Vibration control device and computer program

Abstract

To provide an antivibration controller that can accurately correct a parallel shake and the like.SOLUTION: An antivibration controller has: rotation radius calculation means that calculates the radius of rotation of an angle shake based on output of an angle shake signal acquired from angle shake detection means and a parallel shake signal acquired from parallel shake detection means; rotation radius prediction means that predicts a change in the radius of rotation based on the output from the rotation radius calculation means and outputs a rotation radius prediction signal; and shake correction control means that controls correction of parallel shake based on the rotation radius prediction signal from the rotation radius prediction means and the angle shake signal acquired from the angle shake detection means.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vibration control device and a computer program for correcting parallel shake and the like.

Background Art

[0002] Conventionally, as disclosed in Patent Document 1, there is a method for alleviating image degradation due to parallel shake.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, the shake correction accuracy cannot be improved because shake correction during exposure is performed based on shake information before exposure. As a countermeasure, there is a technique for predicting shake during exposure as disclosed in Patent Document 2, but there is a problem that the waveform of parallel shake includes many frequencies and the prediction accuracy cannot be improved. An object of the present invention is to provide a vibration control device that can accurately correct parallel shake and the like.

Means for Solving the Problems

[0005] To achieve the above object, a vibration control device according to one aspect of the present invention includes: a rotation radius calculation means for calculating the rotation radius of angular shake based on the output of the angular shake signal acquired from the angular shake detection means and the parallel shake signal acquired from the parallel shake detection means; a rotation radius prediction means for predicting a change in the rotation radius based on the output of the rotation radius calculation means and outputting a rotation radius prediction signal; It has shake correction control means for controlling correction of parallel shake based on the rotation radius prediction signal of the rotation radius prediction means and the angle shake signal acquired from the angle shake detection means.

Advantages of the Invention

[0006] According to the present invention, it is possible to realize an anti-shake control device that can accurately correct parallel shake and the like.

Brief Description of the Drawings

[0007]

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Embodiments for Carrying Out the Invention

[0008] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described using examples. In each figure, the same members or elements are denoted by the same reference numerals, and overlapping descriptions are omitted or simplified. Also, in the examples, an example of applying the anti-shake control device to a digital still camera will be described. However, the anti-shake control device is applicable to electronic devices having an imaging function such as digital movie cameras, smartphones with cameras, tablet computers with cameras, in-vehicle cameras, drone cameras, cameras mounted on robots, network cameras, etc.

Examples

[0009] The configuration of the camera in Embodiment 1 will be described with reference to FIGS. 1 to 11. FIG. 1 is a side view of the camera in Embodiment 1 of the present invention, showing the configuration of the anti-shake control device in a (digital still) camera 11 composed of a camera body 11a and an interchangeable lens unit 11b detachable from the camera body 11a. In FIG. 1, the CPU 12 provided in the camera body 11a controls the photographing operation and the anti-shake system operation in the camera in response to a photographing instruction operation from the photographer. Further, the CPU 12 functions as control means for controlling the operations of each part of the entire apparatus, including the blur correction operation, based on a computer program stored in a memory as a storage medium.

[0010] Subject light fluxes along the optical axis 10 enter the image sensor 14 as an imaging means through the photographing optical system 13 provided in the interchangeable lens unit 11b. The image sensor 14 is composed of a CMOS image sensor or the like and outputs an image signal in response to the input subject light fluxes. In FIG. 1, the vertical direction in FIG. 1 is referred to as the vertical direction of the camera.

[0011] In FIG. 1, 15pg is a first angular velocity meter as angular blur detection means, and detects the blur angular velocity in the pitch direction shown by the arrow 15ps applied to the camera 11. The angular blur signal from the first angular velocity meter 15pg is input to the CPU 12. 16ya is a first accelerometer as parallel blur detection means, and detects the blur acceleration in the vertical direction of the camera shown by the arrow 16ys applied to the camera 11. The acceleration signal from the first accelerometer 16ya is input to the CPU 12.

[0012] In this embodiment, an example in which the camera body 11a includes angular blur detection means (first angular velocity meter 15pg) and parallel blur detection means (first accelerometer 16ya) will be described. However, if signals indicating the detection results can be obtained from these detection means, the camera body 11a does not necessarily need to include these detection means. For example, the lens unit 11b may include either or both of the angular blur detection means and the parallel blur detection means, and the camera body 11a may acquire this information through communication with the lens unit.

[0013] 13c is a blur correction lens, and is driven in the direction of the arrow 13y by the driving means 13b to correct angular blur. Here, the blur correction lens 13c and the driving means 13b constitute blur correction control means.

[0014] Figure 2 is a functional block diagram of the main part of the anti-vibration control device for the vertical direction of the camera in Figure 1. Some of the functional blocks shown in Figure 2 are realized by causing the CPU 12 as a computer included in the imaging device to execute a computer program stored in a memory as a storage medium (not shown). However, some or all of them may be realized by hardware. As the hardware, a dedicated circuit (ASIC), a processor (reconfigurable processor, DSP), etc. can be used.

[0015] Also, each of the functional blocks shown in Figure 2 does not have to be built in the same housing, and the imaging device may be configured by separate devices connected to each other via signal paths. Note that the above description regarding Figure 2 also applies to Figures 4, 6, 10, 12, 13, 16, 18, and 19 in the same manner.

[0016] The signal of the first angular velocity meter 15pg is integrated by the angular velocity integration means 12pa and converted into the angular shake shown by the arrow 15p in Figure 1. The signal of the angular velocity integration means 12pa is input to the angular shake target value calculation means 12pb, and gain adjustment is performed according to the characteristics and focal length of the imaging optical system. The angular shake correction target value with gain adjustment by the angular shake target value calculation means 12pb is input to the driving means 13b. The shake correction lens 13c is driven in the direction of the arrow 13y by the driving means 13b to correct the pitch angle shake in Figure 1.

[0017] The signal of the first accelerometer 16ya is secondarily integrated by the acceleration integration means 12yc and converted into a displacement amount, and then only the component of a desired frequency (for example, 1 Hz) is extracted by the displacement band-pass filter 12yd. Similarly, the angular shake, which is the output of the above-described angular velocity integration means 12pa, also has only the component of a desired frequency (for example, 1 Hz) extracted by the angular band-pass filter 12pe. Here, the passband of the angular band-pass filter 12pe and the passband of the displacement band-pass filter 12yd are set to be substantially equal.

[0018] The rotation radius calculation means 12yf calculates the ratio of the displacement signal and the angle signal in the same frequency band extracted by the displacement band-pass filter 12yd and the angle band-pass filter 12pe, respectively. Then, from the ratio, the gyro rotation radius 17y from the rotation center 17yc of the shake to the first accelerometer 16ya is obtained.

[0019] That is, the rotation radius calculation means calculates the rotation radius of the angular shake based on the output of the angular shake detection means (sometimes called the angular shake signal) and the output of the parallel shake detection means (sometimes called the parallel shake signal). Since the distance from the rotation center 17yc to the first accelerometer 16ya is sufficiently large, in FIG. 1, the gyro rotation radius 17y is approximately shown as the distance in the optical axis direction from the rotation center 17yc to the first accelerometer 16ya.

[0020] Next, a preset rotation radius 18y from the first accelerometer 16ya to the principal point of the imaging optical system 13 is added to the gyro rotation radius 17y to obtain the optical system rotation radius 19y, which is the rotation radius of the imaging optical system. Since the distance from the rotation center 17yc to the principal point of the imaging optical system 13 is sufficiently large, in FIG. 1, the optical system rotation radius 19y is approximately shown as the distance in the optical axis direction from the rotation center 17yc to the principal point of the imaging optical system 13.

[0021] The optical system rotation radius 19y output from the rotation radius calculation means 12yf is input to the multiplication means 12yh via the rotation radius prediction means 12yg described later. The multiplication means 12yh obtains the product of the input optical system rotation radius 19y and the angular shake input from the angular velocity integration means 12pa, and recalculates the parallel shake in the direction of arrow 16y.

[0022] In this way, once the optical system rotation radius 19y is known, it is possible to stably detect the parallel shake in the direction of arrow 16y only using the signal of the first gyro 15pg without using the signal of the first accelerometer 16ya. The output of the multiplication means 12yh is input to the parallel shake correction target value calculation means 12yi, and gain adjustment is performed according to the characteristics of the imaging optical system 13 and the image magnification. The parallel shake correction target value adjusted in gain by the parallel shake correction target value calculation means 12yi is input to the drive means 13b to correct the parallel shake in the y direction (vertical direction) in FIG. 1.

[0023] FIG. 3 is a top view of the camera in the first embodiment. In FIG. 3, the vertical direction in FIG. 3 is referred to as the horizontal direction of the camera. In FIG. 3, 15yg is a second angular velocity meter as an angular shake detection means, and detects the angular shake angular velocity in the yaw direction shown by the arrow 15ys applied to the camera 11. The signal of the second angular velocity meter 15yg is input to the CPU 12. 16xa is a second accelerometer as a parallel shake detection means, and detects the shake acceleration in the horizontal direction of the camera shown by the arrow 16xs applied to the camera 11. The signal of the second accelerometer 16xa is input to the CPU 12.

[0024] FIG. 4 is a functional block diagram of the main part of the anti-shake control device in the horizontal direction of the camera in FIG. 3, and the camera 11 is provided with both the configuration in FIG. 4 and the configuration in FIG. 2. The signal of the second angular velocity meter 15yg is integrated by the angular velocity integration means 12ya and converted into the angular shake shown by the arrow 15y in FIG. 3. The signal of the angular velocity integration means 12ya is input to the angular shake correction target value calculation means 12yb, and gain adjustment is performed according to the characteristics of the imaging optical system 13 and the focal length. The angular shake correction target value adjusted in gain by the angular shake correction target value calculation means 12yb is input to the drive means 13b. The shake correction lens 13c is driven in the direction of the arrow 13x by the drive means 13b to correct the yaw angular shake.

[0025] The signal of the second accelerometer 16xa is second-order integrated by the acceleration integration means 12xc and converted into a displacement amount, and then only the component of a desired frequency (for example, 1 Hz) is extracted by the displacement band-pass filter 12xd. Similarly, the signal of the second angular velocity meter 15yg converted into an angle by the angular velocity integration means 12ya described above is also extracted only the component of a desired frequency (for example, 1 Hz) by the angle band-pass filter 12ye.

[0026] Here, the passband of the angular band-pass filter 12ye and the passband of the displacement band-pass filter 12xd are set to be substantially equal. The rotation radius calculation means 12xf obtains the angular velocity meter rotation radius 17x from the center of rotation 17xc of the blur to the second accelerometer 16xa from the ratio of the displacement signal and the angular signal in the same frequency band extracted by the displacement band-pass filter 12xd and the angular band-pass filter 12ye, respectively.

[0027] In addition, since the distance from the center of rotation 17xc to the second accelerometer 16xa is sufficiently large, in FIG. 3, the angular velocity meter rotation radius 17x is approximately shown as the distance in the optical axis direction from the center of rotation 17xc to the second accelerometer 16xa.

[0028] Next, the preset rotation radius 18x from the second accelerometer 16xa to the principal point of the imaging optical system 13 is added to the angular velocity meter rotation radius 17x to obtain the optical system rotation radius 19x, which is the rotation radius of the imaging optical system. In addition, since the distance from the center of rotation 17xc to the principal point of the imaging optical system 13 is sufficiently large, in FIG. 3, the optical system rotation radius 19x is approximately shown as the distance in the optical axis direction from the center of rotation 17xc to the principal point of the imaging optical system 13.

[0029] The optical system rotation radius 19x output from the rotation radius calculation means 12xf is input to the multiplication means 12xh via the rotation radius prediction means 12xg described later. The multiplication means 12xh obtains the product of the input optical system rotation radius 19x and the angular signal input from the angular velocity integration means 12ya, and recalculates the blur in the direction of arrow 16x (the horizontal direction of the camera).

[0030] In this way, once the optical system rotation radius 19x is known, the signal of the second accelerometer 16xa is not used, and the parallel blur can be stably detected only by the signal of the second angular velocity meter 15yg. The signal of the multiplication means 12xh is input to the parallel shake correction target value calculation means 12xi, and gain adjustment is performed according to the characteristics of the imaging optical system and the image magnification. The parallel shake correction target value adjusted in gain by the parallel shake correction target value calculation means 12xi is input to the driving means 13b. The shake correction lens 13c is driven in the direction of arrow 13x by the driving means 13b, and in addition to the yaw angle shake correction described above, correction of parallel shake in the lateral direction of the camera is performed.

[0031] FIG. 5 is a front view of the camera in the first embodiment of the present invention. In FIG. 5, 15rg is a third angular velocity meter as an angular shake detection means, and detects the shake angular velocity in the direction shown by arrow 15rs in FIG. 5 applied to the camera 11. The signal of the third angular velocity meter 15rg is input to the CPU 12.

[0032] FIG. 6 is a functional block diagram of the main part of the anti-shake control device in the optical axis direction of FIG. 5, and the camera 11 is provided with both the configuration of FIG. 6, the configuration of FIG. 4, and the configuration of FIG. 2. That is, the angular shake detection means has a plurality of angular shake detection sensors (such as the first to third angular velocity meters) for detecting angular shake in a plurality of directions. Also, the parallel shake detection means also has a plurality of parallel shake detection sensors (such as the first and second accelerometers) for detecting parallel shake in a plurality of directions.

[0033] The signal of the third angular velocity meter 15rg is integrated by the angular velocity integration means 12ra and converted into a roll angle shake around the imaging optical axis shown by arrow 15r in FIG. 5. The signal of the angular velocity integration means 12ra is input to the angular shake correction target value calculation means 12rb, and gain adjustment is performed. The angular shake correction target value adjusted in gain by the angular shake correction target value calculation means 12rb is input to the driving means 14b.

[0034] The imaging element 14 is disposed, for example, on a rotating body 14a having gears formed around it. By rotating the rotating body 14a in the direction of arrow 14r by the driving means 14b, the imaging element 14 is rotated to correct roll angle shake. Here, the imaging element 14, the rotating body 14a, and the driving means 14b constitute a shake correction control means.

[0035] As described above, in this embodiment, during the exposure period, the parallel blur in the y-direction (the vertical direction of the camera) and the x-direction (the horizontal direction of the camera) is calculated using the optical system rotation radii 19y and 19x and the first and second angular velocity sensors 15pg and 15yg. Therefore, even if noise occurs in the accelerometer due to the vibration of the focusing drive during exposure or the vibration of the shutter drive during exposure, the parallel blur detection accuracy will not be affected and will not deteriorate.

[0036] However, if the rotation radius is only fixed during exposure to avoid the influence of noise in the accelerometer during exposure, there is a problem that the parallel blur detection accuracy will decrease when the rotation radius actually changes during exposure. The above problem will be described with reference to FIGS. 7 to 9.

[0037] FIG. 7 is a diagram for explaining an example of the change in the deviation amount / correction amount on the image plane caused by parallel blur. It is desirable to perform blur correction so as to match the waveform of the image plane deviation amount. FIG. 7(A) is a diagram showing an example of the actual image plane deviation amount waveform 71a and the correction amount waveform 71b. That is, 71a is an image plane deviation amount waveform showing the actual deviation amount of the image on the image plane due to the parallel blur applied to the camera 11, and 71b shows an example of the correction amount waveform when the blur correction control means is driven based on the parallel blur correction target value calculated with the rotation radius fixed during the exposure period 73.

[0038] FIG. 8 is a diagram for explaining the change in the rotation radius. FIG. 8(A) is a diagram showing the rotation radius when the rotation radius is fixed during the exposure period 73, and FIG. 8(B) is a diagram showing an example of the actual change in the rotation radius. The image plane deviation amount waveform 71a showing the actual deviation amount in FIG. 7(A) is obtained by multiplying the rotation radius waveform 72a, which is the actual rotation radius shown in FIG. 8(B), by the actual angular blur applied to the camera 11.

[0039] However, as shown in FIG. 8(A), there may be an error between the rotation radius waveform 72b when the rotation radius is fixed (not updated) during the exposure period 73 and the actual rotation radius waveform 72a as shown in FIG. 8(B). FIG. 9 is a diagram showing the difference between the waveform of the image plane deviation amount and the waveform of the blur correction amount. During the exposure period 73, as shown in FIG. 7(A), a deviation occurs in the waveforms of the image plane deviation amount waveform 71a and the correction amount waveform 71b. As a result, as shown in FIG. 9(A), a blur remaining waveform (correction error) 74a, which is the difference in the waveform deviation between the two, occurs.

[0040] Therefore, in this embodiment, by providing the rotation radius prediction means 12yg and 12xg to predict the rotation radius during exposure, a predicted rotation radius waveform 72c as shown in FIG. 8(C) is calculated. That is, in the rotation radius prediction means 12xg and 12yg, based on the change history of the rotation radius output by the rotation radius calculation means 12xf or 12yf at a predetermined time before the start of exposure (for example, 1 second before), the rotation radius during exposure is predicted and the predicted rotation radius waveform 72c is calculated. That is, the rotation radius prediction means predicts the change in the rotation radius based on the output of the rotation radius calculation means and outputs a rotation radius prediction signal.

[0041] FIG. 7(B) is a diagram showing a correction amount waveform 71c when blur correction is performed during the exposure period 73 based on the predicted rotation radius waveform 72c. Further, FIG. 8(C) is a diagram showing that the difference between the predicted rotation radius waveform 72c and the actual rotation radius waveform 72a becomes small, and FIG. 9(B) is a diagram explaining that the correction error 74b, which is the difference between the image plane deviation amount waveform 71a and the correction amount waveform 71c in FIG. 7(B), becomes small. That is, the correction error 74b shown in FIG. 9(B) when the predicted rotation radius waveform 72c is calculated and blur correction is performed can be significantly reduced compared to the correction error 74a shown in FIG. 9(A).

[0042] Here, as an example of the method for predicting the rotation radius in the rotation radius prediction means 12yg and 12xg, an example of the method for predicting the rotation radius using an adaptive filter will be described. Figure 10 is a functional block diagram of the rotational radius prediction means in Example 1, where 81 represents a prediction unit and 82 represents an adaptation unit. 83 is a subtractor, 84a is a prediction unit input switch, and 84a1 and 84a2 represent the contacts of the prediction unit input switch 84a. 84b is an adaptation operation switch, 84c is an output switch, and 84c1 and 84c2 represent the contacts of the output switch 84c.

[0043] The prediction switching unit 84 is constituted by 84c, 84c1, and 84c2. 85 is an input terminal to the rotational radius prediction means 12xg and 12yg, and signals from the rotational radius calculation means 12xf and 12yf are input thereto. 86 is an output terminal from the rotational radius prediction means 12xg and 12yg, and 87 represents a unit delay device. Also, u(n), y(n), and e(n) represent, respectively, the input value, predicted value, and prediction error of the rotational radius calculation means 12xf and 12yf at the n-th sample.

[0044] First, the case where signals are input from the rotational radius calculation means 12xf and 12fy before the start of exposure will be described. In this case, by the CPU 12, the prediction unit input switch 84a is set to the contact 84a1 side, the adaptation operation switch 84b is turned ON, and the output switch 84c is set to the contact 84c1 side. In this embodiment, this state is called the adaptation operation or adaptation operation state.

[0045] In this case, the input value u(n - 1) unit - delayed by the unit delay device 87 is input to the prediction unit 81 via the prediction unit input switch 84a. The prediction unit 81 outputs the current predicted value y(n) based on the past input values. That is, the prediction unit 81 generates the current predicted value y(n) based on the past input values u(n - 1) up to one sample before.

[0046] The subtractor 83 calculates the difference e(n) = u(n) - y(n) (i.e., the prediction error) between the input value u(n) and the predicted value y(n). The adaptation unit 82 updates the prediction unit 81 by a predetermined adaptation algorithm using the prediction error. Since the output switching switch 84c is in contact with the contact point 84c1 side, the current input value u(n) input to the input terminal 85 is selected as the output signal and output to the output terminal 86 as it is through the output switching switch 84c. In this way, until the start of exposure, the signal from the input terminal 85 is output to the output terminal 86 as it is, and the adaptation operation of the prediction unit 81 is performed by the adaptation unit 82.

[0047] Next, the operation after the start of exposure will be described. In this case, by the CPU 12, the prediction unit input switching switch 84a is switched to the contact point 84a2 side, the adaptation operation switch 84b is turned off, and the output switching switch 84c is switched to the contact point 84c2 side. Therefore, the prediction unit 81 has the past predicted value y(n - 1) fed back to the prediction unit 81 through the prediction unit input switching switch 84a.

[0048] The prediction unit 81 outputs a predicted value y(n) based on the past predicted value fed back. Since the adaptation operation switch 84b is off, the operations of the adaptation unit 82 and the subtractor 83 are stopped. And since the output switching switch 84c is in contact with the contact point 84c2 side, the predicted value y(n) is selected as the output signal and output to the output terminal 86. In this embodiment, this state is called the prediction operation or the prediction operation state.

[0049] In this way, during exposure, the predicted value generated by the prediction unit 81 is output to the output terminal 86 and the prediction operation is performed. In addition to the prediction method described with reference to FIG. 10, it is possible to predict the change in the rotation radius during exposure using various methods such as linear prediction from the rotation radius change history and the Kalman filter. In this way, by predicting the rotation radius during exposure, the change in the rotation radius of the predicted rotation radius waveform 72c during the exposure period 73 can be made closer to the actual rotation radius waveform 72a than the change in the rotation radius of the rotation radius waveform 72b during the exposure period 73 in FIG. 8(A).

[0050] As described above, the correction amount waveform 71c in FIG. 7(B) is obtained by multiplying the signals of the rotation radius prediction means 12xg and 12yg by the signals of the angular velocity integration means 12xa and 12ya. Then, the remaining shake waveform (correction error) 74b in FIG. 9(B), which is the difference between the image plane deviation amount waveform 71a and the correction amount waveform 71c, can reduce the remaining shake more than the remaining shake waveform 74a in FIG. 9(A).

[0051] As shown in FIG. 8(B), the actual rotation radius waveform 72a has a lower frequency compared to the image plane deviation amount waveform 71a. Therefore, in this embodiment, instead of predicting the correction waveform from the parallel shake waveform and the history of the parallel shake correction amount, the correction waveform is calculated based on the prediction result of the rotation radius waveform 72b. As a result, there is an effect that a stable and highly accurate correction amount waveform 71c can be obtained.

[0052] As described above, the noise generated in the accelerometer due to the focusing drive vibration associated with the exposure operation and the shutter drive vibration during exposure deteriorates the parallel shake detection. To prevent this, in this embodiment, the predicted rotation radius is used during exposure. Further, in this embodiment, the rotation radius obtained by calculation is used when no vibration occurs during the exposure period, and the rotation radius is predicted only while vibration occurs during the exposure period.

[0053] At that time, in this embodiment, when the output switching switch 84c is switched to the contact 84c1 side from the state where the predicted value generated by the prediction unit 81 is output to the output terminal 86 and the predicted rotation radius is supplied, the rotation radius is prevented from changing significantly. That is, by making the rotation radius smoothly continuous, stable shake correction can be achieved.

[0054] That is, for example, in FIG. 8(C), when the exposure period 75 is longer than the exposure period 73 and the rotation radius obtained by real-time calculation is used after the exposure period 73, in the predicted rotation radius waveform 72c, a step 76 is prevented from occurring at the end of the exposure period 73. To this end, in order to match the value at the end of the exposure period 73 of the predicted rotation radius, the broken line waveform 77 in which the value of the subsequent calculated rotation radius is offset is used, so that blur correction is performed to make the connection from the predicted waveform to the calculated waveform continuous. Incidentally, in order to smooth the change from the predicted waveform to the calculated waveform, a low-pass filter may be passed when switching the waveform.

[0055] FIG. 11 is a flowchart of the shake correction control of the camera in the first embodiment. The operations of each step of the flowchart in FIG. 11 are performed by the CPU 12 as a computer executing a computer program stored in the memory. The flow in FIG. 11 starts when the camera 11 is powered on. In step S901, as described with reference to FIGS. 2 and 4, the rotation radius calculation means 12xf and 12yf calculate the rotation radius of the translational shake. Also, the correction of the angular shake starts.

[0056] In step S902, based on the sequentially input rotation radius information, the rotation radius prediction means 12xg and 12yg start an adaptation operation for preparing the rotation radius prediction using the adaptation unit 82. That is, in this adaptation operation, the prediction unit input switching switch 84a in FIG. 10 is in the contact 84a1 side, the adaptation operation switch 84b is ON, and the output switching switch 84c is in the contact 84c1 side.

[0057] In step S903, it is determined whether an exposure operation has been performed by the photographer. If No, the process returns to step S901 to continue calculating the rotation radius and correcting the angular shake. Here, by repeating the loop from step S901 to step S904, the adaptation accuracy in the rotation radius prediction means 12xg and 12yg can be improved.

[0058] When it is determined in step S903 that the exposure has started, the process proceeds to step S904. In step S904, it is determined whether continuous shooting is being performed. If continuous shooting is in progress, the process proceeds to step S908 and the prediction of the rotation radius is not performed. This is because during continuous shooting, repeated shooting is performed for a long time, and thus the prediction accuracy of the rotation radius gradually decreases. If continuous shooting is not being performed, the process proceeds to step S905.

[0059] In step S905, the rotation radius prediction means 12xg and 12yg switch from the adaptation operation using the adaptation unit 82 to the prediction operation and start outputting the predicted rotation radius. That is, in the prediction operation, the prediction unit input switching switch 84a in FIG. 10 is switched to the contact 84a2 side, the adaptation operation switch 84b is turned OFF, and the output switching switch 84c is switched to the contact 84c2 side, and the output of the predicted rotation radius starts.

[0060] In step S906, in addition to angle blur correction, parallel blur correction based on the predicted rotation radius is started. In step S907, if the predicted rotation radius is significantly different (for example, 1.5 times) from the rotation radius calculated during the adaptation operation before exposure, it is determined that the prediction has failed, and the process proceeds to step S908 to stop predicting the rotation radius and fix it to a preset rotation center. If the answer in step S907 is No, the process proceeds to step S909.

[0061] In step S909, a predetermined time is waited. This predetermined time is a preset time (for example, 0.2 seconds) required for the disturbance vibration associated with the exposure operation to subside. During this predetermined time, the prediction of the rotation radius is continued. When the predetermined time has elapsed, the process proceeds to step S910. Here, step S909 functions as a determination means for determining whether the period during which the disturbance vibration is equal to or greater than a predetermined value based on whether the predetermined time has elapsed. In addition to the method of determining by the elapsed time until the disturbance vibration subsides as in step S909, a configuration may be adopted in which a vibration sensor is provided and when the disturbance vibration decreases, the process proceeds to step S910.

[0062] In step S910, the prediction switching unit 84 switches from the prediction operation to the adaptation operation that outputs the outputs of the rotation radius calculation means 12xf and 12yf to the multiplication means 12xh and 12yh. That is, the prediction unit input switching switch 84a in FIG. 10 is switched to the contact 84a1 side, the adaptation operation switch 84b is turned ON, and the output switching switch 84c is switched to the contact 84c1 side.

[0063] At this time, the process for maintaining the continuity of the rotation radius as described in FIG. 8(C) is performed. That is, the blur correction control means operates so as to reduce the difference between the parallel blur correction based on the rotation radius prediction signal and the output of the angle blur detection means and the parallel blur correction based on the output of the rotation radius calculation means and the output of the angle blur detection means. In step S911, it is determined whether exposure is completed. Until exposure is completed, the process returns to step S904 to continue blur correction, and when exposure is completed, the process returns to step S901.

[0064] In this embodiment, the blur correction control means 13a is configured by moving the blur correction lens 13c in the directions of arrows 13x and 13y. However, the blur correction control means may be configured by moving the imaging element 14 in the directions of 13x and 13y using the driving means 14b. Alternatively, the blur correction control means may be configured by shifting the readout area of the imaging element 14 in the directions of 13x and 13y. Alternatively, the image signal read from the imaging element 14 may be temporarily stored in a memory, and the blur correction control means may be configured by shifting the readout area from the memory in the directions of 13x and 13y.

[0065] As described above, the blur correction control means includes a readout area changing means for changing the readout area of the image obtained by the imaging means. Also, the blur correction control means may use any method as long as it controls the correction of parallel blur based on the rotation radius prediction signal of the rotation radius prediction means and the output of the angle blur detection means.

[0066] Thus, in this embodiment, during the exposure period when disturbance vibration is likely to occur, parallel shake is corrected based on the output of the prediction unit 81 and the output of the angular shake detection means. When the disturbance vibration subsides, parallel shake is corrected based on the output of the rotation radius calculation means and the output of the angular shake detection means. That is, the shake correction control means corrects parallel shake based on the rotation radius prediction signal and the output of the angular shake detection means during the period when the disturbance vibration is equal to or greater than a predetermined value. On the other hand, during the period when the disturbance vibration is less than the predetermined value, parallel shake is corrected based on the output of the rotation radius calculation means and the output of the angular shake detection means.

[0067] As described above, in this embodiment, by predicting the parallel shake during the period when disturbance vibration is likely to occur using the change history of the rotation center, highly accurate predicted shake is realized, and by correcting the shake more accurately, image degradation can be reduced.

Embodiment

[0068] The configuration of the camera according to Embodiment 2 will be described with reference to FIGS. 12 to 14. FIG. 12 is a functional block diagram of the main part of the anti-shake control device in the vertical direction of the camera according to Embodiment 2 of the present invention, and is a modification of a part of the functional block diagram of FIG. 2. That is, the functional block diagram of FIG. 12 is different from the functional block diagram of FIG. 2 in that the rotation radius is obtained for each frequency via a plurality of band-pass filters with different frequencies, and the adaptive operations of the respective rotation radii proceed in parallel. Further, it is different in that the vertical parallel shake correction target value is obtained based on any one of the rotation radii for each frequency.

[0069] Among FIG. 12, the parts different from FIG. 2 will be described. The output signal of the first accelerometer 16ya is secondarily integrated by the acceleration integration means 12yc and converted into a displacement amount. From the output of the acceleration integration means 12yc, only the component of the first frequency (for example, 0.5 Hz) is extracted by the first displacement band-pass filter 12yd1. Similarly, the signal of the first angular velocity meter 15pg converted into an angle by the angular velocity integration means 12pa is also extracted only the component of the first frequency (for example, 0.5 Hz) by the first angle band-pass filter 12pe1.

[0070] The first rotation radius calculation means 12yf1 calculates the first angular velocity meter rotation radius 17y1 in the vertical direction based on the output of the first displacement band-pass filter 12yd1 and the output of the first angle band-pass filter 12pe1, and further obtains the optical system rotation radius 19y1 in the vertical direction. The first gain rotation radius prediction means 12yg1 predicts the first optical system rotation radius in the vertical direction during exposure based on the change history of the first optical system rotation radius in the vertical direction output by the first rotation radius calculation means 12yf1 (for example, 2 seconds ago).

[0071] Also, the output signal of the acceleration integration means 12yc is extracted by the second displacement band-pass filter 12yd2 to extract only the components of a second frequency (for example, 2 Hz) different from the first frequency. Similarly, the output signal of the angular velocity integration means 12pa is also extracted by the second angle band-pass filter 12pe2 to extract only the components of a second frequency (for example, 2 Hz) different from the first frequency.

[0072] The second rotation radius calculation means 12yf2 calculates the second angular velocity meter rotation radius 17y2 in the vertical direction based on the output of the second displacement band-pass filter 12yd2 and the output of the second angle band-pass filter 12pe2, and obtains the optical system rotation radius 19y2 in the vertical direction. The second gain rotation radius prediction means 12yg2 predicts the second optical system rotation radius in the vertical direction during exposure based on the change history of the second optical system rotation radius in the vertical direction output by the rotation radius calculation means 12yf2 (for example, 0.5 seconds ago).

[0073] Thus, in this embodiment, a plurality of band-pass filters for extracting different frequency components from the output of the angle blur detection means and the output of the parallel blur detection means are provided. Also, the rotation radius of the angle blur is predicted based on the signals of the plurality of band-pass filters by the plurality of rotation radius prediction means.

[0074] The output signals of the first gain rotation radius prediction means 12yg1 and the second gain rotation radius prediction means 12yg2 are output to the multiplication means 12yh after one of the optical system rotation radii is selected by the rotation radius selection means 12yj.

[0075] The selection criteria of the rotation radius selection means 12yj will be described. The signal determination means 12yk compares the output of the first displacement band-pass filter 12yd1 input to the first rotation radius calculation means 12yf1 with the output of the second displacement band-pass filter 12yd2, and sends the comparison result to the rotation radius selection means 12yj. Based on the comparison result, the rotation radius selection means 12yj selects the optical system rotation radius calculated based on the displacement band-pass filter that outputs a relatively large signal.

[0076] Specifically, when the output of the second displacement band-pass filter 12yd2 is larger than the output of the first displacement band-pass filter 12yd1, it is determined that the parallel shake at 2 Hz is characteristic, and the signal of the second gain rotation radius prediction means 12yg2 is selected and sent to the multiplication means 12yh. Alternatively, the signal determination means 12yk compares the output of the first angle band-pass filter 12pe1 input to the first rotation radius calculation means 12yf1 with the output of the second angle band-pass filter 12pe2, and sends the comparison result to the rotation radius selection means 12yj.

[0077] Based on the comparison result, the rotation radius selection means 12yj selects the optical system rotation radius calculated based on the angle band-pass filter that outputs a relatively large signal. Specifically, when the output of the second angle band-pass filter 12pe2 is larger than the output of the first angle band-pass filter 12pe1, it is determined that the parallel shake at 2 Hz is characteristic, and the signal of the second gain rotation radius prediction means 12yg2 is selected and sent to the multiplication means 12yh. In this way, in this embodiment, the rotation radius selection means selects the output used for parallel shake correction from the outputs of a plurality of rotation radius prediction means.

[0078] The first gain rotation radius prediction means 12yg1 and the second gain rotation radius prediction means 12yg2 perform a prediction operation using the prediction method described with reference to FIG. 10. Also, the adaptation operation starts simultaneously from when the camera is powered on. In this embodiment, since the first gain rotation radius prediction means 12yg1 and the second gain rotation radius prediction means 12yg2 proceed with the adaptation operation, which is an operation for prediction in parallel, the rotation radius selection means 12yj can immediately respond regardless of which prediction value is obtained.

[0079] Here, the first gain rotation radius prediction means 12yg1 multiplies the optical system rotation radius obtained in the prediction operation by a gain of 1. On the other hand, the second gain rotation radius prediction means 12yg2 multiplies the optical system rotation radius obtained in the prediction operation by a gain of 0.7. That is, in this embodiment, in order to avoid the influence of disturbance noise, the second gain rotation radius prediction means 12yg2 reduces the gain compared to the first gain rotation radius prediction means 12yg1 to reduce the deterioration of blur correction.

[0080] This is because the extraction frequencies of the second angle band-pass filter 12pe2 and the second displacement band-pass filter 12yd2 are higher than those of the first angle band-pass filter 12pe1 and the first displacement band-pass filter 12yd1, so disturbance noise is likely to be mixed in. Thus, this embodiment is also characterized in that the output gains of the plurality of rotation radius prediction means are made different for each frequency.

[0081] The signal of the angular velocity integration means 12pa multiplied by the multiplication means 12yh is input to the parallel blur correction target value calculation means 12yi, and gain adjustment is performed according to the characteristics of the imaging optical system and the image magnification. The parallel blur correction target value whose gain is adjusted by the parallel blur correction target value calculation means 12yi is input to the driving means 13b. The blur correction lens 13c is driven in the direction of arrow 13y by the driving means 13b to correct the parallel blur in the vertical direction of the camera in addition to the above-described angular blur correction.

[0082] FIG. 13 is a functional block diagram of the main part of the anti-vibration control device for the optical axis of the camera in Embodiment 2 of the present invention, and shows a modified example of the functional block diagram of FIG. 6 corresponding to the top view of the camera in FIG. 5. That is, the functional block diagram of FIG. 13 is characterized in that the rotation radius is obtained for each frequency through a plurality of band-pass filters with different frequencies, and the adaptive operations of the respective rotation radii are advanced in parallel. Further, it is characterized in that the parallel shake correction target value in FIG. 5 is obtained based on any one of the rotation radii for each frequency. Also, in FIG. 13, the optical system rotation radius 19r shown in FIG. 5 is calculated. Further, the camera 11 is provided with both the configuration of FIG. 13 and the configuration of FIG. 12.

[0083] In FIG. 13, the output signal of the second accelerometer 16xa is second-integrated by the acceleration integration means 12xc and converted into a displacement amount. From the output of the acceleration integration means 12xc, only the component of the first frequency (for example, 0.5 Hz) is extracted by the first displacement band-pass filter 12xd1. Similarly, the signal of the third angular velocity meter 15rg is converted into an angle by the angular velocity integration means 12ra, and only the component of the first frequency (for example, 0.5 Hz) is extracted by the first angle band-pass filter 12re1.

[0084] The first rotation radius calculation means 12xf1 calculates the angular velocity meter rotation radius 17r1 based on the output of the first angle band-pass filter 12re1 and the output of the first displacement band-pass filter 12xd1. Further, the optical system rotation radius 19r1 is obtained based on the distance 18r between the third angular velocity meter 15rg and the optical axis and the angular velocity meter rotation radius 17r1. The first gain rotation radius prediction means 12xg1 predicts the optical system rotation radius during exposure based on the change history of the optical system rotation radius output by the first rotation radius calculation means 12xf1 at (for example, 2 seconds ago).

[0085] Further, the output signal of the acceleration integration means 12xc is extracted by the second displacement band-pass filter 12xd2 to extract only components of a second frequency (for example, 2 Hz) different from the first frequency. Similarly, the output signal of the angular velocity integration means 12ra is also extracted by the second angle band-pass filter 12re2 to extract only components of a second frequency (for example, 2 Hz) different from the first frequency.

[0086] The second rotation radius calculation means 12xf2 calculates the angular velocity meter rotation radius 17r2 based on the output of the second angle band-pass filter 12re2 and the output of the second displacement band-pass filter 12xd2, and obtains the optical system rotation radius 19r2. Further, the optical system rotation radius 19r2 is obtained based on the distance 18r between the third angular velocity meter 15rg and the optical axis and the angular velocity meter rotation radius 17r2. The second gain rotation radius prediction means 12xg2 predicts the optical system rotation radius during exposure based on the change history of the optical system rotation radius output by the second rotation radius calculation means 12xf2 at (for example, 0.5 seconds before).

[0087] The output signals of the first gain rotation radius prediction means 12xg1 and the second gain rotation radius prediction means 12xg2 are output to the multiplication means 12xh after one of the rotation radii is selected by the rotation radius selection means 12xj. The signal determination means 12xk compares the output of the first displacement band-pass filter 12xd1 input to the first rotation radius calculation means 12xf1 with the output of the second displacement band-pass filter 12xd2, and sends the comparison result to the rotation radius selection means 12xj. The rotation radius selection means 12xj selects the optical system rotation radius calculated based on the displacement band-pass filter that outputs a relatively large signal based on the comparison result.

[0088] Specifically, when the output of the second displacement band-pass filter 12xd2 is larger than the output of the first displacement band-pass filter 12xd1, it is determined that the 2 Hz parallel shake is characteristic, and the signal of the second gain rotation radius prediction means 12xg2 is selected and sent to the multiplication means 12xh. Alternatively, the signal determination means 12xk compares the outputs of the first angle band-pass filter 12re1 and the second angle band-pass filter 12re2 input to the first rotation radius calculation means 12xf1, and sends the comparison result to the rotation radius selection means 12xj.

[0089] The rotation radius selection means 12xj selects the optical system rotation radius calculated based on the angle band-pass filter that outputs a relatively large signal based on the comparison result. Specifically, when the output of the second angle band-pass filter 12re2 is larger than the output of the first angle band-pass filter 12re1, it is determined that the 2 Hz parallel shake is characteristic, and the signal of the second gain rotation radius prediction means 12xg2 is selected and sent to the multiplication means 12xh.

[0090] The first gain rotation radius prediction means 12xg1 and the second gain rotation radius prediction means 12xg2 perform a prediction operation using the prediction method described with reference to FIG. 10. Also, the adaptation operation starts simultaneously from when the camera is powered on. In this embodiment, since the first gain rotation radius prediction means 12xg1 and the second gain rotation radius prediction means 12xg2 proceed with the adaptation operation, which is an operation for prediction in parallel, it is possible to immediately respond regardless of which prediction value is obtained from the rotation radius selection means 12xj.

[0091] Here, the first gain rotation radius prediction means 12xg1 multiplies the rotation radius obtained in the prediction operation by, for example, a gain of 1. On the other hand, the second gain rotation radius prediction means 12xg2 multiplies the rotation radius obtained in the prediction operation by, for example, a gain of 0.7. That is, in this embodiment, in order to avoid the influence of external disturbance noise, the second gain rotation radius prediction means 12xg2 reduces the gain compared to the first gain rotation radius prediction means 12xg1 to reduce the deterioration of shake correction. This is because the extraction frequencies of the second angle band-pass filter 12re2 and the second displacement band-pass filter 12xd2 are higher than the extraction frequencies of the first angle band-pass filter <12re1> and the first displacement band-pass filter 12xd1, so external disturbance noise is likely to be mixed in.

[0092] Multiplication means 12xh multiplies the integral angle of the output signal of third gyro 15rg output from angular velocity integration means 12ra by optical system rotation radius 19r. The output of multiplication means 12xh is input to parallel shake correction target value calculation means 12xi, where gain adjustment is performed to match the characteristics of the photographic optical system and image magnification. The parallel shake correction target value gain-adjusted by parallel shake correction target value calculation means 12xi is input to drive means 13b, and blur correction lens 13c is driven by drive means 13b in the direction of arrow 16x to correct parallel shake in the lateral direction of the camera.

[0093] In this way, in the first embodiment, the parallel shake 16x was calculated by multiplying the integral angle of the signal from the second gyro 15yg by the radius of rotation of the optical system 19x in FIG. 3, but in the second embodiment, the third gyro 15rg and the radius of rotation 19r are used.

[0094] 13, the angular shake correction target value is calculated by integrating the output of the second angular velocity meter 15yg with angular velocity integrating means 12ya and using angular shake target value calculating means 12pb. However, it is also possible to integrate the outputs of the first angular velocity meter 15pg and the third angular velocity meter 15rg with angular velocity integrating means, calculate the respective angular shake correction target values using angular shake target value calculating means, and perform angular shake correction accordingly.

[0095] Fig. 14 is a flowchart of camera vibration isolation control in embodiment 2, and steps with the same numbers as those in the flowchart of Fig. 11 are similar processes and will not be described further. Note that the operation of each step in the flowchart of Fig. 14 is performed by the CPU 12 as a computer executing a computer program stored in memory.

[0096] In step S1201, the gyration radius selection means 12xj selects either the predicted optical system gyration radius from the first gain gyration radius prediction means 12xg1 or the predicted optical system gyration radius from the second gain gyration radius prediction means 12xg2 based on the output of the signal determination means 12xk, and also selects either the predicted optical system gyration radius from the first gain gyration radius prediction means 12yg1 or the predicted optical system gyration radius from the second gain gyration radius prediction means 12yg2 based on the output of the signal determination means 12xk.

[0097] In step S1202, the disturbance vibration applied to the camera is detected by the first and second accelerometers 16ya and 16xa. Then, this step is looped and waited until the disturbance vibration subsides, and the prediction operation is continued.

Example

[0098] The configuration of the camera of Example 3 will be described with reference to FIGS. 15 to 19. FIG. 15 is a side view of the camera in Example 3 of the present invention. The difference from FIG. 1 is that, instead of the first accelerometer 16ya, a movement vector 14y in the direction of arrow 14y detected from the imaging element 14 is input to the CPU 12. Although not shown in the figure, in this embodiment, it includes movement vector detection means for detecting the movement vector of the image obtained from the imaging element 14, and the movement vector detection means functions as parallax detection means.

[0099] FIG. 16 is a functional block diagram of the main part of the anti-vibration control device in the vertical direction of the camera of FIG. 15. The difference from FIG. 2 is that the displacement obtained from the movement vector 14y is input to the displacement band-pass filter 12yd.

[0100] FIG. 17 is a front view of the camera in Example 3. The difference from FIG. 5 is that, instead of using the second accelerometer 16xa, a second movement vector 14x in the direction of arrow 14x detected from the imaging element 14 is input to the CPU 12. FIG. 18 is a functional block diagram of the main part of the anti-vibration control device in the optical axis direction of the camera of FIG. 17. The difference from FIG. 4 is that in FIG. 17, the displacement obtained from the second movement vector 14x in the x direction is input to the displacement band-pass filter 12xd. Also, similar to Example 2, the optical system rotation radius 19r is obtained by the rotation radius calculation means 12xf using the third angular velocity meter 15rg.

[0101] In this way, the optical system rotation radius is obtained from the ratio between the motion vector obtained from the imaging element 14 instead of the accelerometer as the parallel shake detection means and the integrated value of the angular velocity obtained from the angular velocity meter as the angle detection means. Further, the rotation radius prediction means outputs the rotation radius in an adaptive operation before exposure, and outputs a predicted rotation radius in a prediction operation during exposure to correct parallel shake.

[0102] Furthermore, in the third embodiment, there is a reliability determination means for determining the reliability of the predicted rotation radius. Also, the shake correction control means changes the predicted rotation radius of the rotation radius prediction means based on the determination of the reliability determination means. FIG. 19 is a functional block diagram regarding the reliability determination means in the third embodiment. In FIG. 19, the reliability determination means 1701 determines the reliability of the predicted rotation radii of the rotation radius prediction means 12xg and 12yg based on the comparison of the predicted rotation radii of shakes in a plurality of different directions.

[0103] In the reliability determination means 1701, the signals of the rotation radius prediction means 12xg and 12yg are input to the prediction value comparison unit 1701a. The prediction value comparison unit 1701a calculates the ratio of the optical system rotation radii which are the predicted values of the rotation radius prediction means 12xg and 12yg. Then, when the variation of the ratio becomes large (when the differential value of the ratio becomes larger than a predetermined threshold value), it is determined that the reliability has decreased, and the previously set predicted value fixed signals are respectively supplied to the prediction switching units 1702bx and 1702by. That is, the reliability determination means determines the reliability of the predicted rotation radius based on the variation of the predicted rotation radius of the rotation radius prediction means.

[0104] The prediction switching units 1702bx and 1702by supply the output signals from the respective rotation radius calculation means to the multiplication means 12xh and 12yh when the rotation radius prediction means 12xg and 12yg are not outputting predicted values (during the adaptive operation). Also, when the rotation radius prediction means 12xg and 12yg are outputting predicted values (during the prediction operation), if the predicted value fixed signal is not supplied from the prediction value comparison unit 1701a, the predicted values from the rotation radius prediction means 12xg and 12yg are output to the multiplication means 12xh and 12yh.

[0105] On the other hand, when the rotation radius prediction means 12xg and 12yg output predicted values (during the prediction operation), if a predicted value fixing signal is output from the predicted value comparison unit 1701a, the predicted rotation radius at that time is output to the multiplication means 12xh and 12yh as a fixed value. That is, the blur correction control means fixes the predicted rotation radius of the rotation radius prediction means to a predetermined value based on the reliability of the predicted rotation radius of the rotation radius prediction means.

[0106] In this way, the reliability determination means 1701 determines the reliability of the predicted optical system rotation radius based on the variation in the ratio of the two optical system rotation radii 19x and 19y. This utilizes the fact that the variation in the ratio is small because the variation in the rotation radius is about the same in any direction when there is a variation in the rotation radius. In addition, in FIG. 19, the reliability determination is performed based on the optical system rotation radii 19x and 19y, but the reliability determination may also be performed based on the comparison of the optical system rotation radii 19x and 19r, or the comparison of 19y and 19r. Alternatively, when the variation rates of the optical system rotation radii 19x, 19y, and 19r respectively exceed a predetermined threshold value, it may be determined that the reliability is low and switched to a fixed value.

[0107] As described above, the present invention has been described in detail based on its preferred embodiments. However, the present invention is not limited to the above embodiments, and various modifications are possible based on the gist of the present invention, and they are not excluded from the scope of the present invention. In addition, a part or all of the control in this embodiment may be supplied to the vibration isolation control device or the like via a network or various storage media by a computer program that realizes the functions of the above-described embodiments. And a computer (or a CPU, MPU, etc.) in the vibration isolation control device or the like may read and execute the program. In that case, the program and the storage medium storing the program will constitute the present invention.

Explanation of Reference Numerals

[0108] 11 Camera 12yg Rotation Radius Prediction Means 12xg Rotation Radius Prediction Means 12yj Rotation radius selection means 13a Vibration correction control means 1701 Reliability determination means

Claims

1. A rotation radius calculation means for calculating the rotation radius of angular shake based on the outputs of the angular shake signal acquired from the angular shake detection means and the parallel shake signal acquired from the parallel shake detection means; A rotation radius prediction means for predicting a change in the rotation radius based on the output of the rotation radius calculation means and outputting a rotation radius prediction signal; A shake correction control means for controlling the correction of parallel shake based on the rotation radius prediction signal of the rotation radius prediction means and the angular shake signal acquired from the angular shake detection means. An anti-vibration control device characterized by comprising:

2. The shake correction control means corrects the parallel shake based on the rotation radius prediction signal and the output of the angular shake detection means during a period when the external disturbance vibration is equal to or greater than a predetermined value, and during a period when the external disturbance vibration is less than the predetermined value, the parallel shake is corrected based on the output of the rotation radius calculation means and the output of the angular shake detection means. The anti-vibration control device according to claim 1, characterized in that:

3. The shake correction control means operates so as to reduce the difference between the correction of the parallel shake based on the rotation radius prediction signal and the output of the angular shake detection means and the correction of the parallel shake based on the output of the rotation radius calculation means and the output of the angular shake detection means. The anti-vibration control device according to claim 1, characterized in that:

4. A plurality of band-pass filters for extracting different frequency components from the output of the angular shake detection means and the output of the parallel shake detection means respectively; A plurality of the rotation radius prediction means for predicting the rotation radius of the angular shake based on the signals of the plurality of band-pass filters; An anti-vibration control device according to claim 1, characterized by comprising a rotation radius selection means for selecting an output for use in correcting the parallel shake from the outputs of the plurality of rotation radius prediction means.

5. The anti-vibration control device according to claim 4, characterized in that the output gains of the plurality of rotation radius prediction means are made different for each frequency.

6. Having a reliability determination means for determining the reliability of the rotation radius predicted by the rotation radius prediction means; The shake correction control means changes the predicted rotation radius of the rotation radius prediction means based on the determination of the reliability determination means. The anti-vibration control device according to claim 1, characterized in that:

7. The reliability determination means determines the reliability of the predicted rotation radius based on the fluctuation of the predicted rotation radius of the rotation radius prediction means. The anti-vibration control device according to claim 6, characterized in that:

8. The anti-vibration control device according to claim 6, wherein the shake correction control means fixes the predicted turning radius of the turning radius prediction means to a predetermined value based on the reliability of the predicted turning radius of the turning radius prediction means.

9. The anti-vibration control device according to any one of claims 1 to 8, wherein the parallel shake detection means includes an accelerometer, and the turning radius calculation means acquires a signal from the accelerometer as the parallel shake signal.

10. The anti-vibration control device according to any one of claims 1 to 9, wherein the parallel shake detection means includes motion vector detection means for detecting a motion vector of an imaging element, and the turning radius calculation means acquires a signal from the motion vector detection means as the parallel shake signal.

11. The anti-vibration control device according to any one of claims 1 to 10, wherein the angular shake detection means includes a gyroscope, and the turning radius calculation means acquires a signal from the gyroscope as the angular shake signal.

12. The anti-vibration control device according to claim 2, further comprising determination means for determining whether or not a period during which the external disturbance vibration is equal to or greater than the predetermined value has elapsed based on whether or not a predetermined time has elapsed until the external disturbance vibration subsides.

13. The anti-vibration control device according to any one of claims 1 to 12, wherein the shake correction control means controls drive means for driving an imaging optical system.

14. The anti-vibration control device according to any one of claims 1 to 12, wherein the shake correction control means controls readout area changing means for changing a readout area of an image obtained by an imaging means.

15. The anti-vibration control device according to any one of claims 1 to 13, wherein the angular shake detection means includes a plurality of angular shake detection sensors for detecting the angular shake in a plurality of directions, and the turning radius calculation means acquires the angular shake signals in a plurality of directions from the plurality of angular shake detection sensors as the angular shake signals.

16. The anti-vibration control device according to any one of claims 1 to 15, wherein the parallel shake detection means includes a plurality of parallel shake detection sensors for detecting the parallel shake in a plurality of directions, and the turning radius calculation means acquires the parallel shake signals in a plurality of directions from the plurality of parallel shake detection sensors as the parallel shake signals.

17. A computer program for causing a computer to function as the anti-vibration control device according to any one of Claims 1 to 16.

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