Anti-vibration control device and method, imaging device, and lens device

Abstract

To correct parallel shake with high accuracy in a simpler configuration.SOLUTION: An image stabilization control apparatus comprises: first calculation means that calculates a first correction target value for correcting parallel shake in a first direction using a first signal indicating the parallel shake in the first direction and a second signal indicating angle shake in a second direction; second calculation means that calculates a second correction target value for correcting the parallel shake in the first direction using the first signal and a third signal indicating angle shake in a third direction; and selection means that selects the correction target value calculated using the signal indicating any of the first correction target value and the second correction target value.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an anti-shake control device and method. , taken image device , and a lens device The present invention relates to electronic devices such as those shown in FIG. 1, and in particular to a technique for reducing parallel shake. [Background technology]

[0002] Various methods have been proposed to prevent image blur caused by camera shake and other factors. In particular, recent improvements in the performance of angular velocity sensors have made it possible to detect angular shake over a wider frequency range than before. Utilizing this has improved the camera's ability to correct angular shake, making it possible to shoot at longer exposure times. However, when shooting at longer exposure times, the effects of translational shake, which was not a significant problem in the past, can become noticeable.

[0003] Patent Document 1 discloses a method for reducing image degradation due to translational shake by performing highly accurate shake correction by performing correction taking into account the dominant frequency band for each translational shake detection axis. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-160162 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, it is assumed that high-frequency vibration is the dominant factor in translational vibration in rotational motion around the y-axis, and low-frequency vibration is the dominant factor in translational vibration in rotational motion around the z-axis, and correction However, there may be cases where this assumption does not necessarily hold true.

[0006] The present invention has been made in consideration of the above problems, and has as its object to perform highly accurate parallel shake correction with a simpler configuration. [Means for solving the problem]

[0007] In order to achieve the above object, the vibration isolation control device of the present invention includes a first calculation means for calculating a first correction target value for correcting a parallel shake in a first direction, using a first signal indicating a parallel shake in a first direction and a second signal indicating a rotational shake about an axis of a second direction perpendicular to the first direction; a second calculation means for calculating a second correction target value for correcting the parallel shake in the first direction, using the first signal and a third signal indicating a rotational shake about an axis of a third direction perpendicular to the first and second directions; and a selection means for selecting one of a plurality of correction target values ​​for the parallel shake in the first direction, including at least the first correction target value and the second correction target value, based on the second signal and the third signal. 、 With the first calculation means calculates a first radius of rotation using the first signal and the second signal, and calculates the first correction target value based on a product of the first radius of rotation and an angle obtained from the second signal; the second calculation means calculates a second radius of rotation using the first signal and the third signal, and calculates the second correction target value based on a product of the second radius of rotation and an angle obtained from the third signal; and the selection means selects the first correction target value when the first radius of rotation is longer than the second radius of rotation, and selects the second correction target value when the first radius of rotation is not longer than the second radius of rotation. do. [Effects of the Invention]

[0008] According to the present invention, parallel shake correction can be performed with high accuracy using a simpler configuration. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view of a camera according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a configuration for performing image stabilization control in the camera CPU of FIG. 1. [Figure 3] FIG. 2 is a top view of the camera according to the first embodiment. [Figure 4] FIG. 4 is a block diagram showing a configuration for performing image stabilization control in the camera CPU of FIG. 3. [Figure 5] FIG. 2 is a front view of the camera according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing a configuration for performing image stabilization control in the camera CPU of FIG. 5. [Figure 7]FIG. 2 is a block diagram showing the configuration of a selection unit in the first embodiment. [Figure 8] 5 is a flowchart showing a shake correction process in the first embodiment. [Figure 9] FIG. 10 is a block diagram showing the configuration of a selection unit in the second embodiment. [Figure 10] 10 is a flowchart showing a shake correction process in the second embodiment. [Figure 11] 10 is a flowchart showing a parallel shake correction target value selection process according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention claimed. Although multiple features are described in the embodiments, not all of these multiple features are necessarily essential to the invention, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same reference numerals are used to designate the same or similar components, and redundant explanations will be omitted.

[0011] First Embodiment A first embodiment of the present invention will be described below. Fig. 1 is a side view showing in simplified form the functional configuration of an anti-shake control system in a camera 11 that is composed of a camera body 11a and an interchangeable lens 11b that can be attached to and detached from the camera body 11a. Fig. 2 is a block diagram showing the configuration for performing anti-shake control in the camera CPU 12 in Fig. 1.

[0012] A camera CPU 12 provided in the camera body 11a controls the shooting operation and vibration isolation control operation within the camera 11 in response to shooting instruction operations from the photographer. When a light beam from a subject along the optical axis 10 passes through a photographing optical system 13 provided in the interchangeable lens 11b and enters the image sensor 14, the image sensor 14 photoelectrically converts the incident light beam and outputs an image signal.

[0013] 1, third angular velocity meter 15pg detects the angular velocity of rotational shake applied to camera 11 in the direction indicated by arrow 15ps (fifth direction) and outputs an angular velocity signal. The angular velocity signal from third angular velocity meter 15pg is input to camera CPU 12. Furthermore, third accelerometer 16ya detects the acceleration of parallel shake applied to camera 11 in the direction indicated by arrow 16ys (fourth direction) and outputs an acceleration signal. The acceleration signal from third accelerometer 16ya is input to camera CPU 12.

[0014] The angular velocity signal from the third angular velocity meter 15pg is converted into an angle signal in the direction indicated by the arrow 15p (fifth direction) by being integrated by the angular velocity integration unit 12pa shown in Fig. 2. The angle signal from the angular velocity integration unit 12pa is input to the third angular shake calculation unit 12pb, the angle band-pass filter 12pe, and the third multiplication unit 12yh.

[0015] The third angular shake calculation unit 12pb performs gain adjustment on the input angle signal in accordance with the characteristics and focal length of the photographing lens, and outputs the obtained third angular shake correction target value to the driving unit 13b. Then, the driving unit 13b calculates the third angular shake correction target value based on the third angular shake correction target value. Imaging optical system Angular shake is corrected by driving a shake correction lens 13c, which is part of 13, in the direction of arrow 13y. Note that shake correction lens 13c and drive unit 13b constitute shake correction unit 13a.

[0016] On the other hand, the acceleration signal from the third accelerometer 16ya is converted into a displacement signal by second-order integration in the acceleration integrator 12yc, and then only the component of a desired frequency (e.g., 1 Hz) is extracted by the displacement band-pass filter 12yd.Furthermore, only the component of a desired frequency (e.g., 1 Hz) is extracted from the angle signal from the angular velocity integrator 12pa by the angle band-pass filter 12pe.

[0017] The third radius of rotation calculation unit 12yf calculates a radius of rotation 17y from the center of rotation 17yc of the shake to the third accelerometer 16ya based on the ratio between the displacement signal and the angle signal of the same frequency extracted by the displacement band-pass filter 12yd and the angle band-pass filter 12pe. Furthermore, the calculated radius of rotation 17y is added to a preset radius of rotation 18y from the third accelerometer 16ya to the optical system principal point to calculate a third radius of rotation 19y.

[0018] The third radius of rotation 19y is input to a third multiplier 12yh via a third radius of rotation prediction unit 12yg, which predicts the radius of rotation when the radius of rotation cannot be calculated. The third multiplier 12yh obtains the product of the third radius of rotation 19y and the angle signal input from the angular velocity integration unit 12pa, and recalculates the parallel shake in the direction of the arrow 16y (fourth direction).

[0019] In this way, once the third radius of rotation 19y is known, parallel vibration in the direction of the arrow 16y can be stably detected using only the angular velocity signal from the third angular velocity meter 15pg, without using the acceleration signal from the third accelerometer 16ya.

[0020] The parallel shake signal from the third multiplier 12yh is input to a third parallel shake calculator 12yi, which adjusts the gain according to the characteristics of the photographing lens and the imaging magnification, and inputs the resulting third parallel shake compensation target value to the driver 13b. Based on this third parallel shake compensation target value, the driver 13b drives the shake compensation lens 13c in the direction of the arrow 13y, thereby correcting parallel shake in addition to the angular shake correction described above.

[0021] FIG. 3 is a top view of the camera 11, and FIG. 4 is a block diagram showing the configuration for performing vibration isolation control in the camera CPU 12 of FIG. 3, first angular velocity meter 15yg detects the angular velocity of rotational shake applied to camera 11 in the direction indicated by arrow 15ys (second direction) and outputs an angular velocity signal. The angular velocity signal from first angular velocity meter 15yg is input to camera CPU 12. Furthermore, first accelerometer 16xa detects the acceleration of parallel shake applied to camera 11 in the direction indicated by arrow 16xs (first direction) and outputs an acceleration signal. The acceleration signal from first accelerometer 16xa is input to camera CPU 12.

[0022] The angular velocity signal from the first angular velocity meter 15yg is converted into an angle signal in the direction indicated by the arrow 15y (second direction) by being integrated by the angular velocity integration unit 12ya shown in Fig. 4. The angle signal from the angular velocity integration unit 12ya is input to the first angular shake calculation unit 12yb, the angle band-pass filter 12ye, and the first multiplication unit 12xh1.

[0023] The first angular shake calculation unit 12yb performs gain adjustment on the input angle signal in accordance with the characteristics and focal length of the photographing lens, and outputs the obtained first angular shake correction target value to the driver 13b. The driver 13b then drives the shake correction lens 13c in the direction of the arrow 13x based on the first angular shake correction target value, thereby correcting the angular shake.

[0024] On the other hand, the acceleration signal from the first accelerometer 16xa is converted into a displacement signal by being double-integrated by the acceleration integrator 12xc, and then only the component of a desired frequency (e.g., 1 Hz) is extracted by the displacement band-pass filter 12xd.Furthermore, only the component of a desired frequency (e.g., 1 Hz) is extracted from the angle signal from the angular velocity integrator 12ya by the angle band-pass filter 12ye.

[0025] The first radius of rotation calculation unit 12xf1 calculates a radius of rotation 17x from the shake rotation center 17xc to the first accelerometer 16xa based on the ratio between the displacement signal and the angle signal of the same frequency extracted by the displacement band-pass filter 12xd and the angle band-pass filter 12ye. Furthermore, the calculated radius of rotation 17x is added to a preset radius of rotation 18x from the first accelerometer 16xa to the optical system principal point to calculate a first radius of rotation 19x.

[0026] The first radius of rotation 19x is input to a first multiplier 12xh1 via a first radius of rotation prediction unit 12xg1, which predicts the radius of rotation when the radius of rotation cannot be calculated, and is also input to a selector 12i. The first multiplier 12xh1 obtains the product of the input first radius of rotation 19x and the angle signal input from the angular velocity integration unit 12ya, and recalculates the parallel shake in the direction of the arrow 16x (first direction).

[0027] In this way, once the first radius of rotation 19x is known, parallel vibration in the direction of the arrow 16x can be stably detected using only the angular velocity signal from the first angular velocity meter 15yg, without using the acceleration signal from the first accelerometer 16xa.

[0028] The parallel shake signal from the first multiplier 12xh1 is input to a first parallel shake calculator 12xi1, which adjusts the gain to match the characteristics of the shooting lens and the imaging magnification, and the resulting first parallel shake correction target value is input to a selector 12i, which will be described later. The processing in the selector 12i will be described in detail later. The signal output from the selector 12i is input to a driver 13b, which drives the blur correction lens 13c in the direction of arrow 13x based on the signal, thereby correcting parallel shake in addition to the angular shake correction described above.

[0029] FIG. 5 is a front view of the camera 11, and FIG. 6 is a block diagram showing the configuration for performing vibration reduction control in the camera CPU 12 of FIG. 5, second angular velocity meter 15rg detects the angular velocity of rotational shake applied to camera 11 in the direction indicated by arrow 15rs (third direction), and outputs an angular velocity signal. The angular velocity signal from second angular velocity meter 15rg is input to camera CPU 12. Note that first accelerometer 16xa is the same as that shown in FIG.

[0030] The angular velocity signal from the second angular velocity meter 15rg is converted into an angle signal around the photographing optical axis (third direction) indicated by arrow 15r by being integrated by an angular velocity integration unit 12ra shown in Fig. 6. The angle signal from the angular velocity integration unit 12ra is input to a rotational shake calculation unit 12rb, an angle band-pass filter 12re, and a second multiplication unit 12xh2.

[0031] The rotational shake calculation unit 12rb performs gain adjustment on the input angle signal in accordance with the characteristics and focal length of the photographing lens, and outputs the obtained rotational shake correction target value to the driver 14b. The driver 14b then drives the image sensor 14 in the direction of arrow 14r based on the rotational shake correction target value, thereby correcting the rotational shake. The image sensor 14 and driver 14b together constitute a shake correction unit.

[0032] 4, the acceleration signal from the first accelerometer 16xa is converted into a displacement signal by being double-integrated by the acceleration integrator 12xc, and then only a desired frequency (e.g., 1 Hz) is extracted by the displacement band-pass filter 12xd. Also, only a desired frequency component (e.g., 1 Hz) is extracted from the angle signal from the angular velocity integrator 12ra by the angle band-pass filter 12re.

[0033] The second radius of rotation calculation unit 12xf2 calculates a radius of rotation 17r from the shake rotation center 17rc to the first accelerometer 16xa from the ratio of the displacement signal and the angle signal of the same frequency extracted by the displacement band-pass filter 12xd and the angle band-pass filter 12re. Furthermore, the calculated radius of rotation 17r is added to a preset radius of rotation 18r from the first accelerometer 16xa to the imaging optical axis to calculate a second radius of rotation 19r.

[0034] The second radius of rotation 19r is input to a second multiplier 12xh2 via a second radius of rotation prediction unit 12xg2, which predicts the radius of rotation when the radius of rotation cannot be calculated, and is also input to a selector 12i. The second multiplier 12xh2 obtains the product of the second radius of rotation 19r input and the angle signal input from the angular velocity integration unit 12ra, and recalculates the parallel shake in the direction of the arrow 16x (first direction).

[0035] In this way, once the second radius of rotation 19r is known, parallel vibration in the direction of the arrow 16x can be stably detected using only the angular velocity signal from the second angular velocity meter 15rg, without using the acceleration signal from the first accelerometer 16xa.

[0036] The parallel shake signal from the second multiplier 12xh2 is input to a second parallel shake calculator 12xi2, which performs gain adjustment according to the characteristics of the photographing lens and the imaging magnification, and the obtained second parallel shake correction target value is input to a selector 12i (described later). The processing in the selector 12i will be described in detail later.

[0037] Next, the configuration and processing of the selection unit 12i shown in FIGS. 4 and 6 will be described with reference to FIG. The selector 12i receives the first radius of rotation 19x calculated by the first radius of rotation calculation unit 12xf1 shown in Fig. 4 and the second radius of rotation 19r calculated by the second radius of rotation calculation unit 12xf2 shown in Fig. 6. The selector 12i then outputs to the driver 13b a parallel shake correction target value calculated based on the longer radius of rotation of either the first parallel shake correction target value output by the first parallel shake calculation unit 12xi1 or the second parallel shake correction target value output by the second parallel shake calculation unit 12xi2. For example, if the first radius of rotation 19x, which was the basis for calculating the first parallel shake correction target value in the first parallel shake calculation unit 12xi1, is longer than the second radius of rotation 19r, which was the basis for calculating the second parallel shake correction target value in the second parallel shake calculation unit 12xi2, the first parallel shake correction target value is output to the driver 13b.

[0038] As described with reference to FIGS. 3 to 6, there are two types of parallel shake correction target values ​​in the direction of arrow 16x (first direction): one calculated from the angle signal in the direction of arrow 15y (second direction) and the first radius of rotation 19x, and the other calculated from the rotational shake in the direction of arrow 15r (third direction) and the second radius of rotation 19r. In this embodiment, the value that has the greater effect on image degradation is selected to correct the parallel shake in the direction of arrow 16x. In addition, the first radius of rotation 19x and the second radius of rotation 19r are used as criteria for selecting the value that has the greater effect on image degradation.

[0039] In this embodiment, the first accelerometer 16xa and the third accelerometer 16ya are described as being used to detect parallel shake, but the motion vectors in each direction obtained from the image sensor 14 may also be used to detect parallel shake. Furthermore, in the description, the image sensor 14 is described as being moved in the directions of the arrows 13y and 13x to correct angular shake in the direction of the arrow 15p, angular shake in the direction of the arrow 15y, parallel shake in the direction of the arrow 16x, and parallel shake in the direction of the arrow 16y. However, the present invention is not limited to this. For example, the image sensor 14 may be moved in the directions of the arrows 13y and 13x by the driver 14b, or both the image sensor 14 and the image sensor 14 may be moved.

[0040] FIG. 8 is a flowchart showing the shake correction process in this embodiment, which starts when the power of the camera 11 is turned on.

[0041] In S801, the first rotation radius calculation unit 12xf 1 The first, second, and third radius of rotation calculation units 12xf1, 12xf2, 12yf calculate the first, second, and third radius of rotation 19x, 19r, and 19y, respectively. Angular shake correction is also started.

[0042] Until it is determined in S802 that exposure is to start, the process waits by circulating between S801 and S802, and once exposure has started, the process proceeds to S803.

[0043] In S803, the selection unit 12i compares the first radius of rotation 19x with the second radius of rotation 19r. If the first radius of rotation 19x is longer, the process proceeds to S804, and if not, the process proceeds to S805. In S804, the selector 12i selects the first parallel shake compensation target value obtained from the first parallel shake calculation unit 12xi1. On the other hand, in S805, the selector 12i selects the second parallel shake compensation target value obtained from the second parallel shake calculation unit 12xi2.

[0044] As can be seen from FIG. 2, the third radius of rotation 19y output from the third parallel shake calculation unit 12yi does not go through the selection unit 12i and is therefore always used.

[0045] In S806, in addition to angular shake correction, parallel shake correction and rotational shake correction are started. S806 and S807 are repeated until it is determined in S807 that exposure has ended, and when it is determined that exposure has ended, the process proceeds to S808. In S808, the parallel shake correction and the rotational shake correction are stopped, and the process returns to S801.

[0046] As described above, according to the first embodiment, a parallel shake compensation target value is calculated using a plurality of methods, and the parallel shake compensation target value that has the greatest effect on image degradation is selected. This makes it possible to achieve highly accurate parallel shake compensation with a simple configuration.

[0047] In the first embodiment, the first and second parallel shake compensation target values ​​in the direction of the arrow 16x (first direction) are calculated from the acceleration signal from the first accelerometer 16xa, the angular velocity signal from the first angular velocity meter 15yg, and the angular velocity signal from the second angular velocity meter 15rg, and one of them is selected. However, the present invention is not limited to this, and two types of parallel shake compensation target values ​​in the direction of the arrow 16y (fourth direction) may be calculated, and one of them may be selected.

[0048] In this case, the acceleration signal from the third accelerometer 16ya is used instead of the acceleration signal from the first accelerometer 16xa, and the angular velocity signal from the third angular velocity meter 15pg is used instead of the angular velocity signal from the first angular velocity meter 15yg. In addition, a selection unit is provided for selecting a parallel shake correction target value in the direction of the arrow 16y, and the same processing as in the case of the direction of the arrow 16x is performed.

[0049] Furthermore, the parallel shake correction target value may be calculated in either the direction of the arrow 16x or the direction of the arrow 16y, or in both directions.

[0050] In the first embodiment, the first rotation radius 19x, the first parallel shake compensation target value, the second parallel shake compensation target value, and the second rotation radius 19r are all input to the selector 12i. However, the present invention is not limited to this. For example, the first rotation radius 19x and the second rotation radius 19r may be input to the selector 12i, and after one of the first rotation radius 19x and the second rotation radius 19r is selected, only the parallel shake compensation target value corresponding to the selected rotation radius may be calculated. In this case, when the first rotation radius 19x is selected, the second parallel shake compensation target value is not calculated. In this way, the selector 12i may select a correction target value by selecting a calculation means for calculating the correction target value.

[0051] Second Embodiment Next, a second embodiment of the present invention will be described. The configuration of the camera 11 including the vibration isolation control system in the second embodiment is basically the same as that described in the first embodiment with reference to FIGS. 1 to 6, so a description thereof will be omitted. However, in the second embodiment, the first radius of rotation 19x from the first radius of rotation calculation unit 12xf1 and the second radius of rotation of The second radius of rotation 19r does not have to be input to the selection unit 12i as shown in FIGS.

[0052] Fig. 9 shows the configuration of the selector 12i in the second embodiment. The selector 12i receives the first parallel shake compensation target value from the first parallel shake calculation unit 12xi1 shown in Fig. 4 and the second parallel shake compensation target value from the second parallel shake calculation unit 12xi2 shown in Fig. 6. The first parallel shake compensation target value and the second parallel shake compensation target value are input to the selector 12ia, and a band-pass filter (BPF) 12ib extracts signals of, for example, 0.5 Hz, 2.0 Hz, and 4.0 Hz, and their effective values ​​are input to the determination unit 12ic.

[0053] The determination unit 12ic also receives shutter speed information acquired by the camera CPU 12. Based on the output of the determination unit 12ic obtained using the above multiple pieces of input information, the selector 12ia selects either the first parallel shake compensation target value or the second parallel shake compensation target value, and outputs it to the drive unit 13b.

[0054] Here, the judgment criteria of the judgment unit 12ic will be explained. As mentioned above, shutter speed information is input to the judgment unit 12ic. The degree of image degradation due to camera shake varies depending on the shutter speed Tv. For example, when the shutter speed Tv is long (slow) and is longer than 1 / 2 second, image degradation due to low-frequency blur becomes noticeable. Conversely, when the shutter speed Tv is short (fast) and is shorter than 1 / 30 second, image degradation due to high-frequency blur becomes noticeable. Therefore, the judgment unit 12ic determines the frequency that has the greatest effect on image degradation from the shutter speed Tv, and selects a parallel blur correction target value based on the magnitude of the output of the band-pass filter for that frequency.

[0055] Specifically, for example, when the shutter speed Tv is 1 / 8 seconds, the output of the 2.0 Hz bandpass filter is emphasized, and the 2.0 Hz signal extracted from the first parallel shake correction target value is compared with the 2.0 Hz signal extracted from the second parallel shake correction target value. Then, which of the two has a larger effective value is determined. selector Output to 12ia.

[0056] Fig. 10 is a flowchart showing the shake correction process in the second embodiment, which starts when the power of the camera 11 is turned on. The difference from the process shown in Fig. 8 is that instead of the process of selecting a parallel shake correction target value in S803 to S805, the process of selecting a parallel shake correction target value shown in Fig. 11 is performed in S1000. Since the rest of the process is the same as that shown in Fig. 8, the same step numbers are used and their explanations are omitted.

[0057] FIG. 11 is a flowchart showing the process of selecting a parallel shake correction target value in the determining unit 12ic. In S1001, the shutter speed Tv is input. In S1002, the shutter speed Tv is determined, and if it is longer than 1 / 2 second, the process proceeds to S1003, if it is shorter than 1 / 30 second, the process proceeds to S1005, and if it is in between, the process proceeds to S1004.

[0058] In S1003, the first parallel shake compensation target value is compared with the 0.5 Hz effective value extracted from the second parallel shake compensation target value. If the effective value of the first parallel shake compensation target value is greater, the result of the decision to select the first parallel shake compensation target value is set to S1006. selector If the effective value of the first parallel shake compensation target value is not larger, the result of the determination in step S1007 to select the second parallel shake compensation target value is output to the output terminal 12ia. selector Output to 12ia.

[0059] Similarly, in S1004, the first parallel shake compensation target value is compared with the effective value of 2.0 Hz extracted from the second parallel shake compensation target value. If the effective value of the first parallel shake compensation target value is greater, the result of the decision to select the first parallel shake compensation target value is set to S1008. selector If the effective value of the first parallel shake compensation target value is not larger, the result of the determination in step S1009 to select the second parallel shake compensation target value is output to the output terminal 12ia. selector Output to 12ia.

[0060] In step S1005, the first parallel shake compensation target value is compared with the 4.0 Hz effective value extracted from the second parallel shake compensation target value. If the effective value of the first parallel shake compensation target value is greater, the result of the decision to select the first parallel shake compensation target value is set to S1010. selector If the effective value of the first parallel shake compensation target value is not larger, the result of the determination in step S1011 to select the second parallel shake compensation target value is output to the output terminal 12ia. selector Output to 12ia.

[0061] In the determinations of S1003, S1004, and S1005, if the effective value of the first parallel shake compensation target value and the effective value of the second parallel shake compensation target value are the same, the first parallel shake compensation target value may be selected.

[0062] As described above, according to the second embodiment, a parallel shake compensation target value is calculated using a plurality of methods, and the parallel shake compensation target value that has the greatest effect on image degradation is selected according to the shutter speed. This makes it possible to achieve highly accurate parallel shake compensation with a simple configuration.

[0063] In the second embodiment, the direction of the arrow 16x (first direction) has been described, but the same processing may be performed for the direction of the arrow 16y (fourth direction).

[0064] Furthermore, similarly to the first embodiment, if it is possible to select the larger parallel shake at the frequency based on the angular shake (angular velocity) in the second direction and the angular shake (angular velocity) in the third direction, without calculating the target correction value, the correction target value may be selected by selecting a calculation means.

[0065] Furthermore, in the above embodiment, the vibration damping control device of the present invention is described as being mounted on an imaging device, but the present invention is not limited to this, and can be mounted on electronic devices that can detect angular shake and parallel shake.

[0066] Furthermore, in the above embodiment, the camera system has been described as including two calculation means for the target correction value of the parallel shake in the first direction, but it may also include three or more calculation means. For example, the camera system may further include a calculation means for calculating the target correction value of the parallel shake in the first direction based on a motion vector acquired from an image captured by an imaging device, without using an acceleration signal indicating the parallel shake in the first direction. The target correction value calculated by the calculation means may be selected when the reliability of the acceleration signal is low or when the reliability of the parallel shake signal based on the motion vector is high.

[0067] <Other embodiments> The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0068] The invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0069] 11: camera, 12xf1: first rotation radius calculation unit, 12xf2: second rotation radius calculation unit, 12xi1: first parallel blur calculation unit, 12xi2: second parallel blur calculation unit, 12i: selection unit, 12ia: selector, 12ib: band pass filter, 12ic: determination unit, 13b: drive unit, 13c: blur correction lens, 14: image sensor, 15xg: first angular blur detection unit, 15rg: second angular blur detection unit, 16xa: parallel blur detection unit,

Claims

1. a first calculation means for calculating a first correction target value for correcting a translational shake in a first direction, using a first signal indicating a translational shake in a first direction and a second signal indicating a rotational shake about an axis in a second direction perpendicular to the first direction; a second calculation means for calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection means for selecting one of a plurality of correction target values ​​for parallel shake in a first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal; the first calculation means calculates a first radius of rotation using the first signal and the second signal, and calculates the first correction target value based on a product of the first radius of rotation and an angle obtained from the second signal; the second calculation means calculates a second radius of rotation using the first signal and the third signal, and calculates the second correction target value based on a product of the second radius of rotation and an angle obtained from the third signal; The selection means selects the first correction target value when the first rotation radius is longer than the second rotation radius, and selects the second correction target value when the first rotation radius is not longer than the second rotation radius.

1. An anti-vibration control device comprising:

2. A first calculation means for calculating a first correction target value for correcting parallel shake in a first direction using a first signal indicating parallel shake in a first direction and a second signal indicating rotational shake about an axis in a second direction perpendicular to the first direction; a second calculation means for calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection means for selecting one of a plurality of correction target values ​​for parallel shake in a first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal; The vibration damping control device is characterized in that the selection means selects the larger of the first correction target value and the second correction target value based on each of the first correction target value based on the second signal and the second correction target value based on the third signal.

3. A first calculation means for calculating a first correction target value for correcting parallel shake in a first direction using a first signal indicating parallel shake in a first direction and a second signal indicating rotational shake about an axis of a second direction perpendicular to the first direction; a second calculation means for calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection means for selecting one of a plurality of correction target values ​​for parallel shake in the first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal; The image stabilization control device is characterized in that the selection means selects either the first correction target value or the second correction target value based on the magnitudes at multiple frequencies extracted from the first correction target value and the second correction target value, respectively, and shutter speed information.

4. The first calculation means calculates a first radius of rotation using the first signal and the second signal, and calculates the first correction target value based on the product of the first radius of rotation and an angle obtained from the second signal; The second calculation means calculates a second radius of rotation using the first signal and the third signal, and calculates the second correction target value based on the product of the second radius of rotation and an angle obtained from the third signal.

4. The vibration isolation control device according to claim 3.

5. 5. The image stabilization control device according to claim 3, wherein the selection means determines a frequency that is significantly affected by blur based on the shutter speed information, and selects the correction target value having a larger magnitude extracted at the determined frequency from the first correction target value and the second correction target value.

6. 6. The vibration damping control device according to claim 1, further comprising a correction control means for performing correction control of parallel shake based on the correction target value selected by the selection means from the first correction target value and the second correction target value.

7. a third calculation means for calculating a third correction target value for correcting the translational shake in the fourth direction by using a fourth signal indicating the translational shake in the fourth direction and a fifth signal indicating the rotational shake in the fifth direction; a fourth calculation means for calculating a fourth correction target value for correcting the parallel shake in the fourth direction by using the third signal and the fourth signal; a second selection means for selecting one of a plurality of correction target values ​​for parallel shake in a fourth direction, the correction target value including at least the third correction target value and the fourth correction target value, based on the third signal and the fifth signal; 6. The vibration isolation control device according to claim 1, further comprising:

8. 8. The vibration damping control device according to claim 7, further comprising: a correction control means for performing correction control of parallel shake based on a correction target value selected by said selection means from among the first correction target value and the second correction target value, and a correction control means for performing correction control of parallel shake based on a correction target value selected by said second selection means from among the third correction target value and the fourth correction target value.

9. 9. The image stabilization control device according to claim 1, wherein the selection means selects a calculation means for calculating a correction target value, thereby selecting the correction target value.

10. An anti-vibration control device according to any one of claims 1 to 5; an image sensor that photoelectrically converts incident light via an imaging optical system and outputs an image signal; a driving unit that drives at least one of a correction lens included in the photographing optical system and the image sensor; a correction control means for controlling the driving of the driving means based on the correction target value selected by the selection means, thereby correcting the parallel shake; An imaging device comprising:

11. The vibration isolation control device according to claim 7 ; an image sensor that photoelectrically converts incident light via an imaging optical system and outputs an image signal; a driving unit that drives at least one of a correction lens included in the photographing optical system and the image sensor; a correction control means for performing correction control of parallel shake by controlling the driving of the driving means based on the correction target value selected by the selection means, and for performing correction control of parallel shake by controlling the driving of the driving means based on the correction target value selected by the second selection means; An imaging device comprising:

12. An anti-vibration control device according to any one of claims 1 to 9; a photographing optical system having a correction lens; a driving means for driving the correction lens; a second correction control means for controlling the driving of the driving means based on the correction target value selected by the selection means, thereby correcting the parallel shake; A lens device comprising:

13. a first calculation step of calculating a first correction target value for correcting a translational shake in a first direction by using a first signal indicating a translational shake in a first direction and a second signal indicating a rotational shake about an axis in a second direction perpendicular to the first direction; a second calculation step of calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection step of selecting one of a plurality of correction target values ​​for parallel shake in a first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal, In the first calculation step, a first radius of rotation is calculated using the first signal and the second signal, and the first correction target value is calculated based on a product of the first radius of rotation and an angle obtained from the second signal; In the second calculation step, a second radius of rotation is calculated using the first signal and the third signal, and the second correction target value is calculated based on a product of the second radius of rotation and an angle obtained from the third signal; In the selection step, the first correction target value is selected when the first rotation radius is longer than the second rotation radius, and the second correction target value is selected when the first rotation radius is not longer than the second rotation radius.

10. A vibration isolation control method comprising:

14. A first calculation step of calculating a first correction target value for correcting parallel shake in a first direction using a first signal indicating parallel shake in a first direction and a second signal indicating rotational shake about an axis in a second direction perpendicular to the first direction; a second calculation step of calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection step of selecting one of a plurality of correction target values ​​for parallel shake in a first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal, In the selection step, the larger of the first correction target value and the second correction target value is selected based on the first correction target value based on the second signal and the second correction target value based on the third signal.

10. A vibration isolation control method comprising:

15. A first calculation step of calculating a first correction target value for correcting parallel shake in a first direction using a first signal indicating parallel shake in a first direction and a second signal indicating rotational shake about an axis in a second direction perpendicular to the first direction; a second calculation step of calculating a second correction target value for correcting a translational shake in the first direction by using the first signal and a third signal indicating a rotational shake about an axis of a third direction orthogonal to the first direction and the second direction; a selection step of selecting one of a plurality of correction target values ​​for parallel shake in a first direction, the correction target value including at least the first correction target value and the second correction target value, based on the second signal and the third signal, In the selection step, one of the first correction target value and the second correction target value is selected based on magnitudes at a plurality of frequencies extracted from the first correction target value and the second correction target value, respectively, and shutter speed information.

10. A vibration isolation control method comprising:

16. A program for causing a computer to function as each of the means of the vibration isolation control device according to any one of claims 1 to 9.

17. A computer-readable storage medium storing the program according to claim 16.

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