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

Abstract

To provide a control device, an imaging device, a lens device, a camera system, a control method, and a program, which can easily and satisfactorily correct an image blur at a predetermined image point position including an optical axis center.SOLUTION: A control device includes: first acquisition means for acquiring information on image shift sensitivity to the eccentricity of a blur correcting optical system according to an image point position of an imaging optical system including the blur correcting optical system for correcting an image blur, and information on a blur; and second acquisition means for acquiring a first correction drive amount when correcting the image blur of the blur correcting optical system. The second acquisition means acquires the first correction drive amount corresponding to a predetermined image point position using the information on the image shift sensitivity according to the predetermined image point position, and the information on the blur.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In optical systems employing a central projection method, the image point movement on the imaging plane differs between the central and peripheral parts of the image during camera shake. As shown in Figure 18(A), the amount of image point movement at the peripheral part of the image is greater than the amount of image point movement at the central part of the image. Therefore, even after correcting image blur, the image point remains significantly shifted at the peripheral part of the image compared to the central part, as shown in Figure 18(B). Patent Document 1 discloses an imaging device that corrects image blur at the peripheral part of the image by considering the difference between the amount of image blur at the central part of the image caused by the central projection method and the amount of image blur at a predetermined image point position. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2018-173632 [Overview of the project] [Problems that the invention aims to solve]

[0004] In the imaging device described in Patent Document 1, the correction amount for correcting image blur at a predetermined image point position is calculated by considering the image shift sensitivity to the tilt of the optical system, which depends on the image height of the subject image. However, when image blur correction is performed with a lens-shift type blur correction mechanism, the image shift sensitivity to the eccentricity of the blur correction optical system has different characteristics from the image shift sensitivity to the tilt of the optical system. Therefore, when correcting image blur at a predetermined image point position using a blur correction optical system, if the correction amount is not calculated considering the image shift sensitivity to the eccentricity of the blur correction optical system according to the image point position, there will be insufficient correction or overcorrection.

[0005] The present invention aims to provide a control device, imaging device, lens device, camera system, control method, and program that can easily and effectively correct image blur at a predetermined image point position including the optical axis center. [Means for solving the problem]

[0006] A control device as one aspect of the present invention includes a first acquisition means for acquiring information on the image shift sensitivity of the image correction optical system to the eccentricity of the image correction optical system according to the image point position of the imaging optical system equipped with an image correction optical system for correcting image blur, and information on blur, and a second acquisition means for acquiring a first correction drive amount when the image correction optical system corrects image blur. , setting means for setting an anti-vibration position that corrects image blur on the imaging surface of the imaging optical system The second acquisition means is Vibration isolation position Using information on image shift sensitivity and blur, Vibration isolation position The method is characterized by acquiring a first corrected drive amount corresponding to the specified value. [Effects of the Invention]

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

[0008] [Figure 1] This is a schematic diagram of the imaging system according to the first embodiment. [Figure 2] This is a flowchart showing a control method for acquiring the image blur correction drive amount in the first embodiment. [Figure 3] Figure 3(A) shows the relationship between image height and tilt-image shift sensitivity in the direction of image point movement at the center of the image when the imaging optical system of the first embodiment is tilted. Figure 3(B) shows the relationship between image height and tilt-image shift sensitivity in a direction perpendicular to the direction of image point movement at the center of the image when the imaging optical system of the first embodiment is tilted. [Figure 4] This figure illustrates the movement of the image point at a predetermined image point position in relation to the movement of the image point at the center of the image when rotational blur occurs around the Y axis in the first embodiment. [Figure 5] Figure 5(A) shows the position of the image point on the imaging plane. Figure 5(B) shows a correction coefficient table containing correction coefficient information corresponding to the image point position. [Figure 6] Figure 6(A) shows the relationship between image height in the direction of eccentricity at the center of the image and eccentricity-image shift sensitivity when the image stabilization optical system of the first embodiment is eccentric. Figure 6(B) shows the relationship between image height in a direction perpendicular to the direction of eccentricity at the center of the image and eccentricity-image shift sensitivity when the image stabilization optical system of the first embodiment is eccentric. [Figure 7] This figure illustrates the image point movement at a predetermined image point position in relation to the image center position when the image correction optical system of the first embodiment becomes eccentric. [Figure 8] This figure shows the ratio and direction of the remaining image point movement amount at each image point when image blur at a predetermined image point position in the first embodiment is corrected by OIS, indicated by arrows. [Figure 9] This is a diagram showing the configuration of the lens-side microcontroller and the camera-side microcontroller in the second embodiment. [Figure 10] Figure 10(A) shows the flow from turning on the power of the imaging system 1 to turning on the vibration isolation function and bringing the imaging device into shooting standby mode. Figure 10(B) shows the flow from turning on the power of the imaging system 1 to turning on the vibration isolation function and bringing the imaging device into shooting standby mode. [Figure 11] This is a cross-sectional view of the optical system of Example 1 when the object distance is infinity and the system is in focus at the wide-angle end. [Figure 12] This is an aberration diagram of the optical system of Example 1 when the object distance is infinity and the system is in focus at the wide-angle end. [Figure 13] This is a cross-sectional view of the optical system of Example 2 when the object distance is in focus at infinity at the wide-angle end. [Figure 14] This is an aberration diagram of the optical system in Example 2 when the object distance is infinity at the wide-angle end and in focus. [Figure 15] This is a cross-sectional view of the optical system of Example 3 when the object distance is in focus at infinity. [Figure 16] This is an aberration diagram of the optical system in Example 3 when the object distance is infinity and the system is in focus. [Figure 17] This figure shows the ray traces of the principal rays of the d-line, corresponding to each field of view, entering from the object surface in the optical system of Example 1. [Figure 18] Figure 18(A) shows the ratio and direction of image point displacement at each image point on the subject image when image blur occurs in the -X axis direction at the center of the image due to rotational blur. Figure 18(B) shows the ratio and direction of remaining image point displacement at each image point when the image blur at the center of the image in Figure 18(A) is corrected by a lens shift type image blur correction mechanism, indicated by arrows. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described in detail below with reference to the drawings. In each drawing, the same reference numeral is used for identical components, and redundant descriptions are omitted.

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

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

[0012] The lens-side microcontroller 102 controls the image stabilization optical system 1014. Specifically, the lens-side microcontroller 102 determines the OIS drive amount of the OIS actuator 105 using the image stabilization drive amount from the camera-side microcontroller 202 and the position signal from the OIS encoder 103, which detects the position of the image stabilization optical system 1014. The OIS drive amount is determined so as not to exceed the movable range of the OIS actuator 105. When the OIS actuator 105 receives the OIS drive amount signal from the OIS driver 104, it corrects image stabilization by moving the image stabilization optical system 1014 in a direction that includes a component perpendicular to the Z-axis direction, thereby eccentricating it with respect to the optical axis of the imaging optical system 101.

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

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

[0015] The camera-side microcontroller 202 controls the entire imaging system 1. For example, the camera-side microcontroller 202 reads the image signal from the image sensor 201 as image data. The camera-side microcontroller 202 then performs processing such as applying image processing based on optical design information to the image data, displaying the image data on the display / operation unit 203, and saving the image data to the recording medium 204. The camera-side microcontroller 202 also issues instructions to the lens-side microcontroller 102 for focusing, zoom magnification changes, aperture adjustments, etc. for the imaging optical system 101. Some of the settings related to the above processing may be changed by the display / operation unit 203 or by operation units such as buttons (not shown).

[0016] Furthermore, the camera-side microcontroller 202 acquires the image blur correction drive amount (the correction drive amount when the image blur correction optical system 1014 corrects image blur) according to the flow shown in Figure 2. Figure 2 is a flowchart of the control method for acquiring the image blur correction drive amount by the camera-side microcontroller 202. In the first acquisition step S1, the camera-side microcontroller 202 functions as a first acquisition means and acquires information regarding the image shift sensitivity of the image blur correction optical system 1014 to the eccentricity corresponding to the image point position of the imaging optical system 101. Also in the first acquisition step S1, the camera-side microcontroller 202 acquires information regarding blur (also called a motion detection signal, for example, the blur angle and acceleration generated in the imaging system 1). In the second acquisition step S2, the camera-side microcontroller 202 functions as a second acquisition means and acquires the image blur correction drive amount corresponding to a predetermined image point position using the information regarding the image shift sensitivity of the image blur correction optical system 1014 to the eccentricity corresponding to a predetermined image point position. The camera-side microcontroller 202 may calculate the image blur correction drive amount, or it may acquire it from a table stored in a server or memory. Furthermore, in this embodiment, the camera-side microcontroller 202 functions as the first acquisition means and the second acquisition means, but the lens-side microcontroller 102 may also function as the first acquisition means and the second acquisition means.

[0017] The gyro sensor 205 outputs information regarding the angular velocity of the imaging system 1 as a motion detection signal. The accelerometer 206 outputs information regarding the translational movement of the imaging system 1 as a motion detection signal. When the camera-side microcontroller 202 receives motion detection signals from each sensor, it sends an image blur correction drive amount to the lens-side microcontroller 102 or the IIS control unit 207 in the camera-side microcontroller 202 to correct the image blur of the subject image in response to the movement of the imaging system 1. When performing image blur correction, either OIS or IIS may be performed, or the division of image blur correction may be decided (for example, 50% correction by OIS and 50% correction by IIS) and both OIS and IIS may be performed.

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

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

[0020] The following describes the processing in OIS when correcting image blur at a predetermined image point position. When the gyro sensor 205 and acceleration sensor 206 detect movement of the imaging system 1, each sensor outputs a motion detection signal (information about blur) to the camera-side microcontroller 202. The camera-side microcontroller 202 acquires the image blur correction drive amount using the tilt-image shift sensitivity information, eccentricity-image shift sensitivity information, vibration isolation position information on the imaging surface, and motion detection signal held by the lens memory 106. The camera-side microcontroller 202 transmits the acquired image blur correction drive amount to the lens-side microcontroller 102 or the IIS control unit 207. (Deriving information on tilt-image shift sensitivity) In this embodiment, the tilt-image shift sensitivity is the amount of image point movement in the direction perpendicular to and parallel to the rotation axis when the imaging optical system 101 is tilted with respect to a predetermined rotation axis perpendicular to the optical axis of the imaging optical system 101 on the imaging plane. Figure 3(A) shows the relationship between the image height in the direction of image point movement at the center of the image and the tilt-image shift sensitivity when the imaging optical system 101 of this embodiment is tilted. As shown in Figure 3(A), the amount of image point movement when the imaging optical system 101, which is designed to optically correct aberrations using a central projection method, is tilted increases as the image height in the direction of image point movement increases. Figure 3(B) shows the relationship between the image height in the direction perpendicular to the direction of image point movement at the center of the image and the tilt-image shift sensitivity when the imaging optical system 101 of this embodiment is tilted. As shown in Figure 3(B), the amount of image point movement when the imaging optical system 101, which is designed to allow barrel distortion correction using a central projection method, is tilted decreases as the image height in the direction perpendicular to the direction of image point movement increases. In this embodiment, by using the tilt-image shift sensitivity obtained using the design value of the imaging optical system 101, the amount of image point movement for each image height when rotational blur occurs can be derived without performing calculations using the image height formula or distortion aberration amount based on the projection method. In this embodiment, the tilt-image shift sensitivity is the value obtained by dividing the amount of image point movement when the imaging optical system 101 is tilted by 0.5° with respect to a predetermined rotation axis by 0.5°, but the tilt angle of the imaging optical system 101 is not limited to 0.5° and may be set as appropriate.

[0021] Figure 4 illustrates the movement of the image point at a predetermined image point position A in relation to the movement of the image point at the center of the image when rotational blur occurs around the Y-axis. It schematically shows how a stationary subject image 301 changes into a trapezoidally distorted subject image 302 due to image blur. In wide-angle lenses that optically correct distortion aberration using the central projection method, trapezoidal distortion like that of the subject image 302 becomes large when rotational blur occurs. Image blur occurs when each image point on the imaging plane moves according to the image point movement vector indicated by the arrow.

[0022] Here, the amount of rotational wobble around the Y-axis ω y The amount of image point shift t in the +X axis direction at the center position O of the imaging plane, which is the center of the image, when this occurs.x0 and the amount of image point movement t at a predetermined image point position A x will be described.

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

[0024] t x0 = ω[[ID=​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​ Also, the amount of image point movement t x0 This is the parallel component t, which is parallel to the line OA. rx0 and the perpendicular component t perpendicular to the line OA θX0 It can be expressed using the following equations (4) to (6).

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

[0028] Next, the amount of image point movement t at the predetermined image point position A. x Let's consider the following: R-direction tilt - image shift sensitivity LS r (h r When considering the parallel component t parallel to the line OA, rx This is the tilt-image shift sensitivity LS at image height r. r It is affected by (r). Also, the perpendicular component t is perpendicular to the line OA. θx This is affected by the tilt-image shift sensitivity LS at image height 0. The tilt-image shift sensitivity LS is in the direction perpendicular to the R direction. θ (h θ When considering the parallel component t parallel to the line OA, rx The tilt-image shift sensitivity LS at image height 0 is affected. Also, the vertical component t perpendicular to the straight line OA is affected. θx This is the tilt-image shift sensitivity LS at image height r.θ is affected by (r). From the above, the image point movement amount t x is the parallel component t rx and the perpendicular component t θx and is expressed by the following equations (7) to (9).

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

[0030] t ry = k LS_r (r) · k LS_θ (0) · t ry0 = k LS_r (r) · ω x · LS · sinθ (10) t θy = k LS_r (0) · k LS_θ(r)·t θy0 =k LS_θ (r)·ω x ·LS·cosθ (11) │t y │=(t ry 2 +t θy 2 ) 1 / 2 (12) As described above, when a rotational blur amount (ω x , ω y ) occurs with respect to a predetermined rotation axis orthogonal to the optical axis on the imaging surface, the amount of image point movement t at a predetermined image point position A is composed of a parallel component t r parallel to the straight line OA and a perpendicular component t θ perpendicular to the straight line OA, and is expressed by the following formulas (13) to (15).

[0031] t r =t rx +t ry =k LS_r (r)·LS(ω y ·cosθ + ω x ·sinθ) =K LS1 (r,θ)·ω y +K LS2 (r,θ)·ω x (13) t θ =t θx +t θy =k LS_θ (r)·LS(-ω y ·sinθ + ω x ·cosθ) =K LS3 (r,θ)·ω y +K LS4 (r,θ)·ω x (14) │t│=(t r 2 +t θ 2 ) 1 / 2 (15) Here, each coefficient (K LS1 , K LS2 , K LS3 , KLS4 The coefficients are rearranged as follows:

[0032] K LS1 (r,θ)=k LS_r (r)·LS·cosθ K LS2 (r,θ)=k LS_r (r)·LS·sinθ K LS3 (r,θ)=-k LS_θ (r)·LS·sinθ K LS4 (r,θ)=k LS_θ (r)·LS·cosθ As shown in equations (13) to (15), the amount of image point displacement t is a correction coefficient information (K) consisting of tilt-image shift sensitivity and position information (r,θ) of the image point position. LS1 ,K LS2 ,K LS3 ,K LS4 ) and rotational wobble (ω x ,ω y ) is composed of the following. In this embodiment, the correction coefficient information (K) corresponding to the image point position shown in Figure 5 is used. LS1 ,K LS2 ,K LS3 ,K LS4 A correction coefficient table, which summarizes the rotational blur (ω) in matrix form, is pre-stored in the lens memory 106 as information regarding tilt-image shift sensitivity. x ,ω y The amount of image point displacement t at a predetermined image point position A when ) occurs can be easily obtained. The interval of image point positions in the correction coefficient table is set as appropriate. Furthermore, the correction coefficient table may be managed in a Cartesian coordinate system rather than a polar coordinate system.

[0033] The information regarding tilt-image shift sensitivity may consist of tilt-image shift sensitivity for each image height in order to reduce the amount of information stored in the lens memory 106, or it may be possible to obtain the amount of image point movement t using positional information of a predetermined image point position where vibration isolation is performed. Furthermore, the positional information of the image point position may be polar coordinate system information or predetermined coordinate system information (e.g., Cartesian coordinate system). In addition, the information regarding tilt-image shift sensitivity may be derived using an image height formula based on the focal length and projection method determined from the specifications of the imaging optical system 101. (Deriving information on eccentricity-image shift sensitivity) In this embodiment, the eccentricity-image shift sensitivity is the amount of image point movement in the direction of eccentricity and in the direction perpendicular to the direction of eccentricity, with respect to the amount of eccentricity of the image stabilization optical system 1014 with respect to the optical axis of the imaging optical system 101. Figure 6(A) shows the relationship between the image height in the direction of eccentricity at the center of the image and the eccentricity-image shift sensitivity when the image stabilization optical system 1014 of this embodiment is eccentric. Figure 6(B) shows the relationship between the image height in the direction perpendicular to the direction of eccentricity at the center of the image and the eccentricity-image shift sensitivity when the image stabilization optical system 1014 of this embodiment is eccentric. As shown in Figures 6(A) and 6(B), the amount of image point movement when the image stabilization optical system 1014, which is designed to minimize eccentric distortion, is eccentric increases as the image height increases. In this embodiment, by using the eccentricity-image shift sensitivity obtained using the design value of the imaging optical system 101, an appropriate image blur correction drive amount can be obtained for image blur at a predetermined image point position. In this embodiment, the eccentricity-image shift sensitivity is the value obtained by dividing the amount of image point movement when the blur correction optical system 1014 is eccentric by 0.1 mm by 0.1 mm. However, the eccentricity of the blur correction optical system 1014 is not limited to 0.1 mm and may be set as appropriate.

[0034] Figure 7 illustrates the movement of the image point at a predetermined image point position A in relation to the movement of the image point at the center of the image when the image stabilization optical system 1014 is eccentric. Figure 7 schematically shows how a stationary subject image 301 changes into a trapezoidally distorted subject image 303 as each image point on the subject image 301 moves according to the image point movement vector indicated by the arrows.

[0035] Here, when the image correction optical system 1014 is eccentric by an eccentricity amount x in the X-axis direction, the amount of image point movement s at the center position O of the imaging plane is... x0 and the amount of image point movement s at the predetermined image point position A. x I will explain this.

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

[0037] s x0 =x·TS (16) The imaging plane (XY plane) is considered in a polar coordinate system (R-θ coordinate system) with the origin at the center position O, and the coordinates of a predetermined image point position A are (r,θ). The image height on the horizontal axis in Figure 6(A) is the image height h in the R direction in the polar coordinate system in Figure 7. r ', and the image height on the horizontal axis of Figure 6(B) is the image height h in the direction perpendicular to the R direction (θ direction) in the polar coordinate system of Figure 7. θ '. Image height h r Eccentricity-image shift sensitivity in TS r (h r When '), the image height h is relative to the eccentric-image shift sensitivity TS. r Eccentricity-image shift sensitivity coefficient k TS_r (h r ') is represented by the following equation (17).

[0038] k TS_r (h r ')=TS r (h r ') / TS (17) Also, the image height h θ Eccentricity-image shift sensitivity in TS θ (h θ When '), the image height h is relative to the eccentric-image shift sensitivity TS. θ Eccentricity-image shift sensitivity coefficient k TS_θ (h θ ') is expressed by the following equation (18).

[0039] k TS_θ (h θ ')=TSθ (h θ ') / TS (18) Also, the amount of image point shift s x0 This is the parallel component s parallel to the line OA. rx0 and the perpendicular component s perpendicular to the line OA θX0 It can be expressed using the following equations (19) to (21).

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

[0041] Next, the amount of image point movement s at the predetermined image point position A. x Let's consider the sensitivity of eccentricity-image shift in the R direction (TS). r (h r When considering '), the parallel component s parallel to the line OA is rx This is the sensitivity of eccentricity-image shift at image height r, TS. r It is affected by (r). Also, the perpendicular component s perpendicular to the line OA. θx This is affected by the eccentricity-image shift sensitivity TS at image height 0. Eccentricity-image shift sensitivity TS in the direction perpendicular to the R direction θ (h θ When considering '), the parallel component s parallel to the line OA is rx The eccentricity-image shift sensitivity TS at image height 0 is affected. Also, the vertical component s perpendicular to the straight line OA is affected. θx This is the sensitivity of eccentricity-image shift at image height r, TS. θIt is affected by (r). From the above, the image point shift amount s x The parallel component s rx and the perpendicular component s θx It can be expressed using the following equations (22) to (24).

[0042] s rx =k TS_r (r)·k TS_θ (0)·s sx0 =k TS_r (r)·x·TS·cosθ (22) s θx =k TS_r (0)·k TS_θ (r)·s θx0 =-k TS_θ (r)·x·TS·sinθ (23) │s x │=(s rx 2 +s θx 2 ) 1 / 2 (twenty four) In this way, when the image correction optical system 1014 is eccentric by an eccentricity amount x in the X-axis direction, the amount of image point movement s at a predetermined image point position A is... x The following is derived. Similarly, when the blur-correcting optical system 1014 is eccentric by an eccentricity amount y in the Y-axis direction, the amount of image point movement s at a predetermined image point position A in the polar coordinate system is obtained. y This is the parallel component s parallel to the straight line OA. ry and the perpendicular component s perpendicular to the line OA θy It can be expressed using the following equations (25) to (27).

[0043] s ry =k TS_r (r)·k TS_θ (0)·s ry0 =k TS_r (r)·y·TS·sinθ (25) s θy =k TS_r (0)·k TS_θ (r)·s θy0 =k TS_θ (r)·y·TS·cosθ (26) │s y │=(s ry 2 +s θy 2 ) 1 / 2 (27) As described above, the amount of image point movement s at a predetermined image point position A when the image stabilization optical system 1014 is eccentric with respect to the optical axis is a parallel component s parallel to the straight line OA. r and the perpendicular component s perpendicular to the line OA θ It can be expressed using the following equations (28) to (30).

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

[0045] K TS1 (r,θ)=k TS_r (r)·TS·cosθ K TS2 (r,θ)=k TS_r (r)·TS·sinθ K TS3 (r,θ)=-k TS_θ(r)·TS·sinθ K TS4 (r,θ)=k TS_θ (r)·TS·cosθ As shown in equations (28) to (30), the amount of image point displacement s is a correction coefficient information (K) consisting of eccentricity-image shift sensitivity and position information (r,θ) of the image point position. TS1 ,K TS2 ,K TS3 ,K TS4 It consists of (K) and eccentricity (x,y). In this embodiment, correction coefficient information (K) corresponding to the image point position is used. TS1 ,K TS2 ,K TS3 ,K TS4 A correction coefficient table, which summarizes the values ​​in matrix form, is pre-stored in the lens memory 106 as information regarding eccentricity-image shift sensitivity. This makes it easy to obtain the amount of image point movement s at a predetermined image point position A when the blur-correcting optical system 1014 is eccentric. The intervals between image point positions in the correction coefficient table are set as appropriate. Furthermore, the correction coefficient table may be managed in a Cartesian coordinate system rather than a polar coordinate system.

[0046] The information regarding eccentricity-image shift sensitivity may consist of tilt-image shift sensitivity for each image height, in order to reduce the amount of information to be stored in the lens memory 106, or it may be possible to obtain the amount of image point movement s using positional information of a predetermined image point position where vibration isolation is performed. Furthermore, the positional information of the image point position may be polar coordinate system information or predetermined coordinate system information (e.g., Cartesian coordinate system). (Setting of vibration isolation position information on the imaging surface) In this embodiment, the setting mode of the imaging system 1 can be switched between an image center vibration isolation mode, which sets a predetermined image point position (vibration isolation position) for vibration isolation to the center of the imaging plane, and a vibration isolation location setting mode, which allows the vibration isolation position to be set to a predetermined image point position. When the vibration isolation location setting mode is set, the vibration isolation position can be set on the display / operation unit 203. The position that can be set on the display / operation unit 203 may be linked to the image point position for autofocus or the image point position for automatic metering. The image point position for autofocus may be a position automatically detected by pupil detection, person detection, etc. The vibration isolation position information (r,θ) on the imaging plane is sent to the camera-side microcontroller 202, and the correction coefficient information to be used is selected from the correction coefficient table. (Motion detection signal) The gyro sensor 205 detects the angular velocity around multiple rotation axes of the imaging system 1 and outputs information regarding the amount of rotational shake as a motion detection signal. In this embodiment, the gyro sensor 205 detects the angular velocity around the X axis and the Y axis and outputs information regarding the amount of rotational shake (ω x ,ω y The acceleration sensor 206 detects the acceleration in multiple axial directions of the imaging system 1 and outputs information regarding the amount of translational shake as a motion detection signal. In this embodiment, the acceleration sensor 206 detects the acceleration in the X-axis direction and the Y-axis direction and outputs information regarding the amount of translational shake (a x ,a y It outputs information related to ). The gyro sensor 205 may consist of multiple sensors, each detecting angular velocity around one axis. Similarly, the accelerometer 206 may consist of multiple sensors, each detecting acceleration in one direction. (Derivation of image blur correction drive amount) The camera-side microcontroller 202 acquires the image blur correction drive amount using information on tilt-image shift sensitivity, eccentricity-image shift sensitivity, vibration isolation position information, and motion detection signals. For example, when correcting image blur at a predetermined image point position A using OIS, the image blur correction optical system 1014 should be moved such that the image point movement amount t due to rotational blur and the image point movement amount s due to eccentricity of the image blur correction optical system 1014 cancel each other out. Specifically, the image point movement amount (t) due to rotational blur, which is decomposed into two orthogonal components in the polar coordinate system, is... r ,t θ ) and the amount of image point shift due to the eccentricity of the blur-correcting optical system 1014 (s r ,s θ ) and each cancel each other out (s r =-t r ,s θ =-t θ (It is sufficient to satisfy the following conditions). That is, it is sufficient to satisfy equations (31) and (32) below.

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

[0048] Figure 8 shows the ratio and direction of the remaining image point movement amount at each image point when the image blur at a predetermined image point position A in this embodiment is corrected by OIS, indicated by arrows. As shown in Figure 8, the image blur at the set predetermined image point position A is well corrected while allowing image blur in the center of the image. Furthermore, since image point movement with the same motion vector as image point position A occurs at image point position A' which is symmetric to image point position A with the image center as the origin, the image blur at image point position A' is also corrected. For this reason, by appropriately setting the vibration isolation position at a predetermined position outside the optical axis within a range where the unnaturalness of image blur in the center of the image does not become large, it is possible to reduce the overall image blur while minimizing the difference in the amount of image blur across the entire image.

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

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

[0051] K1(r,θ)=(-K LS2 (r,θ)·K TS4 (r,θ) +K LS4 (r,θ)·K TS2 (r,θ)) / (K TS1 (r,θ)·K TS4 (r,θ) -K TS2 (r,θ)·K TS3 (r,θ)) K2(r,θ)=(-K LS1 (r,θ)·K TS4 (r,θ) +KLS3 (r,θ)·K TS2 (r,θ)) / (K TS1 (r,θ)·K TS4 (r,θ) -K TS2 (r,θ)·K TS3 (r,θ)) K3(r,θ)=(-K LS2 (r,θ)·K TS3 (r,θ) +K LS4 (r,θ)·K TS1 (r,θ)) / (K TS2 (r,θ)·K TS3 (r,θ) -K TS1 (r,θ)·K TS4 (r,θ)) K4(r,θ)=(-K LS1 (r,θ)·K TS3 (r,θ) +K LS3 (r,θ)·K TS1 (r,θ)) / (K TS2 (r,θ)·K TS3 (r,θ) -K TS1 (r,θ)·K TS4 (r,θ)) As shown in equations (33) and (34), the image blur correction drive amount (x,y) is the correction coefficient information (K1,K2,K3,K4) and the rotational blur amount (ω x ,ω y It consists of ) and . Therefore, a correction coefficient table in which the correction coefficient information (K1, K2, K3, K4) is summarized in matrix form may be stored in the lens memory 106. This allows the rotational blur amount (ω x ,ω y This makes it even easier to obtain the correction drive amount (x,y) for a predetermined image point position A when ) occurs.

[0052] Regarding image blur due to translational blur, the image blur correction drive amount can be obtained using information on the amount of translational blur from the accelerometer 206. The image blur correction drive amount for translational blur is obtained by using the distance information of the object in focus to obtain the amount of translational blur (ax ,a y ) rotational wobble amount (ω x ,ω y It may also be obtained by converting to ). Furthermore, when rotational and translational shake occurs simultaneously, the image shake correction drive amount may be obtained by adding the image shake correction drive amount for translational shake and the image shake correction drive amount for rotational shake. In addition, the image shake correction drive amount for translational shake at a predetermined image point position may be obtained by multiplying the converted rotational shake amount by a correction coefficient included in the information on tilt-image shift sensitivity.

[0053] Furthermore, the tilt-image shift sensitivity and eccentricity-image shift sensitivity change depending on the object distance (focus position) and focal length (image angle of view) at which the imaging optical system 101 is in focus. In this embodiment, the lens memory 106 stores multiple different correction coefficient tables depending on the focus position determined by the focus optical system 1011 and the focal length determined by the magnification optical system 1012. This makes it possible to effectively correct image blur at a predetermined image point position even when magnifying or focusing.

[0054] Furthermore, the lens device 100 may be configured to be detachable from the imaging device 200. In this case, it is preferable to use appropriate information regarding tilt-image shift sensitivity and eccentricity-image shift sensitivity for each lens device 100. This makes it possible to effectively correct image blur at a predetermined image point position even when different lens devices 100 are attached to the imaging device 200. [Second Embodiment] This embodiment describes a method for correcting image blur using both OIS and IIS. This embodiment describes only the differences from the first embodiment. The general configuration of the imaging system 1 in this embodiment and the method for obtaining the image blur correction drive amount of the blur correction optical system 1014 are the same as in the first embodiment, so their explanation is omitted.

[0055] Figure 9 is a configuration diagram of the lens-side microcontroller 102 and the camera-side microcontroller 202 of this embodiment. The lens-side microcontroller 102 has a lens-side acquisition unit 1021 and an OIS control unit 1022. The camera-side microcontroller 202 has a camera-side acquisition unit 2021, an OIS correction coefficient information acquisition unit (first acquisition means) 2022, an IIS correction coefficient information acquisition unit (third acquisition means) 2023, and a setting unit 2024. The camera-side microcontroller 202 also has an OIS image blur correction drive amount acquisition unit (second acquisition means) 2025, an IIS image blur correction drive amount acquisition unit (fourth acquisition means) 2026, and an IIS control unit 207. In this embodiment, the camera-side microcontroller 202 has an OIS correction coefficient information acquisition unit 2022, an IIS correction coefficient information acquisition unit 2023, an OIS image blur correction drive amount acquisition unit 2025, and an IIS image blur correction drive amount acquisition unit 2026, but the present invention is not limited thereto. The lens-side microcontroller 102 may have these. Alternatively, the lens-side microcontroller 102 may have an OIS correction coefficient information acquisition unit 2022 and an OIS image blur correction drive amount acquisition unit 2025, and the camera-side microcontroller 202 may have an IIS correction coefficient information acquisition unit 2023 and an IIS image blur correction drive amount acquisition unit 2026. Alternatively, the camera-side microcontroller 202 may have an OIS correction coefficient information acquisition unit 2022 and an OIS image blur correction drive amount acquisition unit 2025, and the lens-side microcontroller 102 may have an IIS correction coefficient information acquisition unit 2023 and an IIS image blur correction drive amount acquisition unit 2026.

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

[0057] x′=t r ·cosθ-t θ ·sinθ =ω y {k LS_θ (r)·sin 2 θ+k LS_r (r)·cos 2 θ}LS +ω x {k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ =K′1(r,θ)·ω y +K′2(r,θ)·ω x (35) y′=t r ·sinθ+t θ ·cosθ =ω y {k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ +ω x {k LS_r (r)·sin 2 θ+k LS_θ (r)·cos 2 θ}LS =K′3(r,θ)·ω y +K′4(r,θ)·ω x (36) Thus, in (35) and in (36) we obtain (K′1,K′2). ,K′3,K′4) is one of the graphs.

[0058] K′1(r,θ)={k LS_θ (r)·sin 2 θ+k LS_r (r)·cos 2 θ}LS K′2(r,θ)={k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ K′3(r,θ)={k LS_r (r)-k LS_θ (r)}LS·sinθ·cosθ K′4(r,θ)={k LS_r (r)·sin 2 θ+k LS_θ (r)·cos 2 θ}LS As shown in equations (35) and (36), the image blur correction drive amount (x',y') is the correction coefficient information (K'1,K'2,K'3,K'4) and the rotational blur amount (ω x ,ω y It consists of ) and . Therefore, a correction coefficient table, which is a matrix of correction coefficient information (K'1, K'2, K'3, K'4), may be stored in the lens memory 106 as information regarding tilt-image shift sensitivity. By using K'1, etc. instead of the aforementioned correction coefficient information (K1, K2, K3, K4), the rotational blur amount (ω x ,ω y This makes it easy to obtain the correction drive amount (x', y') for a predetermined image point position A when ) occurs.

[0059] Figure 10(A) shows the flow from turning on the power of the imaging system 1 to turning on the vibration isolation function and bringing the imaging device 200 into a shooting standby state. Figure 10(B) shows the flow from turning on the power of the imaging system 1 to turning on the vibration isolation function and bringing the imaging device 200 into a shooting standby state.

[0060] The flow shown in Figure 10(A) begins when the power to the imaging system 1 is turned ON.

[0061] In step S11, the lens-side microcontroller 102 transmits the optical design information of the imaging optical system 101, which is held in the lens memory 106 and acquired by the lens-side acquisition unit 1021, to the camera-side microcontroller 202.

[0062] In step S12, the camera-side acquisition unit 2021 acquires optical design information from the lens-side microcontroller 102.

[0063] In step S13, the camera-side acquisition unit 2021 acquires the vibration-damping position information set on the imaging device 200 side.

[0064] In step S14, the camera-side microcontroller 202 determines whether the OIS function is ON. If it is determined that the OIS function is ON, the process proceeds to step S15; otherwise, the process proceeds to step S16.

[0065] In step S15, the OIS correction coefficient information acquisition unit 2022 acquires OIS correction coefficient information (K1, K2, K3, K4) from the correction coefficient table based on the vibration isolation position information and the focal length information and object distance information set on the lens device 100 side.

[0066] In step S16, the camera-side microcontroller 202 determines whether the IIS function is ON. If it is determined that the IIS function is ON, the process proceeds to step S17; otherwise, the imaging device 200 is put into shooting standby mode.

[0067] In step S17, the IIS correction coefficient information acquisition unit 2023 acquires IIS correction coefficient information (K'1, K'2, K'3, K'4) from the correction coefficient table based on the vibration isolation position information and the focal length information and object distance information set on the lens device 100 side.

[0068] In the flow shown in Figure 10(B) below, it is assumed that both the OIS and IIS functions are turned ON.

[0069] If camera shake is detected (angular velocity is detected) by the gyro sensor 205 during shooting (exposure), in step S21, the camera-side microcontroller 202 acquires information regarding the amount of rotational shake from the gyro sensor 205.

[0070] In step S22, the setting unit 2024 sets the ratio (sharing ratio) of OIS and IIS when performing image blur correction. In this embodiment, it is set to 50% correction by OIS and 50% correction by IIS.

[0071] In step S23, the OIS image blur correction drive amount acquisition unit 2025 acquires the OIS image blur correction drive amount (first correction drive amount) using the OIS correction coefficient information (K1, K2, K3, K4), information on the amount of rotational blur, and the distribution ratio.

[0072] In step S24, the OIS control unit 1022 obtains the position of the image stabilization optical system 1014 from the OIS encoder 103.

[0073] In step S25, the OIS control unit 1022 acquires the OIS drive amount of the OIS actuator 105 so as not to exceed the movable range of the OIS actuator 105. If the OIS drive amount and the OIS image blur correction drive amount match, 50% of the image blur amount will be corrected by OIS.

[0074] After the processing in step S25, the OIS control unit 1022 drives the OIS actuator 105 via the OIS driver 104.

[0075] In step S26, the IIS image blur correction drive amount acquisition unit 2026 acquires the IIS image blur correction drive amount (second correction drive amount) using the IIS correction coefficient information (K'1, K'2, K'3, K'4), information on the amount of rotational blur, and the distribution ratio.

[0076] In step S27, the IIS control unit 207 obtains the position of the image sensor 201 from the IIS encoder 208.

[0077] In step S28, the IIS control unit 207 acquires the IIS drive amount of the IIS actuator 210 so as not to exceed the movable range of the IIS actuator 210. If the IIS drive amount and the IIS image blur correction drive amount match, 50% of the image blur amount will be corrected by IIS.

[0078] The processing in steps S26 to S28 is performed in parallel with the processing in steps S23 to S25. [Examples]

[0079] Hereinafter, embodiments of the imaging optical system 101 of the present invention will be described based on the attached drawings.

[0080] Figures 11 and 13 are cross-sectional views of the optical system L0 of Example 1 and Example 2, respectively, when the object distance is in focus at infinity at the wide-angle end. The arrows shown in each cross-sectional view represent the movement trajectory of each lens group when zooming from the wide-angle end to the telephoto end. Figure 15 is a cross-sectional view of the optical system L0 of Example 3 when the object distance is in focus at infinity. The arrows shown in Figure 15 represent the movement trajectory of the lens group when focusing from infinity to near distance. The optical system L0 of each example can be used in imaging devices such as digital video cameras, digital still cameras, broadcast cameras, surveillance cameras, and smartphone cameras.

[0081] In each cross-sectional view, the left side is the object side and the right side is the image side. The optical system L0 of each embodiment is composed of multiple lens groups. In this specification, a lens group is a collection of lenses that move or remain stationary as a whole during zooming, focusing, or image stabilization. That is, in the optical system L0 of each embodiment, the distance between adjacent lens groups changes during zooming or focusing. A lens group may consist of a single lens or multiple lenses. Furthermore, a lens group may include an aperture diaphragm.

[0082] SP is the aperture diaphragm. IP is the image plane, where the imaging surface of an image sensor (photoelectric conversion element) such as a CCD sensor or CMOS sensor is located. Also, the image stabilization optical system is eccentric with respect to the optical axis of the optical system L0 when performing OIS.

[0083] Figures 12 and 14 show the aberration diagrams for the optical systems L0 of Examples 1 and 2 when the object distance is in focus at infinity at the wide-angle end, respectively. Figure 16 shows the aberration diagram for the optical system L0 of Example 3 when the object distance is in focus at infinity.

[0084] In the spherical aberration diagram, Fno is the F-number and indicates the amount of spherical aberration for the d-line (wavelength 587.6 nm) and the g-line (wavelength 435.8 nm). In the astigmatism diagram, S indicates the amount of astigmatism at the sagittal image plane, and M indicates the amount of astigmatism at the meridional image plane. In the distortion diagram, the amount of distortion for the d-line is shown. In the chromatic aberration diagram, the amount of lateral chromatic aberration at the g-line is shown. ω is the half-angle of view (°).

[0085] The numerical values ​​corresponding to Examples 1 to 3 are shown below.

[0086] In the surface data for each numerical example, r represents the radius of curvature of each optical surface, and d (mm) represents the on-axial spacing (distance along the optical axis) between the m-th surface and the (m+1)-th surface. Here, m is the surface number counted from the light incident surface. Also, nd represents the refractive index of each optical element with respect to the d line, and νd represents the Abbe number of the optical element. Note that the Abbe number νd of a certain material is given by Nd, NF, and NC, respectively, when the refractive indices of the Fraunhofer lines at the d line (wavelength 587.6 nm), F line (wavelength 486.1 nm), and C line (wavelength 656.3 nm). νd = (Nd-1) / (NF-NC) It is represented as follows.

[0087] In each numerical example, d, focal length (mm), F-number, and half-angle of view (°) are all values ​​when the optical system L0 of each example is focused on an object at infinity. Back focus (BF) is the distance along the optical axis from the final lens surface (the lens surface closest to the image) to the paraxial image plane, expressed in terms of air equivalent length. The total optical length is the distance along the optical axis from the front lens surface (the lens surface closest to the object) to the final lens surface, plus the back focus.

[0088] Furthermore, if the optical surface is aspherical, the sign * is added to the right of the surface number. The aspherical shape is defined as follows, where X is the displacement from the surface vertex in the optical axis direction, h is the height from the optical axis perpendicular to the optical axis, R is the paraaxial radius of curvature, k is the cone constant, and A4, A6, A8, A10, A12 are the aspherical coefficients of their respective orders. X=( h 2 / R) / [1+{1-(1+k)(h / R) 2} 1 / 2 ]+A4× h4 +A6×h 6 +A8×h 8 +A10×h 10 +A12×h 12 +A14×h 14 +A16×h 16 This is expressed as follows. Note that "e±XX" in each aspherical coefficient is "×10 ±XX It means "...".

[0089] Furthermore, each numerical example shows tilt-image shift sensitivity data and eccentricity-image shift sensitivity data. The derivation method for these is explained using Figure 17.

[0090] Figure 17 shows the ray traces of the principal rays of the d line (principal rays at half-angle 0 and half-angle ω) corresponding to each field of view incident from the object surface in the optical system L0 of Example 1. Figures 17(A) to 17(C) show the stationary state and the tilt angle ω around the X axis centered on the intersection of the image plane IP and the optical axis, respectively. x The diagram shows the optical system L0 in a state where it is tilted by a certain amount, and in a state where the blur correction optical system is eccentric by an eccentricity amount y in the Y-axis direction.

[0091] The tilt-image shift sensitivity for each image height in the tilt direction (R direction) is the difference in image point displacement Δy, which is the difference in the imaging position on the image plane IP corresponding to each half-angle of view in Figure 17(A) and Figure 17(B). LSr (h r ) with an inclination angle ω x It is obtained by dividing by . Also, the tilt-image shift sensitivity for each image height in the direction perpendicular to the tilt direction is obtained by the image height h in the X-axis direction. θ Image point displacement Δy LSθ It is obtained using [this method]. The tilt-image shift sensitivity in each embodiment is obtained from the amount of image point movement when the optical system L0 is tilted by 0.5°. Here, the tilt angle ω x The signs of the vectors are such that counterclockwise rotation is positive and clockwise rotation is negative in Figure 17(B). Also, the signs of the image point displacement Δy are such that upward rotation is positive and downward rotation is negative.

[0092] The eccentricity-image shift sensitivity for each image height in the eccentricity direction (R direction) is the amount of image point movement Δy, which is the difference in the imaging position on the image plane IP corresponding to each half angle of view in FIGS. 17(A) and 17(C). TSr (h r ) is obtained by dividing by the eccentricity amount y of the OIS optical system. Also, in each embodiment, the eccentricity-image shift sensitivity for each image height in the direction orthogonal to the eccentricity direction is the amount of image point movement Δy θ for each image height h TSθ in the X-axis direction, and is obtained using this. Note that the eccentricity-image shift sensitivity data in each embodiment is obtained from the amount of image point movement when the anti-shake optical system is eccentric by 0.1 mm.

[0093] [Numerical Example 1] Unit: mm Surface data Surface number r d nd νd 1 211.125 2.10 1.80810 22.8 2 80.660 6.03 1.77250 49.6 3 248.854 0.15 4 57.558 6.97 1.77250 49.6[[ID=�2]] 5 160.440 (variable) 6 66.217 1.40 1.88300 40.8 7 18.113 8.41 8 -206.710 1.20 1.61800 63.4 9 22.688 4.36 1.85478 24.8 10 79.196 4.20 11 -35.317 1.20 1.58313 59.4 12* -312.513 0.43 13 910.041 5.47 1.59270 35.3 14 -19.928 1.10 1.88300 40.8 15 -47.138 (variable) 16 (Aperture) ∞ 0.40 17 81.194 4.45 1.83481 42.7 18 -54.244 0.15 19 41.217 7.25 1.49700 81.5 20 -32.257 1.10 2.00069 25.5 21 -293.896 2.41 22* -71.464 1.75 1.76802 49.2 23 64.990 1.91 1.80810 22.8 24 199.742 (Variable) 25 30.855 6.56 1.59522 67.7 26 -85.643 0.35 27 38.493 1.20 1.73800 32.3 28 22.868 7.83 1.53775 74.7 29 -71.877​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​K = 0.00000e+000 A 4= 1.87606e-006 A 6= 1.45872e-009 A 8= 2.78338e-011 A10=-2.10980e-013 A12= 3.98590e-016 Page 30 K = 0.00000e+000 A 4=-2.01869e-005 A 6= 6.17344e-008 A 8=-2.64177e-010 A10=-2.98832e-013 A12= 2.64092e-015 Page 31 K = 0.00000e+000 A 4= 1.63774e-006 A 6= 9.32838e-008 A 8=-2.34772e-010 A10=-7.39973e-013 A12= 4.51086e-015 Page 34 K = 0.00000e+000 A 4=-2.51719e-005 A 6= 1.25180e-007 A 8=-5.32709e-010 A10= 5.08044e-013 A12= 7.30860e-016 Page 35 K = 0.00000e+000 A 4=-2.60571e-005 A 6= 1.26402e-007 A 8=-6.23562e-010 A10= 1.45147e-012 A12=-1.39940e-015 Various data Zoom ratio 2.74 Wide-angle, Medium, Telephoto Focal length 24.72 43.76 67.66 F number 2.91 2.91 2.91 Half-angle (°): 42.00 25.95 17.34 Image height 21.64 21.64 21.64 Optical full length 144.33 158.18 172.04 BF 14.30 25.72 35.98 d 5 0.80 17.81 28.91 d15 16.54 8.10 2.46 d24 11.55 5.41 3.56 d31 2.38 1.11 0.91 d33 12.58 13.85 14.04 d37 14.30 25.72 35.98 Data of tilt-image shift sensitivity for each image height in the tilt direction at the wide-angle end JPEG0007830137000001.jpg80117

[0094] Data of tilt-image shift sensitivity for each image height in the direction orthogonal to the tilt direction at the wide-angle end JPEG0007830137000002.jpg77115

[0095] Data of decentration-image shift sensitivity for each image height in the decentration direction at the wide-angle end JPEG0007830137000003.jpg77115

[0096] Data of decentration-image shift sensitivity for each image height in the direction orthogonal to the decentration direction at the wide-angle end JPEG0007830137000004.jpg77115

[0097] [Numerical Example 2] Unit mm Surface data Surface number r d nd νd 1* 3000.000 2.85 1.58313 59.4 2* 16.526 10.57 3* -809.327 2.25 1.85400 40.4<UNK>00009954* 91.828 5.56 5 -53.256 1.20 1.59522 67.7 6 68.528 0.15 7 43.587 5.03 1.85478 24.8 8 -485.244 (variable) 9 63.607 2.67 1.84666 23.9 10 -1472.964 0.15 11 52.737 1.00 1.92286 20.9 12 22.996 5.41 1.53172 48.8 13 489.976 (variable) 14 (aperture) ∞ (variable) 15 27.733 1.20 2.00069 25.5 16 19.641 9.29 1.53775 74.7 17 -78.882 (variable) 18 -67.558 4.31 1.92286 20.9 19 -20.948 0.77 1.83400 37.2 20 136.126 3.52 21 ∞ (Variable) 22 30.487 11.20 1.49700 81.6 23 -50.182 0.15 24 40.928 11.00 1.49700 81.6 25 -25.800 1.20 2.05090 26.9 26 208.835 4.54 27* -73.669 2.10 1.85400 40.4 28* -1000.000 0.15 29 216.036 3.40 1.92286 20.9 30 -127.538 (variable) Image plane ∞ Aspherical data Front page K = 0.00000e+000 A 4= 8.30213e-006 A 6=-1.33976e-008 A 8= 4.25008e-011 A10=-8.60253e-014 A12= 1.03363e-016 A14=-7.03702e-020 A16= 2.16318e-023 Page 2 K =-9.81344e-001 A 4= 4.49709e-007 A 6=-2.34544e-008 A 8=-1.05516e-010 A10= 8.07443e-013 A12=-2.78552e-015 A14= 3.05128e-018 Page 3 K = 0.00000e+000 A 4=-9.01759e-006 A 6=-1.39642e-007 A 8= 1.23272e-009 A10=-3.49283e-012 A12= 3.62808e-015 A14= 5.24953e-019 A16=-2.43479e-021 Page 4 K = 0.00000e+000 A 4= 6.34981e-006 A 6=-1.29871e-007 A 8= 1.67920e-009 A10=-6.48374e-012 A12= 1.50043e-014 A14=-1.59777e-017 Page 27 K = 0.00000e+000 A 4=-8.04129e-005 A 6= 2.64851e-007 A 8=-1.06038e-009 A10= 4.87911e-012 A12=-8.56493e-015 A14=-1.17880e-018 A16=-3.10043e-023 Page 28 K = 0.00000e+000 A 4=-6.00659e-005 A 6= 2.67376e-007 A 8=-7.05021e-010 A10=2.04492e-012 A12=-2.97985e-015 Various data Zoom ratio 2.20 Wide-angle, Medium, Telephoto Focal length 15.45 24.00 33.95 F number 2.91 2.91 2.91 Half-angle (°): 55.41, 41.57, 31.88 Image height 21.64 21.64 21.64 Optical total length 159.58 147.48 144.99 BF 14.00 22.21 32.15 d 8 25.32 7.72 1.50 d13 8.24 11.30 7.40 d14 13.71 5.42 0.71 d17 1.60 9.89 14.61 d21 7.04 1.27 -1.05 d30 14.00 22.21 32.15 Tilt-image shift sensitivity data for each image height in the tilt direction at the wide-angle end. JPEG0007830137000005.jpg81121

[0098] Tilt-image shift sensitivity data for each image height in the direction perpendicular to the tilt direction at the wide-angle end. JPEG0007830137000006.jpg81120

[0099] Eccentricity-image shift sensitivity data for each image height in the eccentric direction at the wide-angle end. JPEG0007830137000007.jpg81121

[0100] Eccentricity-image shift sensitivity data for each image height in the direction perpendicular to the eccentricity direction at the wide-angle end. JPEG0007830137000008.jpg81121

[0101] [Numerical Example 3] Unit: mm Surface data Face number rd nd νd 1 50.658 1.57 1.48749 70.2 2 17.433 7.73 3 82.620 1.50 1.48749 70.2 4 22.068 13.94 5 28.055 5.75 1.90043 37.4 6 -26.190 1.00 1.80000 29.8 7 -678.364 6.06 8 (aperture) ∞ 2.86 9 74.460 1.40 1.77250 49.6 10 -3498.619 2.98 11 -20.479 1.00 1.85478 24.8 12 30.759 3.15 1.49700 81.5 13 -76.152 0.29 14 107.343 4.13 1.58313 59.4 15* -42.035 0.15 16 108.394 4.96 1.85150 40.8 17 -35.438 (variable) 18 -72.427 1.84 1.83481 42.7 19 -45.108 10.50 20 -23.819 1.57 1.51742 52.4 21 -53.298 11.00 Image plane ∞ Aspherical data Page 15 K = 0.00000e+000 A 4= 2.14904e-005 A 6=-6.26885e-009 A 8= 3.11936e-010 A10=-1.96590e-012 A12= 3.25155e-015 Various data Focal length 20.60 F-number 1.85 Half-angle (°): 46.42 Image height 18.71 Optical total length 84.88 BF 11.00 Infinity Close d17 1.50 11.92 Tilt-image shift sensitivity data for each image height in the tilt direction when focused at infinity. JPEG0007830137000009.jpg77116

[0102] Tilt-image shift sensitivity data for each image height in the direction perpendicular to the tilt direction when in focus at infinity. JPEG0007830137000010.jpg77114

[0103] Eccentricity-image shift sensitivity data for each image height in the eccentric direction when focused at infinity. JPEG0007830137000011.jpg76114

[0104] Eccentricity-image shift sensitivity data for each image height in the direction perpendicular to the eccentricity direction when focused at infinity. JPEG0007830137000012.jpg76114

[0105] As described above, according to the configuration of the present invention, image blur at a predetermined image point position including the optical axis center can be easily and effectively corrected.

[0106] In each embodiment, the information regarding the image shift sensitivity of the blur-correcting optical system 1014 to eccentricity according to the image point position is a correction coefficient table that summarizes the correction coefficient information according to the image point position in matrix form, but the present invention is not limited thereto. Eccentricity-Image Shift Sensitivity TS r (h r ),TS θ (h θ ) or off-axis correction coefficient information (K) obtained from eccentric-image shift sensitivity TS1 ,K TS2 ,K TS3 ,K TS4 ) may also be used. Alternatively, it may be correction coefficient information (K1, K2, K3, K4) calculated in combination with information on the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position. In other words, the information on the image shift sensitivity to the eccentricity of the blur correction optical system 1014 according to the image point position should be information that allows obtaining the amount of movement of a predetermined image point position with respect to the eccentricity of the blur correction optical system 1014.

[0107] Furthermore, in each embodiment, the information regarding the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position is a correction coefficient table that summarizes the correction coefficient information according to the image point position in matrix form, but the present invention is not limited thereto. It may also be an image height formula based on the focal length and projection method, which are specifications of the imaging optical system 101, or a tilt-image shift sensitivity LS. r (h r ),LS θ (h θ ) may also be used. In addition, the off-axis correction coefficient information (K) obtained from the tilt-image shift sensitivity may also be used. LS1 , K LS2 , K LS3 , K LS4 ) may also be the case. In other words, the information regarding the image shift sensitivity to the tilt of the imaging optical system 101 according to the image point position is sufficient if it is information that can obtain the amount of movement of a predetermined image point position with respect to the tilt of the imaging optical system 101.

[0108] Furthermore, in each embodiment, the eccentricity-image shift sensitivity and tilt-image shift sensitivity were described as information for each image height in the eccentricity direction (R direction) and the direction perpendicular to the eccentricity direction of the blur correction optical system 1014. However, the eccentricity-image shift sensitivity and tilt-image shift sensitivity may also be information defined for each image point position across the entire imaging surface in a predetermined direction on the imaging surface. In that case, the eccentricity-image shift sensitivity and tilt-image shift sensitivity may be directly obtained from the amount of image point movement across the entire imaging surface, which is obtained using the design value of the imaging optical system 101.

[0109] Furthermore, in each numerical embodiment, the image point position is obtained using the imaging position of the principal ray, but it may also be obtained using the peak position of the MTF (Modulation Transfer Function).

[0110] Furthermore, the camera-side microcontroller 202 may perform image blur correction using an electronic image stabilization function that changes the effective pixel area of ​​the image sensor 201. In other words, the camera-side microcontroller 202 may function as one of the blur correction means.

[0111] Furthermore, the projection method of the imaging optical system 101 is not limited to the central projection method, but may also be other projection methods such as the equidistant projection method. [Other examples] The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0112] Although preferred embodiments and examples of the present invention have been described above, the present invention is not limited to these embodiments and examples, and various combinations, modifications, and changes are possible within the scope of its gist. [Explanation of symbols]

[0113] 101 Imaging optical system 102 Lens-side microcontroller (control device) 1014 Image stabilization optics 202 Camera-side microcontroller (control device)

Claims

1. Information regarding the image shift sensitivity of the image correction optical system to the eccentricity of the image correction optical system, which is equipped with an image correction optical system for correcting image blur, according to the image point position, and a first acquisition means for acquiring information regarding blur, A second acquisition means for acquiring a first correction drive amount during image blur correction of the aforementioned image blur correction optical system, The system includes setting means for setting an anti-vibration position that corrects image blur on the imaging surface of the imaging optical system, The control device is characterized in that the second acquisition means acquires the first correction drive amount corresponding to the vibration isolation position using information regarding the image shift sensitivity of the vibration isolation position and information regarding blur.

2. The control device according to claim 1, characterized in that the information regarding the image shift sensitivity is obtained using the design value of the imaging optical system.

3. The control device according to claim 1 or 2, characterized in that the information relating to the image shift sensitivity is information that can acquire the amount of movement of the vibration isolation position with respect to the eccentricity of the blur correction optical system.

4. The control device according to any one of claims 1 to 3, characterized in that the information relating to the image shift sensitivity is information determined for each position on the image plane.

5. The control device according to any one of claims 1 to 4, characterized in that the information relating to the image shift sensitivity is obtained using information that allows for the acquisition of the amount of movement of the vibration isolation position with respect to the tilt of the imaging optical system.

6. The control device according to any one of claims 1 to 5, characterized in that the information regarding the shake is obtained based on the output of a gyro sensor.

7. The control device according to any one of claims 1 to 5, characterized in that the first correction drive amount is obtained using information regarding the blur, information regarding the vibration isolation position, and information regarding the image shift sensitivity.

8. The control device according to any one of claims 1 to 7, characterized in that the information relating to the wobble includes information relating to the angular velocity around a plurality of rotation axes.

9. The control device according to any one of claims 1 to 8, characterized in that the information relating to the vibration includes information relating to acceleration in multiple axial directions.

10. The control device according to any one of claims 1 to 9, characterized in that the vibration isolation position is a position on the image plane represented by a plurality of parameters.

11. The control device according to any one of claims 1 to 10, characterized in that the information relating to the image shift sensitivity differs depending on the focal length of the imaging optical system.

12. The control device according to any one of claims 1 to 11, characterized in that the information relating to the image shift sensitivity differs depending on the distance of the object to be focused.

13. A third acquisition means for acquiring information that can acquire the amount of movement of the vibration-damping position with respect to the tilt of the imaging optical system, The system further includes a fourth acquisition means for acquiring a second correction drive amount during image blur correction by a blur correction means for correcting image blur, The control device according to any one of claims 1 to 12, characterized in that the fourth acquisition means acquires the second correction drive amount corresponding to the vibration isolation position using information that can acquire the amount of movement of the vibration isolation position with respect to the tilt of the imaging optical system.

14. The control device according to claim 13, characterized in that the blur correction means eccentricates the image sensor with respect to the optical axis of the imaging optical system.

15. The control device according to claim 13 or 14, characterized in that the blur correction means changes the effective pixel area in the image sensor.

16. The system further includes a setting unit for setting the ratio between image blur correction by the image blur correction optical system and image blur correction by the image blur correction means. The control device according to any one of claims 13 to 15, characterized in that the first corrected drive amount and the second corrected drive amount are set based on the ratio.

17. Image sensor and An imaging apparatus characterized by having a control device according to any one of claims 1 to 16.

18. The imaging apparatus according to claim 17, further comprising a storage means for storing information regarding the sensitivity of the image shift to eccentricity of the blur correction optical system according to the image point position of the imaging optical system.

19. Imaging optical system, A lens device characterized by having a control device according to any one of claims 1 to 16.

20. The lens device according to claim 19, further comprising a storage means for storing information regarding the sensitivity of the image shift to the eccentricity of the image correction optical system according to the image point position of the imaging optical system.

21. Information regarding the image shift sensitivity of the image correction optical system to the eccentricity of the image correction optical system, which is equipped with an image correction optical system for correcting image blur, according to the image point position, and a first acquisition means for acquiring information regarding blur, A second acquisition means for acquiring a first correction drive amount during image blur correction of the aforementioned image blur correction optical system, The system includes setting means for setting an anti-vibration position that corrects image blur on the imaging surface of the imaging optical system, The second acquisition means is a lens device that acquires the first correction drive amount corresponding to the vibration isolation position using information regarding the image shift sensitivity of the vibration isolation position and information regarding blur. A third acquisition means for acquiring information that can acquire the amount of movement of the vibration-damping position with respect to the tilt of the imaging optical system, It includes a fourth acquisition means for acquiring a second correction drive amount during image blur correction by a blur correction means for correcting image blur, The camera system is characterized in that the fourth acquisition means includes an imaging device that acquires the second correction drive amount corresponding to the vibration isolation position using information that can acquire the amount of movement of the vibration isolation position with respect to the tilt of the imaging optical system.

22. A control method for acquiring the correction drive amount during image blur correction by an image blur correction optical system for correcting image blur, A first acquisition step to acquire information regarding the image shift sensitivity of the blur correction optical system to the eccentricity corresponding to the image point position of the imaging optical system, and information regarding blur. A second acquisition step involves acquiring the correction drive amount of the image correction optical system corresponding to the image correction position, using information regarding the image shift sensitivity of the vibration isolation position that corrects image blur on the imaging surface of the imaging optical system, and information regarding blur. A control method characterized by comprising a setting step of setting the vibration isolation position.

23. A program characterized by causing a computer to execute the control method described in claim 22.

Images