recording region in the first mode.

[0021] The mechanical anti-vibration mechanism preferably holds the imaging sensor so as to be able to translate in a cross direction that intersects the rotation axis in the roll direction, the detection sensor detects a translation shake in the cross direction applied to the main body, and the processor performs processing in which, in the mechanical anti-vibration processing, the rotation shake and the translation shake are corrected by rotating and translating the imaging sensor, in the electronic anti-vibration processing, the rotation shake and the translation shake are corrected, and in the correction sharing processing, the mechanical anti-vibration processing is caused to share a part of the correction of the rotation shake, the electronic anti-vibration processing is caused to share a part of the correction of the rotation shake, and the mechanical anti-vibration processing is caused to share a part of the correction of the translation shake, and the electronic anti-vibration processing is caused to share a part of the correction of the translation shake.

[0022] The detection sensor preferably detects an angular shake around at least one axis that intersects the rotation axis in addition to the rotation shake and the translation shake, and in a case where a shake obtained by adding the angular shake to the translation shake is set as a combined shake, the processor, in the correction sharing processing, causes the mechanical anti-vibration processing to share a part of the correction of the combined shake, and causes the electronic anti-vibration processing to share a part of the correction of the combined shake.

[0023] The correction sharing ratio of the translation shake is preferably different from the correction sharing ratio of the rotation shake in the first mode or the second mode.

[0024] The processor preferably performs processing in which, in the drive processing, a third mode in which a moving image of the first frame rate is generated is able to be executed by synthesizing a plurality of frames that are captured at the second frame rate, and in the electronic anti-vibration processing, the plurality of frames that are captured at the second frame rate are subjected to correction of the translation shake, and a synthesized frame in which the plurality of frames are synthesized is subjected to correction of the rotation shake.

[0025] The processor preferably performs processing in which, in the drive processing, in the moving image imaging in the first mode, a switch to the second mode is able to be made based on an instruction from the user, and in the correction sharing processing, in a case where the switch to the second mode is made, the correction sharing ratio of the electronic anti-vibration processing with respect to the rotation shake is set to 0.

[0026] The processor preferably, in the correction sharing processing, determines the correction sharing ratio at the time of the live view imaging before the moving image imaging based on the frame rate of the mode that is executed after the live view imaging.

[0027] The operation method of the image pickup apparatus of the present application includes: an image pickup sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the image pickup sensor; and a mechanical image stabilization mechanism that holds the image pickup sensor in a manner rotatable in the roll direction, corrects the rotational shake by rotating the image pickup sensor, and performs: a mechanical image stabilization process using the mechanical image stabilization mechanism; an electronic image stabilization process that corrects the rotational shake; a drive process that drives the image pickup sensor in a selected one of a plurality of modes including a first mode in which a moving image is picked up at a first frame rate and a second mode in which a moving image is picked up at a second frame rate higher than the first frame rate; and a correction sharing process in which the mechanical image stabilization process and the electronic image stabilization process share correction of a part of the rotational shake, and in which a proportion of the correction shared by the mechanical image stabilization process and the electronic image stabilization process differs between the first mode and the second mode. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic perspective view showing an example of the front surface side of the image pickup apparatus.

[0029] Figure 2 is a schematic perspective view showing an example of the back surface side of the image pickup apparatus.

[0030] Figure 3 is a view showing an example of the internal structure of the image pickup apparatus.

[0031] Figure 4 is a block diagram showing an example of the functional structure of the processor.

[0032] Figure 5 is a view showing an example of the structure of the first sharing process section.

[0033] Figure 6 is a view schematically showing a process in which the first sharing process section generates the first component and the second component based on the angular velocity signal.

[0034] Figure 7A is a view showing an example of the structure of the second sharing process section.

[0035] Figure 7B is a view showing an example of the structure of the first signal processing section and the second signal processing section.

[0036] Figure 8 is a view showing an example of the electronic image stabilization process.

[0037] Figure 9 is a view showing a change in the recording region in the electronic image stabilization process.

[0038] Figure 10is a view that illustrates one example of the mechanical anti-vibration processing.

[0039] Figure 11 is a view that represents one example of the relationship between the coefficient related to the correction of the rotational blur and the frame rate and the angle of view.

[0040] Figure 12 is a view that schematically represents the correction sharing ratio in the first mode.

[0041] Figure 13 is a view that schematically represents the correction sharing ratio in the second mode.

[0042] Figure 14 is a view that represents one example of the LUT.

[0043] Figure 15 is a flowchart that illustrates one example of the setting processing of the coefficient and the separation frequency.

[0044] Figure 16 is a view that illustrates the relationship between the size of the recording area and the angle of view.

[0045] Figure 17 is a view that represents one example of the relationship between the coefficient related to the correction of the rotational blur and the frame rate and the angle of view.

[0046] Figure 18 is a view that represents one example of the LUT in which the angle of view corresponding to the frame rate is recorded.

[0047] Figure 19 is a view that represents one example of the relationship between the coefficient related to the correction of the rotational blur and the recording resolution.

[0048] Figure 20 is a view that represents one example of the correction table in which the relationship between the zoom magnification and the correction coefficient is stored.

[0049] Figure 21 is a flowchart that illustrates the processing of the main control section related to the seventh modification example.

[0050] Figure 22 is a flowchart that illustrates the processing of the main control section related to the eighth modification example.

[0051] Figure 23 is a view that illustrates the third mode related to the ninth modification example.

[0052] Figure 24 is a view that represents the imaging device related to the tenth modification example. DETAILED DESCRIPTION

[0053] One example of an embodiment related to the technology of the present application is described in accordance with the accompanying drawings.

[0054] First, let me explain the terms used in the following explanation.

[0055] In the following explanations, "IC" is an abbreviation for "Integrated Circuit". "CPU" is an abbreviation for "Central Processing Unit". "ROM" is an abbreviation for "Read Only Memory". "RAM" is an abbreviation for "Random Access Memory". "CMOS" is an abbreviation for "Complementary Metal Oxide Semiconductor".

[0056] FPGA stands for Field-Programmable Gate Array. PLD stands for Programmable Logic Device. ASIC stands for Application-Specific Integrated Circuit. OVF stands for Optical View Finder. EVF stands for Electronic View Finder. JPEG stands for Joint Photographic Experts Group. DSP stands for Digital Signal Processor.

[0057] In this invention, the term "equal" includes not only the case of complete equality, but also the case of substantial equality within the scope of the technical field to which this invention pertains. Furthermore, in this invention, the term "orthogonal" includes not only the case of being orthogonal at a 90° angle, but also the case of substantial intersection within the scope of the technical field to which this invention pertains.

[0058] (Structure of the camera device)

[0059] As a first embodiment of the imaging device, an interchangeable-lens digital camera will be used as an example to describe the technology of the present invention. However, the technology of the present invention is not limited to interchangeable-lens cameras, but can also be applied to digital cameras with integrated lenses.

[0060] Figure 1 This represents an example of the entire side view of the camera device 10. For example... Figure 1As shown, the image pickup apparatus 10 is a lens interchangeable digital camera. The image pickup apparatus 10 is composed of a main body 11 and an image pickup lens 12 which is replaceably attached to the main body 11. The image pickup lens 12 is attached to the front surface 11C side of the main body 11 via a camera side mount 11A and a lens side mount 12A (refer to FIG. 2). The image pickup lens 12 is an example of the lens to which the technology of the present application is applied. Figure 3

[0061] A dial 13 and a release button 14 are provided on the upper surface of the main body 11. The dial 13 is operated when setting an operation mode or the like. As the operation modes of the image pickup apparatus 10, for example, there are included a still image pickup mode, a moving image pickup mode, and an image display mode. The release button 14 is operated by the user when starting the execution of still image pickup or moving image pickup.

[0062] Further, a viewfinder 17 is provided on the main body 11. Here, the viewfinder 17 is a hybrid viewfinder (registered trademark). The so-called hybrid viewfinder refers to a viewfinder which selectively uses an optical viewfinder (hereinafter, referred to as "OVF") and an electronic viewfinder (hereinafter, referred to as "EVF"), for example.

[0063] Figure 1 The Z-axis A Z corresponds to the optical axis of the image pickup lens 12. The X-axis A X and the Y-axis A Y are orthogonal to each other and are orthogonal to the Z-axis A Z . The X-axis A X and the Y-axis A Y correspond to the pitch axis and the yaw axis to which the technology of the present application is applied. In the following description, the direction of rotation of the Z-axis A Z is referred to as the roll direction. Further, the direction of rotation around the X-axis A X is referred to as the pitch direction. Further, the direction of rotation around the Y-axis A Y is referred to as the yaw direction. Further, the X-axis A X direction is referred to as the X direction, and the Y-axis A Y direction is referred to as the Y direction. In addition, the Z-axis A Z is an example of the "rotation axis" to which the technology of the present application is applied. Further, the X direction and the Y direction are examples of the "cross direction which crosses the rotation axis" to which the technology of the present application is applied.

[0064] Figure 2 An example of the back side of the image pickup apparatus 10 is shown. As shown in FIG. 1, a display 15, a direction key 16, and a viewfinder eyepiece portion 18 are provided on the back 11D of the main body 11. An image based on an image signal obtained by shooting and various menu screens or the like are displayed on the display 15. Figure 2

[0065] ​​The instruction key 16 accepts various instructions. In this case, for example, the various instructions include an instruction to display a menu screen in which various menus can be selected, a selection instruction for one or more menus, a determination instruction for a selected content, a deletion instruction for a selected content, an autofocus mode, a manual focus mode, and various instructions such as frame transfer. In addition to these, a power switch or the like is provided on the main body 11.

[0066] An optical image that can be visually recognized by an OVF and an electronic image that can be visually recognized by an EVF, i.e., a live view image, are selectively projected on the viewfinder eyepiece portion 18. A user can observe an optical image of a subject or a live view image via the viewfinder eyepiece portion 18.

[0067] Figure 3 An example of an internal structure of the imaging device 10 is shown. The main body 11 and the imaging lens 12 are electrically connected by bringing the electrical contacts 11B provided on the camera-side mount 11A into contact with the electrical contacts 12B provided on the lens-side mount 12A.

[0068] The imaging lens 12 includes an objective lens 30, a focus lens 31, a rear end lens 32, and an aperture 33. The components are arranged in the order of the objective lens 30, the aperture 33, the focus lens 31, and the rear end lens 32 along the optical axis (i.e., the Z-axis A Z ) of the imaging lens 12 from the objective lens side. The objective lens 30, the focus lens 31, and the rear end lens 32 constitute an imaging optical system. The types, the numbers, and the arrangement order of the lenses constituting the imaging optical system are not limited to those of the example shown in Figure 3

[0069] Furthermore, the imaging lens 12 has a lens drive control portion 34 and a memory 35. The lens drive control portion 34 is constituted by, for example, a CPU, a RAM, a ROM, and the like. The lens drive control portion 34 is electrically connected to a processor 40 in the main body 11 via the electrical contacts 12B and the electrical contacts 11B.

[0070] The lens drive control portion 34 drives the focus lens 31 and the aperture 33 based on a control signal transmitted from the processor 40. In order to adjust the focus position of the imaging lens 12, the lens drive control portion 34 performs drive control of the focus lens 31 based on a control signal for focus control transmitted from the processor 40. The processor 40 performs focus control by, for example, a phase difference method.

[0071] The aperture 33 has an opening with a variable opening diameter centered on the optical axis. In order to adjust the amount of incident light to the light-receiving surface 20A of the imaging sensor 20, the lens drive control portion 34 performs drive control of the aperture 33 based on a control signal for aperture adjustment transmitted from the processor 40.

[0072] ​The memory 35 is a nonvolatile memory such as a flash memory. In the memory 35, for example, lens data 35A for identifying the kind of the imaging lens 12 is stored. The lens data 35A contains, for example, information indicating the focal length (i.e., the zoom ratio) of the imaging lens 12.

[0073] On the main body 11 are provided the imaging sensor 20, the processor 40, the image processing section 41, the operation section 42, the mechanical vibration isolation mechanism 43, the shake detection sensor 44, the memory 45, and the display 15. The operations of the imaging sensor 20, the image processing section 41, the operation section 42, the mechanical vibration isolation mechanism 43, the shake detection sensor 44, and the display 15 are controlled by the processor 40. The processor 40 is constituted by, for example, a CPU, a RAM, a ROM, and the like. In this case, the processor 40 performs various processes based on a work program 45A stored in the memory 45. Alternatively, the work program 45A can be recorded in an external recording medium not shown, and installed by the CPU from the recording medium. Or, the work program 45A can be stored in a server or the like connected to a network in a state accessible from the outside, and downloaded to the RAM or the ROM by the CPU as needed, installed and executed. Further, the processor 40 can be constituted by an assembly of a plurality of IC chips.

[0074] The imaging sensor 20 is, for example, a CMOS type image sensor. In the imaging sensor 20, a Z axis A Z is orthogonal to the light receiving surface 20A, and the Z axis A Z is disposed at the center of the light receiving surface 20A. Light passing through the imaging lens 12 is incident on the light receiving surface 20A. On the light receiving surface 20A are formed a plurality of pixels that generate image signals by performing photoelectric conversion. The imaging sensor 20 generates and outputs image signals by performing photoelectric conversion of light incident on each pixel.

[0075] Further, the imaging sensor 20 is held by the mechanical vibration isolation mechanism 43. The mechanical vibration isolation mechanism 43 holds the imaging sensor 20 in a manner that allows translation in the X axis A X and the Y axis A Y directions, and holds the imaging sensor 20 in a manner that allows rotation in the roll direction.

[0076] The shake detection sensor 44 detects shake applied to the main body 11 that houses the imaging sensor 20. The shake detection sensor 44 is, for example, a 5-axis shake detection sensor that detects shake in the roll direction, the yaw direction, the pitch direction, the X direction, and the Y direction, respectively. Hereinafter, the shake in the roll direction will be referred to as rotational shake. The shake in the yaw direction and the pitch direction will be referred to as angular shake. The shake in the X direction and the Y direction will be referred to as translational shake.

[0077] The shake detection sensor 44 is constituted by, for example, a gyro sensor 44A and an acceleration sensor 44B (refer to Figure 4 ). The gyro sensor 44A detects rotational shake and angular shake. The acceleration sensor 44B detects translational shake. The shake detection sensor 44 is an example of the detection sensor related to the technology of the present application.

[0078] The image processing section 41 is constituted by, for example, a DSP. The image processing section 41 generates image data in a predetermined file format (for example, JPEG format, etc.) by performing various image processing on the image signal.

[0079] The display 15 displays an image based on the image data generated by the image processing section 41. The image includes a still image, a moving image, and a live view image. The live view image is an image that is displayed on the display 15 in real time by sequentially outputting the image data generated by the image processing section 41 to the display 15.

[0080] The image data generated by the image processing section 41 can be saved on an internal memory (not shown) built in the main body 11 or a storage medium (for example, a memory card) that is detachable to the main body 11.

[0081] The operation section 42 includes the aforementioned dial 13, the release button 14, and the instruction keys 16 (refer to Figure 1 and Figure 2 ). The processor 40 controls each section in the main body 11 and the lens drive control section 34 in the imaging lens 12 in accordance with the operation of the operation section 42.

[0082] Also, when the imaging lens 12 is connected to the main body 11, the processor 40 acquires the lens data 35A stored in the memory 35 via the lens drive control section 34.

[0083] A camera-side mount 11A is provided on the front surface 11C of the main body 11. A lens-side mount 12A is provided on the imaging lens 12 on the rear end side. The imaging lens 12 is connected to the main body 11 by mounting the lens-side mount 12A in the camera-side mount 11A.

[0084] In the imaging sensor 20, the light-receiving surface 20A is exposed from the opening of the camera-side mount 11A. In the case where the imaging lens 12 is mounted on the main body 11, the imaging lens 12 images light from the subject on the light-receiving surface 20A of the imaging sensor 20. The imaging sensor 20 generates and outputs an image signal by photographing the light imaged on the light-receiving surface 20A.

[0085] Figure 4 An example of the functional structure of the processor 40 is shown. The processor 40 realizes various functional sections by executing processing in accordance with a work program 45A stored in a memory 45. As shown in FIG. 4, the processor 40 includes a lens data acquisition section 41A, a lens drive control section 41B, a shake detection section 41C, an image processing section 41D, and a communication section 41E. Figure 4As shown, for example, in the processor 40, the main control section 50, the imaging control section 51, the mechanical blur control section 52, the electronic blur control section 53, and the correction sharing processing section 54 are implemented.

[0086] The main control section 50 overall controls the operation of the imaging sensor 20 based on an instruction signal input from the operation section 42. The imaging control section 51 controls the imaging operation of the imaging sensor 20. The imaging control section 51 drives the imaging sensor 20 in a still image imaging mode or a moving image imaging mode.

[0087] The moving image imaging mode includes a plurality of modes different in frame rate FR. The plurality of modes include a first mode in which moving image imaging is performed at a first frame rate FR1, and a second mode in which moving image imaging is performed at a second frame rate FR2 different from the first frame rate FR1. In the present embodiment, the second frame rate FR2 is set to be higher than the first frame rate FR1 (i.e., FR2 > FR1). For example, FR1 = 60 fps, and FR2 = 120 fps.

[0088] The user performs selection of the still image imaging mode and the moving image imaging mode, selection of the frame rate FR in the moving image imaging mode, and the like by operating the operation section 42. The main control section 50 supplies the frame rate FR selected by the operation section 42 to the imaging control section 51. That is, the imaging control section 51 performs the drive processing of driving the imaging sensor 20 in an arbitrary mode selected from the plurality of modes different in frame rate FR.

[0089] The mechanical blur control section 52 drives the mechanical blur mechanism 43 based on an instruction from the correction sharing processing section 54, thereby performing the mechanical blur processing of correcting a part of the rotational and translational blurs.

[0090] The electronic blur control section 53 controls the image processing section 41 based on an instruction from the correction sharing processing section 54, thereby performing the electronic blur processing of correcting a part of the rotational and translational blurs. Details will be described later, the electronic blur processing changes the recording region for recording the image signal between frames from the imaging region of the imaging sensor 20, thereby correcting a part of the rotational and translational blurs. The image processing section 41 generates the image data by performing image processing on the signal in the image signal corresponding to the recording region. The change in the recording region includes rotation and translation of the recording region. Therefore, in order to generate the image data, it is necessary to perform an operation processing such as projection conversion or affine conversion on the signal included in the recording region, which takes time.

[0091] The correction sharing processing section 54 performs correction sharing processing that causes the mechanical vibration isolation processing to share a part of the correction of the rotational and translational vibrations, and causes the electronic vibration isolation processing to share a part of the correction of the rotational and translational vibrations. That is, the technology of the present application reduces the degradation of the image quality caused by the vibrations applied to the main body 11 by combining the mechanical vibration isolation processing and the electronic vibration isolation processing.

[0092] The gyro sensor 44A is an angular velocity sensor that detects the rotational and angular vibrations, and outputs angular velocity signals as detection values. The gyro sensor 44A outputs an angular velocity signal B R representing the rotational vibration, and angular velocity signals B Y and B P representing the angular vibrations. The angular velocity signal B Y represents the angular vibration in the roll direction. The angular velocity signal B P represents the angular vibration in the pitch direction.

[0093] The acceleration sensor 44B outputs acceleration signals as detection values of the translational vibrations. The acceleration sensor 44B outputs an acceleration signal B SX representing the translational vibration in the X direction, and an acceleration signal B SY representing the translational vibration in the Y direction.

[0094] The angular velocity signals B R , B Y , and B P output from the gyro sensor 44A are input to the correction sharing processing section 54 via an A / D converter and an amplifier or the like (not shown). The acceleration signals B SX , and B SY output from the acceleration sensor 44B are input to the correction sharing processing section 54 via an A / D converter and an amplifier or the like (not shown).

[0095] In the present embodiment, the detection axes of the vibrations are the five axes of the roll direction, the yaw direction, the pitch direction, the X direction, and the Y direction, and with respect to these, the correction axes of the vibrations are the three axes of the roll direction, the X direction, and the Y direction. Therefore, for the yaw direction and the pitch direction, the angular vibrations cannot be directly corrected on the basis of the angular velocity signals B Y , and B P representing the angular vibrations. In the present embodiment, the angular vibration in the yaw direction is included in the translational vibration in the X direction and is corrected, and the angular vibration in the pitch direction is included in the translational vibration in the Y direction and is corrected.

[0096] The main control section 50 sets a coefficient α1, a coefficient α2, and a separation frequency f for frequency separation of rotational and angular dithers in the correction sharing processing section 54 in correspondence with the correction sharing ratio of the electronic anti-vibration processing c1 , the separation frequency f c2 . The coefficient α1 indicates the correction sharing ratio of rotational dithers of the electronic anti-vibration processing. The coefficient α2 indicates the correction sharing ratio of translational dithers of the electronic anti-vibration processing. The separation frequency f c1 is a reference frequency for frequency separation of rotational dithers. The separation frequency f c2 is a reference frequency for frequency separation of translational dithers. Here, the coefficient α1 is a value in a range of 0 ≤ α1 ≤ 1. The coefficient α2 is a value in a range of 0 ≤ α2 ≤ 1. Further, in the first mode of a high frame rate to be described later, α1 is a value in a range of 0 < α1 < 1. The coefficient α2 is a value in a range of 0 < α2 < 1.

[0097] The correction sharing processing section 54 calculates a first rotational amount for correction of a part of rotational dithers by the electronic anti-vibration processing and a second rotational amount for correction of a part of rotational dithers by the mechanical anti-vibration processing, on the basis of the angular velocity signal B R , the coefficient α1, and the separation frequency f c1 .

[0098] Further, the correction sharing processing section 54 calculates a first displacement amount for correction of a part of translational dithers by the electronic anti-vibration processing and a second displacement amount for correction of a part of translational dithers by the mechanical anti-vibration processing, on the basis of the acceleration signal B SX , the acceleration signal B SY , the angular velocity signal B Y , the angular velocity signal B P , the coefficient α2, and the separation frequency f c2 .

[0099] The memory 45 stores a lookup table (hereinafter referred to as LUT) 55. The LUT 55 is a table recording the relationship of the frame rate FR, the coefficient α1, the coefficient α2, the separation frequency f c1 , and the separation frequency f c2 . The main control section 50 acquires the coefficient α1, the coefficient α2, the separation frequency f c1 , and the separation frequency f c2 corresponding to the frame rate FR of the mode selected via the operation section 42 by referring to the LUT 55. The main control section 50 sets the acquired coefficient α1, the coefficient α2, the separation frequency f c1 , and the separation frequency f c2 in the correction sharing processing section 54.

[0100] (Configuration of the correction sharing processing section)

[0101] Figure 5 Fig. 7 illustrates an example of the structure of the correction sharing processing section 54. The correction sharing processing section 54 is configured of a first sharing processing section 54A that calculates a rotation amount for performing the rotational blur correction illustrated in Fig. 6, and a second sharing processing section 54B that calculates a displacement amount for performing the translational blur correction illustrated in Fig. 7. Figure 5

[0102] Figure 5 An example of the structure of the first sharing processing section 54A related to the correction of the rotational blur is shown. The first sharing processing section 54A has a signal processing section 62, a frequency separation section 60, an allocation section 61, a first rotation amount calculation section 63A, and a second rotation amount calculation section 63B.

[0103] The signal processing section 62 converts an angular velocity signal B R representing the rotational blur into a correction amount V R representing the angle information, and outputs it. The signal processing section 62 has, for example, a subtracter 62A, a high-pass filter (hereinafter, referred to as HPF) 62B, a multiplier 62C, and an integrator 62D.

[0104] The subtracter 62A performs offset correction by subtracting a zero-point correction value Z R from the angular velocity signal B R . The zero-point correction value Z R is an output value from the gyro sensor 44A when the gyro sensor 44A is at rest. The HPF 62B removes a direct current component that remains after the offset correction by using the subtracter 62A cannot completely remove.

[0105] The multiplier 62C performs gain correction by multiplying an output signal from the HPF 62B by a gain value G R . The gain value G R is a value determined in accordance with the focal length of the imaging lens 12 and / or the sensitivity of the gyro sensor 44A. In the case of the rotational blur, the gain value G R does not depend on the focal length of the imaging lens 12. The integrator 62D generates the correction amount V R representing the angle information by integrating the output signal from the multiplier 62C, and outputs it.

[0106] The frequency separation section 60 separates the correction amount V R output from the signal processing section 62 into a low-frequency component V RL and a high-frequency component V RH , and outputs the separated low-frequency component V RL and high-frequency component V RH ​The frequency separation unit 60 is, for example, composed of a low-pass filter (hereinafter referred to as LPF) 60A and a subtractor 60B. The separation frequency f input from the main control unit 50 is set in the LPF 60A. c1 Separation frequency f c1 This corresponds to the cutoff frequency of the LPF60A. The cutoff frequency is, for example, the frequency at which the gain decreases by 3dB from the flat portion of the passband of the frequency response.

[0107] The LPF60A enables the input correction value V R The frequency less than the separation frequency f c1 The frequency components are used as low-frequency components V RL Pass. Subtractor 60B passes the correction amount V from the input to LPF60A. R Subtract the low-frequency component V from the output of LPF60A RL This generates the high-frequency component V. RH Low-frequency component V RL This is an example of the first frequency component of the technology of the present invention. High-frequency component V RH This is an example of the second frequency component of the technology of the present invention. Furthermore, the frequency separation unit 60 is not limited to a low-pass filter, but can also be composed of a high-pass filter and a subtractor.

[0108] The low-frequency component V output from the frequency separation unit 60 is input into the distribution unit 61. RL and high-frequency component V RH Furthermore, the coefficient α1 input from the main control unit 50 is set in the allocation unit 61. Based on the coefficient α1, the allocation unit 61 allocates the low-frequency component V... RL A portion is allocated to the high-frequency component V RH Specifically, the allocation unit 61 multiplies the coefficient α1 by the low-frequency component V. RL And the first component V is generated. RL1 Furthermore, the distribution unit 61 distributes the low-frequency component V by... RL The component obtained by multiplying by (1-α1) and the high-frequency component V RH The second component V is generated by addition. RH1 .

[0109] Specifically, the distribution unit 61 includes a multiplier 61A, a subtractor 61B, a multiplier 61C, and an adder 61D. The multiplier 61A processes the low-frequency component V output from the frequency separation unit 60. RL The first component V is generated by multiplying by the coefficient α1. RL1 Subtractor 61B generates the value (1-α1) by subtracting coefficient α1 from the constant 1. Multiplier 61C multiplies the low-frequency component V output from frequency separation unit 60. RL Multiplying by (1-α1) produces the additive component V. RL2The adder 61D generates the second component V RH by adding the high-frequency component V RL2 output from the frequency separation section 60 to the addition component V RH1 .

[0110] The first component V RL1 and the second component V RH1 output from the distribution section 61. The first component V RL1 and the second component V R H1 are input to the first rotation amount calculation section 63A and the second rotation amount calculation section 63B, respectively.

[0111] The first rotation amount calculation section 63A calculates the first rotation amount on the basis of the first component V RL1 and inputs the calculated first rotation amount to the electronic anti-vibration control section 53. The second rotation amount calculation section 63B calculates the second rotation amount on the basis of the second component V RH1 and inputs the calculated second rotation amount to the mechanical anti-vibration control section 52.

[0112] The electronic anti-vibration control section 53 causes the image processing section 41 to rotate the recording area by only an angle corresponding to the first rotation amount. The mechanical anti-vibration control section 52 causes the image sensing sensor 20 to rotate in the roll direction by only an angle corresponding to the second rotation amount by controlling the mechanical anti-vibration mechanism 43.

[0113] Figure 6 schematically shows a process in which the first sharing processing section 54A generates the first component V R and the second component V RL1 on the basis of the correction amount V RH1 . Figure 6 An example of the correction amount V R , the low-frequency component V RL , the high-frequency component V RH , the first component V RL1 , and the second component V RH1 when α1=0.8 is shown in the graph of FIG. Figure 6 The vertical axis of the graph of FIG.

[0114] Figure 7A shows a configuration example of the second sharing processing section 54B related to correction of the pan shake. The second sharing processing section 54B has a first signal processing section 72, a first signal processing section 82, a second signal processing section 73, a second signal processing section 83, a frequency separation section 70, a frequency separation section 80, a distribution section 71, a distribution section 81, a first displacement amount calculation section 75, a second displacement amount calculation section 85, an adder 74, and an adder 84.

[0115] The first signal processing unit 72 will process the acceleration signal B, which represents the translational jitter in the X direction. SX Converted into a correction quantity V representing position information SX And output it. The second signal processing unit 73 outputs the angular velocity signal B, which represents the angular jitter in the yaw direction. Y Correction quantity V converted into angle information Y And output it.

[0116] Input the calculated correction amount V into the frequency separation unit 70 S1 The calculated correction amount V S1 The correction amount V output from the second signal processing unit 73 is used. Y The correction amount V is added to the output of the first signal processing unit 72. SX And thus, the correction amount V is obtained through adder 74. SX Correction amount V Y The addition of angular jitter to translational jitter is referred to below as the summed jitter.

[0117] The frequency separation unit 70 uses a calculated correction amount V to correct the calculated jitter in the X direction and yaw direction. S1 Separate into low-frequency component V S1L and high-frequency component V S1H And output the separated low-frequency component V S1L and high-frequency component V S1H The frequency separation unit 70 consists of an LPF 70A and a subtractor 70B. The separation frequency f input from the main control unit 50 is set in the LPF 70A. c2 Separation frequency f c2 This corresponds to the cutoff frequency of the LPF70A. The function of the frequency separation unit 70 is the same as that of the frequency separation unit 60 described above.

[0118] The low-frequency component V output from the frequency separation unit 70 is input into the distribution unit 71. S1L and high-frequency component V S1H Furthermore, the coefficient α2 input from the main control unit 50 is set in the allocation unit 71. Based on the coefficient α2, the allocation unit 71 allocates the low-frequency component V... S1L A portion is allocated to the high-frequency component V S1H Specifically, the allocation unit 71 multiplies the coefficient α2 by the low-frequency component V. S1L And the first component V is generated. S1L1 Furthermore, the distribution unit 71 distributes the low-frequency component V by... S1L The component obtained by multiplying by (1-α2) and the high-frequency component V S1H The second component V is generated by addition. S1H1 .

[0119] The distribution section 71 has a multiplier 71A, a subtracter 71B, a multiplier 71C, and an adder 71D. The distribution section 71 has the same configuration as the distribution section 61 described above.

[0120] The first component V S1L1 and the second component V S1H1 are output from the distribution section 71. The first component V S1L1 and the second component V S1H1 are input to the first displacement amount calculation section 75 and the second displacement amount calculation section 85, respectively.

[0121] The first signal processing section 82 converts the acceleration signal B SY representing the translational jitter in the Y direction into a correction amount V SY representing the positional information and outputs it. The second signal processing section 83 converts the angular velocity signal B P representing the angular jitter in the pitch direction into a correction amount V P representing the angular information and outputs it.

[0122] The combined correction amount V S2 is input to the frequency separation section 80. The combined correction amount V S2 is obtained by adding the correction amount V P output from the second signal processing section 83 to the correction amount V SY output from the first signal processing section 82. The addition of the correction amount V SY to the correction amount V P is performed by the adder 84.

[0123] The frequency separation section 80 separates the combined correction amount V S2 for correcting the combined jitter in the Y direction and the pitch direction into a low-frequency component V S2L and a high-frequency component V S2H and outputs the separated low-frequency component V S2L and the high-frequency component V S2H . The frequency separation section 80 is configured by an LPF 80A and a subtracter 80B. The separation frequency f c2 input from the main control section 50 is set in the LPF 80A. The separation frequency f c2 corresponds to the cut-off frequency of the LPF 80A. The frequency separation section 80 has the same function as the frequency separation section 60 described above. In the present embodiment, the same separation frequency f c2 as the frequency separation section 70 is set in the frequency separation section 80, but a different separation frequency from the frequency separation section 70 can be set.

[0124] The low-frequency component V S2L and the high-frequency component V S2H output from the frequency separation section 80 are input to the distribution section 81.. Also, a coefficient α2 input from the main control section 50 is set in the distribution section 81. The distribution section 81 distributes a part of the low-frequency component V S2L to the high-frequency component V S2H based on the coefficient α2. Specifically, the distribution section 81 generates a first component V S2L by multiplying the low-frequency component V S2L1 by the coefficient α2, and generates a second component V S2L by adding a component obtained by multiplying the low-frequency component V S2H by (1 - α2) to the high-frequency component V S2H1 .

[0125] The distribution section 81 has a multiplier 81A, a subtracter 81B, a multiplier 81C, and an adder 81D. The detailed structure of the distribution section 81 is the same as that of the above-described distribution section 61. Also, in the present embodiment, the same coefficient α2 as that of the distribution section 71 is set in the distribution section 81, but a different coefficient from that of the distribution section 71 can be set.

[0126] The first component V S2L1 and the second component V S2H1 are output from the distribution section 81. The first component V S2L1 and the second component V S2H1 are input to the first displacement amount calculation section 75 and the second displacement amount calculation section 85, respectively.

[0127] The first displacement amount calculation section 75 calculates a first displacement amount representing displacement amounts in the X direction and the Y direction based on the first component V S1L1 , the first component V S2L1 , and inputs the calculated first displacement amount to the electronic anti-vibration control section 53. The second displacement amount calculation section 85 calculates a second displacement amount representing displacement amounts in the X direction and the Y direction based on the second component V S1H1 , the second component V S2H1 , and inputs the calculated second displacement amount to the mechanical anti-vibration control section 52.

[0128] The various signal waveforms generated by the second sharing processing section 54B are the same as those shown in FIG. 8. Figure 6

[0129] Figure 7B An example of the structure of the first signal processing section 72, the first signal processing section 82, the second signal processing section 73, and the second signal processing section 83 is shown. The first signal processing section 72 has, for example, a subtracter 72A, an HPF 72B, a multiplier 72C, a first integrator 72D, and a second integrator 72E. In order to obtain an acceleration signal B SX ​The first signal processing section 72 has two integrators, a first integrator 72D and a second integrator 72E, which convert the position information.

[0130] With Figure 5 the signal processing section 62, the subtracter 72A performs offset correction by subtracting a zero point correction value Z SX from the acceleration signal B SX . The zero point correction value Z SX is an output value from the acceleration sensor 44B when the acceleration sensor 44B is at rest. The HPF 72B removes a direct current component that remains through the offset correction by the subtracter 72A. The multiplier 72C performs gain correction by multiplying an output signal from the HPF 72B by a gain value G SX . The gain value G SX is a value determined in accordance with the focal length of the imaging lens 12 and / or the sensitivity of the acceleration sensor 44B.

[0131] The first integrator 72D outputs an integrated value that integrates the output signal from the multiplier 72C. The second integrator 72E generates a correction amount V SX representing the position information by integrating the integrated value output from the first integrator 72D and outputs it.

[0132] The second signal processing section 73 has, for example, a subtracter 73A, an HPF 73B, a multiplier 73C, and an integrator 73D. The structure of the second signal processing section 73 is the same as that of the signal processing section 62 shown in Figure 5 .

[0133] The first signal processing section 82 has, for example, a subtracter 82A, an HPF 82B, a multiplier 82C, a first integrator 82D, and a second integrator 82E. The structure of the first signal processing section 82 is the same as that of the first signal processing section 72.

[0134] The second signal processing section 83 has, for example, a subtracter 83A, an HPF 83B, a multiplier 83C, and an integrator 83D. The structure of the second signal processing section 83 is the same as that of the signal processing section 62 shown in Figure 5 .

[0135] (Methods of Vibration Isolation Processing)

[0136] Figure 8 An example of electronic vibration isolation processing will be described. In Figure 8 , the symbol 20B denotes an imaging region in the light receiving surface 20A of the imaging sensor 20. The imaging region 20B is, for example, an effective pixel region. Also, the symbol RA is a recording region for cropping an image signal from the imaging region 20B and recording it as image data. The image data acquired from the imaging region 20B is recorded, for example, in the memory 45.

[0137] The electronic vibration damping control unit 53 displaces and / or rotates the recording area RA within the imaging area 20B. Specifically, the electronic vibration damping control unit 53 displaces the recording area RA in the X and Y directions, and rotates the recording area RA in the tilt direction. The recording area RA can be displaced only ±L in the X direction. X1 Furthermore, it is possible to achieve a displacement of ±L in the Y direction. Y1 Furthermore, it is able to rotate only ±θ1 in the tilt direction. Figure 8 The double-dotted line in the figure represents the recording area RA that rotates only θ1 in the tilt direction.

[0138] The electronic anti-shake control unit 53 corrects a portion of rotational and translational jitter by changing the recording area RA selected from within the camera area 20B between multiple frames. For example, as... Figure 9 As shown, the electronic vibration control unit 53 changes the recording area RA every frame, that is, it rotates and displaces the recording area RA.

[0139] The electronic vibration control unit 53 corrects a portion of the rotational jitter and translational jitter by rotating and displacing the recording area RA based on the aforementioned first rotation amount and first displacement amount.

[0140] Figure 10 This illustrates an example of mechanical vibration damping. The mechanical vibration damping mechanism 43 has a movable part 43A. A camera sensor 20 is disposed in the center of the movable part 43A. Four coils 43B are disposed around the camera sensor 20 in the movable part 43A. The movable part 43A is fixedly mounted on the main body 11 (see reference). Figure 3 The coil 43B is driven by the electromagnetic force between the magnetic yoke (not shown) provided on the fixed part of the coil 43B and the yoke. Each coil 43B is provided with a magnetic yoke.

[0141] Mechanical vibration control unit 52 (reference) Figure 4 The movable part 43A is displaced and / or rotated by controlling the current flowing through the four coils 43B. Specifically, the mechanical vibration damping control unit 52 can displace the movable part 43A in the X and Y directions, and can rotate the movable part 43A in the tilt direction.

[0142] exist Figure 10 In the diagram, the symbol RM represents the movable range of the camera sensor 20. The movable range RM is determined by the design of the mechanical vibration damping mechanism 43. The camera sensor 20 can only displace ±L in the X direction. X2 Furthermore, it is possible to achieve a displacement of ±L in the Y direction. Y2 Furthermore, the camera sensor 20 is capable of rotating only ±θ2 in the tilt direction. Figure 10The double-dot chain line in the movable portion 43A indicates rotation of only θ2 in the roll direction.

[0143] The mechanical anti-vibration control section 52 corrects a part of the rotational and translational vibrations by rotating and displacing the movable portion 43A on the basis of the aforementioned second rotational amount and second displacement amount.

[0144] The aforementioned coefficient α1 (refer to Fig. 6) is determined, for example, on the basis of a reference coefficient κ1 represented by the following expression (1). Figure 5

[0145] κ1 = θ1 / (θ1 + θ2)...(1)

[0146] The reference coefficient κ1 represents the proportion of the correctable amount of rotational vibration that can be corrected by the electronic anti-vibration alone to the correctable amount of rotational vibration that can be corrected by the electronic anti-vibration and the mechanical anti-vibration. The coefficient α1 is determined by multiplying the reference coefficient κ1 by a parameter related to the frame rate FR or the like.

[0147] The aforementioned coefficient α2 (refer to Fig. 7) is determined, for example, on the basis of a reference coefficient κ1 represented by the following expression (2).

[0148] κ2 = L x1 / (L x1 + L x2 )...(2)

[0149] Here, L x1 = L Y1 and L x2 = L Y2 . L x1 is represented by a unit of length (for example, millimeters), and, in relation thereto, L x2 is represented by a unit of pixel pitch (for example, the distance between the centers of the pixels). Therefore, as for the calculation of the above expression (2), the calculation can be performed after converting L x2 into a unit of length.

[0150] The reference coefficient κ2 represents the proportion of the correctable amount of translational vibration that can be corrected by the electronic anti-vibration alone to the correctable amount of translational vibration that can be corrected by the electronic anti-vibration and the mechanical anti-vibration. The coefficient α2 is determined by multiplying the reference coefficient κ2 by a parameter related to the frame rate FR or the like.

[0151] (Correction sharing ratio of rotational vibration correction)

[0152] Figure 11 represents the coefficient α1 and the separation frequency f c1 ​An example of the relationship with the frame rate FR. Correction of rotational blur based on electronic image stabilization processing requires operations such as pixel interpolation, and thus has a higher operation load than correction of translational blur. Furthermore, the coefficient al represents the correction share ratio of electronic image stabilization processing, and thus the greater the coefficient al, the higher the operation load of correction of rotational blur based on electronic image stabilization processing. Conversely, if the frame rate FR is increased while the coefficient al is constant, it can be impossible to complete correction of rotational blur within one frame period. Therefore, with respect to the coefficient al, it is preferable to set it to be smaller as the frame rate FR is higher. Furthermore, with respect to the coefficient al, it is preferable to determine it in accordance with the relationship between the correction time of rotational blur and the frame rate FR so that it completes correction of rotational blur within one frame period.

[0153] In addition, by increasing the operation capacity of the image processing section 41, it is possible to shorten the correction time of rotational blur, but from the viewpoint of cost increase and power consumption increase of the image processing section 41, it is not preferable to increase the operation capacity of the image processing section 41.

[0154] Electronic image stabilization processing is processing that corrects blur between frames, and thus, based on the sampling theorem, it is theoretically impossible to correct blur of a frequency higher than 1 / 2 times the frame rate FR. Therefore, the separation frequency f c1 is set to a value of 1 / 2 times or less the frame rate FR. For example, the separation frequency f c1 is set to a value of 1 / 2 times the frame rate FR.

[0155] For example, the coefficient al is set to be proportional to the frame rate FR, and the separation frequency f c1 is set to be inversely proportional to the frame rate FR.

[0156] The same applies to the setting of the coefficient a2 and the separation frequency f c2 related to correction of translational blur. However, as described above, correction of translational blur has a lower operation load than correction of rotational blur, and thus the coefficient a2 can be a different value from the coefficient al related to correction of rotational blur. That is, the correction share ratio of translational blur can be different from the correction share ratio of rotational blur. For example, in the same frame rate FR, a2 > al. In addition, the separation frequency f c2 related to correction of translational blur can be the same value as the separation frequency f c1 related to correction of rotational blur, that is, f c2 = f c1 .

[0157] Figure 12 and Figure 13 schematically represent the correction share ratios in the first mode and the second mode in which the frame rates FR are different. Figure 12The first mode shown is a moving image capturing mode in which imaging is performed at a first frame rate RF1 (for example, RF1 = 60 fps). Figure 13 The second mode shown is a moving image capturing mode in which imaging is performed at a second frame rate RF2 (for example, RF2 = 120 fps). As Figure 12 and Figure 13 As shown, the correction sharing ratio of the electronic vibration correction processing in the second mode can be smaller than the correction sharing ratio of the electronic vibration correction processing in the first mode.

[0158] As described above, in a case where the coefficient a1 is proportional to the frame rate FR, and the separation frequency f c1 is inversely proportional to the frame rate FR, the product of the coefficient a1 and the separation frequency f c1 (which corresponds to the area of the electronic vibration correction) is equal in the first mode and the second mode. Figure 12 and Figure 13 As shown, the correction sharing ratio of the electronic vibration correction processing in the second mode can be smaller than the correction sharing ratio of the electronic vibration correction processing in the first mode.

[0159] Figure 14 An example of the LUT 55 is shown. In the LUT 55, the relationship of the frame rate FR and the coefficient a1, the coefficient a2, the separation frequency f c1 , and the separation frequency f c2 is recorded.

[0160] Figure 15 is a flowchart illustrating a setting process of the coefficient a1, the coefficient a2, the separation frequency f c1 , and the separation frequency f c2 based on the main control section 50. In a case where one moving image capturing mode is selected by the operation of the operation section 42, the main control section 50 acquires information of the selected moving image capturing mode (hereinafter, referred to as capturing mode information) (Step S10). The capturing mode information includes the frame rate FR of the selected capturing mode therein.

[0161] Next, the main control section 50 acquires the coefficient a1, the coefficient a2, the separation frequency f c1 , and the separation frequency f c2 corresponding to the frame rate FR included in the capturing mode information by referring to the LUT 55 stored in the memory 45 (Step S11) (Step S12). That is, the main control section 50 acquires the coefficient a1, the coefficient a2 corresponding to the frame rate FR by referring to the LUT 55, and determines the correction sharing ratio.

[0162] The main control section 50 sets the acquired coefficient a1, the coefficient a2, the separation frequency f c1 , and the separation frequency f c2(Step S13). Then, in a case where there is an execution instruction of the moving image capturing by the operation of the operation section 42, the main control section 50 starts the operation of the electronic vibration isolation and the mechanical vibration isolation (Step S14).

[0163] As described above, according to the technology of the present application, the higher the frame rate, the smaller the correction sharing ratio of the electronic vibration isolation, and thus the electronic vibration isolation can be appropriately performed even in a case where the frame rate is high. In addition, in the present embodiment, the electronic vibration isolation is explicitly separated from the mechanical vibration isolation region. Figure 12 C1 In the present embodiment, the electronic vibration isolation is explicitly separated from the mechanical vibration isolation region by the separation frequency f C1 However, the separation frequency f Figure 12 is not limited to a constant frequency.

[0164] Hereinafter, various modifications of the first embodiment described above will be described.

[0165] [First Modification]

[0166] In the first embodiment, the coefficient a1 corresponding to the correction sharing ratio of the electronic vibration isolation with respect to the rotational blur is changed according to the frame rate FR, but in the first modification, the coefficient a1 is set to 0 in a case where a specific moving image capturing mode is selected. For example, in a case where a first mode and a second mode having a higher frame rate FR than the first mode are selectable, the coefficient a1 is set to 0 according to the selection of the second mode. Thus, in the second mode, the correction sharing ratio of the electronic vibration isolation with respect to the rotational blur is set to 0, and the correction of the rotational blur is entirely borne by the mechanical vibration isolation processing.

[0167] The same applies to the translational blur, and the coefficient a2 can be set to 0 according to the selection of the second mode. Thus, in the second mode, the correction sharing ratio of the electronic vibration isolation with respect to the translational blur is set to 0, and the correction of the translational blur is entirely borne by the mechanical vibration isolation processing.

[0168] [Second Modification]

[0169] In the first embodiment, the size of the recording region RA (refer to Figure 8 ) is constant, but in the second modification, the size of the recording region RA is changed according to the frame rate FR. As shown in Figure 16 , the size of the recording region RA is expressed as the length D of the diagonal line of the recording region RA. The length D corresponds to the angle of view of the captured image. Hereinafter, the size of the recording region RA is referred to as the angle of view D.

[0170] For example, as Figure 17 ​As shown, the larger the frame rate FR, the larger the angle of view D. That is, the recording area RA in the second mode is made larger than the recording area RA in the first mode. This is because the larger the frame rate FR, the smaller the coefficient al, the coefficient a2, respectively, whereby the margin M (refer to Figure 16 ) required for electronic image stabilization processing can be made smaller. The margin M is a remaining area within the imaging area 20B other than the recording area RA. In addition, the degree of change in the angle of view D and the coefficient a with respect to the change in the frame rate FR is not limited to Figure 17 the example.

[0171] In the case of the present modification example, as shown in Figure 18 , the angle of view D corresponding to the frame rate FR is sufficient in the LUT 55. The main control section 50 acquires the angle of view D corresponding to the frame rate FR by referring to the LUT 55, and sets the acquired angle of view D to the electronic image stabilization control section 53.

[0172] According to the present modification example, in the case where the frame rate is high, electronic image stabilization can be appropriately performed, and the size of the angle of view can be maintained at or above a constant.

[0173] [Third Modification Example]

[0174] In the first embodiment, the coefficient al is constant regardless of the resolution of the image signal, but as the third modification example, the coefficient al is changed according to the resolution of the image signal. For example, the coefficient al is changed according to the recording resolution at the time of recording the image signal within the recording area RA as image data. For example, the recording resolution is controlled by the amount of interval rejection at the time of generating the image data from the image signal within the recording area RA. The recording resolution can be set by the user operating the operation section 42.

[0175] For example, as shown in Figure 19 , the larger the recording resolution, the smaller the coefficient al. This is because the larger the recording resolution, the more the amount of data related to the correction operation of the rotational blur based on the electronic image stabilization processing, and the higher the correction operation load. In this way, in the case where the recording resolution is large, the correction operation load becomes high, and therefore in order to reduce the correction operation load, it is preferable to reduce the coefficient al corresponding to the correction sharing ratio of the electronic image stabilization with respect to the rotational blur.

[0176] In the case of the present modification example, a plurality of LUTs 55 in which different coefficients al are recorded for each settable recording resolution are created, and the created plurality of LUTs 55 are stored in the memory 45. The main control section 50 refers to the LUT 55 corresponding to the recording resolution set by the operation section 42.

[0177] The same applies to the panning blur, and the coefficient a2 can be changed according to the resolution of the image signal (for example, the recording resolution).

[0178] [Fourth Modification]

[0179] In the fourth modification, the coefficient al and / or the coefficient a2 is changed according to the optical zoom ratio or the electronic zoom ratio of the photographing lens 12 mounted on the main body 11.

[0180] The optical zoom ratio is determined according to the position of the zoom lens in the lens barrel (zoom position). According to the zoom position, the degree of periphery vignetting or the degree of periphery resolution reduction of the photographing angle of view is different, so it is necessary to set the movable range of the mechanical vibration isolation mechanism 43 at each zoom position. In the case where the photographing lens 12 mounted on the main body 11 is a zoom lens, the zoom position is detected by a zoom position sensor 44. Figure 10 In the fourth modification, as a general tendency, if the optical zoom ratio is higher, the movable range of the mechanical vibration isolation mechanism 43 is smaller (L X2 , L Y2 is smaller, so the coefficient a2 is smaller. As a result, the proportion of sharing of the electronic vibration isolation is increased. Similarly, if the movable range of the mechanical vibration isolation mechanism 43 is limited according to the change of the zoom position, θ2 in the range L Figure 10 is smaller, and the coefficient al is also smaller.

[0181] Therefore, the main control section 50 can calculate the coefficient al and / or the coefficient a2 if it has table data in which the zoom position of the photographing lens 12 and L X2 , L Y2 , and θ2 as the movable range of the mechanical vibration isolation mechanism 43 are associated with each other.

[0182] Further, as shown in FIG. 9, the angle of view D is changed according to the electronic zoom ratio. The larger the electronic zoom ratio is, the smaller the angle of view D is. The smaller the angle of view D is, the larger the margin M (refer to FIG. 8) required for the electronic vibration isolation processing is, so it is possible to increase the coefficient al, the coefficient a2. Figure 16 Figure 16

[0183] In the case of the present modification, as shown in FIG. 10, it is sufficient to store a correction table 90 in which the relationship between the zoom ratio and the correction coefficient β is stored in the memory 45. The main control section 50 acquires the zoom ratio of the photographing lens 12 mounted on the main body 11, for example, from the lens data 35A (refer to FIG. 6) stored in the memory 35. The main control section 50 acquires the correction coefficient β corresponding to the acquired zoom ratio from the correction table 90, and sets the value obtained by multiplying the acquired correction coefficient β by the coefficient al, the coefficient a2, respectively, in the correction sharing processing section 54. Figure 20 Figure 3

[0184] ​​​​In addition, in the correction table 90, instead of the zoom magnification, the focal length of the imaging lens 12 can be recorded in correspondence with the correction coefficient β. Also, the ID (identification) of the imaging lens 12 included in the lens data 35A can be recorded in correspondence with the correction coefficient β.

[0185] Also, in a case where the zoom operation of changing the zoom magnification of the imaging lens 12 is possible, the main control section 50 can acquire the correction coefficient β corresponding to the zoom magnification set by the zoom operation from the correction table 90, and correct the coefficients α1 and α2 based on the acquired correction coefficient β.

[0186] Also, the correction table 90 can be stored in the memory 35 of the imaging lens 12 (refer to Figure 3 ). In this case, in the correction table 90, only the correction coefficient β corresponding to the zoom magnification of the imaging lens 12 can be recorded. The main control section 50 can acquire the correction coefficient β from the correction table 90 stored in the memory 35 via the lens drive control section 34. Also, when the imaging lens 12 is mounted on the main body 11, the main control section 50 can acquire the correction table 90 from the memory 35 of the imaging lens 12, and store the acquired correction table 90 in the memory 45 in the main body 11. Further, the current position of the optical zoom lens possessed by the imaging lens 12 in the lens barrel can be recorded in correspondence with the correction coefficient β. Also, in a case where the main body 11 cannot communicate with the imaging lens 12, and cannot read the information of the imaging lens 12, the value of the focal length set by the user can be made to correspond to the correction coefficient β.

[0187] [Fifth Modification Example]

[0188] In the fifth modification example, the coefficients α1 and α2 are changed depending on whether the imaging lens 12 mounted on the main body 11 has the optical shake correction function. In a case where the imaging lens 12 has the optical shake correction function, a part of the frequency components of the rotational shake and the translational shake is corrected by the optical shake correction function in the imaging lens 12, and thus, for example, the correction sharing ratio of the electronic image stabilization processing can be reduced.

[0189] In this modification example, in the memory 45, a correction table in which the presence or absence of the optical shake correction function is stored in relation to the correction coefficient β can be stored. As for the correction coefficient β, the separation frequency at which the rotational shake and the translational shake are separated into the low frequency component and the high frequency component by the optical shake correction function can be determined.

[0190] The main control section 50 acquires the lens data 35A stored in the memory 35 (refer to Figure 3) whether or not the optical shake correction function of the photographing lens 12 mounted on the main body 11 is available. The main control section 50 acquires the correction coefficient β corresponding to the acquired availability of the optical shake correction function from the correction table, and sets the value obtained by multiplying the acquired correction coefficient β by the coefficient al, the coefficient a2, respectively, in the correction sharing processing section 54.

[0191] As in the case of the zoom ratio, the correction table can be stored in the memory 35 (refer to Figure 3 ) of the photographing lens 12.

[0192] Alternatively, instead of the correction table, LUTs respectively with respect to the availability of the optical shake correction function can be stored in the memory 45 in the main body 11 or the memory 35 of the photographing lens 12.

[0193] [Sixth Modification Example]

[0194] In the sixth modification example, the coefficient al, the coefficient a2 are changed by a view angle priority mode and an electronic anti-shake priority mode.

[0195] The size of the view angle D (refer to Figure 16 ) is in trade-off relation with the performance of the electronic anti-shake. That is, if the view angle D is increased, the region of the margin M required for the electronic anti-shake becomes small, and the performance of the electronic anti-shake is reduced. On the contrary, if the margin M is increased in order to improve the performance of the electronic anti-shake, the view angle D becomes small.

[0196] The view angle priority mode is a moving image photographing mode in which the size of the view angle D is prioritized over the electronic anti-shake. The electronic anti-shake priority mode is a moving image photographing mode in which the electronic anti-shake is prioritized over the size of the view angle D. The user can select the view angle priority mode and the electronic anti-shake priority mode by the operation of the operation section 42.

[0197] In the present modification example, it is sufficient that the correction table in which selection information indicating which one of the view angle priority mode and the electronic anti-shake priority mode is selected and the correction coefficient β are stored is stored in the memory 45. It is sufficient that the correction coefficient β of the electronic anti-shake priority mode is made larger than the correction coefficient β of the view angle priority mode.

[0198] The main control section 50 acquires the correction coefficient β corresponding to the selection information of the view angle priority mode and the electronic anti-shake priority mode from the correction table stored in the memory 45, and sets the value obtained by multiplying the acquired correction coefficient β by the coefficient al, the coefficient a2, respectively, in the correction sharing processing section 54.

[0199] Alternatively, instead of the correction table, LUTs respectively with respect to the view angle priority mode and the electronic anti-shake priority mode can be stored in the memory 45.

[0200] [Seventh Modification Example]

[0201] In the seventh modification, in the moving image capturing in the first mode, in a case where the mode is switched to a second mode having a frame rate FR higher than that of the first mode, the coefficient a1 is set to 0. For example, the first mode is a moving image capturing mode of FR = 60 fps. The second mode is a moving image capturing mode of FR = 240 fps.

[0202] In the present modification, the main control section 50 performs, for example, the processing shown in the flowchart shown in FIG. 8. The main control section 50 starts the capturing operation in the first mode in accordance with the operation of the operation section 42 (step S20). At this time, the coefficient a1 and the coefficient a2 are set to values corresponding to the frame rate FR of the first mode. Figure 21

[0203] Next, the main control section 50 determines whether the mode is switched from the first mode to the second mode by the operation of the operation section 42 (step S21). In a case where it is determined that the mode is switched to the second mode (step S21: YES), the main control section 50 sets the coefficient a1 to 0 (step S22). Thereby, the correction sharing ratio of the electronic image stabilization processing with respect to the rotational blur is set to 0.

[0204] Next, the main control section 50 determines whether the mode is switched from the second mode to the first mode by the operation of the operation section 42 (step S23). In a case where it is determined that the mode is not switched to the first mode (step S23: NO), the main control section 50 returns the processing to step S22. In a case where it is determined that the mode is switched to the first mode (step S23: YES), the main control section 50 sets the coefficient a1 to a value corresponding to the frame rate FR of the first mode (a1 ≠ 0) (step S24).

[0205] Next, the main control section 50 determines whether there is an end operation for ending the moving image capturing by the operation of the operation section 42 (step S25). In a case where it is determined that there is no end operation (step S25: NO), the main control section 50 returns the processing to step S21. In a case where it is determined that there is an end operation (step S25: YES), the main control section 50 ends the processing.

[0206] Thus, in a case where the image is recorded at a high frame rate only during a certain period based on the user's instruction, the correction sharing ratio of the electronic image stabilization processing with respect to the rotational blur is set to 0 only during the period, whereby it is possible to avoid the processing failure due to the fact that the correction of the rotational blur is not completed within 1 frame period.

[0207] Further, in a case where the mode is switched from the first mode to the second mode, not only the coefficient a1 but also the coefficient a2 can be set to 0, and the correction sharing ratio of the electronic image stabilization processing with respect to the rotational blur and the translational blur is set to 0.

[0208] [Eighth Modification]​

[0209] In the eighth variation, the correction sharing ratio for the real-time viewfinder shooting before the motion picture shooting is determined not based on the frame rate during live view shooting, but based on the frame rate of the motion picture shooting mode executed after the live view shooting. Live view shooting refers to the shooting mode that acquires the aforementioned live view images without recording image data.

[0210] In this modified example, the main control unit 50 performs, for example, Figure 22 The process is shown in the flowchart. The main control unit 50 determines, through the operation of the operation unit 42, whether a motion picture camera mode has been selected (step S30). If it is determined that a motion picture camera mode has been selected (step S30: Yes), the main control unit 50 sets the coefficients α1, α2, and separation frequency f corresponding to the frame rate FR of the selected motion picture camera mode. c1 and separation frequency f c2 The setting is implemented in the correction sharing processing unit 54 (step S31). Details of the setting process in step S31 are as follows... Figure 15 The steps S10 to S13 shown are the same.

[0211] Next, the main control unit 50 determines whether a start instruction for live view recording exists through the operation unit 42 (step S32). If a start instruction for live view recording is determined to exist (step S32: Yes), the main control unit 50 initiates electronic and mechanical image stabilization (step S33). In the electronic and mechanical image stabilization processes, correction processing is performed based on the correction sharing ratio set in step S31 using coefficients α1 and α2. Then, the main control unit 50 initiates the electronic and mechanical image stabilization processes and begins live view recording (step S34). The image acquired through live view recording is displayed in real time on the display 15 or the viewfinder 17 (see reference). Figure 3 )superior.

[0212] Next, the main control unit 50 determines whether there is a start instruction for moving image recording through the operation unit 42 (step S32). If it is determined that there is no start instruction for moving image recording (step S35: No), the main control unit 50 returns to step S34 and continues live view recording. If it is determined that there is a start instruction for moving image recording (step S35: Yes), the main control unit 50 starts moving image recording (step S36). During this moving image recording, the electronic and mechanical vibration stabilization operations that started in step S33 also continue.

[0213] Next, the main control unit 50 determines, through the operation of the operation unit 42, whether there is an end operation for terminating motion picture recording (step S37). If it is determined that there is no end operation (step S37: No), the main control unit 50 returns the processing to step S36 and allows motion picture recording to continue. If it is determined that there is an end operation (step S37: Yes), the main control unit 50 terminates the processing.

[0214] As described above, in this variation, even when the frame rates differ between live view and motion picture shooting, the correction sharing ratio during live view shooting is determined based on the frame rate of the motion picture shooting mode executed after live view shooting. Therefore, the shake correction effect is the same during live view shooting and motion picture shooting, and motion picture shooting is performed based on the shake correction effect confirmed by the user during live view shooting. Thus, the desired motion image can be obtained.

[0215] [Ninth Variation]

[0216] In the ninth variation, by combining multiple frames captured at a second frame rate FR2, a third mode for generating a moving image at a first frame rate FR1 can be executed. Here, FR2 > FR1; for example, FR1 = 60 fps and FR2 = 240 fps. Furthermore, a frame refers to image data acquired during one frame.

[0217] Figure 23 The diagram above illustrates the third mode. Figure 23 In the third mode shown, the image processing unit 41 generates frame F at a second frame rate FR2. When generating four frames F, the image processing unit 41 synthesizes the four generated frames F to generate one composite frame SF. Therefore, the composite frame SF is generated at a first frame rate FR1.

[0218] In this modified example, translation jitter correction is performed on the multiple frames F generated at the second frame rate FR2, and rotation jitter correction is performed on the composite frame SF generated at the first frame rate FR1. Specifically, when the main control unit 50 corrects the frame F through electronic anti-vibration, it performs rotation jitter correction on the frame F generated at the first shared processing unit 54A. Figure 5 The coefficient α1 of the electronic vibration stabilization process is set to 0, thereby setting the correction sharing ratio of the electronic vibration stabilization process relative to rotational jitter to 0. Furthermore, when the main control unit 50 corrects the synthesized frame SF through electronic vibration stabilization, it sets the coefficient α2 of the second sharing processing unit 54B (FIG. 7) to 0, thereby setting the correction sharing ratio of the electronic vibration stabilization process relative to translational jitter to 0.

[0219] Furthermore, it is preferable to use the separation frequency f when performing translation jitter correction on frame F. c2(Refer to Figure 7), and the separation frequency f when performing rotation jitter correction on the synthesized frame SF. c1 (refer to Figure 5 The separation frequency f is different. For example, it is set based on the first frame rate FR1. c2 The separation frequency f is set based on the second frame rate FR2. c1 .

[0220] As described above, in this modified example, since the computationally intensive rotational jitter correction is performed only on the synthetic frame SF generated at a low frame rate, electronic vibration stabilization can be appropriately performed even when the frame rate of the acquired frame F is high.

[0221] [Tenth Variation]

[0222] Mechanical vibration damping mechanism 43 is not limited to using coils and magnetic yokes to... Figure 10 The image sensor 20 shown is a sensor displacement method involving translation and rotation. For example, the mechanical vibration damping mechanism 43 can be set at... Figure 24 The gimbal mechanism 120 is shown on the camera device 10A. The gimbal mechanism 120 is disposed between the main body 100 and the camera unit 110 with a built-in camera sensor. The gimbal mechanism 120 is a stabilizer that can rotate freely about three axes to keep the camera unit 110 in a constant posture.

[0223] The first implementation method and the various modifications described above can be combined with each other as long as there is no contradiction.

[0224] In the above embodiments, the hardware structure of the control unit, taking processor 40 as an example, can use various processors as shown below. Among these various processors, in addition to a CPU, a commonly used processor that functions as an execution software (program), processors such as FPGAs, whose circuit structure can be changed after manufacturing, are also included. An FPGA includes dedicated circuitry, which is a processor with a circuit structure specifically designed to execute specific processes such as PLDs or ASICs.

[0225] The control unit can consist of one of these various processors, or it can consist of a combination of two or more processors of the same or different types (e.g., a combination of multiple FPGAs or a combination of a CPU and an FPGA). Furthermore, multiple control units can be composed of a single processor.

[0226] A plurality of examples can be considered for the case where a plurality of control sections are constituted by one processor. In a first example, as represented by computers such as clients and servers, there is a mode in which one processor is constituted by a combination of one or more CPUs and software, and the processor functions as a plurality of control sections. In a second example, as represented by a system on chip (SOC) or the like, there is a mode in which a processor that realizes the functions of the entire system including a plurality of control sections by one IC chip is used. In this way, the control sections can be constituted by using one or more of the above-described various processors in the hardware structure.

[0227] Further, as the hardware structure of these various processors, more specifically, a circuit constituted by combining circuit elements such as semiconductor elements can be used.

[0228] The above-described contents of description and drawings are detailed descriptions of the parts to which the technology of the present application pertains, and are only one example of the technology of the present application. For example, the description related to the above-described structure, function, action, and effect is a description related to one example of the structure, function, action, and effect of the parts to which the technology of the present application pertains. Therefore, within the scope of the gist of the technology of the present application, the above-described contents of description and drawings can be deleted of unnecessary parts, or new elements can be added or replaced. Also, in order to avoid confusion and to easily understand the parts to which the technology of the present application pertains, in the above-described contents of description and drawings, the description related to technical common knowledge or the like that does not need to be particularly described in the aspect in which the technology of the present application can be implemented is omitted.

[0229] All documents, patent applications, and technical standards referred to in this specification are hereby incorporated by reference to the same extent as if each individual document, patent application, or technical standard was specifically and individually indicated to be incorporated by reference.

[0230] Symbol Explanation

[0231] 10, 10A - image pickup device, 11 - main body, 11A - camera-side mount, 11B - electrical contact, 11C - front surface, 11D - back surface, 12 - image pickup lens, 12A - lens-side mount, 12B - electrical contact, 13 - dial, 14 - release button, 15 - display, 16 - instruction key, 17 - viewfinder, 18 - viewfinder eyepiece portion, 20 - image pickup sensor, 20A - light receiving surface, 20B - image pickup region, 30 - objective lens, 31 - focusing lens, 32 - rear end lens, 33 - aperture, 34 - lens drive control section, 35 - memory, 35A - lens data, 40 - processor, 41 - image processing section, 42 - operation section, 43 - mechanical vibration-proof mechanism, 43A - movable portion, 43B - coil, 44 - shake detection sensor, 44A - gyro sensor, 44B - acceleration sensor, 45 - memory, 45A - work program, 50 - main control section, 51 - image pickup control section, 52 - mechanical vibration-proof control section, 53 - electronic vibration-proof control section, 54 - correction sharing processing section, 54A - first sharing processing section, 54B - second sharing processing section, 60, 70, 80 - frequency separation section, 60A, 70A, 80A - LPF, 60B, 70B, 80B - subtracter, 61, 71, 81 - distribution section, 61A, 71A, 81A - multiplier, 61B, 71B, 81B - subtracter, 61C, 71C, 81C - multiplier, 61D, 71D, 81D - adder, 62 - signal processing section, 72, 82 - first signal processing section, 73, 83 - second signal processing section, 62A, 72A, 73A, 82A, 83A - subtracter, 62B, 72B, 73B, 82B, 83B - HPF, 62C, 72C, 73C, 82C, 83C - multiplier, 62D, 73D, 83D - integrator, 72D, 82D - first integrator, 72E, 82E - second integrator, 63A - first rotation amount calculation section, 63B - second rotation amount calculation section, 74, 84 - multiplier, 75 - first displacement amount calculation section, 85 - second displacement amount calculation section, 90 - correction table, 100 - main body, 110 - camera section, 120 - gimbal mechanism, D - angle of view, F - frame, M - margin, RA - recording region, RM - movable range, SF - synthesized frame.

Claims

1. An image pickup apparatus comprising: an image pickup sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the image pickup sensor; a mechanical vibration isolation mechanism that holds the image pickup sensor so as to be rotatable in the roll direction, and corrects the rotational shake by rotating the image pickup sensor; and a processor, the processor configured to execute: a mechanical vibration isolation process using the mechanical vibration isolation mechanism; an electronic vibration isolation process that corrects the rotational shake; a drive process that drives the image pickup sensor in one mode selected from a plurality of modes including a first mode in which a moving image is picked up at a first frame rate and a second mode in which a moving image is picked up at a second frame rate greater than the first frame rate; and a correction sharing process in which the mechanical vibration isolation process corrects a part or all of the rotational shake, and the electronic vibration isolation process corrects a part or all of the rotational shake, the processor, in the correction sharing process, making a correction sharing ratio of the electronic vibration isolation process in the second mode smaller than a correction sharing ratio of the electronic vibration isolation process in the first mode.

2. The image pickup apparatus according to claim 1, wherein the processor sets the correction sharing ratio of the electronic vibration isolation process in the second mode to 0.

3. The image pickup apparatus according to claim 1 or 2, wherein the processor executes: a process of separating the rotational shake into a first frequency component and a second frequency component higher in frequency than the first frequency component; in the first mode, a process of making the electronic vibration isolation process share correction of a first component obtained by multiplying the first frequency component by a coefficient a corresponding to a correction sharing ratio of the electronic vibration isolation process, where 0 < a < 1; and a process of making the mechanical vibration isolation process share a second component obtained by adding a component obtained by multiplying the first frequency component by (1-a) to the second frequency component.

4. The image pickup apparatus according to claim 3, wherein the processor executes: a process of acquiring the coefficient a corresponding to a frame rate of the mode in which the image pickup sensor is driven, and determining the correction sharing ratio, by referring to a look-up table in which a relationship between a frame rate and the coefficient a is recorded.

5. The image pickup apparatus according to claim 3, wherein the coefficient a is different depending on a resolution of an image signal.

6. The image pickup apparatus according to claim 3, wherein a lens is attachable to the main body, the coefficient a is different depending on presence or absence of an optical shake correction function of the lens attached to the main body or a size of a zoom magnification.

7. The image pickup apparatus according to claim 1 or 2, wherein the processor executes: in the drive process, a process of being able to switch to the second mode based on an instruction from a user in moving image pickup in the first mode; and in the correction sharing process, a process of setting the correction sharing ratio of the electronic vibration isolation process with respect to the rotational shake to 0 in a case where the second mode is switched to. ​ 8. The image pickup apparatus according to claim 1 or 2, wherein the processor determines the correction sharing ratio at the live view imaging before the motion picture imaging, in the correction sharing processing, based on a frame rate of the mode that is executed after the live view imaging.

9. An image pickup apparatus comprising: an image pickup sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the image pickup sensor; a mechanical vibration isolation mechanism that holds the image pickup sensor so as to be rotatable in the roll direction, and corrects the rotational shake by rotating the image pickup sensor; and a processor, the processor is configured to execute: a mechanical vibration isolation processing using the mechanical vibration isolation mechanism; an electronic vibration isolation processing that corrects the rotational shake; The driving process of the imaging sensor is driven in one mode selected from a plurality of modes including a first mode in which a moving image is imaged at a first frame rate and a second mode in which a moving image is imaged at a second frame rate different from the first frame rate; and a correction sharing processing that causes the mechanical vibration isolation processing to correct a part or all of the rotational shake, and causes the electronic vibration isolation processing to correct a part or all of the rotational shake, the processor executes: in the correction sharing processing, a correction sharing ratio of the mechanical vibration isolation processing to the electronic vibration isolation processing is made different between the first mode and the second mode; in the electronic vibration isolation processing, a recording region selected from within an image pickup region of the image pickup sensor is changed between frames; and the recording region in the second mode is made larger than the recording region in the first mode.

10. An image pickup apparatus comprising: an image pickup sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the image pickup sensor, and a translational shake in a cross direction that intersects with a rotational axis of the roll direction; a mechanical vibration isolation mechanism that holds the image pickup sensor so as to be rotatable in the roll direction, and holds the image pickup sensor so as to be translatable in the cross direction, and corrects the rotational shake and the translational shake by rotating and translating the image pickup sensor; and a processor, the processor is configured to execute: a mechanical vibration isolation processing using the mechanical vibration isolation mechanism; an electronic vibration isolation processing that corrects the rotational shake and the translational shake; a drive processing that drives the image pickup sensor in one mode selected from a plurality of modes including a first mode that performs motion picture imaging at a first frame rate, and a second mode that performs motion picture imaging at a second frame rate different from the first frame rate; and a correction sharing processing that causes the mechanical vibration isolation processing to correct a part or all of the rotational shake, and causes the electronic vibration isolation processing to correct a part or all of the rotational shake, the processor executes: in the correction sharing processing, a correction sharing ratio of the mechanical vibration isolation processing to the electronic vibration isolation processing is made different between the first mode and the second mode; in the electronic vibration isolation processing, the rotational shake and the translational shake are corrected; In the correction sharing process, the mechanical image stabilization process is caused to perform correction of part or all of the rotational shake, the electronic image stabilization process is caused to perform correction of part or all of the rotational shake, and the mechanical image stabilization process is caused to perform correction of part or all of the translational shake, and the electronic image stabilization process is caused to perform correction of part or all of the translational shake. In the drive process, by synthesizing a plurality of frames captured at the second frame rate, a third mode of generating a moving image at the first frame rate can be executed. and In the electronic image stabilization process, the plurality of frames captured at the second frame rate are corrected for the translational shake, and a synthesized frame in which the plurality of frames are synthesized is corrected for the rotational shake.

11. The imaging device according to claim 10, wherein the detection sensor detects an angular shake around at least one axis intersecting the rotational axis in addition to the rotational shake and the translational shake, in a case where the shake obtained by adding the angular shake to the translational shake is set as a combined shake, the processor, in the correction sharing process, causes the mechanical image stabilization process to perform correction of part or all of the combined shake, and causes the electronic image stabilization process to perform correction of part or all of the combined shake.

12. The imaging device according to claim 10, wherein in the first mode or the second mode, the correction sharing ratio of the translational shake is different from the correction sharing ratio of the rotational shake.

13. A method of operating an imaging device that includes: an imaging sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the imaging sensor; and a mechanical image stabilization mechanism that holds the imaging sensor so as to be rotatable in the roll direction and corrects the rotational shake by rotating the imaging sensor, the method of operating the imaging device performs the following processes: a mechanical image stabilization process using the mechanical image stabilization mechanism; an electronic image stabilization process that corrects the rotational shake; a drive process that drives the imaging sensor in one mode selected from a plurality of modes including a first mode of imaging a moving image at a first frame rate and a second mode of imaging a moving image at a second frame rate higher than the first frame rate; and the mechanical image stabilization process is caused to perform correction of part or all of the rotational shake, the electronic image stabilization process is caused to perform correction of part or all of the rotational shake, and a correction sharing ratio of the electronic image stabilization process in the second mode is made smaller than a correction sharing ratio of the electronic image stabilization process in the first mode.

14. A method of operating an imaging device that includes: an imaging sensor; a detection sensor that detects a rotational shake in a roll direction applied to a main body that houses the imaging sensor; a mechanical image stabilization mechanism that holds the imaging sensor so as to be rotatable in the roll direction and corrects the rotational shake by rotating the imaging sensor, the method of operating the imaging device performs the following processes: The operation method of the image pickup device performs the following processing: a mechanical vibration-proofing process using the mechanical vibration-proofing mechanism; an electronic vibration-proofing process that corrects the rotational shake; a drive process that drives the image pickup sensor in one mode selected from a plurality of modes including a first mode in which a moving image is picked up at a first frame rate and a second mode in which a moving image is picked up at a second frame rate different from the first frame rate; a correction sharing process in which the mechanical vibration-proofing process accounts for a part or all of the correction of the rotational shake and the electronic vibration-proofing process accounts for a part or all of the correction of the rotational shake; in the correction sharing process, a correction sharing ratio of the mechanical vibration-proofing process to the electronic vibration-proofing process is made different between the first mode and the second mode; in the electronic vibration-proofing process, a recording region selected from within a pickup region of the image pickup sensor is changed between a plurality of frames; and the recording region in the second mode is made larger than the recording region in the first mode.

15. An operation method of an image pickup device that includes: an image pickup sensor; a mechanical vibration-proofing mechanism that holds the image pickup sensor so as to be rotatable in a roll direction and holds the image pickup sensor so as to be translatable in a pan direction, and corrects the rotational shake and the translational shake by rotating and translating the image pickup sensor; detecting a rotational shake in a roll direction and a translational shake in a cross direction intersecting with an axis of rotation in the roll direction, which are applied to a main body that houses the image pickup sensor; the operation method of the image pickup device performs the following processing: a mechanical vibration-proofing process using the mechanical vibration-proofing mechanism; an electronic vibration-proofing process that corrects the rotational shake and the translational shake; a drive process that drives the image pickup sensor in one mode selected from a plurality of modes including a first mode in which a moving image is picked up at a first frame rate and a second mode in which a moving image is picked up at a second frame rate different from the first frame rate; a correction sharing process in which the mechanical vibration-proofing process accounts for a part or all of the correction of the rotational shake and the electronic vibration-proofing process accounts for a part or all of the correction of the rotational shake; in the correction sharing process, a correction sharing ratio of the mechanical vibration-proofing process to the electronic vibration-proofing process is made different between the first mode and the second mode; in the electronic vibration-proofing process, the rotational shake and the translational shake are corrected; in the correction sharing process, the mechanical vibration-proofing process accounts for a part or all of the correction of the rotational shake, the electronic vibration-proofing process accounts for a part or all of the correction of the rotational shake, the mechanical vibration-proofing process accounts for a part or all of the correction of the translational shake, and the electronic vibration-proofing process accounts for a part or all of the correction of the translational shake; in the drive process, a third mode in which a moving image at the first frame rate is generated by synthesizing a plurality of frames picked up at the second frame rate is executable; and in the electronic vibration-proofing process, the plurality of frames picked up at the second frame rate are corrected for the translational shake, and a synthesized frame in which the plurality of frames are synthesized is corrected for the rotational shake. ​ ​

Images