Imaging apparatus, processing method, and program

Abstract

To provide an imaging apparatus, a processing method, and a program, capable of performing calibration for changing the characteristics of a correction filter, even when a reference signal is not inputted to a blur correction device from the outside of the imaging apparatus.SOLUTION: An imaging apparatus includes a processor and a reference signal generation device. The processor inputs the reference signal to a blur correction device which is provided in the imaging apparatus and corrects shake of an imaging element from the reference signal generation device, acquires a vibration characteristic signal indicating the vibration characteristics of the blur correction device when the reference signal is inputted, and executes change processing for changing the characteristics of the correction filter for correcting the vibration characteristic signal on the basis of the vibration characteristic signal.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The technology disclosed herein relates to an imaging device, a processing method, and a program. [Background technology]

[0002] Patent Document 1 discloses a lens device that forms an imaging system for capturing images by being connected to an imaging device. The lens device has a correction lens, a position detection means, a driving means, a vibration detection means, a vibration generation means, a control parameter calculation means, and a drive signal calculation means. The correction lens corrects the optical axis. The position detection means detects the position of the correction lens. The driving means drives the correction lens. The vibration detection means detects vibrations applied to the imaging system. The vibration generation means generates vibrations by driving the correction lens. The control parameter calculation means calculates control parameters of the correction lens based on a signal detected by the vibration detection means when vibrations are generated by the vibration generation means. The drive signal calculation means calculates a drive signal for controlling the correction lens based on the vibrations detected by the vibration detection means, the position of the correction lens, and the control parameters.

[0003] Patent Document 2 discloses a vibration correction device having a vibration detection means for detecting vibrations and a vibration correction means for correcting the vibrations so as to cancel them out in accordance with the detection result of the vibration detection means. The vibration correction device includes a first calibration means for calibrating the vibration detection means based on a result of comparing the detection result of the vibration detection means with the detection result of a calibrated external vibration detection means prepared separately from the vibration detection means.

[0004] Patent Document 3 discloses a camera control device having a control unit. The control unit generates a first control signal for image stabilization based on a first acceleration detection signal including information related to the acceleration acting on the camera and having an AC waveform corresponding to the acceleration, a second acceleration detection signal including information related to the acceleration and having an output waveform in which an AC component corresponding to the acceleration is superimposed on a DC component, and an angular velocity signal including information related to the angular velocity acting on the camera. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-020830 A [Patent Document 2] JP 2008-160277 A [Patent Document 3] JP 2018-101101 A Summary of the Invention

[0006] As an example, the technology disclosed herein provides an imaging device, a processing method, and a program that can perform calibration to change the characteristics of a correction filter without inputting a reference signal to a blur correction device from outside the imaging device. [Means for solving the problem]

[0007] A first aspect of the technology of the present disclosure is an imaging device that includes a processor and a reference signal generating device, in which the processor inputs a reference signal from the reference signal generating device to a motion compensation device that is provided in the imaging device and compensates for shake of an imaging element, obtains a vibration characteristic signal that indicates the vibration characteristics of the motion compensation device when the reference signal is input, and executes a change process that changes the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal.

[0008] A second aspect of the technique of the present disclosure is the imaging device according to the first aspect, further comprising a memory, the memory storing information relating to a reference signal, the reference signal being a signal based on the information.

[0009] A third aspect according to the technique of the present disclosure is an imaging device according to the first or second aspect, wherein the change process is executed based on an instruction input to the imaging device.

[0010] A fourth aspect of the technology of the present disclosure is an imaging device according to any one of the first to third aspects, wherein the change processing is executed when a value related to vibration characteristics exceeds a predetermined threshold value.

[0011] A fifth aspect according to the technique of the present disclosure is the imaging device according to the fourth aspect, wherein the value related to the vibration characteristic includes an integrated value of the vibration characteristic with respect to time.

[0012] A sixth aspect of the technique of the present disclosure is an imaging device according to the fifth aspect, in which the integrated value includes an integrated value of the difference between a value of a position to which the image stabilization device moves corresponding to a command value and a value of a position to which the image stabilization device moves when the command value is input to the image stabilization device.

[0013] A seventh aspect according to the technique of the present disclosure is the imaging device according to the fifth aspect, wherein the integrated value includes an integrated value of an actual operating time of the image stabilization device.

[0014] An eighth aspect of the technique of the present disclosure is an imaging device according to any one of the first to seventh aspects, in which the processor does not execute a change process while the image stabilization device is in operation.

[0015] A ninth aspect of the technique of the present disclosure is an imaging device according to any one of the first to eighth aspects, wherein the processor outputs a notification signal prompting the imaging device to stop when performing a change process.

[0016] A tenth aspect of the technology of the present disclosure is an imaging device according to any one of the first to eighth aspects, in which, when a processor performs a change process, if the image stabilization device is moving due to a force external to the imaging device, the imaging device outputs a notification signal urging the imaging device to come to a standstill.

[0017] An eleventh aspect of the technology of the present disclosure is an imaging device according to any one of the first to tenth aspects, wherein the processor limits the operation of the image stabilization device when a reference signal is input to the image stabilization device.

[0018] A twelfth aspect of the technique of the present disclosure is the imaging device according to any one of the first to eleventh aspects, wherein the reference signal includes an impulse signal or a sweep signal.

[0019] A thirteenth aspect of the technology of the present disclosure is an imaging device according to any one of the first to twelfth aspects, wherein the change process includes a process of changing the characteristics of a correction filter based on mechanical vibration characteristics among the vibration characteristics and vibration characteristics that are preset for the image stabilization device.

[0020] A fourteenth aspect of the technique of the present disclosure is the imaging device according to the thirteenth aspect, wherein the mechanical vibration characteristic is a characteristic obtained based on a vibration characteristic signal and a characteristic of a correction filter.

[0021] A fifteenth aspect of the technique of the present disclosure is an imaging device according to the thirteenth or fourteenth aspect, wherein the preset vibration characteristic is a characteristic preset in response to a reference signal.

[0022] A sixteenth aspect according to the technique of the present disclosure is the imaging device according to any one of the first to fifteenth aspects, in which the correction filter includes a plurality of filters.

[0023] A seventeenth aspect of the technique of the present disclosure is an imaging device according to the sixteenth aspect, in which the multiple filters include at least one of a proportional filter, an integral filter, a differential filter, a gain filter, a high-pass filter, and a notch filter.

[0024] An 18th aspect of the technique of the present disclosure is a processing method in which a processor of an imaging device inputs a reference signal from a reference signal generating device provided in the imaging device to a vibration correction device provided in the imaging device and corrects shake of an imaging element, obtains a vibration characteristic signal that indicates the vibration characteristics of the vibration correction device when the reference signal is input, and executes a change process to change the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal.

[0025] A 19th aspect of the technique of the present disclosure is a program for causing a processor of an imaging device to execute processing including inputting a reference signal from a reference signal generating device provided in the imaging device to a vibration correction device provided in the imaging device and correcting shake of an imaging element, acquiring a vibration characteristic signal indicating the vibration characteristics of the vibration correction device when the reference signal is input, and executing a modification process for modifying the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal. Effect of the Invention

[0026] According to the technology of the present disclosure, as an example, an imaging device, a processing method, and a program are provided that can perform calibration to change the characteristics of a correction filter without inputting a reference signal to the image stabilization device from outside the imaging device. [Brief description of the drawings]

[0027] [Figure 1] 1 is a perspective view illustrating an example of an external appearance of an imaging device according to an embodiment of the technology of the present disclosure. [Diagram 2] FIG. 2 is a rear view showing an example of the appearance of the rear side of the imaging device. [Diagram 3] FIG. 2 is a block diagram showing an example of a hardware configuration of the imaging apparatus. [Figure 4] FIG. 2 is a block diagram showing an example of a correction filter. [Diagram 5] FIG. 2 is a block diagram showing an example of a functional configuration of a CPU. [Figure 6] FIG. 4 is an explanatory diagram showing an example of the operation of a CPU. [Figure 7] 6 is a diagram showing an example of an integrated value of vibration characteristics of the image stabilization device over time. FIG. [Figure 8] FIG. 4 is a diagram illustrating an example of an impulse signal. [Figure 9] FIG. 2 is a diagram conceptually illustrating an example of a sweep signal. [Figure 10] 11A and 11B are diagrams illustrating an example of a process in which the characteristics of a correction filter are changed. [Figure 11]FIG. 11 is a diagram illustrating an example of changing parameters of a gain filter. [Figure 12] FIG. 13 is a diagram illustrating an example of changing parameters of an integral filter. [Figure 13] FIG. 11 is a diagram showing an example of a result of performing a calibration process on two imaging devices. [Figure 14] 11 is a flowchart showing an example of the flow of a calibration process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Hereinafter, an example of an embodiment of an imaging device, an operating method of an imaging device, and a program according to the technology of the present disclosure will be described with reference to the attached drawings.

[0029] First, the terms used in the following description will be explained.

[0030] CMOS is an abbreviation for "Complementary Metal Oxide Semiconductor". CCD is an abbreviation for "Charge Coupled Device". EL is an abbreviation for "Electro-Luminescence". UI is an abbreviation for "User Interface". CPU is an abbreviation for "Central Processing Unit". NVM is an abbreviation for "Non-Volatile Memory". RAM is an abbreviation for "Random Access Memory". EEPROM is an abbreviation for "Electrically Erasable and Programmable Read Only Memory". HDD is an abbreviation for "Hard Disk Drive". SSD is an abbreviation for "Solid State Drive". GPU is an abbreviation for "Graphics Processing Unit". TPU is an abbreviation for "Tensor processing unit". USB is an abbreviation for "Universal Serial Bus". ASIC is an abbreviation for "Application Specific Integrated Circuit". PLD is an abbreviation for "Programmable Logic Device." FPGA is an abbreviation for "Field-Programmable Gate Array." SoC is an abbreviation for "System-on-a-Chip." IC is an abbreviation for "Integrated Circuit."

[0031] The imaging device 10 shown in Fig. 1 is a device that captures an image of a subject. In the example shown in Fig. 1, a digital camera with interchangeable lenses is shown as an example of the imaging device 10. The imaging device 10 includes an imaging device body 12 and an interchangeable lens 14. The interchangeable lens 14 is attached to the imaging device body 12 in an interchangeable manner.

[0032] In this embodiment, a digital camera with interchangeable lenses is exemplified as the imaging device 10, however, this is merely one example and the imaging device may be a digital camera with fixed lenses, or may be a digital camera built into various electronic devices such as a smart device, a wearable terminal, a cell observation device, an ophthalmic observation device, or a surgical microscope.

[0033] The imaging device body 12 is provided with an image sensor 16. The image sensor 16 is a CMOS image sensor. The image sensor 16 captures an imaging range including at least one subject. When the interchangeable lens 14 is attached to the imaging device body 12, subject light indicative of the subject passes through the interchangeable lens 14 and is focused on the image sensor 16, and image data indicative of the image of the subject is generated by the image sensor 16.

[0034] In this embodiment, a CMOS image sensor is exemplified as the image sensor 16, but the technology of the present disclosure is not limited to this. For example, the technology of the present disclosure can be applied even if the image sensor 16 is another type of image sensor, such as a CCD image sensor.

[0035] A release button 18 and a dial 20 are provided on the top surface of the imaging device body 12. The dial 20 is operated when setting an operation mode of the imaging system and an operation mode of the playback system, and by operating the dial 20, the imaging device 10 is selectively set to an imaging mode or a playback mode as an operation mode.

[0036] The release button 18 functions as an imaging preparation instruction section and an imaging instruction section, and is capable of detecting two-stage pressing operations: an imaging preparation instruction state and an imaging instruction state. The imaging preparation instruction state refers to a state in which the button is pressed, for example, from a standby position to an intermediate position (half-pressed position), and the imaging instruction state refers to a state in which the button is pressed to a final pressed position (fully pressed position).

[0037] 2, a touch panel display 22 and instruction keys 24 are provided on the rear surface of the imaging device body 12. The touch panel display 22 includes a display 26 and a touch panel 28. An example of the display 26 is an EL display (e.g., an organic EL display or an inorganic EL display). The display 26 is not limited to an EL display, and may be another type of display such as a liquid crystal display.

[0038] The touch panel 28 is a transmissive touch panel, and is overlaid on the surface of the display area of ​​the display 26. The touch panel 28 receives instructions from a user by detecting contact with a pointing object such as a finger or a stylus pen.

[0039] The instruction keys 24 accept various instructions. Here, "various instructions" refers to, for example, various instructions such as switching the image stabilization mode on and off, an instruction to display a menu screen, an instruction to select one or more menus, an instruction to confirm the selected content, an instruction to erase the selected content, zoom in, zoom out, and frame forward. These instructions may also be given by the touch panel 28.

[0040] 3, the interchangeable lens 14 includes an imaging lens 30. The imaging lens 30 includes, as an example, an A lens group 30A, a B lens group 30B, a C lens group 30C, and an aperture 30D. The A lens group 30A, the B lens group 30B, the C lens group 30C, and the aperture 30D are arranged in this order along the optical axis OA of the interchangeable lens 14 from the subject side to the imaging device body 12 side.

[0041] The imaging device main body 12 includes an image sensor 16, an element driver 32, a mechanical shutter 34, a shutter actuator 36, a shutter driver 38, a blur correction device 40, a controller 42, an image memory 44, a UI device 46, and an input / output interface 48.

[0042] The image sensor 16 includes an imaging element 50 and a signal processing circuit 52. The imaging element 50 has a light receiving surface 50A. As an example, the imaging element 50 is disposed inside the imaging device body 12 such that the center of the light receiving surface 50A coincides with the optical axis OA of the interchangeable lens 14.

[0043] The imaging element 50 may be a monochrome type imaging element or a color type imaging element in which color filters of different colors are assigned to a plurality of physical pixels. The imaging element 50 has a plurality of photosensitive pixels arranged in a matrix, and the light receiving surface 50A is formed by the plurality of photosensitive pixels. The photosensitive pixels are physical pixels having photodiodes (not shown), which photoelectrically convert received light and output an electrical signal according to the amount of received light.

[0044] The blur correction device 40 includes a blur correction actuator 54, a blur correction driver 56, a vibration sensor 58, and an output circuit 60. The input / output interface 48 is connected to the shutter driver 38, the output circuit 60, the blur correction driver 56, the signal processing circuit 52, the element driver 32, the controller 42, the image memory 44, and the UI device 46.

[0045] The controller 42 includes a CPU 62, an NVM 64, and a RAM 66. The CPU 62, the NVM 64, and the RAM 66 are connected via a bus 68. The CPU 62 is an example of a "processor" and a "computer" according to the techniques of the present disclosure.

[0046] The NVM 64 is a non-transitory storage medium, and stores various parameters and various programs. For example, the NVM 64 is an EEPROM. However, this is merely an example, and instead of or together with the EEPROM, an HDD and / or an SSD may be applied as the NVM 64. The RAM 66 temporarily stores various information and is used as a working memory.

[0047] The CPU 62 reads out a necessary program from the NVM 64, and executes the read program in the RAM 66. The CPU 62 controls the entire imaging device 10 in accordance with the program executed on the RAM 66. In the example shown in FIG. 3, the shutter driver 38, the blur correction driver 56, the element driver 32, the image memory 44, and the UI device 46 are controlled by the CPU 62.

[0048] An element driver 32 is connected to the imaging element 50. The element driver 32 supplies an imaging timing signal that specifies the timing of imaging performed by the imaging element 50 to the photoelectric conversion element in accordance with an instruction from the CPU 62. The photoelectric conversion element performs resetting, exposure, and output of an electrical signal in accordance with the imaging timing signal supplied from the element driver 32.

[0049] When the interchangeable lens 14 is attached to the imaging device body 12, subject light incident on the imaging lens 30 is imaged on the light receiving surface 50A by the imaging lens 30. Under the control of the element driver 32, the imaging element 50 photoelectrically converts the subject light received by the light receiving surface 50A, and outputs an electrical signal according to the amount of subject light to the signal processing circuit 52 as analog image data indicating the subject light. Specifically, the signal processing circuit 52 reads out the analog image data from the imaging element 50 in units of frames and for each horizontal line using an exposure sequential readout method. The signal processing circuit 52 generates digital image data by digitizing the analog image data.

[0050] The image memory 44 stores the captured image generated by the signal processing circuit 52. That is, the signal processing circuit 52 stores the captured image in the image memory 44. The CPU 62 acquires the captured image from the image memory 44 and executes various processes using the acquired captured image.

[0051] The UI device 46 includes a display 26, and the CPU 62 causes the display 26 to display various information. The UI device 46 also includes a reception device 70. The reception device 70 includes a touch panel 28 and a hard key unit 72. The hard key unit 72 is a plurality of hard keys including the instruction keys 24 (see FIG. 1). The CPU 62 operates in accordance with various instructions received by the reception device 70.

[0052] The mechanical shutter 34 is, for example, a focal plane shutter, and is disposed between the aperture 30D and the light receiving surface 50A. The shutter actuator 36 is an actuator having a link mechanism (not shown), and operates the mechanical shutter 34. The shutter driver 38 controls the shutter actuator 36 according to instructions from the CPU 62.

[0053] The vibration sensor 58 is, for example, a gyro sensor or an acceleration sensor, and detects vibrations of the imaging device 10. The vibration sensor 58 detects vibrations in the pitch axis direction, the yaw axis direction, and the roll axis direction of the imaging device 10. The vibration sensor 58 outputs a vibration detection signal corresponding to the detected vibration. The output circuit 60 A / D converts the analog vibration detection signal input from the vibration sensor 58, and outputs a digital vibration detection signal.

[0054] The image blur correction device 40 is a mechanism that corrects image blur by moving the image sensor 50 in a direction that corrects the image blur when blur occurs in the image captured by the image sensor 50 due to vibration of the image capture device 10.

[0055] Here, "image blur" refers to a phenomenon in which the subject image is displaced from the reference position due to tilting of the optical axis OA accompanying vibration of the imaging device 10, i.e., a phenomenon in which the subject image is displaced from the reference position due to relative movement of the optical axis OA with respect to the subject. "Vibration phenomenon" refers to a phenomenon in which the interchangeable lens 14 vibrates due to vibrations transmitted to the interchangeable lens 14 from outside and / or inside the imaging device 10.

[0056] Furthermore, "the optical axis OA tilts" means, for example, that the optical axis OA tilts with respect to a reference axis (for example, the optical axis OA before the vibration phenomenon occurs (i.e., the optical axis OA when the imaging device 10 is stationary)). The "reference position" refers, for example, to the position of the subject image obtained when no vibration is applied to the interchangeable lens 14 (for example, the position of the subject image within the light receiving surface 50A).

[0057] "Correcting image blur" includes not only making the position of an image blurred by vibration of imaging device 10 coincide with the position of the image before the vibration acted on imaging device 10, but also making the position of an image blurred by vibration of imaging device 10 closer to the position of the image before the vibration acted on imaging device 10.

[0058] The image stabilization actuator 54 includes, for example, a voice coil motor, a stepping motor, a DC motor, or a piezoelectric element, and moves the imaging element 50 in the pitch axis direction and the yaw axis direction, and rotates the imaging element 50 around the roll axis. The image stabilization driver 56 controls the image stabilization actuator 54 by outputting a drive signal to the image stabilization actuator 54 in accordance with instructions from the CPU 62.

[0059] The CPU 62 functions as a correction filter 80 shown in FIG. 4. The correction filter 80 is a digital filter that corrects a vibration detection signal input from the vibration sensor 58 to the CPU 62 via the output circuit 60. The correction filter 80 includes a plurality of filters. As an example, the plurality of filters include a proportional filter 80A, an integral filter 80B, a differential filter 80C, a gain filter 80D, a high-pass filter 80E, a first notch filter 80F, and a second notch filter 80G. In FIG. 4, a graph showing the characteristics of each filter is shown in the block of each filter. In each graph, the first vertical axis indicates the gain, the second vertical axis indicates the phase, and the horizontal axis indicates the frequency.

[0060] As an example, the correction filter 80 first performs filtering on the vibration detection signal using a proportional filter 80A, an integral filter 80B, and a differential filter 80C. The vibration detection signals filtered by the proportional filter 80A, the integral filter 80B, and the differential filter 80C are added together. Next, the correction filter 80 performs filtering on the added vibration detection signal using a gain filter 80D, a high-pass filter 80E, a first notch filter 80F, and a second notch filter 80G in the order of the gain filter 80D, the high-pass filter 80E, the first notch filter 80F, and the second notch filter 80G.

[0061] Graph G1 shows the vibration detection signal after being filtered by the proportional filter 80A, the integral filter 80B, and the differential filter 80C. Graph G2 shows the vibration detection signal after being filtered by the gain filter 80D. Graph G3 shows the vibration detection signal after being filtered by the high-pass filter 80E. Graph G4 shows the vibration detection signal after being filtered by the first notch filter 80F. Graph G5 shows the vibration detection signal after being filtered by the second notch filter 80G. In the imaging device 10, feedback control is performed to control the blur correction actuator 54 based on the vibration detection signal output from the vibration sensor 58.

[0062] Incidentally, in a feedback control system that controls the motion compensation actuator 54 based on the vibration detection signal output from the vibration sensor 58, the vibration characteristics of the motion compensation device 40 vary for each individual imaging device 10, and the vibration characteristics of the motion compensation device 40 change over time. Here, the vibration characteristics do not refer to a mechanical eigenmode, but rather to the characteristics of the actual movement amount relative to the movement instruction amount. Therefore, in order to ensure tracking ability and stability, it is necessary to be able to calibrate the feedback control system. Therefore, the imaging device 10 has a function that can calibrate the feedback control system. The calibration of the feedback control system is performed by changing the characteristics of the compensation filter 80. A specific description will be given below.

[0063] 5, a program 90 for calibrating the feedback control system is stored in the NVM 64. The CPU 62 reads out the program 90 from the NVM 64 and executes the read program 90 on the RAM 66. The CPU 62 executes a calibration process for calibrating the feedback control system in accordance with the program 90 executed on the RAM 66. The calibration process is realized by the CPU 62 operating as a determination unit 92, a notification unit 94, an input unit 96, an acquisition unit 98, and a change unit 100 in accordance with the program 90.

[0064] 6, the determination unit 92 determines whether or not to execute a change process for changing the characteristics of the correction filter 80. For example, when an instruction to perform calibration is received by the receiving device 70 from a user, an instruction signal output from the receiving device 70 is input to the CPU 62. When the instruction signal is input to the CPU 62, the determination unit 92 determines to execute the change process. In this manner, the change process is executed based on an instruction input to the imaging device 10.

[0065] Furthermore, the determination unit 92 determines to execute the change process when the value related to the vibration characteristics of the image stabilization device 40 exceeds a predetermined threshold value. The value related to the vibration characteristics of the image stabilization device 40 may include an integrated value of the vibration characteristics over time.

[0066] FIG. 7 shows an example of an integrated value of the vibration characteristic of the image stabilization device 40 over time. The upper graph in FIG. 7 shows the relationship between the value of the position to which the image stabilization device 40 moves corresponding to the command value input from the CPU 62 to the image stabilization device 40 (hereinafter simply referred to as the "command value"), the value of the position to which the image stabilization device 40 moves when the command value is input to the image stabilization device 40 (hereinafter referred to as the "movement value"), the difference between the command value and the movement value, and time. The movement of the image stabilization device 40 here refers to the movement of the output section (i.e., the movable section that moves the image sensor 50) of the image stabilization actuator 54 included in the image stabilization device 40. The lower graph in FIG. 7 shows the relationship between the integrated value of the difference and time. The determination section 92 executes a change process when the integrated value of the difference exceeds a preset threshold value. The threshold value may be set arbitrarily. The integrated value may include an integrated value of the actual operation time of the image stabilization device 40. In this way, the change process is executed when the value related to the vibration characteristic exceeds a preset threshold value.

[0067] Furthermore, the determination unit 92 may determine to execute the change process when the firmware of the imaging device 10 is updated.

[0068] Returning to FIG. 6, when the determination unit 92 determines that the change process is to be executed, the notification unit 94 outputs a notification signal to the display 26 to prompt the imaging device 10 to stop. Based on the notification signal, the display 26 displays a message such as "Please stop the camera" or "Please place the camera on a horizontal surface." For example, the notification unit 94 may determine whether or not the image stabilization device 40 is moving due to a force from outside the imaging device 10 (i.e., whether or not acceleration is acting on the image stabilization device 40) based on a vibration detection signal input from the vibration sensor 58 to the CPU 62 via the output circuit 60. Then, when the notification unit 94 determines that the image stabilization device 40 is moving, it may output a notification signal to prompt the imaging device 10 to stop. The notification signal may also be input to a speaker of the imaging device 10, and a message may be output by voice from the speaker based on the notification signal.

[0069] The input unit 96 inputs a reference signal from the CPU 62 to the image stabilization device 40. Specifically, information about the reference signal is stored in the NVM 64. The information about the reference signal stored in the NVM 64 is information that specifies the type, waveform, amplitude, and the like of the reference signal. The reference signal is, for example, a signal including an impulse signal or a sweep signal. FIG. 8 shows an example of an impulse signal, and FIG. 9 shows an example of a sweep signal conceptually. The sweep signal is a signal whose frequency changes while the reference signal is input from the CPU 62 to the image stabilization device 40. In other words, the sweep signal is a signal whose phase changes with time. The input unit 96 shown in FIG. 6 acquires information about the reference signal stored in the NVM 64, and generates a reference signal based on the acquired information. Then, the input unit 96 inputs the reference signal from the CPU 62 to the image stabilization driver 56. The CPU 62 is an example of a "reference signal generating device" according to the technology of the present disclosure. NVM64 is an example of a "memory" according to the technology of the present disclosure.

[0070] When the reference signal is input to the motion compensation driver 56, the motion compensation driver 56 drives the motion compensation actuator 54 based on the reference signal. Then, the image sensor 50 vibrates in response to the driving force of the motion compensation actuator 54, and the motion compensation device 40 is vibrated. The vibration sensor 58 detects vibrations occurring in the motion compensation device 40 and outputs a vibration detection signal corresponding to the detected vibration. Hereinafter, the vibration detection signal obtained when the reference signal is input to the motion compensation device 40 is referred to as a "vibration characteristic signal." The vibration characteristic signal is a signal that indicates the vibration characteristics of the motion compensation device 40 when the reference signal is input to the motion compensation device 40.

[0071] When the reference signal is a sweep signal, the vibration characteristics of the image stabilization device 40 can be obtained by, for example, calculating the inner product of the sine wave and cosine wave of the reference signal, which is a reference signal, and the vibration characteristic signal, which is a response signal, based on a single sine wave correlation method, to extract the gain and phase, which are the same frequency components as those of the reference signal. When a sweep signal is used, it is possible to obtain the vibration characteristics of any frequency band corresponding to the sweep signal. On the other hand, when an impulse signal is used, it is possible to obtain the vibration characteristics of the image stabilization device 40 in a shorter time than when a sweep signal is used.

[0072] The acquisition unit 98 acquires the vibration characteristic signal input to the CPU 62. The change unit 100 changes the characteristics of the compensation filter 80 based on the vibration characteristic signal acquired by the acquisition unit 98. Specifically, the change unit 100 changes the characteristics of the compensation filter 80 based on mechanical vibration characteristics among the vibration characteristics of the motion compensation device 40 and vibration characteristics that are set in advance for the motion compensation device 40.

[0073] FIG. 10 shows an example of a process in which the change unit 100 changes the characteristics of the compensation filter 80 (see FIG. 4). Each of graphs A to F in FIG. 10 shows a gain and a phase. In the example shown in FIG. 10, first, the change unit 100 acquires the current vibration characteristics of the motion compensation device 40 (see graph A) based on a vibration characteristic signal when a reference signal is input from the CPU 62 to the motion compensation device 40. Next, the change unit 100 acquires the mechanical vibration characteristics of the motion compensation device 40 (see graph C) based on the acquired vibration characteristic signal and the characteristics of the current compensation filter 80 (see graph B). The characteristics of the current compensation filter 80 are obtained based on the parameters of the current compensation filter 80. Information on the characteristics of the compensation filter 80, including the parameters, is stored in the NVM 64. Specifically, the change unit 100 acquires the mechanical vibration characteristics of the motion compensation device 40 by subtracting the characteristics of the current compensation filter 80 from the vibration characteristics indicated by the vibration characteristic signal. The mechanical vibration characteristics of the image stabilizer 40 vary between individual image capture devices 10 and change over time. Graphs C and D show the same graph.

[0074] Next, the change unit 100 changes the characteristics of the correction filter 80 (see graph E) by adjusting the parameters of the correction filter 80 so that the calibrated vibration characteristics (see graph F), which are the sum of the acquired mechanical vibration characteristics and the characteristics of the calibrated correction filter 80, become the preset vibration characteristics. In graph E, the dashed lines indicate the design values ​​of the gain and phase of the characteristics of the correction filter 80, and in graph F, the dashed lines indicate the gain and phase of the preset vibration characteristics. The preset vibration characteristics differ depending on whether the reference signal is an impulse signal or a sweep signal, and are therefore preset in accordance with the reference signal. The preset vibration characteristics may be determined arbitrarily.

[0075] The change unit 100 may change at least any of the parameters of the proportional filter 80A, the integral filter 80B, the differential filter 80C, the gain filter 80D, the high-pass filter 80E, the first notch filter 80F, and the second notch filter 80G as parameters of the correction filter 80. Information on the characteristics of the correction filter 80 including the changed parameters is stored in the NVM 64 (see FIG. 6).

[0076] Fig. 11 shows an example of changing the parameters of gain filter 80D. In the example shown in Fig. 11, the vibration characteristics of the current image stabilization device 40 (see graph G) have a gain lower than the design value indicated by the dashed line. Accordingly, the characteristics of the current correction filter 80 (see graph H) have a gain higher than the design value indicated by the dashed line. The vibration characteristics after calibration (see graph I) are characteristics obtained by changing the parameters of gain filter 80D. By changing the parameters of gain filter 80D, the gain can be increased or decreased uniformly across the entire frequency band.

[0077] Fig. 12 shows an example of changing the parameters of integral filter 80B. In the example shown in Fig. 12, the vibration characteristics of the current image stabilization device 40 (see graph J) have a gain lower than the design value indicated by the dashed line. Accordingly, the characteristics of the current correction filter 80 (see graph K) have a gain higher than the design value indicated by the dashed line. The vibration characteristics after calibration (see graph L) are characteristics obtained by changing the parameters of integral filter 80B. By changing the parameters of integral filter 80B, it is possible to increase or decrease the gain of the low frequency band defined by integral filter 80B.

[0078] When changing the parameters of all of the proportional filter 80A, integral filter 80B, differential filter 80C, gain filter 80D, high-pass filter 80E, first notch filter 80F, and second notch filter 80G, the parameters of all of the filters may be changed using an optimization method so as to maximize or minimize a loss function LOSS expressed by the following formula. In this case, optimal vibration characteristics corresponding to the optimization method can be achieved in all frequency bands.

number

[0079] In this manner, the calibration process is completed. After the calibration process, a filter process is executed on the vibration detection signal based on the characteristics of the new correction filter 80 obtained by the calibration process.

[0080] 13 shows an example of the results of performing calibration processing on image capture devices 10A and 10B. Graph M shows the current vibration characteristics of image capture device 40 in image capture device 10A, and graph N shows the current vibration characteristics of image capture device 40 in image capture device 10B. As a result of performing calibration processing on image capture device 10A and image capture device 10B, as shown in graph O, the vibration characteristics after calibration in image capture device 10A and the vibration characteristics after calibration in image capture device 10B are equivalent.

[0081] It should be noted that CPU 62 does not execute the change process while blur correction device 40 is operating. Specifically, when blur correction device 40 is performing an operation of moving image sensor 50 in a direction for correcting image blur as a normal blur correction operation, input unit 96 does not input a reference signal to blur correction driver 56. Furthermore, when CPU 62 inputs a reference signal to blur correction device 40, it restricts the operation of blur correction device 40. Specifically, when CPU 62 inputs a reference signal to blur correction device 40, it restricts the input to blur correction device 40 of a control signal for blur correction device 40 to perform normal blur correction operation.

[0082] Next, an example of the flow of a calibration process as an operation of the imaging device 10 will be described with reference to FIG.

[0083] In step S10, the CPU 62 determines whether or not to execute a change process for changing the characteristics of the correction filter 80. For example, when an instruction to perform calibration is received from a user by the receiving device 70, when an integrated value of the difference between a command value for the shake correction device 40 and a movement value of the shake correction value exceeds a predetermined threshold, or when an integrated value of the actual operation time of the shake correction device 40 exceeds a predetermined threshold, the CPU 62 determines to execute a change process for changing the characteristics of the correction filter 80. When the CPU 62 determines to execute a change process for changing the characteristics of the correction filter 80, the CPU 62 proceeds to step S12. On the other hand, when the CPU 62 determines not to execute a change process for changing the characteristics of the correction filter 80, the CPU 62 executes the process of step S10 again.

[0084] In step S12, the CPU 62 outputs a notification signal to the display 26 to prompt the image capture device 10 to stop. As a result, a message such as "Please stop the camera" or "Please place the camera on a level surface" is displayed on the display 26. After step S12, the CPU 62 proceeds to step S14.

[0085] In step S14, CPU 62 inputs a reference signal (for example, an impulse signal or a sweep signal) to blur correction device 40. As a result, blur correction driver 56 drives blur correction actuator 54 based on the reference signal. Then, imaging element 50 vibrates upon receiving the driving force of blur correction actuator 54, and blur correction device 40 is vibrated. Vibration sensor 58 detects vibrations occurring in blur correction device 40, and outputs a vibration characteristic signal corresponding to the detected vibrations. After step S14, CPU 62 proceeds to step S16.

[0086] In step S16, the CPU 62 acquires the vibration characteristic signal output from the vibration sensor 58. After step S16, the CPU 62 proceeds to step S18.

[0087] In step S18, the CPU 62 subtracts the characteristics of the current compensation filter 80 from the vibration characteristics of the current motion compensation device 40 indicated by the vibration characteristics signal acquired in step S16, thereby acquiring the mechanical vibration characteristics of the motion compensation device 40. After step S18, the CPU 62 proceeds to step S20.

[0088] In step S20, the CPU 62 adjusts the parameters of the correction filter 80 so that the calibrated vibration characteristics obtained by adding the mechanical vibration characteristics acquired in step S18 and the characteristics of the calibrated correction filter 80 become preset vibration characteristics, thereby changing the characteristics of the correction filter 80. After step S20, the CPU 62 proceeds to step S22.

[0089] In step S22, the CPU 62 stores information on the characteristics of the correction filter 80 changed in step S20 in the NVM 64. The CPU 62 ends the calibration process after step S22. Note that the processing method executed by the above-described calibration process is an example of the "processing method" according to the technology of the present disclosure.

[0090] Next, the effects of this embodiment will be described.

[0091] As described above in detail, CPU 62 inputs a reference signal to motion compensation device 40 which compensates for shake of image sensor 50, and acquires a vibration characteristic signal which indicates the vibration characteristic of motion compensation device 40 when the reference signal is input. CPU 62 then executes a change process for changing the characteristics of compensation filter 80 which compensates for the vibration characteristic signal, based on the acquired vibration characteristic signal. Therefore, calibration for changing the characteristics of compensation filter 80 can be performed without inputting a reference signal to motion compensation device 40 from outside image capture device 10.

[0092] Moreover, the imaging device 10 includes the NVM 64, which stores information related to the reference signal, and the reference signal is a signal based on the information stored in the NVM 64. Therefore, the reference signal can be generated based on the information stored in the NVM 64.

[0093] Moreover, the change process is executed based on an instruction input by the user to the imaging device 10. Therefore, the calibration can be performed at any timing desired by the user.

[0094] Furthermore, the change process is executed when a value related to the vibration characteristics of the image stabilization device 40 exceeds a predetermined threshold value. Therefore, calibration can be performed at the timing when the value related to the vibration characteristics exceeds the predetermined threshold value.

[0095] The value related to the vibration characteristic may include an integrated value of the vibration characteristic over time. In this case, calibration can be performed at the timing when the value including the integrated value of the vibration characteristic over time exceeds a predetermined threshold value.

[0096] The integrated value may also include an integrated value of the difference between the value of the position to which image stabilization device 40 moves corresponding to the command value and the value of the position to which image stabilization device 40 moves when the command value is input to image stabilization device 40. In this case, calibration can be performed at the timing when the value including the integrated value of the difference exceeds a predetermined threshold value.

[0097] The integrated value may also include an integrated value of the actual operating time of the image stabilization device 40. In this case, calibration can be performed at the timing when a value including the integrated value of the actual operating time exceeds a predetermined threshold value.

[0098] Furthermore, CPU 62 does not execute the change process while motion compensation device 40 is in operation. Therefore, it is possible to avoid execution of the change process based on a vibration detection signal obtained while motion compensation device 40 is in operation.

[0099] Furthermore, when performing the change process, the CPU 62 outputs a notification signal that prompts the user to stop the imaging device 10. This makes it possible to prompt the user to stop the imaging device 10.

[0100] Furthermore, when performing the change process, if the image stabilization device 40 is moving due to a force from outside the imaging device 10, the CPU 62 outputs a notification signal urging the user to stop the imaging device 10. In this way, if the user is moving the imaging device 10 when performing the change process, the CPU 62 can urge the user to stop the imaging device 10.

[0101] Furthermore, when CPU 62 inputs the reference signal to motion compensation device 40, it restricts the operation of motion compensation device 40. Therefore, it is possible to obtain a vibration characteristic signal in a state where the operation of motion compensation device 40 is restricted.

[0102] The reference signal may also include an impulse signal, in which case the vibration characteristics of the image stabilization device 40 can be obtained in a shorter time than when a sweep signal is used.

[0103] The reference signal may also include a sweep signal, in which case it is possible to obtain vibration characteristics of an arbitrary frequency band corresponding to the sweep signal.

[0104] The change process also includes a process of changing the characteristics of the correction filter 80 based on mechanical vibration characteristics among the vibration characteristics of the image stabilization device 40 and vibration characteristics that are set in advance for the image stabilization device 40. This makes it possible to change the characteristics of the correction filter 80 in accordance with the mechanical vibration characteristics that vary for each individual image capture device 10 and that change over time.

[0105] Moreover, the mechanical vibration characteristic is a characteristic obtained based on the vibration characteristic signal and the characteristic of the correction filter 80. This makes it possible to obtain the mechanical vibration characteristic without directly measuring the mechanical vibration characteristic.

[0106] The predetermined vibration characteristic is a characteristic that is preset in accordance with the reference signal, and therefore the change process can be performed in accordance with the characteristic of the reference signal.

[0107] Next, a modification of the imaging device 10 will be described.

[0108] In the above embodiment, the CPU 62 functions as a reference signal generating device that inputs a reference signal to the image stabilization device 40, but the imaging device 10 may also be provided with a reference signal generating device that inputs a reference signal to the image stabilization device 40, separate from the CPU 62.

[0109] In addition, in the above embodiment, CPU 62 acquires information regarding the reference signal stored in NVM 64 and generates a reference signal based on the acquired information, but CPU 62 may cause a signal generating circuit other than CPU 62 to generate the reference signal.

[0110] In addition, in the above embodiment, a CPU 62 is exemplified for the imaging device 10, but instead of or together with the CPU 62, at least one other CPU, at least one GPU, and / or at least one TPU may be used.

[0111] In the above embodiment, the imaging device 10 has been described with an example in which the program 90 is stored in the NVM 64, but the technology of the present disclosure is not limited to this. For example, the program 90 may be stored in a portable non-transient computer-readable storage medium (hereinafter simply referred to as a "non-transient storage medium") such as an SSD or a USB memory. The program 90 stored in the non-transient storage medium may be installed in the controller 42 of the imaging device 10.

[0112] In addition, the program 90 may be stored in a storage device such as another computer or server device connected to the imaging device 10 via a network, and the program 90 may be downloaded in response to a request from the imaging device 10 and installed in the controller 42 of the imaging device 10.

[0113] Further, it is not necessary to store the entire program 90 in a storage device of another computer or server device connected to the imaging device 10, or in the NVM 64; only a part of the program 90 may be stored therein.

[0114] Furthermore, although the imaging device 10 has a built-in controller 42, the technology of the present disclosure is not limited to this. For example, the controller 42 may be provided outside the imaging device 10.

[0115] In addition, in the above embodiment, the imaging device 10 is exemplified by the controller 42 including the CPU 62, the NVM 64, and the RAM 66, but the technology of the present disclosure is not limited to this, and a device including an ASIC, an FPGA, and / or a PLD may be applied instead of the controller 42. Furthermore, instead of the controller 42, a combination of a hardware configuration and a software configuration may be used.

[0116] In addition, the following various processors can be used as hardware resources for executing the various processes described in the above embodiment. An example of a processor is a CPU, which is a general-purpose processor that functions as a hardware resource for executing various processes by executing software, i.e., a program. An example of a processor is a dedicated electronic circuit, which is a processor having a circuit configuration designed specifically for executing a specific process, such as an FPGA, a PLD, or an ASIC. Each processor has a built-in or connected memory, and each processor uses the memory to execute various processes.

[0117] The hardware resources that execute various processes may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, the hardware resources that execute various processes may be a single processor.

[0118] As an example of a configuration using one processor, first, one processor is configured by combining one or more CPUs and software, and this processor functions as a hardware resource that executes various processes. Second, there is a configuration using a processor that realizes the functions of the entire system including multiple hardware resources that execute various processes in a single IC chip, as typified by SoC. In this way, various processes are realized using one or more of the above-mentioned various processors as hardware resources.

[0119] Furthermore, more specifically, the hardware structure of these various processors can be an electronic circuit that combines circuit elements such as semiconductor elements. Also, the above-mentioned gaze detection process is merely an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be changed, without departing from the spirit of the invention.

[0120] The above description and illustrations are detailed descriptions of the parts related to the technology of the present disclosure, and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, function, action, and effect is an example of the configuration, function, action, and effect of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above description and illustrations, within the scope of the gist of the technology of the present disclosure. In addition, in order to avoid confusion and to facilitate understanding of the parts related to the technology of the present disclosure, the above description and illustrations omit explanations of technical common sense that do not require explanation in order to enable the implementation of the technology of the present disclosure.

[0121] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. In addition, in this specification, the same idea as "A and / or B" is also applied when three or more things are expressed by connecting them with "and / or."

[0122] All publications, patent applications, and standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0123] 10. Imaging device 12 Imaging device body 14 Interchangeable Lenses 16 Image Sensor 18 Release button 20 Dial 22 Touch panel display 24 Command keys 26 Display 28 Touch Panel 30 Imaging lens 30A Lens group A 30B Lens group B 30C Lens group C 30D aperture 32 Element driver 34 Mechanical Shutter 36 Shutter actuator 38 Shutter driver 40 Image Stabilizer 42 Controller 44 Image Memory 46 UI Devices 48 Input / Output Interface 50 Image sensor 50A light receiving surface 52 Signal Processing Circuit 54 Image stabilization actuator 56 Image Stabilizer Driver 58 Vibration Sensor 60 Output circuit 62 CPU 64 NVM 66 RAM 68 Bus 70 Reception Device 72 Hard key section 80 Correction Filter 80A Proportional Filter 80B Integral Filter 80C Differential Filter 80D Gain Filter 80E High Pass Filter 80F 1st notch filter 80G 2nd Notch Filter 90 Programs 92 Judgment section 94 Notification Department 96 Input section 98 Acquisition Department 100 Changes

Claims

1. A processor; A reference signal generator; Equipped with The processor, inputting a reference signal from the reference signal generating device to a blur correction device that is provided in an imaging device and corrects blur of an imaging element; acquiring a vibration characteristic signal indicating a vibration characteristic of the image stabilization device when the reference signal is input; A change process is executed to change the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal. Imaging device.

2. Equipped with memory, The memory stores information regarding the reference signal; The reference signal is a signal based on the information. The imaging device according to claim 1 .

3. The change process is executed based on an instruction input to the imaging device. The imaging device according to claim 1 .

4. The change process is executed when the value related to the vibration characteristic exceeds a predetermined threshold value. The imaging device according to claim 1 .

5. The value related to the vibration characteristic includes an integrated value related to time of the vibration characteristic. The imaging device according to claim 4.

6. The integrated value includes an integrated value of a difference between a value of a position to which the motion compensation device moves corresponding to a command value and a value of a position to which the motion compensation device moves when the command value is input to the motion compensation device. The imaging device according to claim 5 .

7. The integrated value includes an integrated value of the actual operation time of the motion compensation device. The imaging device according to claim 5 .

8. The processor does not execute the change process while the image stabilization device is in operation. The imaging device according to claim 1 .

9. When the change process is performed, the processor outputs a notification signal that prompts the image capture device to stop. The imaging device of claim 1 .

10. When performing the change process, if the image stabilizer is moved by a force from outside the image capture device, the processor outputs a notification signal to prompt the image capture device to stop. The imaging device according to claim 1 .

11. The processor limits the operation of the motion compensation device when the reference signal is input to the motion compensation device. The imaging device according to claim 1 .

12. The reference signal includes an impulse signal or a sweep signal. The imaging device according to claim 1 .

13. The change process includes a process of changing the characteristics of the correction filter based on mechanical vibration characteristics among the vibration characteristics and vibration characteristics that are preset for the image stabilization device. The imaging device according to claim 1 .

14. The mechanical vibration characteristic is a characteristic obtained based on the vibration characteristic signal and the characteristic of the correction filter. The imaging device according to claim 13.

15. The predetermined vibration characteristic is a characteristic that is predetermined in response to the reference signal. The imaging device according to claim 13.

16. The correction filter includes a plurality of filters. The imaging device according to claim 1 .

17. The plurality of filters include at least one of a proportional filter, an integral filter, a differential filter, a gain filter, a high-pass filter, and a notch filter. The imaging device according to claim 16.

18. A processor of the imaging device a reference signal is input from a reference signal generating device provided in the imaging device to a blur correction device provided in the imaging device and configured to correct blur of an imaging element; acquiring a vibration characteristic signal indicating a vibration characteristic of the image stabilization device when the reference signal is input; A change process is executed to change the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal. Processing methods.

19. A processor of the imaging device, a reference signal is input from a reference signal generating device provided in the imaging device to a blur correction device provided in the imaging device and configured to correct blur of an imaging element; acquiring a vibration characteristic signal indicating a vibration characteristic of the image stabilization device when the reference signal is input; A change process is executed to change the characteristics of a correction filter that corrects the vibration characteristic signal based on the vibration characteristic signal. A program for executing a process including the above.

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