CN101106650B - Anti-shake apparatus - Google Patents

Anti-shake apparatus Download PDF

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Publication number
CN101106650B
CN101106650B CN2007101360540A CN200710136054A CN101106650B CN 101106650 B CN101106650 B CN 101106650B CN 2007101360540 A CN2007101360540 A CN 2007101360540A CN 200710136054 A CN200710136054 A CN 200710136054A CN 101106650 B CN101106650 B CN 101106650B
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China
Prior art keywords
removable unit
shake
unit
state
photographing device
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CN2007101360540A
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CN101106650A (en
Inventor
上中行夫
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Ricoh Imaging Co Ltd
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Hoya Corp
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Priority claimed from JP2006192719A external-priority patent/JP5000220B2/en
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Abstract

An anti-shake apparatus of a photographing apparatus comprises a movable unit and a controller. The controller performs movement control of the movable unit for anti-shake operation. The movement control is set to the OFF state when the movable unit comes into contact with an end of its range of movement under a predetermined condition.

Description

Anti-shake apparatus
Technical field
The present invention relates to the anti-shake apparatus in the photographing device, shake when hand is very big can't move removable unit according to the amount of jitter of hand and must correctly carry out anti-shake operation the time, the motion control of removable unit to such an extent as to relate in particular to.
Background technology
Proposed to be used for the anti-shake apparatus of photographing device.The hand amount of jitter of anti-shake apparatus by producing during corresponding to imaging on perpendicular to the plane of optical axis, mobile hand jitter correction camera lens or imaging device are proofreaied and correct the influence of hand shake.
Open (KOKAI) H11-218794 of Japanese unexamined patent has disclosed a kind of anti-shake apparatus, and when the position of removable unit had surpassed the term of reference that moves, its gain that suppresses removable unit drives power was to suppress the vibration of removable unit.
But in this anti-shake apparatus, because the motion control of removable unit is to be carried out by weak actuating force, therefore the motion control of removable unit can not respond apace.Therefore, will carry out anti-shake operation when removable unit is can not be according to the shake of hand correct when mobile.
Summary of the invention
Therefore, the purpose of this invention is to provide a kind of can not be according to the shake of hand correctly when mobile, limit the anti-shake apparatus of the motion control of removable unit when removable unit.
According to the present invention, the anti-shake apparatus of photographing device comprises removable unit and controller.Controller is carried out the motion control of removable unit in the anti-shake operation.When removable unit touched the end of its range of movement under predetermined condition, motion control was set to the state of OFF.
Description of drawings
By with reference to accompanying accompanying drawing, can from following explanation, understand target of the present invention and advantage better, wherein:
Fig. 1 is the perspective view of backsight of first and second embodiment of photographing device;
Fig. 2 is the front view of photographing device;
Fig. 3 is the circuit structure diagram of photographing device;
Fig. 4 is the flow chart that shows the main operation of the photographing device among first embodiment;
Fig. 5 is the flow chart that shows the details of timer interrupt procedure among first embodiment;
Fig. 6 has shown the calculating in anti-shake operation;
Fig. 7 is the flow chart that shows restriction detecting operation among first embodiment;
Fig. 8 is the flow chart that shows the main operation of the photographing device among second embodiment;
Fig. 9 is the flow chart that shows the details of timer interrupt procedure among second embodiment;
Figure 10 is the flow chart that shows vibration detection operation among second embodiment.
Embodiment
First and second embodiment with reference to the accompanying drawings describe the present invention.In first and second embodiment, photographing device 1 is a digital camera.The camera lens 67 of photographing device 1 has optical axis L X.
In order to explain the direction among first and second embodiment, first direction x, second direction y and third direction z (see figure 1) have been defined.First direction x is the direction vertical with optical axis L X.Second direction y is the direction vertical with first direction x with optical axis L X.Third direction z be parallel with optical axis L X and with the first direction x direction vertical with second direction y.
First embodiment is explained as follows.
The imaging moiety of this photographing device 1 comprises PON button 11, PON switch 11a, photometry switch 12a, release-push 13, release-push 13a, anti-shake button 14, anti-shake switch 14a, the indicating member 17 such as LCD watch-dog or the like, reflective mirror diaphragm shutter unit 18, DSP 19, CPU 21, AE (automatic exposure) unit 23, AF (focusing automatically) unit 24, the image-generating unit 39a in anti-shake unit 30 and camera lens 67 (seeing Fig. 1,2 and 3).
This PON switch 11a is at ON state or OFF state, is to be determined by the state of PON button 11, so the ON/OFF state of this photographing device 1 is corresponding to the ON/OFF state of PON switch 11a.
The object images of taking pictures is caught as optical imagery by camera lens 67 by image-generating unit 39a, and the image that captures is presented on the indicating member 17.Can observe this object images of taking pictures with eyes by optical finder (not shown).
When the operator pressed these release-push 13 parts, photometry switch 12a became the ON state to carry out photometry operation, AF inductive operation and focusing operation.
When the operator all pressed this release-push 13, release-push 13a became the ON state being carried out imaging operation by image-generating unit 39a (imaging device), and the image that captures of storage.
In first embodiment, anti-shake operation begins to carry out from the state that release-push 13a is set to ON, finishes up to discharging operation in tandem, and the value that drive OFF parameter S P this moment is set as 0.
Reflective mirror diaphragm shutter unit 18 is connected to the port P7 of CPU 21, and carries out the opening of lifting/put down operation (reflective mirror lift operate and reflective mirror puts down operation), aperture of minute surface and corresponding to the opening of the shutter of the ON state of release-push 13a.
DSP 19 is connected with the port P9 of CPU 21, and is connected with image-generating unit 39a.According to the order from CPU 21,19 pairs of picture signals that obtain by the imaging operation of image-generating unit 39a of DSP are carried out the calculating operation such as image processing operations or the like.
CPU 21 is control photographing device 1 each part control device about imaging operation and anti-shake operation.Anti-shake operation comprises moving and the position probing effect of removable unit 30a.
In addition, CPU 21 has stored the value of anti-shake parameter I S, it has determined whether photographing device 1 is in anti-shake pattern, also stored maximum maxPy, the first direction of maximum maxPx, the second direction of first direction minimum value minPx, second direction minimum value minPy, release condition parameters R P value, first direction maximum parameter X (+), first direction minimum value parameter X (-), second direction maximum parameter Y (+), second direction minimum value parameter Y (-) and drive OFF parameter S P.
The value of release condition parameters R P changes according to discharging operation in tandem.When carry out discharging operation in tandem, the value of release condition parameters R P is set to 1 (seeing step S22 to S30 among Fig. 4), and when finishing the release operation in tandem, is 0 (seeing step S13 and S30 among Fig. 4) with the value setting (reset and put) of release condition parameters R P.
The maximum maxPx of first direction is meant and is shown in first direction x, the fixed value of an end (edge) position of the range of movement of removable unit 30a.
The minimum value minPx of first direction is meant and is shown in first direction x, the fixed value of another extreme position of the range of movement of removable unit 30a.
The maximum maxPy of second direction is meant and is shown in second direction y, the fixed value of an extreme position of the range of movement of removable unit 30a.
The minimum value minPy of second direction is meant and is shown in second direction y, the fixed value of another extreme position of the range of movement of removable unit 30a.
When its square of range of movement formation, promptly when the length of the range of movement of first direction x and its equal in length at the range of movement of second direction y, first direction maximum maxPx equals second direction maximum maxPy, and first direction minimum value minPx equals second direction minimum value minPy.
Position P after changing through A/D nCoordinate figure pdx in first direction x n---it represents the position of removable unit 30a at first direction---is during more than or equal to first direction maximum maxPx, in other words, when removable unit 30a when first direction x touches the part that is positioned at an end of its range of movement, first direction maximum parameter X (+) is set to 1; Otherwise first direction maximum parameter X (+) is set to 0.
Position P after changing through A/D nCoordinate figure pdx in first direction x n---it represents the position of removable unit 30a at first direction---is when being less than or equal to first direction minimum value minPx, in other words, when removable unit 30a when first direction x touches the part that is positioned at its another end of range of movement, first direction minimum value parameter X (-) is set to 1; Otherwise first direction minimum value parameter X (-) is set to 0.，
Position P after changing through A/D nCoordinate figure pdy in second direction y n---it represents the position of removable unit 30a in second direction---is during more than or equal to second direction maximum maxPy, in other words, when removable unit 30a when second direction y touches the part that is positioned at an end of its range of movement, second direction maximum parameter Y (+) is set to 1; Otherwise second direction maximum parameter Y (+) is set to 0.
Position P after changing through A/D nCoordinate figure pdy in second direction y n---it represents the position of removable unit 30a in second direction---is when being less than or equal to second direction minimum value minPy, in other words, when removable unit 30a when second direction y touches the part that is positioned at its another end of range of movement, second direction minimum value parameter Y (-) is set to 1; Otherwise second direction minimum value parameter Y (-) is set to 0.
After release-push 13a was changed to the ON state, CPU 21 carried out and discharges operation in tandem.
Drive OFF parameter S P and be used for determining whether removable unit 30a touches the end of the range of movement under its predetermined condition.In first embodiment, as predetermined condition, when removable unit 30a when first direction x or second direction y touch two ends of its range of movement, drive OFF parameter S P and be set to 1, so that the motion control of removable unit 30a is set to the state of OFF.But predetermined condition is confined to this state incessantly.
When the state that is set to ON at release-push 13a (when the value of release condition parameters R P is set to 1, with reference to step S22 to S30 among the figure 4) after when having carried out the release operation in tandem, and be set to 1 or when second direction maximum parameter Y (+) and second direction minimum value parameter Y (-) were set to 1, the value that drives OFF parameter S P was set to 1 when first direction maximum parameter X (+) and first direction minimum value parameter X (-).In this case, CPU 21 is the motion of removable unit 30a (driving) control setting the OFF state, (sees step S53 among Fig. 5) even photographing device 1 is in the exposure process.
Be set under 1 the situation driving OFF parameter S P, to such an extent as to the amount of jitter of hand can not move removable unit 30a and the anti-shake operation of correct execution according to the amount of jitter of hand too greatly, this state that causes photographing device 1 is that removable unit 30a contacts with two ends of its range of movement.
When photographing device 1 is installed on the tripod, when release-push 13 press vibration that operation causes when in tripod, having produced resonance, maybe surpassed the shake of normal hand when vibration, when for example brandishing photographing device 1, or the like, this state can take place.
In this case, removable unit 30a vibrates in some way, is performed so that be imaged under the condition of operating of taking pictures that can't carry out respective operations person's intention; In other words, what be used for that the motion control of the removable unit 30a of anti-shake operation can not be correct is performed, and promptly means being performed that anti-shake operation can not be correct.In addition, when the collision between removable unit 30a and contact part was strong, the contact part may damage.
In first embodiment, when the value that drives OFF parameter S P was set to 1, the motion control of removable unit 30a was set to the OFF state, to limit the unnecessary motion of removable unit 30a.By limiting the unnecessary motion of removable unit 30a, can reduce the power consumption of photographing device 1.
When the state that is set to ON at release-push 13a (when the value of release condition parameters R P is set to 1, with reference to step S22 to S30 among the figure 4) after when having carried out the release operation in tandem, when first direction maximum parameter X (+) and first direction minimum value parameter X (-) are not set to 1, and when second direction maximum parameter Y (+) and second direction minimum value parameter Y (-) were not set to 1, the value that drives OFF parameter S P was not set to 1 (being set to 0 continuously).In this case, CPU 21 is the motion of removable unit 30a (driving) control setting the ON state.
In addition, CPU 21 has stored the first digital angular velocity signal Vx nValue, the second digital angular velocity signal Vy nValue, the first digital angular speed VVx n, the second digital angular speed VVy n, the first digital displacement angle Bx n, the second digital displacement angle By n, position S nCoordinate Sx in first direction x n, position S nCoordinate Sy in second direction y n, the first actuating force Dx n, the second actuating force Dy n, the position P after the A/D conversion nCoordinate pdx in first direction x n, the position P after the A/D conversion nCoordinate pdy in second direction y n, the first minimizing value ex n, the second minimizing value ey n, the first proportionality coefficient Kx, the second proportionality coefficient Ky, sampling period θ, the first integral coefficient T ix of anti-shake operation, second integral coefficient T iy, the first differential coefficient Tdx, the second differential coefficient Tdy.
AE unit (exposure calculating unit) 23 is carried out the photometry operation and is calculated light value according to the object of just being taken pictures.AE unit 23 also calculates f-number relevant with light value and time for exposure length, and the two all is that imaging is required.AF inductive operation and corresponding focusing operation are carried out in AF unit 24, and the two all is that imaging is required.In the focusing operation, camera lens 67 is readjusted the position in the LX direction along optical axis.
(anti-shake apparatus) anti-shake part of photographing device 1 comprises anti-shake button 14, anti-shake switch 14a, indicating member 17, CPU 21, angular velocity detection unit 25, drive circuit 29, anti-shake unit 30, Hall element type signal processing unit 45 (changes of magnetic field detecting element) and camera gun 67.
When the user pressed anti-shake button 14, anti-shake switch 14a became the ON state so that carry out anti-shake operation at interval at the fixed time, wherein the driving of angular velocity detection unit 25 and anti-shake unit 30 with wait other operation irrelevant such as the photometry operation.When anti-shake switch 14a is in the ON state, when just being in anti-shake pattern, anti-shake parameter I S is set to 1 (IS=1).When anti-shake switch 14a is not in the ON state, when just being in non-anti-shake pattern, anti-shake parameter I S is set to 0 (IS=0).In first embodiment, the value of predetermined time interval is set to 1ms.
Control the various output commands of the input signal of corresponding these switches by CPU 21.
With photometry switch 12a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P12.With release-push 13a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P13.With anti-shake switch 14a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P14.
AE unit 23 is connected to be used for input and output signal with the port P4 of CPU 21.AF unit 24 is connected to be used for input and output signal with the port P5 of CPU 21.Indicating member 17 is connected to be used for input and output signal with the port P6 of CPU 21.
Next, explain in CPU 21 and angular velocity detection unit 25, the input and output relation of 45 of drive circuit 29, anti-shake unit 30 and Hall element signal processing units.
Angular velocity detection unit 25 has the first angular-rate sensor 26a, the second angular-rate sensor 26b, the first high-pass filtering circuit 27a, the second high-pass filtering circuit 27b, the first amplifier 28a and the second amplifier 28b.
The first angular-rate sensor 26a detects the angular speed (angular speed of photographing device 1 at the velocity component of first direction x) of photographing device 1 with respect to rotatablely move (the driftage yawing) of the axle of second direction y.The first angular-rate sensor 26a is the gyrosensor that detects yaw rate.
The second angular-rate sensor 26b detects the angular speed (detect the angular speed of photographing device 1 velocity component at second direction y) of photographing device 1 with respect to rotatablely move (pitching) of the axle of first direction x.The second angular-rate sensor 26b is the gyrosensor that detects rate of pitch.
The first high-pass filtering circuit 27a removes the low frequency component of the signal of first angular-rate sensor 26a output, because the low frequency component of the signal of first angular-rate sensor 26a output comprises the signal component based on no-voltage and pan motion (panning-motion), the two is all irrelevant with the hand shake.
The second high-pass filtering circuit 27b removes the low frequency component in the signal of second angular-rate sensor 26b output, because the low frequency composition of the second angular-rate sensor 26b output signal comprises the signal component based on no-voltage and pan motion, the two is all irrelevant with the hand shake.
The first amplifier 28a amplifies the signal of the yaw rate that low frequency component has been removed, and the A/D converter A/D 0 that analog signal is outputed to CPU 21 is as the first angular speed vx.
The second amplifier 28b amplifies the signal of the rate of pitch that low frequency component has been removed, and the A/D converter A/D 1 that analog signal is outputed to CPU 21 is as the second angular speed vy.
Remove the process that low-frequency signal components is two steps; The first that at first carries out as the operation of analog high-pass Filtering Processing by the first and second high-pass filtering circuit 27a and 27b handles operation, is carried out as the second portion of Digital High Pass Filter processing operation by CPU 21 subsequently and handles operation.
The cut-off frequency of the second portion of Digital High Pass Filter processing operation is higher than the cut-off frequency of the first of analog high-pass Filtering Processing operation.
Handle in the operation in Digital High Pass Filter, can easily change time constant value (the first high pass filter time constant hx and the second high pass filter time constant hy).
After PON switch 11a was set to ON state (the main power source power supply is set to the ON state), power supply began power supply to every part of CPU 21 and angular velocity detection unit 25.The calculating of beginning hand amount of jitter after the PON switch is set to the ON state.
The first angular speed vx that CPU 21 will be input to A/D converter A/D 0 is converted to the first digital angular velocity signal Vx n(A/D conversion operations); Because the first digital angular velocity signal Vx nLow frequency component comprise signal component based on the motion of no-voltage and pan, the two is all irrelevant with the hand shake, so by removing the first digital angular velocity signal Vx nThe low frequency component of (Digital High Pass Filter is handled operation) calculates the first digital angular speed VVx nAnd pass through the first digital angular speed VVx nIntegration (integral processing operation) calculates hand amount of jitter (hand shake angle of displacement: the first digital displacement angle Bx n).
Similarly, the CPU 21 second angular speed vy that will be input to A/D converter A/D 1 is converted to the second digital angular velocity signal Vy n(A/D conversion operations); Because the second digital angular velocity signal Vy nLow frequency component comprise signal component based on the motion of no-voltage and pan, the two is all irrelevant with the hand shake, so by removing the second digital angular velocity signal Vy nThe low frequency component of (Digital High Pass Filter is handled operation) calculates the second digital angular speed VVy nAnd pass through the second digital angular speed VVy nIntegration (integral processing operation) calculates hand amount of jitter (hand shake angle of displacement: the second digital displacement angle By n).
Thereby CPU 21 and angular velocity detection unit 25 use function to calculate the hand amount of jitter.
" n " is the integer greater than 1, and indicates the interrupt procedure from timer, and (t=1 sees step S12 among Fig. 4) is to the time span (ms) of carrying out nearest anti-shake operation (t=n).
Handle in the operation the first digital angular speed VVx that calculates by interrupt procedure with timer before (nearest anti-shake operation carry out before) 1ms predetermined time interval in the Digital High Pass Filter of first direction x 1To VVx N-1Summation divided by the first high pass filter time constant hx, again by the first digital angular velocity signal Vx nDeduct this merchant as a result, calculate the first digital angular speed VVx n(VVx n=Vx n-(∑ VVx N-1) ÷ hx, see (1) among Fig. 6).
Handle in the operation the second digital angular speed VVy that the interrupt procedure by timer before will (nearest anti-shake operation carry out before) 1ms predetermined time interval calculates in the Digital High Pass Filter of second direction y 1To VVy N-1Summation divided by the second high pass filter time constant hy, again by the second digital angular velocity signal Vy nDeduct this merchant as a result, calculate the second digital angular speed VVy n(VVy n=Vy n-(∑ VVy N-1) ÷ hy).
In first embodiment, the operation of angular velocity detection in (part) interrupt procedure of timer comprises the process in the angular velocity detection unit 25 and the first and second angular speed vx and vy is input to the process of CPU 21 from angular velocity detection unit 25.
In the operation of the integral processing of first direction x, by asking the first digital angular speed VVx when the interrupt procedure of timer begins 1, the first digital angular speed VVx of t=1 (seeing step S12 among Fig. 4) when carrying out nearest (t=n) anti-shake operation nSummation calculate the first digital displacement angle Bx n(Bx n=∑ VVx n, see (3) among Fig. 6).
Similarly, in the operation of the integral processing of second direction y, by asking the second digital angular speed VVy when the interrupt procedure of timer begins 1The first digital angular speed VVy when carrying out nearest anti-shake operation nSummation calculate the second digital displacement angle By n(By n=∑ VVy n).
CPU 21 calculates the position S that image-generating unit 39a (removable unit 30a) should move n, it is hand amount of jitter (the first and second digital displacement angle Bx that first direction x and second direction y calculate corresponding to position-based conversion coefficient zz (at the primary importance conversion coefficient zx of first direction x, at the second place conversion coefficient zy of second direction y) nAnd By n).
Position S nCoordinate in first direction x is defined as Sx n, position S nCoordinate in second direction y is defined as Sy nThe moving through of removable unit 30a that comprises image-generating unit 39a uses electromagnetic force to carry out, and is described in the back.
For removable unit 30a is moved to position S n, actuating force Dn drives drive circuit 29.With actuating force D nCoordinate at first direction x is defined as the first actuating force Dx n(in D/A conversion back: the first pwm power dx).With actuating force D nCoordinate at second direction y is defined as the second actuating force Dy n(in D/A conversion back: the second pwm power dy).
In positioning action, with position S about first direction x nCoordinate at first direction x is defined as Sx n, and it is the first nearest digital displacement angle Bx nProduct (Sx with primary importance conversion coefficient zx n=zx * Bx n, see (3) among Fig. 6).
In positioning action, with position S about second direction y nCoordinate at second direction y is defined as Sy n, and it is the second nearest digital displacement angle By nProduct (Sxy with second place conversion coefficient zy n=zy * By n).
Anti-shake unit 30 is the devices that are used to proofread and correct the hand effect of jitter, and it is by moving to position S with image-generating unit 39a n, the imaging device by cancellation image-generating unit 39a imaging surface on the object images of taking pictures hysteresis and proofread and correct the influence that hand is shaken by steady display in time for exposure of (IS=1) when carrying out anti-shake operation at the image of the object of taking pictures of the imaging surface of imaging device.
Anti-shake unit 30 has fixed cell 30b, and the removable unit 30a that comprises image-generating unit 39a and can move with respect to the xy plane.
When not carrying out anti-shake operation, in the time for exposure of (IS=0), removable unit 30a is fixed on (being retained in) preposition.In first embodiment, predetermined position is in the central authorities of moving range.
Release-push 13a is set in the release operation in tandem behind the ON state, and is set to except the value that drives OFF parameter S P not carry out the motion (drivings) of removable unit 30a and to control in time period of 0.
By having from the first pwm power dx of PWM 0 input of CPU 21 and from the drive circuit 29 of the second pwm power dy of PWM 1 input of CPU 21, carry out the driving of the removable unit 30a of anti-shake apparatus 30 by the electromagnetic force of coil unit that is used to drive and the magnet unit that is used to drive, comprise moving to fixing predetermined fixed position (seeing (5) among Fig. 6).
Cause by drive circuit 29 move before or mobile after, detect the detection position P of removable unit 30a by Hall element unit 44a and Hall element signal processing unit 45 n
Will be at the detection position P on the first direction x nThe information of first coordinate, the first detection position signal px just is input to the A/D converter A/D 2 (seeing (2) among Fig. 6) of CPU 21.Primary importance detection signal px is an analog signal, and is converted to digital signal by A/D converter A/D 2 (A/D conversion operations).Behind the A/D conversion operations, with the detection position P on the first direction x nFirst coordinate be defined as pdx n, corresponding to the first detection position signal px.
Will be at the detection position P on the second direction y nThe information of second coordinate, the second detection position signal py just is input to the A/D converter A/D 3 of CPU 21.The second detection position signal py is an analog signal, and is converted to digital signal by A/D converter A/D 3 (A/D conversion operations).Behind the A/D conversion operations, with the detection position P on the second direction y nSecond coordinate be defined as pdy n, corresponding to the second detection position signal py.
PID (proportion integration differentiation) control is based on the detection position P after moving n(pdx n, pdy n) and position S n(Sx n, Sy n) coordinate data calculate the first and second actuating force Dx nAnd Dy n
The first actuating force Dx nCalculating be based on the first minimizing value ex n, the first proportionality coefficient Kx, sampling period θ, first integral coefficient T ix and the first differential coefficient Tdx (Dx n=Kx * { ex n+ θ ÷ Tix * ∑ ex n+ Tdx ÷ θ * (ex n-ex N-1), see (4) among Fig. 6).The first minimizing value ex nBe by with position S nCoordinate Sx at first direction x nDeduct at A/D conversion back detection position P nCoordinate pdx at first direction x nCalculate (ex n=Sx n-pdx n).
The second actuating force Dy nCalculating be based on the second minimizing value ey n, the second proportionality coefficient Ky, sampling period θ, second integral coefficient T iy and the second differential coefficient Tdy (Dy n=Ky * { ey n+ θ ÷ Tiy * ∑ ey n+ Tdy ÷ θ * (ey n-ey N-1)).The second minimizing value ey nBe by with position S nCoordinate Sy at second direction y nDeduct at A/D conversion back detection position P nCoordinate pdy at second direction y nCalculate (ey n=Sy n-pdy n).
The value of sampling period θ is set to predetermined time interval 1ms.
When photographing device 1 is in anti-shake switch 14a and is set to the anti-shake pattern of ON state (IS=1), removable unit 30a is driven into position S corresponding to the anti-shake operation of carrying out PID control n(Sx n, Sy n).
When anti-shake parameter I S is 0, carries out the PID control that does not correspond to anti-shake operation, thereby removable unit 30a is moved to the central authorities (predetermined position) of moving range.
Removable unit 30a has the coil unit of being made up of the first drive coil 31a and the second drive coil 32a that is used to drive, the image-generating unit 39a with imaging device, and the Hall element 44a that changes the detecting element unit as magnetic field.In first embodiment, imaging device is CCD; Yet this imaging device can be other imaging device such as CMOS or the like.
Fixed cell 30b has by primary importance detection and magnet 411b, second place detection and magnet 412b, primary importance detects and drive yoke (driving yoke) 431b and the second place detects and the magnet unit that is used to drive of driving yoke 432b formation.
In first direction x and second direction y, fixed cell 30b supports removable unit 30a movably.
When the central area of imaging equipment is passed by the optical axis L X of camera lens 67, relation between the position of the position of removable unit 30a and fixed cell 30b is set, make removable unit 30a be positioned the central authorities of the moving range of first direction x and second direction y, so that utilize the overall dimension of the imaging scope of imaging device.
Constitute the rectangle of the imaging surface of imaging device, have two diagonal.In first embodiment, the center of imaging device is these two intersection of diagonal.
The first drive coil 31a, the second drive coil 32a and Hall element unit 44a invest on the removable unit 30a.
The first drive coil 31a forms the coil modes of base and spiral type.The coil modes of the first drive coil 31a has the line that parallels with second direction y, produces first electromagnetic force like this and come to move the removable unit 30a that comprises the first drive coil 31a in first direction x.
First electromagnetic force is according to the sense of current of the first drive coil 31a and primary importance detects and the magnetic direction of magnet 411b occurs.
The second drive coil 32a forms the coil modes of base and spiral type.The coil modes of the second drive coil 32a has the line that parallels with first direction x, produces second electromagnetic force like this and moves the removable unit 30a that comprises the second drive coil 32a at second direction y.
Second electromagnetic force is according to the sense of current of the second drive coil 32a and the second place detects and the magnetic direction of magnet 412b occurs.
The first and second drive coil 31a are connected with drive circuit 29 with 32a, and drive circuit 29 drives first and second drive coil 31a and the 32a by the flexible PCB (not shown).The first pwm power dx is input to drive circuit 29, the second pwm power dy from the PWM 0 of CPU 21 and is input to drive circuit 29 from the PWM 1 of CPU 21.Drive circuit 29 is the first drive coil 31a power supply corresponding to the first pwm power dx, and drive circuit 29 is the second drive coil 32a power supply of the corresponding second pwm power dy, drives removable unit 30a.
Primary importance detects and magnet 411b invests removable unit one side of fixed cell 30b, and wherein primary importance detects and magnet 411b faces the first drive coil 31a and the Hall element hh10 of level in third direction z.
Second place detection and magnet 412b invest removable unit one side of fixed cell 30b, and the second place detects with magnet 412b and faces the second drive coil 32a and Hall element hv10 vertical in third direction z.
Under the situation that N magnetic pole and S magnetic pole are arranged along first direction x, primary importance detects and magnet 411b invests that primary importance detects and driving yoke 431b on.Primary importance detects and drives yoke 431b and invests on the fixed cell 30b, in removable unit 30a one side, along third direction z.
Under the situation that N magnetic pole and S magnetic pole are arranged along second direction y, the second place detects and magnet 412b invests that the second place detects and driving yoke 432b on.The second place detects and drives yoke 432b and invests on the fixed cell 30b, in removable unit 30a one side, along third direction z.
First and second position probing and driving yoke 431b, 432b are made by soft magnetic material.
Primary importance detects and drives around yoke 431b prevents that primary importance from detecting and the magnetic field of magnet 411b is dissipated to, and improve that primary importance detects and the magnet 411b and the first drive coil 31a between and primary importance detection and magnet 411b and horizontal Hall element hh10 between magnetic flux density.
The second place detects and drives around yoke 432b prevents that the second place from detecting and the magnetic field of magnet 412b is dissipated to, and improve that the second place detects and the magnet 412b and the second drive coil 32a between and second place detection and magnet 412b and vertical Hall element hv10 between magnetic flux density.
Hall element unit 44a is the single shaft unit, comprises two electromagnetic conversion elements (magnetic field change detecting element), utilizes Hall effect to detect the current location P of removable unit 30a respectively nSpecify in first coordinate among the first direction x and the first detection position signal px and the second detection position signal py of second coordinate in second direction y.
One of two Hall elements are horizontal Hall element hh10, are used for detecting at first direction x the position P of removable unit 30a nFirst coordinate, another is vertical Hall element hv10, is used for detecting at second direction y the position P of removable unit 30a nSecond coordinate.
Horizontal Hall element hh10 invests on the removable unit 30a, and the primary importance in the face of fixed cell 30b in third direction z detects and magnet 411b.
Vertical Hall element hv10 is attached to removable unit 30a, and the second place in the face of fixed cell 30b in third direction z detects and magnet 412b.
When the center of imaging equipment and optical axis L X intersect, horizontal Hall element hh10 need be placed on the Hall element unit 44a, as looking from third direction z in the face of primary importance detection and the N magnetic pole of magnet 411b and the mesozone between the S magnetic pole along first direction x.In this position, horizontal Hall element hh10 uses maximum magnitude, wherein can change (linearity) based on the linearity output of single shaft Hall element and carry out position probing operation accurately.
Similarly, when the center of imaging equipment and optical axis L X intersect, vertical Hall element hv10 need be placed on the Hall element unit 44a, as looking from third direction in the face of second place detection and the N magnetic pole of magnet 412b and the mesozone between the P magnetic pole along second direction y.
Hall element signal processing unit 45 has the first Hall element signal processing circuit 450 and the second Hall element signal processing circuit 460.
The first Hall element signal processing circuit 450 is based on the output signal of horizontal Hall element hh10, detection level potential difference values x10 between the output of horizontal Hall element hh10.
The first Hall element signal processing circuit 450 outputs to the A/D converter A/D 2 of CPU 21 based on horizontal potential difference values x10 with the first detection position signal px, and this first detection position signal is pointed out the position P of removable unit 30a nFirst coordinate at first direction x.
The second Hall element signal processing circuit 460 is based on the output signal of vertical Hall element hv10, detection of vertical potential difference values y10 between the output of vertical Hall element hv10.
The second Hall element signal processing circuit 460 outputs to the A/D converter A/D 3 of CPU 21 based on vertical potential difference values y10 with the second detection position signal py, and this second detection position signal is pointed out the position P of removable unit 30a nSecond coordinate at second direction y.
Next, the main operation of the photographing device 1 among first embodiment will be explained by the flow chart that uses Fig. 4.
When photographing device 1 is set to the ON state,, make angular velocity detection unit 25 in step S11, be set to the ON state to 25 power supplies of angular velocity detection unit.
At step S12, the interrupt procedure of the timer that carries out with predetermined time interval (1ms) begins.In step S13, the value of release condition parameters R P is set to 0.The back will be explained the details of timer interrupt procedure among first embodiment by the flow chart that uses Fig. 5.
In step S14, determine whether photometry switch 12a is set to the ON state.When definite photometry switch 12a was not set to the ON state, operation turned back to the process of step S14 and repeating step S14.Otherwise operation proceeds to step S15.
In step S15, determine whether anti-shake switch 14a is set to the ON state.When definite photometry switch 14a is not set to the ON state, be set to 0 in the value of the anti-shake parameter I S of step S16.Otherwise, be set to 1 in the value of the anti-shake parameter I S of step S17.
At step S18, drive the AE transducer of AE unit 23, carry out the photometry operation, and calculate f-number and time for exposure.
In step S19, the AF transducer and the lens control circuit that drive AF unit 24 are operated with focusing to carry out the AF sensing respectively.
In step S20, determine whether release-push 13a is set to the ON state.When release-push 13a was not set to the ON state, operation turned back to step S14 and repeats process from step S14 to step S19.Otherwise operation proceeds to step S21 and begins to discharge operation in tandem.
In step S21, the value of the value of the value of first direction maximum parameter X (+), first direction minimum value parameter X (-), the value of second direction maximum parameter Y (+), second direction minimum value parameter Y (-) and driving OFF parameter S P are set to 0.
In step S22, the value of release condition parameters R P is set to 1.
In step S23, carry out corresponding to pre-if the reflective mirror of the f-number that calculates lifts operation and aperture shutoff operation by reflective mirror diaphragm shutter unit 18.
After the end reflective mirror lifts operation, in step S24, the opening operation (the preceding curtain of mobile shutter (front curtain)) of beginning shutter.
In step S25, carry out exposing operation, in other words, carry out the accumulation of imaging device (CCD etc.).After time for exposure finishes, in step S26, carry out shutter close operation (the preceding curtain of mobile shutter), aperture opening operation by reflective mirror diaphragm shutter unit 18
After the time for exposure finishes, in step S26, carry out the shutoff operation (moving of fast curtain behind the door) of shutter, the opening operation that reflective mirror puts down operation and aperture by the reflective mirror diaphragm shutter.
In step S27, read in the quantity of electric charge of imaging device accumulation in the time for exposure.In step S28, CPU 21 communicates by letter with DSP 19, so that come the carries out image processing operation based on the accumulation that reads from imaging device.The image that has been performed image processing operations is stored in the memory of photographing device 1.In step S29, on indicating member 17, show the image that is stored in the memory.In step S30, the value of release condition parameters R P is set to 0, discharges operation in tandem with end, and operates and get back to step S14, and promptly photographing device 1 is set to carry out the state of next image manipulation.
Below, utilize flow chart among Fig. 5 to explain the interrupt procedure of timer among first embodiment, it starts from step S12 among Fig. 4, and carries out with the predetermined time interval (1ms) that is independent of other operations.
When the interrupt procedure of timer begins, in step S51, will be input among the A/D converter A/D 0 of CPU 21, and be converted to the first digital angular velocity signal Vx by the first angular speed vx of angular velocity detection unit 25 outputs n, be input to the A/D converter A/D 1 of CPU 21 and be converted to the second digital angular velocity signal Vy by the second angular speed vy of angular velocity detection unit 25 outputs equally n(angular velocity detection operation).
Handle operation (the first and second digital angular speed VVx in Digital High Pass Filter nAnd VVy n) the middle first and second digital angular velocity signal Vx that remove nAnd Vy nLow frequency part.
In step S52, determine whether the value of release condition parameters R P is changed to 1.When the value of determining release condition parameters R P was not 1, the drive controlling of removable unit 30a was set to the OFF state, perhaps the state do not carried out of the drive controlling that in step S53 anti-shake unit 30 is set to removable unit 30a.Otherwise operation directly proceeds to step S54.
In step S54, Hall element unit 44a detects the position of removable unit 30a, and Hall element signal processing unit 45 calculates first and second detection position signal px and the py.The first detection position signal px is input to the A/D converter A/D 2 of CPU 21 and is converted to digital signal pdx n, and the second detection position signal py is input to the A/D converter A/D 3 of CPU 21 and is converted to digital signal pdy nThereby the two determines the current location P of removable unit 30a n(pdx n, pdy n).
In step S55, determine whether removable unit 30a contacts with two ends of its range of movement, in other words, carry out the restriction detecting operation.The back will use the flow chart of Fig. 7 to explain the details of restriction detecting operation among first embodiment.
In step S56, determine whether the value that drives OFF parameter S P is set to 1.When the value that determine to drive OFF parameter S P was 1, the driving of removable unit 30a was set to the OFF state, perhaps the state do not carried out of the drive controlling that in step S53 anti-shake unit 30 is set to removable unit 30a.Otherwise operation directly proceeds to step S57.
In step S57, determine whether the value of anti-shake parameter I S is 0.When the value IS that determines anti-shake parameter is 0 (IS=0), just when photographing device is not in anti-shake pattern, the position S that in step S58, removable unit 30a (image-generating unit 39a) should be moved n(Sx n, Sy n) be set to the center of range of movement that can moving cell 30a.When the value IS that determines anti-shake parameter is not 0 (IS=1), just when photographing device is in anti-shake pattern, in step S59,, calculate the position S that removable unit 30a (image-generating unit 39a) should move based on first and second angular speed vx and the vy n(Sx n, Sy n).
In step S60, according to the position S that in step S58 and step S59, determines n(Sx n, Sy n) and current location P n(pdx n, pdy n) calculate removable unit 30a is moved to position S nThe first actuating force Dx of actuating force n(the first pwm power dx) and the second actuating force Dy n(the second pwm power dy).
In step S61, drive the first drive coil unit 31a by apply the first pwm power dx to drive circuit 29, and drive the second drive coil unit 32a by apply the second pwm power dy to drive circuit 29, so that removable unit 30a is moved to position S n(Sx n, Sy n).
The process of step S60 and S61 is that control is calculated automatically, and PID controls automatically and uses this calculating to carry out ratio, integration, the differential calculation of general (common).
Below, will use the flow chart of Fig. 7 to explain the restriction detecting operation that in the step S55 of Fig. 5, begins among first embodiment.
When the restriction detecting operation begins, in step S71, determine detection position P nBehind the A/D conversion operations at the first coordinate figure pdx of first direction x nWhether be less than or equal to first direction minimum value minPx.
As definite detection position P nBehind the A/D conversion operations at the first coordinate figure pdx of first direction x nWhen being less than or equal to first direction minimum value minPx, in other words, removable unit 30a touches the part that is positioned at its another end of range of movement at first direction x, then in step S72 first direction minimum value parameter X (-) is set to 1.Otherwise operation directly proceeds to step S73.
In step S73, determine detection position P nBehind the A/D conversion operations at the first coordinate figure pdx of first direction x nWhether more than or equal to first direction maximum maxPx.
When determining detection position first coordinate figure pdx at first direction x behind the A/D conversion operations nDuring more than or equal to first direction maximum maxPx, in other words, removable unit 30a touches the part that is positioned at its range of movement one end at first direction x, then in step S74 first direction maximum parameter X (+) is set to 1.Otherwise operation directly proceeds to step S75.
In step 75, determine detection position P nBehind the A/D conversion operations at the second coordinate figure pdy of second direction y nWhether be less than or equal to second direction minimum value minPy.
As definite detection position P nBehind the A/D conversion operations at the second coordinate figure pdy of second direction y nWhen being less than or equal to second direction minimum value minPy, in other words, removable unit 30a touches the part that is positioned at its another end of range of movement at second direction y, then in step S76 second direction minimum value parameter Y (-) is set to 1.Otherwise operation directly proceeds to step S77.
In step 77, determine detection position P nBehind the A/D conversion operations at the second coordinate figure pdy of second direction y nWhether more than or equal to second direction maximum maxPy.
As definite detection position P nBehind the A/D conversion operations, at the second coordinate figure pdy of second direction y nWhen being greater than or equal to second direction maximum maxPy, in other words, removable unit 30a touches the part that is positioned at its range of movement one end at second direction y, then in step S78 second direction maximum parameter Y (+) is set to 1.Otherwise operation directly proceeds to step S79.
In step S79, determine whether that first direction minimum value parameter X (-) and first direction maximum parameter X (+) all are set as 1.When definite these two values all were set to 1, the value that drives OFF parameter S P in step S80 was set to 1.When having at least one not to be set as 1 in definite first direction minimum value parameter X (-) and the first direction maximum parameter X (+), operation directly proceeds to step S81.
In step S81, determine whether that second direction minimum value parameter Y (-) and second direction maximum parameter Y (+) are set as 1.When definite these two values all were set to 1, the value that drives OFF parameter S P in step S82 was set to 1.When having at least one not to be set as 1 among definite second direction minimum value parameter Y (-) and the second direction maximum parameter Y (+), the restriction detecting operation finishes.
In first embodiment, when to such an extent as to the hand amount of trembling is very big can not move removable unit 30a and the anti-shake operation of correct execution according to this very big hand amount of trembling the time, be two ends all under the state of contact that photographing device 1 is in removable unit 30a and its range of movement, the motion control of then removable unit 30a is set to the OFF state.
When photographing device 1 is installed on the tripod, when release-push 13 press vibration that operation causes when in tripod, having produced resonance, maybe surpassed the shake of normal hand when vibration, when for example brandishing photographing device 1, or the like, this state can take place.
In this case, removable unit 30a vibrates in some way, is performed so that be imaged under the condition of operating of taking pictures that can't carry out respective operations person's intention; In other words, the motion control that is used for the mobile unit 30a of anti-shake operation can not correct execution, means that promptly anti-shake operation can not correct execution.
Therefore, be not set to the OFF state with the motion of removable unit 30a under this situation and compare, the unnecessary motion of removable unit 30a has been limited.In addition, by limiting the unnecessary motion of removable unit 30a, can reduce the power consumption of photographing device 1.In addition, can also prevent to contact the possibility of the breakage of part etc.
In addition, the discomfort that the operator of photographing device 1 experiences also can reduce, and this discomfort derives from by removable unit 30a and the vibrations that stop the collision between the contact point of its motion to cause.
In first embodiment,, determine the whether very big position probing (determining whether removable unit 30a all contacts with two ends of its range of movement) that is based on removable unit 30a of the hand amount of trembling in order correctly to carry out anti-shake operation.Yet this is determined can also be based on another function.For example, determine whether anti-shake operation can be detected according to the hand amount of trembling that utilization is carried out from the essential part of the signal (vx, vy, vxn, and vyn) of the first and second angular-rate sensor 26a and 26b input CPU 21 by correct execution.In this case, determine by the hand amount of trembling of anti-shake operational computations whether greater than the higher limit of the preset range that is provided with in advance, or less than the lower limit of preset range.
Below, explain second embodiment.In first embodiment, whether all contact according to definite removable unit 30a with two ends of its range of movement, the motion control of removable unit 30a (driving removable unit 30a) is set to the OFF state.
But in a second embodiment,, the motion control of removable unit 30a (driving removable unit 30a) is set to the OFF state according to the motion state (amount of movement of removable unit 30a) of removable unit 30a.The places different with first embodiment are explained as follows.
CPU 21 is control photographing device 1 control device about imaging operation and anti-shake each part of operation.Anti-shake operation comprises moving and the position probing effect of removable unit 30a.
In addition, CPU 21 has stored the value of anti-shake parameter I S, it has determined whether photographing device 1 is in anti-shake pattern, has also stored value, first positive direction counter X (+) cnt, first negative direction counter X (-) cnt, second positive direction counter Y (+) cnt, second negative direction counter Y (-) cnt with reference to amount of movement STW, reference number of times STN, release condition parameters R P and has driven OFF parameter S P.
With reference to amount of movement STW is to be used for comparison in preset time length 1ms, removable unit 30a first coordinate of the amount of movement of first direction x (| pdx n-pdx N-1|) and in preset time length 1ms, removable unit 30a second coordinate of the amount of movement of second direction y (| pdx n-pdx N-1|) reference value (being fixed value).
If more than or equal to reference amount of movement STW, the translational speed that then shows removable unit 30a is more than or equal to predetermined speed at the amount of movement of first direction x or second direction y.
The amount of movement that is determined is counted at first direction x and second direction y respectively more than or equal to the number of times of reference amount of movement STW at first direction x or second direction y, and respectively at positive direction and negative direction counting.
Reference number of times STN is the reference value (for fixed value) of the counts when being used for relatively amount of movement as first direction x or second direction y more than or equal to reference amount of movement STW.
When counts is very big, can determine that removable unit 30a is in vibrational state, and removable unit 30a move (driving removable unit 30a) is set to the OFF state.
In a second embodiment, be made as 60AD value/ms with reference to the value of amount of movement, the value of reference number of times STN is made as 5.
The detection sensitivity of horizontal Hall element hh10 and vertical Hall element hv10 is set to detect voltage width and 10 AD (2 of 3.3V 10=1024 steps (AD value)).Therefore, the detection voltage width in each step (an AD value) is 3.3V ÷ 1024 ≒ 3.22mV/AD.Value 60AD value/ms with reference to amount of movement STW is the detection voltage of 60 * 3.22 ≒ 193mV/ms.In addition, when at the fixed time at interval in the 1ms, the amount of movement of removable unit 30a determines then that greater than about 6% o'clock of its moving range this amount of movement is more than or equal to reference amount of movement STW (60AD value/ms ÷ 1024 ≒ 0.06=6%).
When determining through the current detection position P behind the A/D conversion operations nThe first coordinate figure pdx at first direction x nGreater than the last detection position P behind the process A/D conversion operations N-1The first coordinate figure pdx at first direction x N-1The time, | pdx n-pdx N-1| more than or equal to reference amount of movement STW; In other words, removable unit 30a moves along the positive direction of first direction y, and surpasses predetermined speed, and the value of first positive direction counter X (+) cnt increases by 1 (seeing step S175 among Figure 10).
When determining through the current detection position P behind the A/D conversion operations nThe first coordinate figure pdx at first direction x nBe not more than through the last detection position P behind the A/D conversion operations N-1The first coordinate figure pdx at first direction x N-1The time, | pdx n-pdx N-1| more than or equal to reference amount of movement STW; In other words, removable unit 30a moves along the negative direction of first direction y, and surpasses predetermined speed, and the value of first negative direction counter X (-) cnt increases by 1 (seeing step S173 among Figure 10).
When determining through the current detection position P behind the A/D conversion operations nThe second coordinate figure pdy at second direction y nGreater than the last detection position P behind the process A/D conversion operations N-1The second coordinate figure pdy at second direction y N-1The time, | pdy n-pdy N-1| more than or equal to reference amount of movement STW; In other words, removable unit 30a moves along the positive direction of second direction y, and surpasses predetermined speed, and the value of second positive direction counter Y (+) cnt increases by 1 (seeing step S180 among Figure 10).
When determining through the current detection position P behind the A/D conversion operations nThe second coordinate figure pdy at second direction y nBe not more than through the last detection position P behind the A/D conversion operations N-1The second coordinate figure pdy at second direction y N-1The time, | pdy n-pdy N-1| more than or equal to reference amount of movement STW; In other words, removable unit 30a moves along the negative direction of second direction y, and surpasses predetermined speed, and the value of second negative direction counter Y (+) cnt increases by 1 (seeing step S178 among Figure 10).
After release-push 13a was changed to the ON state, CPU 21 carried out and discharges operation in tandem.
Drive OFF parameter S P and be used for determining whether removable unit 30a moves under predetermined condition.In a second embodiment, as predetermined condition, at the fixed time in the length, when the amount of movement of removable unit 30a more than or equal to the number of times of reference amount of movement more than or equal to reference number of times, drive OFF parameter S P and be set to 1, and the motion control of mobile unit 30a is set to the state of OFF.But predetermined condition is not confined to this state.
When release-push 13a is set to the ON state (when release condition parameters R P is set to 1, see step S122 to S130 among Fig. 8) after when having carried out the release operation in tandem, and as one of first positive direction counter X (+) cnt, first negative direction counter X (-) cnt, second positive direction counter Y (+) cnt, second negative direction counter Y (-) cnt during more than or equal to reference number of times STN, the value that drives OFF parameter S P is set to 1 (seeing step S182, S184, S186 and S188 among Figure 10).In this case, CPU 21 is the OFF state with mobile (driving) control setting of removable unit 30a, (sees step S13 among Fig. 9) even photographing device 1 was in the time for exposure.
When to such an extent as to the hand amount of trembling is very big can not move removable unit 30a and the anti-shake operation of correct execution according to this very big hand amount of trembling the time (vibrational state), be two ends state of contact all that photographing device 1 is in removable unit 30a and its moving range, drive OFF parameter S P and be set to 1.
For example, when photographing device 1 is installed on the tripod, when release-push 13 press vibration that operation causes when in tripod, having produced resonance, maybe surpassed the shake of normal hand when vibration, when for example brandishing photographing device 1, or the like, this state can take place.
In this case, mobile unit 30a vibrates in some way, is performed so that be imaged under the condition of operating of taking pictures that can't carry out respective operations person's intention; In other words, the motion control that is used for the mobile unit 30a of anti-shake operation can not correctly be carried out, and means that promptly anti-shake operation can not correctly carry out.In addition, when the collision between mobile unit 30a and contact part was strong, the contact part may damage.
In a second embodiment, when the value that drives OFF parameter S P was set to 1, the motion control of mobile unit 30a was set to the OFF state, with the unnecessary motion of restriction mobile unit 30a.By the unnecessary motion of restriction mobile unit 30a, can reduce the power consumption of photographing device 1.
When release-push 13a is set to the ON state (when release condition parameters R P is set to 1, see step S122 to S130 among Fig. 8) after when having carried out the release operation in tandem, and when first positive direction counter X (+) cnt, first negative direction counter X (-) cnt, second positive direction counter Y (+) cnt, second negative direction counter Y (-) cnt can be more than or equal to reference number of times STN, the value that drives OFF parameter S P was not set to 1 (continuing to be set to 0).In this case, CPU 21 is the ON state with motion (driving) control setting of removable unit 30a.
Next, the main operation of the photographing device 1 among second embodiment will be explained by the flow chart that uses Fig. 8.
When photographing device 1 is set to the ON state,, make angular velocity detection unit 25 in step S11, be set to the ON state to 25 power supplies of angular velocity detection unit.
At step S112, with the pick up counting interrupt procedure of device of predetermined time interval (1ms).In step S113, the value of release condition parameters R P is set to 0.The back will be explained the details of timer interrupt procedure among second embodiment by the flow chart that uses Fig. 9.
In step S114, determine whether photometry switch 12a is set to the ON state.When definite photometry switch 12a was not set to the ON state, operation turned back to the process of step S114 and repeating step S114.Otherwise operation proceeds to step S115.
In step S115, determine whether anti-shake switch 14a is set to the ON state.When definite anti-shake switch 14a was not set to the ON state, the value of anti-shake parameter I S was set to 0 in step S116.Otherwise the value of anti-shake parameter I S is set to 1 in step S117.
In step S118, drive the AE transducer of AE unit 23, carry out the photometry operation, and calculate f-number and time for exposure.
In step S119, drive the AF transducer and the lens control circuit of AF unit 24, to carry out AF sensing and focusing operation respectively.
In step S120, determine whether release-push 13a is set to the ON state.When release-push 13a was not set to the ON state, step S114 was returned in operation, and repeating step S114 is to the process of step S119.Otherwise operation proceeds to step S121, discharges operation in tandem then and begins.
In step S121, first positive direction counter X (+) cnt, first negative direction counter X (-) cnt, second positive direction counter Y (+) cnt, second negative direction counter Y (-) cnt and driving OFF parameter S P are set to 0.
In step S122, the value of release condition parameters R P is set to 1.
In step S123, reflective mirror diaphragm shutter unit 18 carries out that reflective mirrors lift operation and corresponding to the aperture shutoff operation of predetermined or the f-number that calculates.
After the end reflective mirror lifts operation, the opening operation (the preceding curtain of mobile shutter) of beginning shutter in step S124.
In step S125, carry out exposing operation, in other words, carry out the accumulation of imaging device (CCD etc.).After past time for exposure, in step S126, carry out the shutoff operation (moving of fast curtain behind the door) of shutters, the opening operation that reflective mirror puts down operation and aperture by reflective mirror diaphragm shutter unit 18.
In step S127, read in the quantity of electric charge of imaging device accumulation in the time for exposure.In step S128, CPU 21 communicates by letter with DSP 19, so that come the carries out image processing operation based on the accumulation that reads from imaging device.The image that has been performed image processing operations is stored in the memory of photographing device 1.In step S129, on indicating member 17, show the image that is stored in the memory.In step S130, the value of release condition parameters R P is set to 0, discharges operation in tandem with end, and operates and get back to step S114, and promptly photographing device 1 is set to carry out the state of next image manipulation.
Below, utilize flow chart among Fig. 9 to explain the interrupt procedure of timer among second embodiment, it starts from step S112 among Fig. 8, and carries out with the predetermined time interval (1ms) that is independent of other operations.
When the interrupt procedure of instant device begins, in step S151, will be input among the A/D converter A/D 0 of CPU 21, and be converted to the first digital angular velocity signal Vx by the first angular speed vx of angular velocity detection unit 25 outputs n, be input to the A/D converter A/D 1 of CPU 21, and be converted to the second digital angular velocity signal Vy by the second angular speed vy of angular velocity detection unit 25 outputs equally n(angular velocity detection operation).
Handle operation (the first and second digital angular speed VVx in Digital High Pass Filter nAnd VVy n) the middle first and second digital angular velocity signal Vx that remove nAnd Vy nLow frequency part.
In step S152, determine whether the value of release condition parameters R P is set to 1.When the value of determining release condition parameters R P is not set to 1, in step S153, drive removable unit 30a and be set to the OFF state, or anti-shake unit 30 is set to not carry out the state of the drive controlling of removable unit 30a.
In step S154, Hall element unit 44a detects the position of removable unit 30a, and Hall element signal processing unit 45 calculates first and second detection position signal px and the py.The first detection position signal px is input to the A/D converter A/D 2 of CPU 21, and is converted to digital signal pdx n, and the second detection position signal py is input to the A/D converter A/D 3 of CPU 21, and be converted to digital signal pdy nThereby the two determines the current location P of removable unit 30a n(pdx n, pdy n).
In step S155, determine whether removable unit 30a is in vibrational state; In other words, carry out the vibration detection operation.The back will use the flow chart of Figure 10 to explain the details of vibration detection operation among second embodiment.
In step S156, determine whether the value that drives OFF parameter S P is set to 1.When the value that determine to drive OFF parameter S P was set to 1, the driving of removable unit 30a was set to the OFF state, or anti-shake unit 30 was set to not executing state of removable unit 30a in step S153.Otherwise operation proceeds to step S157.
In step S157, determine whether the value of anti-shake parameter I S is set to 0.When the value IS that determines anti-shake parameter is 0 (IS=0), just when photographing device is not in anti-shake pattern, the position S that in step S158, removable unit 30a (image-generating unit 39a) should be moved n(Sx n, Sy n), be set to the central authorities of the moving range of removable unit 30a.When the value IS that determines anti-shake parameter is not 0 (IS=1), just when photographing device is in anti-shake pattern, in step S159,, calculate the position S that removable unit 30a (image-generating unit 39a) should move based on first and second angular speed vx and the vy n(Sx n, Sy n).
In step S160, with the position S that determines among step S158 or the step S159 n(Sx n, Sy n) and current location P n(pdx n, pdy n) be the basis, calculate removable unit 30a is moved to position S nThe first actuating force Dx of actuating force D n(the first pwm power dx) and the second actuating force Dy n(the second pwm power dy).
In step S161, drive the first drive coil unit 31a by apply the first pwm power dx to drive circuit 29, and drive the second drive coil unit 32a by apply the second pwm power dy to drive circuit 29, so that removable unit 30a is moved to position S n(Sx n, Sy n).The process of step S160 and S161 is that control fortune is automatically calculated, and PID controls automatically and uses this calculating to carry out ratio, integration, the differential calculation of general (common).
Below, utilize flow chart among Figure 10 to explain vibration detection operation among second embodiment, it starts from step S155 among Fig. 9.
When vibration detection operation beginning, in step S171, determine the current detection position P after the A/D conversion nThe first coordinate figure pdx at first direction x nWhether greater than the last detection position P after the A/D conversion N-1The first coordinate figure pdx at first direction x N-1
As the current detection position P that determines after the A/D conversion nThe first coordinate figure pdx at first direction x nGreater than the last detection position P after the A/D conversion N-1The first coordinate figure pdx at first direction x N-1The time, operation directly advances to step S174, otherwise operation proceeds to step S172.
In step S172, determine the current detection position P after the A/D conversion nThe first coordinate figure pdx at first direction x nWith the last detection position P after the A/D conversion N-1The first coordinate figure pdx at first direction x N-1The absolute value of difference; In other words, in the time interval of predetermined 1ms, removable unit 30a first coordinate of the amount of movement of first direction x (| pdx n-pdx N-1|) more than or equal to reference amount of movement STW.
When determining in the time interval of predetermined 1ms, removable unit 30a first coordinate of the amount of movement of first direction x (| pdx n-pdx N-1|) during more than or equal to reference amount of movement STW, more than or equal to predetermined speed, therefore operation proceeds to step S173 to removable unit 30a in the translational speed of the negative direction of first direction x.Otherwise removable unit 30a can be more than or equal to predetermined speed in the translational speed of the negative direction of first direction x, and then operation directly proceeds to step S176.
In step S173, with the value increase by 1 of first negative direction counter X (-) cnt, operation proceeding to step S176 then.
In step S174, determine the current detection position P after the A/D conversion nThe first coordinate figure pdx at first direction x nWith the last detection position P after the A/D conversion N-1The first coordinate figure pdx at first direction x N-1The absolute value of difference; In other words, in the time interval of predetermined 1ms, removable unit 30a first coordinate of the amount of movement of first direction x (| pdx n-pdx N-1|) more than or equal to reference amount of movement STW.
When determining in the time interval of predetermined 1ms, removable unit 30a first coordinate of the amount of movement of first direction x (| pdx n-pdx N-1|) during more than or equal to reference amount of movement STW, more than or equal to predetermined speed, therefore operation proceeds to step S175 to removable unit 30a in the translational speed of the positive direction of first direction x.Otherwise removable unit 30a can be more than or equal to predetermined speed in the translational speed of the positive direction of first direction x, and then operation directly proceeds to step S176.
In step S175, with the value increase by 1 of first positive direction counter X (+) cnt, operation proceeding to step S176 then.
In step S176, determine the current detection position P behind the A/D conversion operations nThe second coordinate figure pdy at second direction y nWhether greater than the last detection position P after the A/D conversion N-1The second coordinate figure pdy at second direction y N-1
As the current detection position P that determines after the A/D conversion nThe second coordinate figure pdy at second direction y nGreater than the last detection position P after the A/D conversion N-1The first coordinate figure pdy at second direction y N-1The time, operation directly advances to step S179, otherwise operation proceeds to step S177.
In step S177, determine the current detection position P after the A/D conversion nThe second coordinate figure pdy at second direction y nWith the last detection position P after the A/D conversion N-1The second coordinate figure pdy at second direction y N-1The absolute value of difference; In other words, in the time interval of predetermined 1ms, removable unit 30a second coordinate of the amount of movement of second direction y (| pdy n-pdy N-1|) more than or equal to reference amount of movement STW.
When determining in the time interval of predetermined 1ms, removable unit 30a second coordinate of the amount of movement of second direction y (| pdy n-pdy N-1|) during more than or equal to reference amount of movement STW, more than or equal to predetermined speed, therefore operation proceeds to step S178 to removable unit 30a in the translational speed of the negative direction of second direction y.Otherwise removable unit 30a can be more than or equal to predetermined speed in the translational speed of the negative direction of second direction y, and then operation directly proceeds to step S181.
In step S178, with the value increase by 1 of second negative direction counter X (-) cnt, operation proceeding to step S181 then.
In step S179, determine the current detection position P after the A/D conversion nThe second coordinate figure pdy at second direction y nWith the last detection position P after the A/D conversion N-1The second coordinate figure pdy at second direction y N-1The absolute value of difference; In other words, in the time interval of predetermined 1ms, removable unit 30a second coordinate of the amount of movement of second direction y (| pdy n-pdy N-1|) more than or equal to reference amount of movement STW.
When determining in the time interval of predetermined 1ms, removable unit 30a second coordinate of the amount of movement of second direction y (| pdy n-pdy N-1|) during more than or equal to reference amount of movement STW, more than or equal to predetermined speed, therefore operation proceeds to step S180 to removable unit 30a in the translational speed of the negative direction of second direction y.Otherwise removable unit 30a can be more than or equal to predetermined speed in the translational speed of the positive direction of second direction y, and then operation directly proceeds to step S181.
In step S180, with the value increase by 1 of second positive direction counter Y (+) cnt, operation proceeding to step S181 then.
Determine that in step S181 whether the value of first positive direction counter X (+) cnt is more than or equal to reference number of times STN.When the value of determining first positive direction counter X (+) cnt during more than or equal to reference number of times STN, conclude that removable unit 30a is in vibrational state, therefore operation proceeding to step S182.Otherwise operation directly proceeds to step S183.In step S182, the value that drives OFF parameter S P is set to 1, and operation proceeds to step S183 then.
Determine that in step S183 whether the value of first negative direction counter X (-) cnt is more than or equal to reference number of times STN.When the value of determining first negative direction counter X (-) cnt during more than or equal to reference number of times STN, conclude that removable unit 30a is in vibrational state, therefore operation proceeding to step S184.Otherwise operation directly proceeds to step S185.In step S184, the value that drives OFF parameter S P is set to 1, and operation proceeds to step S185 then.
Determine that in step S185 whether the value of second positive direction counter Y (+) cnt is more than or equal to reference number of times STN.When the value of determining second positive direction counter Y (+) cnt during more than or equal to reference number of times STN, conclude that removable unit 30a is in vibrational state, therefore operation proceeding to step S186.Otherwise operation directly proceeds to step S187.In step S186, the value that drives OFF parameter S P is set to 1, and operation proceeds to step S187 then.
Determine that in step S187 whether the value of second negative direction counter Y (-) cnt is more than or equal to reference number of times STN.When the value of determining second negative direction counter Y (-) cnt during more than or equal to reference number of times STN, conclude that removable unit 30a is in vibrational state, therefore operation proceeding to step S188.Otherwise, the detection of end operation.At step S188, the value that drives OFF parameter S P is set to 1, finishes the vibration detection operation then.
In a second embodiment, when to such an extent as to the amount of jitter of hand can not move removable unit 30a too greatly according to the big amount of jitter of hand and correctly carry out anti-shake operation (being in vibrational state), the motion control of removable unit 30a is set to the OFF state, and promptly the state of photographing device 1 is that removable unit 30a contacts with two ends of its range of movement.
For example, when photographing device 1 is installed on the tripod, when release-push 13 press vibration that operation causes when in tripod, having produced resonance, maybe surpassed the shake of normal hand when vibration, when for example brandishing photographing device 1, or the like, this state can take place.
In this case, removable unit 30a vibrates in some way, is performed so that be imaged under the condition of operating of taking pictures that can't carry out respective operations person's intention; In other words, the motion control that is used for the mobile unit 30a of anti-shake operation can not correct execution, means that promptly anti-shake operation can not correct execution.
Therefore, be not set to the OFF state with the motion of removable unit 30a under this vibrational state and compare, the unnecessary motion of removable unit 30a has been limited.In addition, by limiting the unnecessary motion of removable unit 30a, can also reduce the power consumption of photographing device 1.In addition, can also prevent to contact the possibility of the breakage of part etc.
In addition, the discomfort that the operator of photographing device 1 experiences also can reduce, and this discomfort derives from by removable unit 30a and the vibrations that stop the collision between the contact point of its motion to cause.
In a second embodiment, greatly whether the hand amount of trembling (whether removable unit 30a is in vibrational state), promptly whether can correctly carry out anti-shake operation, be based on the position probing (translational speed of determining removable unit 30a greater than the number of times of predetermined speed whether more than or equal to reference number of times STN) of removable unit 30a.But this determine can also be based on another function.For example, determining whether anti-shake operation can be executed correctly can be based on the signal (vx from the first and second angular-rate sensor 26a and 26b input CPU 21, vy, vxn, and vyn) essential part be the detection that hand is trembled quantitative changeization (angular speed) in unit interval of foundation.In this case, as determine, the variable quantity of determining the hand amount of trembling by anti-shake operational computations greater than the number of times of reference quantity whether more than or equal to reference number of times.
In first and second embodiment, when only the release operation in tandem is performed after release-push 13a is set to the ON state, and the value of driving OFF parameter S P is set to just carry out anti-shake operation at 0 o'clock.
But, also can not carry out the anti-shake operation of execution in the time period that discharges operation in tandem.(not carrying out the anti-shake operation of execution in the time period that discharges operation in tandem) in this case, when the value that drives OFF parameter S P is set to 1, the driving of removable unit 30a is set to the OFF state, through (removable unit 30a reach stable state after) behind the preset time, begin anti-shake operation once more like this.
In addition, explained that removable unit 30a had imaging device; But removable unit further has hand trembles corrective lens, to replace imaging device.
In addition, explained that Hall element was used for position probing as the changes of magnetic field detecting element.But another kind of detecting element, MI (magnetic resistance) transducer, high frequency carrier magnetic field sensor for example, magnetic resonance type magnetic field detection element or MR (magnetoresistance effect) element also can be used for position probing.When using MI transducer, magnetic resonance type magnetic field detection element or MR element, Hall element is similar with using, can be by detecting the information of changes of magnetic field acquisition about removable cell position.
Although by having described embodiments of the invention with reference to accompanying accompanying drawing, obviously the those skilled in the art can make change and the change that does not deviate from the scope of the invention here.

Claims (10)

1. the anti-shake apparatus in the photographing device comprises:
Removable unit;
Carry out the controller of the motion control of described removable unit for anti-shake operation;
When described removable unit touched the end of the range of movement under its predetermined condition, motion control was set to the OFF state.
2. anti-shake apparatus as claimed in claim 1, wherein said predetermined condition is described removable unit contacts described range of movement in first direction or second direction two ends, wherein first direction is a moving direction of described removable unit, and second direction is another moving direction of described removable unit.
3. anti-shake apparatus as claimed in claim 2, this device further comprises the position detection unit that is used for described anti-shake operation;
The detection whether wherein said removable unit contacts the described end of described range of movement is based on the position probing of utilizing described position detection unit that described removable unit is carried out.
4. anti-shake apparatus as claimed in claim 1, wherein said predetermined condition are the hand amounts of trembling calculated in described anti-shake operation greater than the higher limit of preset range or less than the lower limit of described preset range.
5. anti-shake apparatus as claimed in claim 1 wherein is set to the ON state from the release-push of described photographing device and is set to the state that imaging next time can be carried out to described photographing device, and described controller is that described motion control is carried out in described anti-shake operation.
6. the anti-shake apparatus in the photographing device comprises:
Removable unit;
Carry out the controller of the motion control of described removable unit for anti-shake operation;
When carrying out the motion control of described removable unit under predetermined condition, described motion control is set to the OFF state;
Wherein said predetermined condition is at the fixed time in the length, the amount of movement of described removable unit more than or equal to the number of times of reference amount of movement more than or equal to reference number of times.
7. anti-shake apparatus as claimed in claim 6, this device further comprises the position detection unit that is used for described anti-shake operation;
Wherein in described scheduled time length, whether the amount of movement of described removable unit is based on the position probing of utilizing described position detection unit that described removable unit is carried out more than or equal to described detection with reference to amount of movement.
8. anti-shake apparatus as claimed in claim 6 wherein is set to the ON state from the release-push of described photographing device and is set to the state that imaging next time can be carried out to described photographing device, and described controller is that described motion control is carried out in described anti-shake operation.
9. the anti-shake apparatus in the photographing device comprises:
Removable unit;
Carry out the controller of the motion control of described removable unit for anti-shake operation;
When carrying out the motion control of described removable unit under predetermined condition, described motion control is set to the OFF state;
Wherein said predetermined condition is at the fixed time in the length, by the variable quantity of the hand amount of trembling of described anti-shake operational computations greater than the number of times of reference quantity more than or equal to reference number of times.
10. anti-shake apparatus as claimed in claim 9, wherein be set to the ON state from the release-push of described photographing device and be set to the state that imaging next time can be carried out to described photographing device, described controller is that described motion control is carried out in described anti-shake operation.
CN2007101360540A 2006-07-13 2007-07-13 Anti-shake apparatus Expired - Fee Related CN101106650B (en)

Applications Claiming Priority (6)

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JP2006-192719 2006-07-13
JP2006192616A JP2008020689A (en) 2006-07-13 2006-07-13 Image-shake correcting device
JP2006192719A JP5000220B2 (en) 2006-07-13 2006-07-13 Image blur correction device
JP2006192719 2006-07-13
JP2006-192616 2006-07-13
JP2006192616 2006-07-13

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CN106961551A (en) * 2017-03-23 2017-07-18 余仁集 A kind of VR panoramic videos later stage stabilization technology
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CN108848305B (en) * 2018-06-20 2020-09-01 维沃移动通信有限公司 Photographing method and terminal equipment

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