Control device, imaging device, lens device, camera system, control method, and program

Abstract

To provide a control device, an imaging device, a lens device, a camera system, a control method, and a program, which can perform easy and well image stabilization at a predetermined image point position including a center of an optical axis.SOLUTION: A control device comprises first acquisition means for acquiring information on image shift sensitivity relative to decentering of an image stabilizing optical system in accordance with an image point position of an imaging optical system including the image stabilizing optical system to perform image stabilization, and second acquisition means for acquiring a first image stabilizing driving amount of the image stabilizing optical system during the image stabilization. The second acquisition means acquires the first image stabilizing driving amount corresponding to a predetermined image point position using the information on the image shift sensitivity in accordance with the predetermined image point position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control device for controlling image blur correction, an imaging device, a lens device, a camera system, a control method, and a program. [Background technology]

[0002] In an optical system that employs the central projection method, the image point movement on the imaging surface differs between the center and the periphery of the image when camera shake occurs. As shown in Fig. 18(A), the amount of image point movement in the periphery of the image is larger than the amount of image point movement in the center of the image, so even after image blur is corrected, the image point remains significantly moved in the periphery of the image compared to the center of the image, as shown in Fig. 18(B). Patent Document 1 discloses an imaging device that corrects image blur at an image point position in the periphery of an image by taking into account the difference between the amount of image blur at the center of the image caused by the central projection method and the amount of image blur at a specified image point position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-173632 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the imaging device of Patent Document 1, the amount of correction for correcting image blur at a predetermined image point position is calculated taking into consideration the image shift sensitivity to the tilt of the optical system, which depends on the image height of the subject image. However, when image blur correction is performed using a lens-shift type blur correction mechanism, the image shift sensitivity to decentering of the blur correction optical system has characteristics that differ from the image shift sensitivity to tilt of the optical system. Therefore, when image blur at a predetermined image point position is corrected using the blur correction optical system, if the correction amount is not calculated taking into consideration the image shift sensitivity to decentering of the blur correction optical system according to the image point position, there will be uncorrected or overcorrected.

[0005] An object of the present invention is to provide a control device, an imaging device, a lens device, a camera system, a control method, and a program that are capable of easily and effectively correcting image blur at a predetermined image point position including the center of the optical axis. [Means for solving the problem]

[0006] A control device according to one aspect of the present invention includes a first acquisition means for acquiring information regarding an image shift sensitivity to decentering of a blur correction optical system according to an image point position of an imaging optical system having a blur correction optical system for correcting image blur, and a second acquisition means for acquiring a first correction drive amount during image blur correction of the blur correction optical system. a setting means for setting an anti-shake position on the imaging surface for correcting image blur; The information on the image shift sensitivity is a function of the tilt of the imaging optical system. Anti-vibration The amount of position movement Based on The second acquisition means acquires the Anti-vibration position of Using information on image shift sensitivity, Anti-vibration The method is characterized in that a first correction drive amount corresponding to the position is obtained. Effect of the Invention

[0007] According to the present invention, it is possible to provide a control device, an imaging device, a lens device, a camera system, a control method, and a program that can easily and effectively correct image blur at a predetermined image point position including the center of the optical axis. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic configuration diagram of an imaging system according to a first embodiment. [Diagram 2] 5 is a flowchart showing a control method for acquiring an image blur correction drive amount according to the first embodiment. [Diagram 3] Fig. 3A shows the relationship between image height and tilt-image shift sensitivity in the image point movement direction at the center of the image when the imaging optical system of the first embodiment is tilted. Fig. 3B shows the relationship between image height and tilt-image shift sensitivity in the direction perpendicular to the image point movement direction at the center of the image when the imaging optical system of the first embodiment is tilted. [Figure 4]10A and 10B are diagrams illustrating image point movement at a predetermined image point position relative to image point movement at the center of the image when rotational blurring occurs around the Y axis in the first embodiment. [Diagram 5] Fig. 5(A) is a diagram showing image point positions on an imaging surface, and Fig. 5(B) is a diagram showing a correction coefficient table having correction coefficient information corresponding to image point positions. [Figure 6] Fig. 6(A) shows the relationship between image height and decentering-image shift sensitivity in the decentering direction at the image center when the image motion compensation optical system of the first embodiment is decentered, and Fig. 6(B) shows the relationship between image height and decentering-image shift sensitivity in the direction perpendicular to the decentering direction at the image center when the image motion compensation optical system of the first embodiment is decentered. [Figure 7] 4A to 4C are diagrams illustrating the image point movement at a predetermined image point position relative to the image point movement at the image center position when the image blur correction optical system of the first embodiment is decentered. [Figure 8] 11 is a diagram showing, with arrows, the ratio and direction of image point movement amounts remaining after correction at each image point when image blur at a predetermined image point position is corrected by OIS in the first embodiment. FIG. [Figure 9] FIG. 11 is a configuration diagram of a lens side microcomputer and a camera side microcomputer according to a second embodiment. [Figure 10] Fig. 10(A) shows a flow from when the power supply of the imaging system 1 is turned on to when the image stabilization function is turned on and the imaging device is in a shooting standby state. Fig. 10(B) shows a flow from when the image stabilization is performed for rotational shake during shooting. [Figure 11] 1 is a cross-sectional view of the optical system of Example 1 when the object distance at the wide-angle end is focused at infinity. [Figure 12] 4A to 4C are aberration diagrams when the optical system of Example 1 is focused at an object distance of infinity at the wide-angle end. [Figure 13] 11 is a cross-sectional view of the optical system of Example 2 when the object distance at the wide-angle end is focused at infinity. FIG. [Figure 14] 11A to 11C are aberration diagrams when the optical system of Example 2 is focused at an object distance of infinity at the wide-angle end. [Figure 15]FIG. 11 is a cross-sectional view of the optical system of Example 3 when the object distance is focused at infinity. [Figure 16] 11A to 11C are aberration diagrams when the optical system of Example 3 is focused at an object distance of infinity. [Figure 17] 4A to 4C are diagrams showing ray traces of the chief ray of d-line incident from an object surface corresponding to each angle of view in the optical system of Example 1. [Figure 18] Figure 18(A) shows the ratio and direction of the image point movement amounts at each image point on the subject image when image blur occurs in the -X-axis direction at the center of the image due to rotational blur. Figure 18(B) shows with arrows the ratio and direction of the image point movement amounts remaining at each image point when the image blur at the center of the image in Figure 18(A) is corrected by a lens-shift type image blur correction mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In each drawing, the same reference numerals are given to the same members, and duplicated explanations will be omitted.

[0010] In the following description, in a three-dimensional Cartesian coordinate system (X-axis, Y-axis, and Z-axis directions), the long side direction of the imaging surface is the X-axis direction, the short side direction of the imaging surface is the Y-axis direction, and the optical axis direction of the imaging optical system is the Z-axis direction. [First embodiment] FIG. 1 is a schematic diagram of an imaging system (camera system) 1 of this embodiment. The imaging system 1 includes a lens device 100 and an imaging device 200. The lens device 100 includes an imaging optical system 101, a lens side microcomputer 102, an OIS encoder 103, an OIS driver 104, an OIS actuator 105, and a lens memory (storage means) 106. Note that OIS is image blur correction performed by moving a blur correction optical system 1014 included in the imaging optical system 101. The imaging device 200 includes an imaging element 201, a camera side microcomputer 202, a display / operation unit 203, and a recording medium 204. The imaging device 200 also includes a gyro sensor 205, an acceleration sensor 206, an IIS encoder 208, an IIS driver 209, an IIS actuator 210, and a camera memory (storage means) 211. Note that IIS is image blur correction performed by moving the imaging element 201. Furthermore, the lens side microcomputer 102 and the camera side microcomputer 202 may be configured as control devices separate from the lens device 100 and the imaging device 200, respectively.

[0011] The imaging optical system 101 has a focus optical system 1011, a variable magnification optical system 1012, an aperture 1013, and a blur correction optical system 1014. The imaging optical system 101 forms an image of a subject on the imaging surface of the image sensor 201 by light rays from a subject at a focus position within a set angle of view. The focus optical system 1011 performs focusing. The variable magnification optical system 1012 performs magnification to change the shooting angle of view. The aperture 1013 adjusts the amount of light taken in from the subject. The blur correction optical system 1014 corrects image blur that occurs when shooting still images or videos by being decentered with respect to the optical axis of the imaging optical system 101.

[0012] The lens side microcomputer 102 controls the blur correction optical system 1014. Specifically, the lens side microcomputer 102 determines the OIS drive amount of the OIS actuator 105 using the image blur correction drive amount from the camera side microcomputer 202 and a position signal from an OIS encoder 103 that detects the position of the blur correction optical system 1014. The OIS drive amount is determined so as not to exceed the movable range of the OIS actuator 105. Upon receiving the OIS drive amount signal from the OIS driver 104, the OIS actuator 105 moves the blur correction optical system 1014 in a direction including a component perpendicular to the Z-axis direction to decenter it with respect to the optical axis of the imaging optical system 101, thereby correcting image blur.

[0013] The lens memory 106 holds optical design information such as focal length information and object distance information of the imaging optical system 101. The optical design information includes information on tilt-image shift sensitivity for each image height of the imaging optical system 101 (information on image shift sensitivity to tilt of the imaging optical system 101 according to the image point position of the imaging optical system 101). The optical design information also includes information on decentering-image shift sensitivity for each image height of the blur correction optical system 1014 (information on image shift sensitivity to decentering of the blur correction optical system 1014 according to the image point position of the imaging optical system 101). By using the information on tilt-image shift sensitivity and the information on decentering-image shift sensitivity, when rotational blur occurs in the imaging system 1 such that the XY plane perpendicular to the optical axis is tilted with respect to the optical axis, image blur at a predetermined image point position of the imaging optical system 101 can be well corrected. Note that the camera memory 211 may hold optical design information of the imaging optical system 101 including information on tilt-image shift sensitivity and information on decentering-image shift sensitivity. In addition, both the lens memory 106 and the camera memory 211 may hold optical design information of the imaging optical system 101, including information on tilt-image shift sensitivity and information on decenter-image shift sensitivity.

[0014] The image sensor 201 is composed of a CCD (Charge Coupled Devices) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or other image sensors. The image sensor 201 converts a subject image formed on the imaging surface of the image sensor 201 by the imaging optical system 101 into an electrical signal and outputs it as an image signal. The image signal, which is an analog signal, is converted into a digital signal by an A / D converter (not shown) and output.

[0015] The camera side microcomputer 202 controls the entire imaging system 1. For example, the camera side microcomputer 202 reads out an image signal from the imaging element 201 as image data. The camera side microcomputer 202 then performs processes such as image processing on the image data based on optical design information, displaying the image data on the display and operation unit 203, and storing the image data in a recording medium 204. The camera side microcomputer 202 also issues instructions to the lens side microcomputer 102 for adjusting the focus of the imaging optical system 101, changing the zoom magnification, adjusting the aperture, etc. Note that some of the settings related to the above-mentioned processes may be changed by the display and operation unit 203 or an operation unit such as a button (not shown).

[0016] The camera-side microcomputer 202 also acquires the image blur correction drive amount (the correction drive amount during image blur correction of the image blur correction optical system 1014) in accordance with the flow of Fig. 2. Fig. 2 is a flowchart showing a control method for acquiring the image blur correction drive amount by the camera-side microcomputer 202. 1 take In step S1, the camera microcomputer 202 1 take The image sensor 1015 functions as a means for acquiring information regarding the image shift sensitivity to decentering of the image blur correction optical system 1014 according to the image point position of the imaging optical system 101. 2nd place In step S2, the camera microcomputer 202 2nd placeThe camera-side microcomputer 202 functions as a means for obtaining the image blur correction drive amount corresponding to a predetermined image point position by using information on the image shift sensitivity to decentering of the image blur correction optical system 1014 corresponding to the predetermined image point position. The camera-side microcomputer 202 may calculate the image blur correction drive amount, or may obtain it from a table stored in a server, memory, etc. In the embodiment, the camera side microcomputer 202 functions as the first acquisition means and the second acquisition means, but the lens side microcomputer 102 may function as the first acquisition means and the second acquisition means.

[0017] The gyro sensor 205 outputs information relating to the angular velocity of the imaging system 1 as a motion detection signal. The acceleration sensor 206 outputs information relating to the amount of movement of the imaging system 1 in the translational direction as a motion detection signal. Upon receiving the motion detection signals transmitted from the respective sensors, the camera side microcomputer 202 sends an image blur correction drive amount to the lens side microcomputer 102 or an IIS control unit 207 in the camera side microcomputer 202, and corrects image blur of the subject image due to the movement of the imaging system 1. When image blur correction is performed, either OIS or IIS may be performed, or both OIS and IIS may be performed by determining the division of image blur correction (for example, 50% correction by OIS and 50% correction by IIS).

[0018] The IIS control unit 207 controls the image sensor 201. Specifically, the IIS control unit 207 determines the IIS drive amount of the IIS actuator 210 using the image blur correction drive amount from the camera-side microcomputer 202 and a position signal from an IIS encoder 208 that detects the position of the image sensor 201. The IIS drive amount is determined so as not to exceed the movable range of the IIS actuator 210. Upon receiving the IIS drive amount signal from the IIS driver 209, the IIS actuator 210 moves the image sensor 201 in a direction including a component perpendicular to the Z-axis direction to decenter the image sensor 201 with respect to the optical axis of the imaging optical system 101, thereby correcting image blur. In other words, the IIS actuator 210 functions as one of the blur correction means that corrects image blur.

[0019] The lens device 100 may also have a gyro sensor 107 and an acceleration sensor 108. In this case, when performing OIS, the lens side microcomputer 102 can determine the OIS drive amount using the image blur correction drive amount obtained using the motion detection signals output from these sensors and the position signal from the OIS encoder 103.

[0020] The following describes the processing in the OIS when correcting image blur at a predetermined image point position. When the gyro sensor 205 or the acceleration sensor 206 detects the movement of the imaging system 1, each sensor outputs a movement detection signal (information related to blur) to the camera side microcomputer 202. The camera side microcomputer 202 obtains an image blur correction drive amount using the information related to tilt-image shift sensitivity, information related to decentering-image shift sensitivity, image vibration isolation position information on the imaging surface, and the movement detection signal, all of which are stored in the lens memory 106. The camera side microcomputer 202 transmits the obtained image blur correction drive amount to the lens side microcomputer 102 or the IIS control unit 207. (Derivation of information on tilt-image shift sensitivity) In this embodiment, the tilt-image shift sensitivity is the amount of image point movement in a direction perpendicular to and parallel to a predetermined rotation axis perpendicular to the optical axis of the imaging optical system 101 on the imaging surface when the imaging optical system 101 is tilted with respect to the rotation axis. FIG. 3A shows the relationship between the image height and the tilt-image shift sensitivity in the image point movement direction at the center of the image when the imaging optical system 101 of this embodiment is tilted. As shown in FIG. 3A, the amount of image point movement when the imaging optical system 101 designed to optically correct aberrations using the central projection method is tilted increases as the image height in the image point movement direction increases. FIG. 3B shows the relationship between the image height and the tilt-image shift sensitivity in a direction perpendicular to the image point movement direction at the center of the image when the imaging optical system 101 of this embodiment is tilted. As shown in FIG. 3B, the amount of image point movement when the imaging optical system 101 designed to allow barrel-shaped aberration correction using the central projection method is tilted decreases as the image height in the direction perpendicular to the image point movement direction increases. In this embodiment, by using the tilt-image shift sensitivity obtained using the design value of the imaging optical system 101, it is possible to derive the amount of image point movement for each image height when rotational blur occurs without performing calculation processing using an image height formula based on a projection method or an amount of distortion aberration. Note that the tilt-image shift sensitivity in this embodiment is a value obtained by dividing the amount of image point movement when the imaging optical system 101 is tilted by 0.5° with respect to a predetermined rotation axis by 0.5°, but the tilt angle of the imaging optical system 101 is not limited to 0.5° and may be set appropriately.

[0021] 4 is a diagram for explaining image point movement at a predetermined image point position A relative to image point movement at the center of the image when rotational blur occurs around the Y axis, and shows a schematic diagram of how a stationary subject image 301 changes into a trapezoidally distorted subject image 302 due to image blur. In a wide-angle lens that optically corrects distortion aberration using the central projection method, trapezoidal distortion like that of subject image 302 becomes significant when rotational blur occurs. Image blur occurs when each image point on the imaging surface moves according to the image point movement vector indicated by the arrow.

[0022] Here, the amount of rotational blur around the Y axis ω y The amount of image point movement in the +X-axis direction at the center position O of the imaging plane, which is the center of the image, whenx0 and the image point movement amount t at a given image point position A x This article explains:

[0023] Image point movement amount t x0 is expressed by the following formula (1), where LS is the tilt-image shift sensitivity at an image height of 0.

[0024] t x0 =ω y ·LS (1) Consider the imaging plane (XY plane) as a polar coordinate system (R-θ coordinate system) with the center position O as the origin, and the coordinates of the predetermined image point position A are (r, θ). That is, in this embodiment, the predetermined image point position A is a position on the imaging plane that is expressed by multiple parameters. The image height on the horizontal axis of FIG. 3(A) corresponds to the image height h in the R direction in the polar coordinate system of FIG. r The image height on the horizontal axis of FIG. 3B is the image height h θ Image height h r The tilt-image shift sensitivity at LS r (h r ), the image height h for the tilt-image shift sensitivity LS is r Tilt-image shift sensitivity coefficient k LS_r (h r ) is expressed by the following equation (2).

[0025] k LS_r (h r )=LS r (h r ) / LS (2) Also, the image height h θ The tilt-image shift sensitivity at LS θ (h θ ), the image height h for the tilt-image shift sensitivity LS is θ Tilt-image shift sensitivity coefficient k LS_θ (h θ ) is expressed by the following equation (3).

[0026] k LS_θ (h θ )=LS θ (h θ ) / LS (3) In addition, the image point movement amount t x0 is the parallel component t rx0 and the vertical component t perpendicular to the line OA θX0 Using these, it is expressed by the following equations (4) to (6).

[0027] t rx0 =t x0 cosθ =ω y LS cosθ (4) t θx0 =t x0 (-sinθ) =-ω y ·LS·sinθ (5) │t x0 │=(t rx0 2 +t θx0 2 ) 1 / 2 (6) In addition, the parallel component t rx0 The sign of is positive in the direction away from the center position O (R direction), and the vertical component t θx0 The sign of is positive in the direction (θ direction) perpendicular to the R direction, which is counterclockwise from the center position O. The R direction and the θ direction are also called the meridional direction and the sagittal direction, respectively.

[0028] Next, the image point movement amount t x Consider the following. R-direction tilt-image shift sensitivity LS r (h r ), the parallel component t rx is the tilt-image shift sensitivity LS at image height r r (r). Also, the vertical component t θx is affected by the tilt-image shift sensitivity LS at image height 0. The tilt-image shift sensitivity LS in the direction perpendicular to the R direction θ (h θ ), the parallel component t rx is affected by the tilt-image shift sensitivity LS at image height 0. Also, the vertical component t θx is the tilt-image shift sensitivity LS at image height rθ (r). From the above, the image point movement amount t x is the parallel component t rx and the vertical component t θx Using the above, it is expressed by the following equations (7) to (9).

[0029] t rx =k LS_r (r)·k LS_θ (0)·t rx0 =k LS_r (r)·ω y LS cosθ (7) t θx =k LS_r (0)·k LS_θ (r)·t θx0 =-k LS_θ (r)·ω y ·LS·sinθ (8) │t x │=(t rx 2 +t θx 2 ) 1 / 2 (9) In this way, the amount of rotational blur around the Y axis ω y The amount of image point movement t at a given image point position A when x Similarly, the amount of rotational blur around the X axis, ω x The amount of image point movement t at a given image point position A in the polar coordinate system when y is the parallel component t parallel to the line OA ry and the vertical component t perpendicular to the line OA θy Using these, it is expressed by the following equations (10) to (12).

[0030] t ry =k LS_r (r)·k LS_θ (0)·t ry0 =k LS_r (r)·ω x ·LS·sinθ (10) t θy =k LS_r (0)·k LS_θ (r)·t θy0 =k LS_θ (r)·ω x LS cosθ (11) │t y │=(t ry 2 +t θy 2 ) 1 / 2 (12) From the above, the amount of rotational shake (ω x ,ω y When the image point shift amount t at a given image point position A occurs, the parallel component t r and the vertical component t perpendicular to the line OA θ Using these, it is expressed by the following equations (13) to (15).

[0031] t r =t rx +t ry =k LS_r (r) LS(ω y cosθ+ω x sinθ) =K LS1 (r,θ) ω y +K LS2 (r,θ) ω x (13) t θ =t θx +t θy =k LS_θ (r)·LS(-ω y sinθ+ω x cosθ) =K LS3 (r,θ) ω y +K LS4 (r,θ) ω x (14) │t│=(t r 2 +t θ 2 ) 1 / 2 (15) Here, each coefficient (K LS1 ,K LS2 ,K LS3 ,K LS4) is the coefficient rearranged as follows:

[0032] K LS1 (r,θ)=k LS_r (r) LS cosθ K LS2 (r,θ)=k LS_r (r) LS sinθ K LS3 (r,θ)=-k LS_θ (r) LS sinθ K LS4 (r,θ)=k LS_θ (r) LS cosθ As expressed by the formulas (13) to (15), the image point movement amount t is calculated based on the correction coefficient information (K LS1 ,K LS2 ,K LS3 ,K LS4 ) and the amount of rotational blur (ω x ,ω y In this embodiment, the correction coefficient information (K LS1 ,K LS2 ,K LS3 ,K LS4 A correction coefficient table in which the amount of rotational shake (ω x ,ω y ) can be easily obtained. The intervals between image point positions in the correction coefficient table are set appropriately. Also, the correction coefficient table may be managed in a Cartesian coordinate system instead of a polar coordinate system.

[0033] The information on the tilt-image shift sensitivity may be formed of the tilt-image shift sensitivity for each image height in order to reduce the amount of information stored in the lens memory 106, or may be information capable of acquiring the image point movement amount t using position information of a predetermined image point position for performing image stabilization. Moreover, the position information of the image point position may be information in a polar coordinate system or information in a predetermined coordinate system (for example, a Cartesian coordinate system). Moreover, the information on the tilt-image shift sensitivity may be derived using an image height formula based on the focal length and projection method determined from the specifications of the imaging optical system 101. (Derivation of information on decentering-image shift sensitivity) In this embodiment, the decentering-image shift sensitivity is the image point movement amount in the decentering direction and in the direction perpendicular to the decentering direction with respect to the decentering amount of the blur correction optical system 1014 with respect to the optical axis of the imaging optical system 101. FIG. 6A shows the relationship between the image height and the decentering-image shift sensitivity in the decentering direction at the image center when the blur correction optical system 1014 of this embodiment is decentered. FIG. 6B shows the relationship between the image height and the decentering-image shift sensitivity in the direction perpendicular to the decentering direction at the image center when the blur correction optical system 1014 of this embodiment is decentered. As shown in FIGS. 6A and 6B, the image point movement amount when the blur correction optical system 1014, which is designed to reduce decentering distortion, is decentered increases as the image height increases. In this embodiment, by using the decentering-image shift sensitivity obtained using the design value of the imaging optical system 101, it is possible to obtain an appropriate image blur correction drive amount for image blur at a specified image point position. In this embodiment, the decentering-image shift sensitivity is a value obtained by dividing the amount of image point movement when the image motion compensation optical system 1014 is decentered by 0.1 mm by 0.1 mm, but the amount of decentering of the image motion compensation optical system 1014 is not limited to 0.1 mm and may be set appropriately.

[0034] Fig. 7 is a diagram for explaining the image point movement at a predetermined image point position A relative to the image point movement at the image center position when the image blur correction optical system 1014 is decentered. Fig. 7 shows a schematic diagram of a stationary subject image 301 changing into a trapezoidally distorted subject image 303 as each image point on the subject image 301 moves according to the image point movement vector indicated by the arrow.

[0035] Here, the image point movement amount s at the center position O of the imaging surface when the image stabilization optical system 1014 is decentered by the amount of decentering x in the X-axis direction is x0 and the image point movement amount s at a given image point position A x This article explains:

[0036] Image point movement amount s x is expressed by the following equation (16), where TS is the decentering-image shift sensitivity at the image height of 0.

[0037] s x0 =x·TS (16) Consider the imaging plane (XY plane) as a polar coordinate system (R-θ coordinate system) with the center position O as the origin, and the coordinates of a given image point position A are (r, θ). The image height on the horizontal axis of FIG. 6(A) is the image height h in the R direction in the polar coordinate system of FIG. r ', and the image height on the horizontal axis of FIG. 6B is the image height h θ '. Image height h r 'Eccentricity-image shift sensitivity at TS r (h r '), the image height h for the decentering-image shift sensitivity TS r Decentering-image shift sensitivity coefficient k at TS_r (h r ') is expressed by the following equation (17).

[0038] k TS_r (h r ')=TS r (h r ') / TS (17) Also, the image height h θ 'Eccentricity-image shift sensitivity at TS θ (h θ '), the image height h for the decentering-image shift sensitivity TS θ Decentering-image shift sensitivity coefficient k at TS_θ (h θ ') is expressed by the following equation (18).

[0039] k TS_θ (h θ ')=TSθ (h θ ') / TS (18) In addition, the image point movement amount s x0 is the parallel component s parallel to the line OA rx0 and the vertical component s perpendicular to the line OA θX0 Using the above, it is expressed by the following equations (19) to (21).

[0040] s rx0 =s x0 cosθ =x TS cosθ (19) s θx0 =s x0 (-sinθ) =-x TS sinθ (20) │s x0 │=(s rx0 2 +s θx0 2 ) 1 / 2 (twenty one) In addition, the parallel component s rx0 The sign of is positive in the direction away from the center position O (R direction), and the vertical component s θx0 The sign of is positive in the direction (θ direction) perpendicular to the R direction which is counterclockwise from the center position O.

[0041] Next, the image point movement amount s at the specified image point position A x Consider the following. Image shift sensitivity to decentering in the R direction, TS r (h r '), the parallel component s parallel to the line OA rx is the decentering-image shift sensitivity TS at image height r r (r). Also, the vertical component s perpendicular to the line OA θx is affected by the decentering-image shift sensitivity TS at image height 0. The decentering-image shift sensitivity TS in the direction perpendicular to the R direction θ (h θ '), the parallel component s parallel to the line OA rx is affected by the decentering-image shift sensitivity TS at image height 0. Also, the vertical component s perpendicular to the straight line OA is θx is the decentering-image shift sensitivity TS at image height r θ(r). From the above, the image point movement amount s x is the parallel component s rx and the vertical component s θx Using the above, it is expressed by the following equations (22) to (24).

[0042] s rx =k TS_r (r)·k TS_θ (0)·s sx0 =k TS_r (r) x TS cosθ (22) s θx =k TS_r (0)·k TS_θ (r)·s θx0 =-k TS_θ (r) x TS sinθ (23) │s x │=(s rx 2 +s θx 2 ) 1 / 2 (twenty four) In this way, the image point movement amount s at a predetermined image point position A when the image blur correction optical system 1014 is decentered by the decentering amount x in the X-axis direction is x Similarly, the image point movement amount s at a predetermined image point position A in the polar coordinate system when the image blur correction optical system 1014 is decentered by the decentering amount y in the Y-axis direction is derived as follows: y is the parallel component s parallel to the line OA ry and the vertical component s perpendicular to the line OA θy Using the above, it is expressed by the following equations (25) to (27).

[0043] s ry =k TS_r (r)·k TS_θ (0)·s ry0 =k TS_r (r) y TS sinθ (25) s θy =k TS_r (0)·k TS_θ (r)·s θy0 =k TS_θ (r) y TS cosθ (26) │s y │=(s ry 2 +s θy 2 ) 1 / 2 (27) From the above, the amount of image point movement s at a given image point position A when the image stabilization optical system 1014 is decentered with respect to the optical axis is expressed as the parallel component s r and the vertical component s perpendicular to the line OA θ Using these, the following equations (28) to (30) are expressed.

[0044] s r =s rx +t ry =k TS_r (r) TS(x cosθ+y sinθ) =K TS1 (r,θ)·x+K TS2 (r,θ)·y (28) s θ =s θx +s θy =k TS_θ (r) TS(-x sinθ+y cosθ) =K TS3 (r,θ)·x+K TS4 (r,θ)·y (29) │s│=(s r 2 +s θ 2 ) 1 / 2 (30) Here, each coefficient (K TS1 ,K TS2 ,K TS3 ,K TS4 ) is the coefficient rearranged as follows:

[0045] K TS1 (r,θ)=k TS_r (r) TS cosθ K TS2 (r,θ)=k TS_r (r) TS sinθ K TS3 (r,θ)=-k TS_θ(r) TS sinθ K TS4 (r,θ)=k TS_θ (r) TS cosθ As expressed by the formulas (28) to (30), the image point movement amount s is calculated based on the correction coefficient information (K TS1 ,K TS2 ,K TS3 ,K TS4 ) and the amount of decentering (x, y). In this embodiment, the correction coefficient information (K TS1 ,K TS2 ,K TS3 ,K TS4 ) is arranged in a matrix format and stored in advance in the lens memory 106 as information relating to decentering-image shift sensitivity. This makes it possible to easily obtain the image point movement amount s at a predetermined image point position A when the image motion compensation optical system 1014 is decentered. Note that the intervals between image point positions in the correction coefficient table are set appropriately. Also, the correction coefficient table may be managed in a Cartesian coordinate system instead of a polar coordinate system.

[0046] The information on decentering-image shift sensitivity may be formed of tilt-image shift sensitivity for each image height in order to reduce the amount of information stored in the lens memory 106, or may be information that allows acquisition of the image point movement amount s using position information of a predetermined image point position for performing image stabilization. Furthermore, the position information of the image point position may be information in a polar coordinate system or information in a predetermined coordinate system (for example, a Cartesian coordinate system). (Setting the anti-shake position information on the imaging surface) In this embodiment, the setting mode of the imaging system 1 can be switched to an image center anti-shake mode in which a predetermined image point position (anti-shake position) for anti-shake is set to the center of the imaging surface, or an anti-shake location setting mode in which the anti-shake location can be set to a predetermined image point position. When the anti-shake location setting mode is set, the anti-shake location can be set on the display / operation unit 203. The positions that can be set on the display / operation unit 203 may be linked to the image point position for autofocusing or the image point position for automatic photometry. The image point position for autofocusing may be a position that is automatically detected by pupil detection, person detection, or the like. Anti-shake location information (r, θ) on the imaging surface is sent to the camera-side microcomputer 202, and correction coefficient information to be used is selected from a correction coefficient table. (Motion detection signal) The gyro sensor 205 detects angular velocities around multiple rotation axes of the imaging system 1, and outputs information related to the amount of rotational shake as a motion detection signal. In this embodiment, the gyro sensor 205 detects angular velocities around the X-axis and the Y-axis, and calculates the amount of rotational shake (ω x ,ω y The acceleration sensor 206 detects the acceleration in a plurality of axial directions of the image capture system 1, and outputs information related to the translational shake amount as a motion detection signal. In this embodiment, the acceleration sensor 206 detects the acceleration in the X-axis direction and the Y-axis direction, and outputs the translational shake amount (a x ,a y ) The gyro sensor 205 may be composed of a plurality of sensors each detecting an angular velocity around one axis. Similarly, the acceleration sensor 206 may be composed of a plurality of sensors each detecting an acceleration in one direction. (Deriving the image stabilization drive amount) The camera microcomputer 202 acquires the image blur correction drive amount using information on tilt-image shift sensitivity, information on decenter-image shift sensitivity, image vibration isolation position information, and the motion detection signal. For example, when image blur at a predetermined image point position A is corrected by the OIS, the image blur correction optical system 1014 can be moved so that the image point movement amount t due to rotational blur and the image point movement amount s due to decentering of the image blur correction optical system 1014 cancel each other out. Specifically, the image point movement amount (t r ,t θ ) and the image point movement amount (s r ,s θ ) should cancel each other out (s r =-t r ,s θ =-t θ That is, it is sufficient to satisfy the following formula (31) and formula (32).

[0047] K TS1 (r,θ)·x+K TS2 (r,θ) y =-K LS1 (r,θ) ω y -K LS2 (r,θ) ω x (31) K TS3 (r,θ)·x+K TS4 (r,θ) y =-K LS3 (r,θ) ω y -K LS4 (r,θ) ω x (32) The camera-side microcomputer 202 can obtain the image blur correction drive amount (x, y) of the image blur correction optical system 1014 from the image point movement amount (t, s) using equations (31) and (32).

[0048] 8 is a diagram showing the ratio and direction of the image point movement amount remaining after correction at each image point when the image blur at the predetermined image point position A of this embodiment is corrected by the OIS. As shown in FIG. 8, the image blur at the set predetermined image point position A is well corrected while allowing the image blur at the center of the image. In addition, since the image point movement of the same motion vector as that of the image point position A occurs at the image point position A' symmetrical to the predetermined image point position A with the center of the image as the origin, the image blur at the image point position A' is also corrected. Therefore, by appropriately setting the vibration isolation position at a predetermined position outside the optical axis within a range where the sense of incongruity of the image blur at the center of the image is not large, the image blur of the entire image can be reduced while reducing the difference in the image blur amount in the entire image.

[0049] Since equations (31) and (32) are linear simultaneous equations related to the image blur correction drive amount (x, y) of the image blur correction optical system 1014, the image blur correction drive amount (x, y) of the image blur correction optical system 1014 can be expressed by the following equations (33) and (34).

[0050] x=K1(r,θ)ω x +K2(r,θ)ω y (33) y=K3(r,θ)ω x +K4(r,θ)ω y (34) Here, the coefficients (K1, K2, K3, K4) in equations (33) and (34) are rearranged as follows:

[0051] K1(r,θ)=(-K LS2 (r,θ) K TS4 (r,θ) +K LS4 (r,θ) K TS2 (r,θ) / (K TS1 (r,θ) K TS4 (r,θ) -K TS2 (r,θ) K TS3 (r,θ) K2(r,θ)=(-K LS1 (r,θ) K TS4 (r,θ) +KLS3 (r,θ) K TS2 (r,θ) / (K TS1 (r,θ) K TS4 (r,θ) -K TS2 (r,θ) K TS3 (r,θ) K3(r,θ)=(-K LS2 (r,θ) K TS3 (r,θ) +K LS4 (r,θ) K TS1 (r,θ) / (K TS2 (r,θ) K TS3 (r,θ) -K TS1 (r,θ) K TS4 (r,θ) K4(r,θ)=(-K LS1 (r,θ) K TS3 (r,θ) +K LS3 (r,θ) K TS1 (r,θ) / (K TS2 (r,θ) K TS3 (r,θ) -K TS1 (r,θ) K TS4 (r,θ) As expressed by the formulas (33) and (34), the image blur correction drive amount (x, y) is calculated based on the correction coefficient information (K1, K2, K3, K4) and the rotational blur amount (ω x ,ω y ). Therefore, a correction coefficient table in which the correction coefficient information (K1, K2, K3, K4) is organized in a matrix format may be stored in the lens memory 106. x ,ω y ) can be more easily obtained.

[0052] Regarding image blur caused by translational blur, the image blur correction drive amount can be obtained using information on the translational blur amount from the acceleration sensor 206. The image blur correction drive amount for translational blur can be calculated by calculating the translational blur amount (ax ,a y ) to the amount of rotational blur (ω x ,ω y ) to obtain the image blur correction drive amount. When rotational shake and translational shake occur simultaneously, the image blur correction drive amount may be obtained by adding together the image blur correction drive amount for translational shake and the image blur correction drive amount for rotational shake. The image blur correction drive amount for translational shake at a predetermined image point position may be obtained by multiplying the converted rotational shake amount by a correction coefficient included in the information related to the tilt-image shift sensitivity.

[0053] Furthermore, the tilt-image shift sensitivity and decenter-image shift sensitivity change according to the object distance (focus position) and focal length (imaging angle of view) at which the imaging optical system 101 is focused. In this embodiment, the lens memory 106 holds a plurality of correction coefficient tables that differ according to the focus position determined by the focus optical system 1011 and the focal length determined by the variable magnification optical system 1012. This makes it possible to satisfactorily correct image blur at a predetermined image point position even during magnification change or focusing.

[0054] Furthermore, the lens device 100 may be configured to be detachable from the imaging device 200. In this case, it is preferable to use information on tilt-image shift sensitivity and decenter-image shift sensitivity appropriate for each lens device 100. This makes it possible to satisfactorily correct image blur at a predetermined image point position even when a different lens device 100 is attached to and used in the imaging device 200. [Second embodiment] In this embodiment, a method of correcting image blur by both OIS and IIS will be described. In this embodiment, only the differences from the first embodiment will be described. The schematic configuration of the imaging system 1 of this embodiment and the method of acquiring the image blur correction drive amount of the blur correction optical system 1014 are the same as those of the first embodiment, so the description will be omitted.

[0055] FIG. 9 is a configuration diagram of the lens side microcomputer 102 and the camera side microcomputer 202 of this embodiment. The lens side microcomputer 102 has a lens side acquisition unit 1021 and an OIS control unit 1022. The camera side microcomputer 202 has a camera side acquisition unit 2021 and an OIS correction coefficient information acquisition unit (third 1 take acquisition means) 2022, an IIS correction coefficient information acquisition unit ( 3rd place The camera-side microcomputer 202 also includes an OIS image blur correction drive amount acquisition unit (third image blur correction drive amount acquisition unit). 2nd place acquisition means) 2025, an IIS image blur correction drive amount acquisition unit ( 4th place The camera side microcomputer 202 has an OIS correction coefficient information acquisition unit 2022, an IIS correction coefficient information acquisition unit 2023, an OIS image blur correction drive amount acquisition unit 2025, and an IIS image blur correction drive amount acquisition unit 2026. Note that in this embodiment, the camera side microcomputer 202 has an OIS correction coefficient information acquisition unit 2022, an IIS correction coefficient information acquisition unit 2023, an OIS image blur correction drive amount acquisition unit 2025, and an IIS image blur correction drive amount acquisition unit 2026, but the present invention is not limited to this. The lens side microcomputer 102 may have these. Furthermore, the lens side microcomputer 102 may have the OIS correction coefficient information acquisition unit 2022 and the OIS image blur correction drive amount acquisition unit 2025, and the camera side microcomputer 202 may have the IIS correction coefficient information acquisition unit 2023 and the IIS image blur correction drive amount acquisition unit 2026. In addition, the camera side microcomputer 202 may have an OIS correction coefficient information acquisition unit 2022 and an OIS image blur correction drive amount acquisition unit 2025, and the lens side microcomputer 102 may have an IIS correction coefficient information acquisition unit 2023 and an IIS image blur correction drive amount acquisition unit 2026.

[0056] In this embodiment, image blur at a predetermined image point position A is corrected by the OIS and IIS, so that a higher image blur correction effect can be achieved compared to the case where image blur is corrected only by the OIS. When image blur at a predetermined image point position A is corrected by the IIS, the image sensor 201 may be moved so as to cancel the image point movement amount t expressed by the formulas (13) to (15) described in the first embodiment. The image blur correction drive amount x' in the X-axis direction and the image blur correction drive amount y' in the Y-axis direction of the IIS actuator 210 are expressed by the following formulas (35) and (36).

[0057] x′=t r ·cosθ-t θ ·sinθ =ω y {k LS_θ (r)·sin 2 θ+k LS_r (r)·cos 2 θ}LS +ω x {k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ =K′1(r,θ)·ω y +K′2(r,θ)·ω x (35) y′=t r ·sinθ+t θ ·cosθ =ω y {k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ +ω x {k LS_r (r)·sin 2 θ+k LS_θ (r)·cos 2 θ}LS =K′3(r,θ)·ω y +K′4(r,θ)·ω x (36) Thus, in (35) and in (36) we obtain (K′1,K′2). ,K′3,K′4) is one of the graphs. K′1(r,θ)={k LS_θ (r)·sin 2 θ+k LS_r (r)·cos 2 θ}LS K′2(r,θ)={k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ K′3(r,θ)={k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ K′4(r,θ)={k LS_r (r)·sin 2 θ+k LS_θ (r)·cos 2 θ}LS As expressed by the formulas (35) and (36), the image blur correction drive amount (x', y') is calculated by the correction coefficient information (K'1, K'2, K'3, K'4) and the rotational blur amount (ω x ,ω y ). Therefore, a correction coefficient table in which the correction coefficient information (K'1, K'2, K'3, K'4) is organized in a matrix format may be stored in the lens memory 106 as information regarding tilt-image shift sensitivity. By using K'1 etc. instead of the above-mentioned correction coefficient information (K1, K2, K3, K4), the amount of rotational shake (ω x ,ω y ) can be easily obtained.

[0058] Fig. 10(A) shows a flow from when the power supply of the imaging system 1 is turned on to when the image stabilization function is turned on and the imaging device 200 enters a shooting standby state. Fig. 10(B) shows a flow from when the image stabilization is performed for rotational shake during shooting.

[0059] The flow of FIG. 10(A) starts when the imaging system 1 is turned on.

[0060] In step S 11 , the lens side microcomputer 102 transmits the optical design information of the imaging optical system 101 held in the lens memory 106 that has been acquired by the lens side acquisition unit 1021 to the camera side microcomputer 202 .

[0061] In step S12, the camera side acquisition section 2021 acquires the optical design information from the lens side microcomputer 102.

[0062] In step S13, the camera side acquisition unit 2021 acquires the image stabilization position information set on the imaging device 200 side.

[0063] In step S14, the camera side microcomputer 202 determines whether the OIS function is ON. If it is determined that the OIS function is ON, the process proceeds to step S15, and if it is determined that the OIS function is not ON, the process proceeds to step S16.

[0064] In step S15, the OIS correction coefficient information acquisition unit 2022 acquires OIS correction coefficient information (K1, K2, K3, K4) from the correction coefficient table based on the vibration isolation position information and the focal length information and object distance information set on the lens device 100 side.

[0065] In step S16, the camera-side microcomputer 202 determines whether the IIS function is ON. If it is determined that the IIS function is ON, the process proceeds to step S17, and if it is determined that the IIS function is not ON, the imaging device 200 is placed in a shooting standby state.

[0066] In step S17, the IIS correction coefficient information acquisition unit 2023 acquires IIS correction coefficient information (K'1, K'2, K'3, K'4) from the correction coefficient table based on the vibration isolation position information and the focal length information and object distance information set on the lens device 100 side.

[0067] In the flow of FIG. 10B described below, it is assumed that the OIS function and the IIS function are both ON.

[0068] When camera shake is detected by the gyro sensor 205 (angular velocity is detected) during shooting (exposure), the camera microcomputer 202 obtains information relating to the amount of rotational shake from the gyro sensor 205 in step S21.

[0069] In step S22, the setting unit 2024 sets the ratio (share) of the OIS and IIS when performing image blur correction. In this embodiment, the OIS is set to 50% correction, and the IIS is set to 50% correction.

[0070] In step S23, the OIS image blur correction drive amount acquisition unit 2025 acquires the OIS image blur correction drive amount (first correction drive amount) using the OIS correction coefficient information (K1, K2, K3, K4), information related to the rotational shake amount, and the allocation rate.

[0071] In step S24, the OIS control unit 1022 acquires the position of the image stabilization optical system 1014 from the OIS encoder 103.

[0072] In step S25, the OIS control unit 1022 acquires an OIS drive amount for the OIS actuator 105 so as not to exceed the movable range of the OIS actuator 105. If the OIS drive amount and the image blur correction drive amount for the OIS match, 50% of the image blur amount is corrected by the OIS.

[0073] After the process of step S25, the OIS control unit 1022 drives the OIS actuator 105 via the OIS driver 104.

[0074] In step S26, the IIS image blur correction drive amount acquisition unit 2026 acquires the IIS image blur correction drive amount (second correction drive amount) using the IIS correction coefficient information (K'1, K'2, K'3, K'4), information on the rotational shake amount, and the allocation rate.

[0075] In step S 27 , the IIS control unit 207 acquires the position of the image sensor 201 from the IIS encoder 208 .

[0076] In step S28, the IIS control unit 207 acquires the IIS drive amount of the IIS actuator 210 so as not to exceed the movable range of the IIS actuator 210. If the IIS drive amount and the image blur correction drive amount for IIS match, 50% of the image blur amount is corrected by the IIS.

[0077] The processes in steps S26 to S28 are executed in parallel with the processes in steps S23 to S25. EXAMPLES

[0078] Hereinafter, an embodiment of the imaging optical system 101 of the present invention will be described with reference to the accompanying drawings.

[0079] 11 and 13 are cross-sectional views of the optical system L0 of Example 1 and Example 2 when the object distance at the wide-angle end is focused at infinity, respectively. The arrows shown in each cross-sectional view indicate the movement locus of each lens group during zooming from the wide-angle end to the telephoto end. FIG. 15 is a cross-sectional view of the optical system L0 of Example 3 when the object distance is focused at infinity. The arrows shown in FIG. 15 indicate the movement locus of the lens group during focusing from infinity to a close distance. The optical system L0 of each example is used in imaging devices such as digital video cameras, digital still cameras, broadcast cameras, surveillance cameras, and smartphone cameras.

[0080] In each cross-sectional view, the left side is the object side and the right side is the image side. The optical system L0 in each embodiment is configured to have multiple lens groups. In this specification, a lens group is a group of lenses that move or stand still as a unit during zooming, focusing, or image blur correction. That is, in the optical system L0 in each embodiment, the distance between adjacent lens groups changes during zooming or focusing. Note that the lens group may be composed of one lens or multiple lenses. The lens group may also include an aperture stop.

[0081] SP is an aperture stop. IP is an image plane, where an imaging surface of an imaging element (photoelectric conversion element) such as a CCD sensor or a CMOS sensor is disposed. The image stabilization optical system is decentered with respect to the optical axis of the optical system L0 when performing OIS.

[0082] 12 and 14 are aberration diagrams of the optical system L0 of Example 1 and Example 2 when the object distance is focused at infinity at the wide-angle end, respectively. Fig. 16 is an aberration diagram of the optical system L0 of Example 3 when the object distance is focused at infinity.

[0083] In the spherical aberration diagram, Fno is the F-number, and shows the amount of spherical aberration for the d-line (wavelength 587.6 nm) and g-line (wavelength 435.8 nm). In the astigmatism diagram, S shows the amount of astigmatism on the sagittal image plane, and M shows the amount of astigmatism on the meridional image plane. In the distortion diagram, the amount of distortion for the d-line is shown. In the chromatic aberration diagram, the amount of lateral chromatic aberration for the g-line is shown. ω is the half angle of view (°).

[0084] Numerical examples 1 to 3 corresponding to the first to third embodiments, respectively, are shown below.

[0085] In the surface data of each numerical example, r represents the radius of curvature of each optical surface, and d (mm) represents the axial distance (distance on the optical axis) between the mth surface and the (m+1)th surface. Here, m is the surface number counted from the light incidence surface. Additionally, nd represents the refractive index of each optical component with respect to the d-line, and νd represents the Abbe number of the optical component. Note that the Abbe number νd of a certain material is given by Nd, NF, and NC, respectively, when the refractive indices at the d-line (wavelength 587.6 nm), F-line (wavelength 486.1 nm), and C-line (wavelength 656.3 nm) of the Fraunhofer lines are Nd, NF, and NC, respectively, νd=(Nd-1) / (NF-NC) It is expressed as:

[0086] In each numerical example, d, focal length (mm), F-number, and half angle of view (°) are all values ​​when the optical system L0 of each example is focused on an object at infinity. The back focus (BF) is the distance on the optical axis from the final lens surface (the lens surface closest to the image) to the paraxial image surface expressed as an air-equivalent length. The total optical length is the distance on the optical axis from the frontmost lens surface (the lens surface closest to the object) to the final lens surface plus the back focus.

[0087] If the optical surface is aspheric, a * symbol is added to the right of the surface number. The aspheric shape is expressed as follows, where X is the displacement from the apex of the surface in the optical axis direction, h is the height from the optical axis in the direction perpendicular to the optical axis, R is the paraxial radius of curvature, k is the conic constant, and A4, A6, A8, A10, and A12 are the aspheric coefficients of each order: X = (h 2 / R) / [1+{1-(1+k)(h / R) 2} 1 / 2 ]+A4× h4 +A6×h 6 +A8×h 8 +A10×h 10 +A12×h 12 +A14×h 14 +A16×h 16 In addition, "e±XX" in each aspheric coefficient is expressed as "×10 ±XX " It means.

[0088] In addition, in each numerical example, tilt-image shift sensitivity data and decentering-image shift sensitivity data are shown. The method of deriving these will be described with reference to FIG.

[0089] 17A to 17C are diagrams showing ray traces of the chief ray of d line (the chief ray at half angle of view 0 and the chief ray at half angle of view ω) incident from the object surface corresponding to each angle of view in the optical system L0 of Example 1. Fig. 17A to Fig. 17C show the cases of a stationary state, a state in which the image plane IP is rotated around the X-axis at an inclination angle ω x 13, the optical system L0 is shown in a state in which it is tilted by an amount y in the Y-axis direction, and in a state in which the image blur correction optical system is decentered by an amount y in the Y-axis direction.

[0090] The tilt-image shift sensitivity for each image height in the tilt direction (R direction) is calculated by the image point shift amount Δy LSr (h r ) with the inclination angle ω x The tilt-image shift sensitivity for each image height in the direction perpendicular to the tilt direction is obtained by dividing the image height h θ Image point shift amount Δy LSθ The tilt-image shift sensitivity in each embodiment is obtained from the amount of image point movement when the optical system L0 is tilted by 0.5°. Here, the tilt angle ω x 17B, ​​the sign of the image point movement amount Δy is positive in the counterclockwise direction and negative in the clockwise direction. Also, the sign of the image point movement amount Δy is positive in the upward direction and negative in the downward direction.

[0091] The decentering-image shift sensitivity for each image height in the decentering direction (R direction) is calculated by the image point movement amount Δy TSr (h r ) by the amount of decentering y of the image blur correction optical system. In each embodiment, the decentering-image shift sensitivity for each image height in the direction perpendicular to the decentering direction is obtained by dividing the image height h θ Image point shift amount Δy TSθ The decentering-image shift sensitivity data in each embodiment is obtained from the amount of image point movement when the image blur correction optical system is decentered by 0.1 mm.

[0092] [Numerical Example 1] Unit: mm Surface Data Surface number rd nd νd 1 211.125 2.10 1.80810 22.8 2 80.660 6.03 1.77250 49.6 3 248.854 0.15 4 57.558 6.97 1.77250 49.6 5 160.440 (variable) 6 66.217 1.40 1.88300 40.8 7 18.113 8.41 8 -206.710 1.20 1.61800 63.4 9 22.688 4.36 1.85478 24.8 10 79.196 4.20 11 -35.317 1.20 1.58313 59.4 12* -312.513 0.43 13 910.041 5.47 1.59270 35.3 14 -19.928 1.10 1.88300 40.8 15 -47.138 (variable) 16 (Aperture) ∞ 0.40 17 81.194 4.45 1.83481 42.7 18 -54.244 0.15 19 41.217 7.25 1.49700 81.5 20 -32.257 1.10 2.00069 25.5 21 -293.896 2.41 22* -71.464 1.75 1.76802 49.2 23 64.990 1.91 1.80810 22.8 24 199.742 (variable) 25 30.855 6.56 1.59522 67.7 26 -85.643 0.35 27 38.493 1.20 1.73800 32.3 28 22.868 7.83 1.53775 74.7 29 -71.877 0.15 30* -4310.465 1.70 1.85400 40.4 31* 109.508 (variable) 32 53.194 0.90 1.80400 46.6 33 22.891 (variable) 34* -42.821 1.70 1.58313 59.4 35* -2156.781 0.15 36 344.261 3.20 2.00100 29.1 37 -88.670 (variable) Image plane ∞ Aspheric Data Side 12 K = 0.00000e+000 A 4=-5.69442e-006 A 6=-2.29053e-009 A 8=-4.72363e-011 A10=4.65343e-013 A12=-1.99227e-015 Page 22 K = 0.00000e+000 A 4= 1.87606e-006 A 6= 1.45872e-009 A 8= 2.78338e-011 A10=-2.10980e-013 A12= 3.98590e-016 Page 30 K = 0.00000e+000 A 4=-2.01869e-005 A 6= 6.17344e-008 A 8=-2.64177e-010 A10=-2.98832e-013 A12= 2.64092e-015 Page 31 K = 0.00000e+000 A 4= 1.63774e-006 A 6= 9.32838e-008 A 8=-2.34772e-010 A10=-7.39973e-013 A12= 4.51086e-015 Page 34 K = 0.00000e+000 A 4=-2.51719e-005 A 6= 1.25180e-007 A 8=-5.32709e-010 A10= 5.08044e-013 A12= 7.30860e-016 Page 35 K = 0.00000e+000 A 4=-2.60571e-005 A 6= 1.26402e-007 A 8=-6.23562e-010 A10= 1.45147e-012 A12=-1.39940e-015 Various data Zoom ratio 2.74 Wide Angle Mid-Telephoto Focal length 24.72 43.76 67.66 F-number 2.91 2.91 2.91 Half angle of view (°) 42.00 25.95 17.34 Image height 21.64 21.64 21.64 Optical total length 144.33 158.18 172.04 BF 14.30 25.72 35.98 d 5 0.80 17.81 28.91 d15 16.54 8.10 2.46 d24 11.55 5.41 3.56 d31 2.38 1.11 0.91 d33 12.58 13.85 14.04 d37 14.30 25.72 35.98 Image shift sensitivity data for each image height in the tilt direction at the wide-angle end JPEG0007676177000001.jpg80117

[0093] Tilt-image shift sensitivity data for each image height in the direction perpendicular to the tilt direction at the wide-angle end JPEG0007676177000002.jpg77115

[0094] Decentering-image shift sensitivity data for each image height in the decentering direction at the wide-angle end JPEG0007676177000003.jpg77115

[0095] Decentering-image shift sensitivity data for each image height in the direction perpendicular to the decentering direction at the wide-angle end JPEG0007676177000004.jpg77115

[0096] [Numerical Example 2] Unit: mm Surface Data Surface number rd nd νd 1* 3000.000 2.85 1.58313 59.4 2* 16.526 10.57 3* -809.327 2.25 1.85400 40.4 4* 91.828 5.56 5 -53.256 1.20 1.59522 67.7 6 68.528 0.15 7 43.587 5.03 1.85478 24.8 8 -485.244 (variable) 9 63.607 2.67 1.84666 23.9 10 -1472.964 0.15 11 52.737 1.00 1.92286 20.9 12 22.996 5.41 1.53172 48.8 13 489.976 (variable) 14 (Aperture) ∞ (Variable) 15 27.733 1.20 2.00069 25.5 16 19.641 9.29 1.53775 74.7 17 -78.882 (variable) 18 -67.558 4.31 1.92286 20.9 19 -20.948 0.77 1.83400 37.2 20 136.126 3.52 21 ∞ (variable) 22 30.487 11.20 1.49700 81.6 23 -50.182 0.15 24 40.928 11.00 1.49700 81.6 25 -25.800 1.20 2.05090 26.9 26 208.835 4.54 27* -73.669 2.10 1.85400 40.4 28* -1000.000 0.15 29 216.036 3.40 1.92286 20.9 30 -127.538 (variable) Image plane ∞ Aspheric Data Front page K = 0.00000e+000 A 4= 8.30213e-006 A 6=-1.33976e-008 A 8= 4.25008e-011 A10=-8.60253e-014 A12= 1.03363e-016 A14=-7.03702e-020 A16= 2.16318e-023 Page 2 K =-9.81344e-001 A 4= 4.49709e-007 A 6=-2.34544e-008 A 8=-1.05516e-010 A10= 8.07443e-013 A12=-2.78552e-015 A14= 3.05128e-018 Page 3 K = 0.00000e+000 A 4=-9.01759e-006 A 6=-1.39642e-007 A 8= 1.23272e-009 A10=-3.49283e-012 A12= 3.62808e-015 A14= 5.24953e-019 A16=-2.43479e-021 Page 4 K = 0.00000e+000 A 4= 6.34981e-006 A 6=-1.29871e-007 A 8= 1.67920e-009 A10=-6.48374e-012 A12= 1.50043e-014 A14=-1.59777e-017 Page 27 K = 0.00000e+000 A 4=-8.04129e-005 A 6= 2.64851e-007 A 8=-1.06038e-009 A10= 4.87911e-012 A12=-8.56493e-015 A14=-1.17880e-018 A16=-3.10043e-023 Page 28 K = 0.00000e+000 A 4=-6.00659e-005 A 6= 2.67376e-007 A 8=-7.05021e-010 A10=2.04492e-012 A12=-2.97985e-015 Various data Zoom ratio 2.20 Wide Angle Mid-Telephoto Focal length 15.45 24.00 33.95 F-number 2.91 2.91 2.91 Half angle of view (°) 55.41 41.57 31.88 Image height 21.64 21.64 21.64 Optical total length 159.58 147.48 144.99 BF 14.00 22.21 32.15 d 8 25.32 7.72 1.50 d13 8.24 11.30 7.40 d14 13.71 5.42 0.71 d17 1.60 9.89 14.61 d21 7.04 1.27 -1.05 d30 14.00 22.21 32.15 Image shift sensitivity data for each image height in the tilt direction at the wide-angle end JPEG0007676177000005.jpg81121

[0097] Tilt-image shift sensitivity data for each image height in the direction perpendicular to the tilt direction at the wide-angle end JPEG0007676177000006.jpg81120

[0098] Decentering-image shift sensitivity data for each image height in the decentering direction at the wide-angle end JPEG0007676177000007.jpg81121

[0099] Decentering-image shift sensitivity data for each image height in the direction perpendicular to the decentering direction at the wide-angle end JPEG0007676177000008.jpg81121

[0100] [Numerical Example 3] Unit: mm Surface Data Surface number rd nd νd 1 50.658 1.57 1.48749 70.2 2 17.433 7.73 3 82.620 1.50 1.48749 70.2 4 22.068 13.94 5 28.055 5.75 1.90043 37.4 6 -26.190 1.00 1.80000 29.8 7 -678.364 6.06 8(Aperture) ∞ 2.86 9 74.460 1.40 1.77250 49.6 10 -3498.619 2.98 11 -20.479 1.00 1.85478 24.8 12 30.759 3.15 1.49700 81.5 13 -76.152 0.29 14 107.343 4.13 1.58313 59.4 15* -42.035 0.15 16 108.394 4.96 1.85150 40.8 17 -35.438 (variable) 18 -72.427 1.84 1.83481 42.7 19 -45.108 10.50 20 -23.819 1.57 1.51742 52.4 21 -53.298 11.00 Image plane ∞ Aspheric Data Page 15 K = 0.00000e+000 A 4= 2.14904e-005 A 6=-6.26885e-009 A 8= 3.11936e-010 A10=-1.96590e-012 A12= 3.25155e-015 Various data Focal length 20.60 F-number 1.85 Half angle of view (°) 46.42 Image height 18.71 Optical total length 84.88 BF 11.00 Infinity Close d17 1.50 11.92 Tilt-image shift sensitivity data for each image height in the tilt direction when focusing at infinity JPEG0007676177000009.jpg77116

[0101] Tilt-image shift sensitivity data for each image height in the direction perpendicular to the tilt direction when focusing at infinity JPEG0007676177000010.jpg77114

[0102] Decentering-image shift sensitivity data for each image height in the decentering direction when focused at infinity JPEG0007676177000011.jpg76114

[0103] Decentering-image shift sensitivity data for each image height in the direction perpendicular to the decentering direction when focused at infinity JPEG0007676177000012.jpg76114

[0104] As described above, according to the configuration of the present invention, it is possible to easily and effectively correct image blur at a predetermined image point position including the center of the optical axis.

[0105] In each embodiment, the information on the image shift sensitivity to decentering of the image blur correction optical system 1014 according to the image point position is a correction coefficient table in which correction coefficient information according to the image point position is compiled in a matrix format, but the present invention is not limited to this. r (h r ), T.S. θ (h θ ), or off-axis correction coefficient information (K TS1 ,K TS2 ,K TS3 ,K TS4 ) or may be correction coefficient information (K1, K2, K3, K4) calculated in combination with information on the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position. In other words, the information on the image shift sensitivity to the decentering of the image correction optical system 1014 according to the image point position may be information from which a movement amount of a predetermined image point position with respect to the decentering of the image correction optical system 1014 can be obtained.

[0106] In each embodiment, the information on the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position is a correction coefficient table in which correction coefficient information according to the image point position is compiled in a matrix format, but the present invention is not limited to this. It may be an image height formula based on the focal length or projection method that is a specification of the imaging optical system 101, or the tilt-image shift sensitivity LS r (h r ),LS θ (h θ ) may be used. In addition, the correction coefficient information (K LS1 , K LS2 , K LS3 , K LS4 That is, the information regarding the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position may be information that can acquire the amount of movement of a predetermined image point position with respect to the tilt of the imaging optical system 101.

[0107] Also, in each embodiment, the decentering-image shift sensitivity and the tilt-image shift sensitivity have been described as information for each image height in the decentering direction (R direction) of the image stabilizer optical system 1014 and in a direction orthogonal to the decentering direction. However, the decentering-image shift sensitivity and the tilt-image shift sensitivity may be information defined for each image point position on the entire imaging surface in a predetermined direction on the imaging surface. In that case, the decentering-image shift sensitivity and the tilt-image shift sensitivity may be directly acquired from the amount of image point movement on the entire imaging surface acquired using the design value of the imaging optical system 101.

[0108] In each numerical embodiment, the image point position is obtained using the image formation position of the principal ray, but may be obtained using the peak position of the MTF (Modulation Transfer Function).

[0109] Furthermore, the camera-side microcomputer 202 may perform image blur correction using an electronic image stabilization function that changes the effective pixel area of ​​the image sensor 201. In other words, the camera-side microcomputer 202 may function as one of the blur correction means.

[0110] Furthermore, the projection method of the imaging optical system 101 is not limited to the central projection method, but may be another projection method such as an equidistant projection method. [Other Examples] The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-mentioned embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0111] Although the preferred embodiments and examples of the present invention have been described above, the present invention is not limited to these embodiments and examples, and various combinations, modifications, and changes are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0112] 101 Imaging optical system 102 Lens side microcomputer (control device) 1014 Image stabilizer optical system 202 Camera side microcomputer (control device)

Claims

1. a first acquisition means for acquiring information regarding an image shift sensitivity to decentering of a blur correction optical system according to an image point position of an imaging optical system including the blur correction optical system for correcting an image blur; a second acquisition means for acquiring a first correction drive amount during image blur correction of the image blur correction optical system; a setting unit for setting an anti-shake position on an imaging surface for correcting an image blur; the information about the image shift sensitivity is acquired based on a movement amount of the image vibration isolation position relative to a tilt of the imaging optical system, The control device according to claim 1, wherein the second acquisition means acquires the first correction drive amount corresponding to the image vibration isolation position by using information on an image shift sensitivity of the image vibration isolation position.

2. The control device according to claim 1 , wherein the information regarding the image shift sensitivity is acquired using a design value of the imaging optical system.

3. 3. The control device according to claim 1, wherein the information regarding the image shift sensitivity is information by which a movement amount of the vibration isolation position relative to decentering of the image stabilization optical system can be obtained.

4. 4. The control device according to claim 1, wherein the information on the image shift sensitivity is information determined for each position on an image plane.

5. 5. The control device according to claim 1, wherein the first correction drive amount is acquired using information related to a shake and information related to the image shift sensitivity.

6. 5. The control device according to claim 1, wherein the first correction drive amount is acquired using information about a shake, information about the vibration isolation position, and information about the image shift sensitivity.

7. 7. The control device according to claim 5, wherein the information regarding the shake includes information regarding angular velocities around a plurality of rotation axes.

8. 8. The control device according to claim 5, wherein the information relating to the shake includes information relating to acceleration in a plurality of axial directions.

9. 9. The control device according to claim 1, wherein the vibration isolation position is a position on an image plane that is expressed by a plurality of parameters.

10. 10. The control device according to claim 1, wherein the information on the image shift sensitivity varies depending on a focal length of the imaging optical system.

11. 11. The control device according to claim 1, wherein the information on the image shift sensitivity varies depending on an object distance to be focused.

12. a third acquisition means for acquiring information from which a movement amount of the vibration isolation position relative to a tilt of the imaging optical system can be acquired; a fourth acquisition unit that acquires a second correction drive amount at the time of image blur correction of the image blur correction unit for correcting the image blur, The control device according to any one of claims 1 to 11, characterized in that the fourth acquisition means acquires the second correction drive amount corresponding to the vibration isolation position using information capable of acquiring the amount of movement of the vibration isolation position relative to the inclination of the imaging optical system.

13. 13. The control device according to claim 12, wherein the image stabilization means decenters an image pickup element with respect to an optical axis of the image pickup optical system.

14. 14. The control device according to claim 12, wherein the blur correction means changes an effective pixel area of ​​an image pickup element.

15. a setting unit that sets a ratio between the image blur correction by the image blur correction optical system and the image blur correction by the image blur correction unit, 15. The control device according to claim 12, wherein the first correction drive amount and the second correction drive amount are set based on the ratio.

16. An imaging element; An imaging device comprising the control device according to claim 1 .

17. 17. The imaging apparatus according to claim 16, further comprising a storage unit for storing information relating to an image shift sensitivity to decentering of the image blur correction optical system according to an image point position of the imaging optical system.

18. An imaging optical system; A lens device comprising the control device according to any one of claims 1 to 15.

19. 20. The lens apparatus according to claim 18, further comprising a storage unit for storing information relating to an image shift sensitivity to decentering of the image blur correction optical system according to an image point position of the imaging optical system.

20. a first acquisition means for acquiring information regarding an image shift sensitivity to decentering of a blur correction optical system according to an image point position of an imaging optical system including the blur correction optical system for correcting an image blur; a second acquisition means for acquiring a first correction drive amount during image blur correction of the image blur correction optical system; a setting unit for setting an anti-shake position on an imaging surface for correcting an image blur; the second acquisition means acquires the first correction drive amount corresponding to the image vibration isolation position by using information about an image shift sensitivity of the image vibration isolation position; a third acquisition means for acquiring information from which a movement amount of the vibration isolation position relative to a tilt of the imaging optical system can be acquired; a fourth acquisition means for acquiring a second correction drive amount at the time of image blur correction by the image blur correction means for correcting the image blur, a fourth acquisition means for acquiring the second correction drive amount corresponding to the vibration isolation position using information capable of acquiring the amount of movement of the vibration isolation position relative to the tilt of the imaging optical system, the fourth acquisition means comprising an imaging device that acquires the second correction drive amount corresponding to the vibration isolation position using information capable of acquiring the amount of movement of the vibration isolation position relative to the tilt of the imaging optical system.

21. 1. A control method for acquiring a correction drive amount during image blur correction by a blur correction optical system for correcting image blur, comprising: a first acquisition step of acquiring information regarding an image shift sensitivity to decentering of the image blur correction optical system according to an image point position of an imaging optical system; a setting step of setting an image stabilization position on an imaging surface for correcting image blur; and a second acquisition step of acquiring a correction drive amount of the image stabilization optical system corresponding to the image stabilization position using information regarding image shift sensitivity of the image stabilization position.

22. A program causing a computer to execute the control method according to claim 21.

Images