JP2001042376A - Image movement correction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to lessen the discontinuous movement of images by changing the response characteristics of a control signal generation means in accordance with the state of an optical axis change by a movement correction means. SOLUTION: An angular speed sensor 10 as a movement detection means outputs the angular speed signal in both positive and negative directions by the direction of the movement of an image pickup device on the basis of the output in the state that the image pickup device remains static. On the other hand, a microcomputer 15 determines the drive controlled variable (control signal) of a lens group L32 necessary for movement correction by subjecting the output of the angular speed sensor 10 captured via an A/D conversion means 14 to the integration processing, phase compensation, etc., and sends the signal via a D/A conversion means 16 to an L32 group drive control means 2 and also functions as a means for detecting the state of the optical axis change. The microcomputer 15 having mean for integrating the output of the angular speed sensor 10 changes the integration constant used at the time of integration processing to limit the movement of a camera-shake movement and to weaken the correction thereby lessening the discontinuous movement of the images in case of the occurrence of the shake beyond a correction range.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image motion compensating apparatus used for correcting camera shake of an image pickup apparatus such as a video camera, and more particularly to improving the performance of the apparatus.

[0002]

2. Description of the Related Art In recent years, consumer video cameras (hereinafter referred to as "video movies") have been reduced in size and weight, and optical zooms have been increased in magnification. For the consumer, video movies have become one of the most common home appliances. However, on the other hand, the miniaturization, weight reduction, high magnification of optical zoom, and the spread of video movies to consumers who are not familiar with shooting have caused problems such as instability of the screen due to camera shake during shooting. Also generated. Therefore,
In order to solve this problem, many video movies equipped with an image motion compensator have been developed and commercialized.

As an image motion compensating device for an image pickup apparatus, a variable apex angle prism is provided at the front of an image pickup optical system, a movement of the image pickup apparatus itself is detected by an angular velocity sensor, and the variable apex angle prism is driven based on a result of the movement detection. A method to correct the motion of the image by controlling ("Optical image stabilization system" Technical Report of the Institute of Television Engineers of Japan Vol.17, No.5, pp15-20 (199
3)) there is.

In the above method, two glass plates are connected by a bellows made of a special film, and a variable apex prism filled with a liquid having a high refractive index is provided in front of a solid-state image sensor. The two glass plates of the variable apex angle prism are tilted in the horizontal and vertical directions, respectively, based on information on the movement of the imaging device in the two directions of pitching and yawing obtained from the angular velocity sensor. The axis is bent to stabilize the movement of the photographed image.

Another example is disclosed in, for example,
No. 66450 proposes an image blur correction device including an image forming optical system having a variable power optical group or a focus adjusting group, and a correction optical mechanism for decentering or tilting the optical axis of the image forming optical system.

In this publication, a correction lens 1303, which is a part of an image forming optical system composed of four lens groups as shown in FIG. 12, is connected via slide shafts 1301 and 1302 as shown in FIG. The coils 1306, 1307 and the magnet 13
A configuration is disclosed in which the optical axis of the imaging optical system is decentered or tilted by moving the optical axis by an electromagnetic actuator 08, 1309. In this configuration, the electromagnetic actuators are used to move the slide shafts 1301 and 13
By moving the slidable portion with 02, it is possible to correct image disturbance due to camera shake of the imaging device.

Japanese Patent Application Laid-Open No. 7-128619 also discloses that a relatively small and light lens group constituting a part of the variable power optical system is moved in a direction perpendicular to the optical axis to cause vibration when the variable power optical system vibrates. A variable power optical system having an image stabilizing function configured to correct image blur is disclosed.

[0008] In the image motion compensating apparatus as described above, an angular velocity sensor (gyro sensor) for detecting a shake of the image pickup apparatus itself is mainly used for motion detection.
Specifically, the sensor detects the angular velocity of the movement of the imaging device,
By performing an integral operation on this, the deflection angle of the imaging device is obtained,
The variable apex angle prism and the like are drive-controlled in accordance with the deflection angle.

[0009]

As described above, various methods have been proposed and put into practical use with respect to the image motion compensating apparatus. However, in any of these methods, the range (correction angle) in which the motion of the image can be corrected is provided. Physically has an upper limit, which means that infinitely wide-angle movement cannot be corrected. Therefore, when the imaging device moves beyond the correctable range, the motion of the image cannot be completely corrected, and residual vibration occurs.

This will be described with reference to the drawings. FIG. 14 shows, as an example, a variable apex angle prism (hereinafter referred to as "V
FIG. 2 is a block diagram of a device using an “AP”). In the figure, an imaging optical system 1401 is an imaging lens composed of a plurality of lens groups, and performs zooming and focusing by moving the lens groups. The VAP 1402 is a variable apex angle prism for shake correction.

The VAP drive control means 1403
02 is a means for driving and controlling 02.

The imaging optical system drive control means 1404 controls the zooming and focusing operations of the imaging optical system 1401.

The solid-state image pickup device 1405 includes an image pickup optical system 14.
An image pickup device that converts an image incident via the optical signal 01 into an electric signal. The image converted into the electric signal is thereafter subjected to image signal processing.

Reference numeral 1406 denotes an angular velocity sensor for detecting the movement of the image pickup apparatus itself, and outputs an angular velocity signal in both positive and negative directions depending on the direction of movement of the image pickup apparatus based on the output when the image pickup apparatus is stationary. . Angular velocity sensor 1406
Are required to detect movement in two directions of yawing and pitching, but FIG. 14 typically shows only one direction.

The HPF 1407 includes an angular velocity sensor 1406
High-pass filter for removing, for example, a DC drift component in unnecessary band components contained in the output of the LPF 140
Reference numeral 8 denotes a low-pass filter for removing, for example, a resonance frequency component and a noise component of an unnecessary band component included in an output of the angular velocity sensor 1406, and an amplifier 1409 includes:
An A / D converter 1410 is an amplifier circuit that adjusts the signal level of the output of the angular velocity sensor 1406.
409 is a means for converting the output of 409 into a digital signal.

A micro computer (hereinafter abbreviated as “microcomputer”) 1411 obtains a shake angle of the image pickup apparatus by integrating the output of the angular velocity sensor 1406 taken in through the A / D conversion means 1410, and calculates the shake angle. A drive control amount of the VAP 1402 required for correction (hereinafter, referred to as a VAP control signal) is sent to the VAP drive control unit 1403 via the D / A conversion unit 1412.

The D / A conversion means 1412 includes a microcomputer 14
Almost at the same time as receiving the signal from 11, the signal is converted into an analog signal and sent to the VAP drive control means 1403. In the integration process performed by the microcomputer 1411, for example, the transfer function is equivalent to a process having a filter characteristic of 1 / (1−S · Z ⁻¹ ), and S is set to less than 1 in consideration of system stability.
For example, 0.9. S is an integration constant, and Z ^-1 is a unit delay operator.

The VAP drive control means 1403 corrects the movement of the image by driving the VAP 1402 based on the VAP control signal. Finally, the solid-state imaging device drive control means 1
Reference numeral 413 denotes a unit for driving and controlling the solid-state imaging device 1405.

In the image motion compensating apparatus having the above-described configuration, the angular velocity sensor output when the imaging apparatus shakes, the integration result of the angular velocity sensor output (output of the microcomputer 1411), V
FIG. 15 shows the motion of the image corrected by the AP 1402 and the motion remaining in the captured image.

When the imaging device moves as shown in FIG. 15A, the output of the angular velocity sensor taken into the microcomputer 1411 is as shown in FIG. When the output of this angular velocity sensor is integrated, if the integration constant S is 1, the motion of the imaging device (FIG. 2A) and the integration result of the angular velocity sensor output should be the same. Decays. Therefore, for example, the integration result of the angular velocity sensor output is as shown in FIG. According to the integration result, VAP14
02 will be driven, but in fact VAP140
Since the angle that can be corrected is limited to 2, the VAP1402
The motion of the image corrected by is only shown in FIG. In this case, the motion remaining in the captured image as a result corresponds to a result obtained by subtracting FIG. (D) from FIG. (A), and is as shown in FIG.

At the beginning (from time t1 to t2) when the imaging apparatus starts to move as shown in FIG. 2E, the movement of the image is corrected by the VAP 1402, and there is no movement remaining in the image.
The correction is not effective from the time when the angle 402 reaches the maximum correctable angle (time t2), and the motion of the imaging apparatus appears as the motion of the image as it is. Further, after the time t3, the VAP tends to return to the position of the correction angle of 0 degree with the attenuation of the integration result (FIG. 10C), which rather promotes the movement of the image.

FIG. 4F shows the speed of the motion appearing in the photographed image by the above-described operation, and it can be seen that a sharp change in the speed occurs at times t2 and t3. This indicates that the motion remaining in the captured image becomes discontinuous at times t2 and t3, and as a result, unsightly residual blur occurs in the captured image. In particular, near the time t2, the moving speed of the imaging device is high, so that the sense of discontinuity in the movement of the image is hard to be recognized by the photographer. Discontinuities are easily recognized visually, and the photographer can easily feel a sense of discomfort.

The present invention has been made in view of the above-described problems, and has been described in connection with a case where image stabilization against camera shake or the like is performed during photographing.
It is an object of the present invention to provide an image motion compensator capable of reducing discontinuous motion of an image caused by a finite motion correction range that can be corrected by a motion compensator.

[0024]

In order to achieve the above-mentioned object, the present invention is configured as follows.

That is, the image motion compensator of the present invention
Motion correction means for correcting the motion of the subject image caused by the motion of the imaging device by displacing the optical axis of the imaging optical system for imaging the subject on the imaging surface, and motion detection for detecting the motion of the imaging device Control signal generating means for generating a signal for controlling the motion correcting means based on an output of the means,
Wherein the response characteristic of the control signal generating means is changed based on the state of optical axis displacement by the motion correcting means.

According to the present invention, the response characteristics of the control signal generating means are changed based on the state of the displacement of the optical axis. The function of the correction can be restricted to weaken the correction of the camera shake, whereby the discontinuous motion of the image caused by the finite range of motion correction by the motion correction means can be reduced. .

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION
Motion correction means for correcting the motion of the subject image caused by the motion of the imaging device by displacing the optical axis of the imaging optical system for imaging the subject on the imaging surface, and motion detection for detecting the motion of the imaging device Control signal generating means for generating a signal for controlling the motion correcting means based on an output of the means, and a response characteristic of the control signal generating means based on a state of optical axis displacement by the motion correcting means. According to the first aspect of the present invention, when a shake that exceeds the range of motion correction by the motion correction unit occurs, the function of the camera shake correction is limited to weaken the correction of the camera shake. As a result, it is possible to reduce the sense of discontinuity in the motion of the image.

According to a second aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup apparatus, and provided in the image pickup apparatus and comprising a plurality of lenses for forming an image of a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means includes integrating means for integrating an output of the motion detecting means, For shaft displacement detection means The response characteristic of the control signal generating means is changed by changing the time constant of the integrating means based on the detection result. In the case where such a shake occurs, by changing the integration constant used during the integration process, the function of the camera shake correction can be limited and the correction can be weakened. , The discontinuous motion of the image caused by the finite number is reduced.

According to a third aspect of the present invention, in the second aspect, when the optical axis displacement is at or near the maximum displacement that can be displaced by the motion correcting means,
The time constant of the integrating means is set shorter than in other cases. According to the invention of claim 3, the time constant of the integrating means is shortened near the limit of the range of motion correction by the motion correcting means. Then, the correction can be weakened to reduce the discontinuous movement of the image.

According to a fourth aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device, comprising a plurality of lenses, and for imaging a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects the amount of optical axis displacement, and the control signal generating means sets a gain of a signal for controlling the motion correcting means generated therein. Gay to adjust The apparatus according to claim 4, further comprising adjusting means for changing a response characteristic of the control signal generating means by changing a gain of the signal based on a detection result by the optical axis displacement detecting means. If a shake exceeding the range of movement correction by the movement correction means occurs, the gain used during gain adjustment can be changed to limit the function of camera shake correction, thereby weakening the correction. It is possible to reduce discontinuous motion of an image caused by a finite range of motion correction by the means.

According to a fifth aspect of the present invention, in the fourth aspect of the present invention, when the optical axis displacement amount is at or near the maximum displacement amount displaceable by the motion correcting means,
According to the fifth aspect of the present invention, the gain of the gain adjusting unit is set to be small near the limit of the motion correction range by the motion correcting unit. Then, the correction can be weakened to reduce the discontinuous movement of the image.

According to a sixth aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device and comprising a plurality of lenses for forming an image of a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means has a signal width of a signal for controlling the motion correcting means generated therein. Chestnut restricting The response characteristic of the control signal generating means is changed by changing the signal width based on the detection result by the optical axis displacement detecting means. If a shake that exceeds the range of motion correction by the correction unit occurs, the clip value used during clip processing can be changed to limit the function of camera shake correction, and the correction can be weakened.
As a result, it is possible to reduce discontinuous motion of the image caused by the finite range of motion correction by the motion correction unit.

According to a seventh aspect of the present invention, when the optical axis displacement amount is at or near the maximum displacement amount displaceable by the motion correcting means,
According to the seventh aspect of the present invention, the signal width is reduced near the limit of the motion correction range by the motion correction means to reduce the signal width, and the correction is weakened. Discontinuous motion of an image can be reduced.

According to the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device, comprising a plurality of lenses, and for imaging a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, the control signal generating means comprises integrating means for integrating an output of the motion detecting means, and the motion correction Control means Gain adjusting means for adjusting the gain of the signal for the control signal, and changing the time constant of the integrating means and the gain of the signal based on the detection result of the optical axis displacement detecting means to thereby adjust the response characteristic of the control signal generating means. According to the invention as set forth in claim 8, when a shake that exceeds the motion correction range by the motion correction means occurs, the integration constant used during the integration process is changed, and By changing the gain used at the time of gain adjustment, it is possible to limit the function of the camera shake correction and weaken the correction, whereby the image generated due to the finite range of motion correction by the motion correction unit is generated. Can be more effectively reduced.

According to a ninth aspect of the present invention, in the invention of the eighth aspect, when the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion compensating means, compared with other cases, The time constant of the integrating means is set to be short, and the gain of the gain adjusting means is set to be small. According to the invention of claim 9, near the limit of the motion correction range by the motion correcting means, The time constant of the integrating means can be shortened, and the gain of the gain adjusting means can be reduced to weaken the correction to more effectively reduce the discontinuous movement of the image.

According to a tenth aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device, comprising a plurality of lenses, and for imaging a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, the control signal generating means comprises integrating means for integrating an output of the motion detecting means, and the motion correction Control means And a clipping means for limiting a signal width of the signal for controlling the response characteristic of the control signal generating means by changing a time constant of the integrating means and the signal width based on a detection result by the optical axis displacement detecting means. According to the tenth aspect of the present invention,
If a shake that exceeds the range of motion correction by the motion correction unit occurs, the function of camera shake correction is changed by changing the integration constant used during the integration process and the clip value used during the clip process. By limiting the correction, the correction can be weakened, thereby making it possible to more effectively reduce the discontinuous motion of the image caused by the finite range of motion correction by the motion correction unit.

According to an eleventh aspect of the present invention, in the invention of the tenth aspect, when the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion compensating means, compared with other cases, The time constant of the integrating means is set short and the signal width is limited to a small value. According to the invention of claim 11, near the limit of the motion correction range by the motion correcting means, the time of the integrating means is reduced. Discontinuous motion of an image can be reduced more effectively by shortening the constant and reducing the signal width to weaken the correction.

According to a twelfth aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device and comprising a plurality of lenses for forming an image of a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means adjusts a gain of a signal for controlling the motion correcting means. And before Clipping means for limiting a signal width of a signal, wherein a response characteristic of the control signal generating means is changed by changing a gain and the signal width of the signal based on a detection result by the optical axis displacement detecting means. According to the twelfth aspect of the present invention, when a shake that exceeds the range of motion correction by the motion correction unit occurs, the gain used for gain adjustment is changed and the gain is used for clip processing. By changing the clip value, it is possible to limit the function of the image stabilization and weaken the correction, whereby the discontinuity of the image generated due to the finite range of motion correction by the motion correction unit is reduced. Movement can be reduced more effectively.

According to a thirteenth aspect of the present invention, in the twelfth aspect of the present invention, when the optical axis displacement is at or near the maximum displacement that can be displaced by the motion compensating means, compared with other cases, The gain of the gain adjusting means is set to be small and the signal width is limited to a small value. According to the invention according to the thirteenth aspect, the gain adjusting means is provided near the limit of the motion correction range by the motion correcting means. , The signal width is reduced, and the correction is weakened, thereby making it possible to more effectively reduce the discontinuous motion of the image.

According to a fourteenth aspect of the present invention, there is provided an image pickup optical system for detecting a movement of an image pickup device, and provided in the image pickup device and comprising a plurality of lenses for forming a subject on an image pickup surface. An imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal; and a subject image generated due to a movement of an imaging device by displacing an optical axis of the imaging optical system. Motion correcting means for correcting the movement of the motion, a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, and detecting a state of the optical axis displacement by the motion correcting means. Optical axis displacement detecting means, wherein the optical axis displacement detecting means detects an optical axis displacement amount, the control signal generating means comprises integrating means for integrating an output of the motion detecting means, and the motion correction Control means Gain adjustment means for adjusting the gain of the signal, and clip means for limiting the signal width of the signal, the time constant of the integration means, the gain of the signal based on the detection result by the optical axis displacement detection means. And changing the signal width to change the response characteristic of the control signal generating means. According to the invention of claim 14, a vibration exceeding the motion correction range by the motion correcting means has occurred. In such a case, by changing the integration constant used in the integration process, the gain used in the gain adjustment, and the clip value used in the clipping process, the function of the image stabilization can be limited and the correction can be weakened. It is possible to more effectively reduce the discontinuous motion of the image caused by the finite range of motion correction by the motion correcting means.

According to a fifteenth aspect of the present invention, in the image motion compensating apparatus according to the fourteenth aspect, when the optical axis displacement amount is at or near the maximum displacement amount displaceable by the motion compensating means, the other cases are applied. The time constant of the integrating means is set short, the gain of the gain adjusting means is set small, and the signal width is limited to a small value. Near the limit of the correction range of the motion by the correction means, the time constant of the integration means is shortened, the gain of the gain adjustment means is reduced, and the correction is weakened by reducing the signal width to reduce the discontinuous motion of the image. It is possible to further effectively reduce.

The present invention according to claim 16 provides the invention according to claims 1 to 1
In the invention according to any one of the fifth to fifth aspects, the response characteristic of the control signal generating means is continuously changed within a predetermined time. If a shake exceeding the range occurs, the response characteristics of the control signal generation means are continuously changed to limit the function of the shake correction, thereby reducing the shake correction. Can be reduced.

The seventeenth aspect of the present invention relates to claims 1-1.
In the invention according to any one of the fifth to fifth aspects, the response characteristic of the control signal generating means is changed stepwise within a predetermined time. When a shake exceeding the range occurs, the response characteristic of the control signal generating means is changed stepwise to limit the function of the shake correction and to reduce the correction of the shake. Can be reduced.

The present invention according to claim 18 provides the invention according to claims 1 to 1
In the invention according to any one of the first to seventh aspects, the motion correcting means includes:
According to the eighteenth aspect of the present invention, when a shake that exceeds the range of motion correction by the variable apex angle prism occurs, the function of the camera shake correction is restricted to correct the camera shake. Can be weakened, so that
It is possible to reduce the sense of discontinuity in the motion of an image.

The present invention described in claim 19 is characterized in that:
In the invention according to any one of the first to seventh aspects, the motion correcting means includes:
The optical axis of the imaging optical system is decentered by being driven relatively to the imaging optical system. According to the invention of claim 19, by being driven relatively to the imaging optical system, If a shake that exceeds the range of motion correction by the motion correction unit that decenters the optical axis of the imaging optical system occurs, the function of the camera shake correction can be limited to weaken the correction of the camera shake. Can be reduced.

The present invention according to claim 20 provides the invention according to claims 1 to 1
In the invention according to any one of the first to seventh aspects, the motion correcting means includes:
According to the twentieth aspect of the invention, there is provided one or more lenses which are individually driven in a direction orthogonal to the optical axis to decenter the optical axis of the imaging optical system. In the case where a shake that exceeds the range of motion correction by the motion correction unit including one or more lenses that is individually driven in orthogonal directions to decenter the optical axis of the imaging optical system occurs, The function can be restricted to reduce the correction of camera shake, and as a result, the sense of discontinuity in the motion of the image can be reduced.

The present invention described in claim 21 is the first or second aspect of the present invention.
0, the motion detecting means includes:
An angular velocity sensor for detecting the angular velocity of the movement of the imaging apparatus itself. According to the invention of claim 21, when a shake exceeding the movement correction range by the movement correction unit occurs, the output of the angular velocity sensor is output. By changing the response characteristic of the control signal generating means that generates the control signal based on the above, the function of the camera shake correction can be limited to weaken the correction of the camera shake,
As a result, it is possible to reduce the sense of discontinuity in the motion of the image.

The present invention according to claim 22 provides the present invention according to claims 1-2.
0, the motion detecting means includes:
23. A motion vector detecting means for detecting a motion vector of an image from a photographed image. According to the invention according to claim 22, when a shake exceeding the motion correction range by the motion correcting means occurs, the photographed image is detected. By changing the response characteristics of the control signal generation means for generating a control signal based on the output of the motion vector detection means for detecting the motion vector of the image from the, the function of the camera shake correction can be limited to weaken the correction of the camera shake, As a result, it is possible to reduce the sense of discontinuity in the motion of the image.

(Embodiment 1) FIG. 1 is a block diagram showing an image motion correcting apparatus according to Embodiment 1 of the present invention. In FIG. 1, an imaging optical system 1 includes first to fourth
Is an imaging lens composed of four lens groups L1, L2, L3, and L4. The lens group L2 moves in the optical axis direction to perform zooming, and the lens group L4 moves in the optical axis direction to focus. Do. The lens unit L3 is a lens unit L2.
Lens groups L31, L arranged closer to the imaging surface than
32, a lens unit L3 that is part of the lens unit L3.
2 moves in a direction perpendicular to the optical axis to constitute a motion correcting means for correcting the motion of the image by decentering the optical axis.

The L32 lens group drive control means 2 is a means for driving and controlling the lens group L32, which is a lens for shake correction, and moves the lens group L32 up and down in a plane orthogonal to the optical axis of the imaging optical system 1. Move left and right. The movement amount detection means 3 is a means for detecting and outputting the actual movement amount of the lens group L32, and a feedback control loop for driving and controlling the lens group L32 together with the L32 lens group drive control means 2.
Form a loop.

The imaging optical system drive control means 4 is a means for controlling the driving of the lens groups L2 and L4 in the imaging optical system 1, performing zooming and focusing operations, and outputting focal length information of the imaging optical system 1. is there. The A / D conversion unit 5 is a unit for converting the focal length information of the imaging optical system 1 output from the imaging optical system drive control unit 4 into a digital signal.

The solid-state imaging device 6 converts an image incident through the imaging optical system 1 into an electric signal. The analog signal processing means 7 performs gamma processing or the like on the image signal obtained by the solid-state imaging device 6. A / D converter 8 is a means for converting an analog signal into a digital signal. The image signal converted into a digital signal by the A / D converter 8 is subjected to digital signal processing such as noise removal and contour enhancement by the digital signal processor 9.

Numeral 10 denotes an angular velocity sensor as a motion detecting means for detecting the motion of the image pickup apparatus itself. The output of the angular velocity sensor is a stationary state. Outputs angular velocity signal. Two angular velocity sensors 10 are required to detect movements in two directions, yawing and pitching.
Only the directions are shown.

The HPF 11 is a high-pass filter for removing, for example, a DC drift component in unnecessary band components included in the output of the angular velocity sensor 10. The LPF 12 is, for example, a sensor of unnecessary band components included in the output of the angular velocity sensor 10. A low-pass filter for removing a resonance frequency component and a noise component, an amplifier 13 is an amplifier circuit for adjusting a signal level of an output of the angular velocity sensor 10, and an A / D converter 14 converts an output of the amplifier 13 into a digital signal. It is a means for converting into a signal.

A microcomputer (hereinafter abbreviated as “microcomputer”) 15 filters the output of the angular velocity sensor 10 fetched via the A / D converter 14,
An integration process, a phase compensation, a gain adjustment, a clip process of an output signal, and the like are performed to obtain a drive control amount (hereinafter, referred to as a control signal) of the lens unit L32 necessary for the motion correction, and the D / A conversion means It has a function as a control signal generating means for sending to the L32 lens group drive control means 2 via the optical fiber 16 and also a function as an optical axis displacement detecting means for detecting a state of optical axis displacement. Upon receiving the signal from the microcomputer 15, the D / A converter 16 converts the signal into an analog signal at substantially the same time and sends the analog signal to the L32 lens group drive controller 2.

The L32 lens group drive control means 2 corrects the movement of the image by driving the lens group L32 based on the control signal. Finally, the solid-state imaging device drive control unit 17 is a unit for driving and controlling the solid-state imaging device 6.

FIG. 2 shows an example of a shake correction optical mechanism for driving and controlling the lens unit L32 in the imaging optical system 1 in a direction perpendicular to the optical axis. In FIG.
Reference numeral 01 denotes a lens group L32 serving as a shake correction lens. Reference numerals 2002 and 2003 denote main shafts (slide shafts) for moving a movable portion in a pitch direction and a yaw direction. The movable frame holding the shake correction lens 2001 moves in the pitch direction along the main shaft 2002 and the detent 2004. 2005 and 2006 are magnets,
Reference numerals 2007 and 2008 denote yokes, and 2009 and 2010 denote coils. The magnet 2005, the yoke 2007 and the coil 2009 constitute an electromagnetic actuator that drives a movable portion in the pitch direction. Similarly, 2006, 2008,
2010 constitutes a yaw direction electromagnetic actuator. 2011 and 2012 are semiconductor position detecting elements (PSDs) arranged at fixed positions, and 2013 and 2014 are infrared light emitting diodes (LEDs). 2011 and 2013 serve to detect the position of a movable portion in the pitch direction. This corresponds to the movement amount detecting means 3 shown in FIG. Similarly, in 2012 and 2014, the moving amount detecting means 3 in the yaw direction is used.
Is configured.

FIG. 3 is an example of a flowchart of a processing program stored in the microcomputer 15. When the camera shake correction is activated by an instruction of the operator of the imaging apparatus or the like, a series of processes shown in FIG. 3 is started. Although not shown in FIG. 3, a series of processing loops starting from the capture of the angular velocity (step 102) is interrupted at a fixed period by a timer built in the microcomputer 15, for example, and is looped at each interruption (for example, every 1 msec). It is assumed that processing is executed.

First, when the camera shake correction enters the operating state, in step 101 filtering (HP
F), setting values used in integration processing, phase compensation, gain adjustment, and clip processing (cutoff frequency (fc) for HPF, integration constant (K), phase compensation band, gain (G), clip value
(C)) to the initial value. The cutoff frequency (fc), integration constant (K), gain (G), and clip value (C) of the HPF
Are fci, Ki, Gi, and Ci, respectively.

Further, the resetting of the counter value (CNT) to be described later, the maximum value of the counter value (CNTmax), the change value of the integration constant (K1, K2), the maximum value of the integration constant (Kmax), the minimum value of the integration constant (Km
Set in). It is assumed that the integration constant maximum value Kmax is equal to the integration constant initial value Ki.

Next, when an interrupt by a timer is applied, first, the output of the angular velocity sensor 10 converted into a digital signal by the A / D conversion means 14 in step 102, that is, the angular velocity of the motion (camera shake) of the imaging device is calculated by the microcomputer 15 It is taken in. At this time, the A / D conversion means 14
The cycle of converting the output of the angular velocity sensor 10 into a digital signal is synchronized with one processing cycle of the microcomputer 15.

Step 103 is a counter value CNT described later.
And the counter value CNT is the maximum value CNTmax
If it is equal to, the process proceeds to step 104, where the counter value CNT
Is not equal to the maximum value CNTmax, the routine proceeds to step 105.

In step 104, the value of the integration constant change value K1 is subtracted from the value of the integration constant K used in the integration processing described later, and this value is newly stored as the integration constant K.
In step 05, the value of the integration constant change value K2 is added to the value of the integration constant K, and this value is newly stored as the integration constant K.

Step 106 is a conditional branch based on the integration constant K. If the integration constant K is equal to or smaller than the minimum value Kmin, the process proceeds to step 107. If the integration constant K is larger than the minimum value Kmin, the process skips step 106 and proceeds to the next step. Proceed to. In step 107, the minimum value Kmin is substituted for the integration constant K to prevent the integration constant K from being less than the minimum value Kmim.

Step 108 is a conditional branch based on the integration constant K. If the integration constant K is equal to or larger than the maximum value Kmax, the process proceeds to step 109. If the integration constant K is smaller than the maximum value Kmax, the process skips step 109 and skips to the next step. Proceed to step. In step 107, the maximum value Kmax is substituted for the integration constant K to prevent the integration constant K from becoming a value larger than the maximum value Kmax.

Step 110 is a step in which the output of the angular velocity sensor 10 taken into the microcomputer 15 is band-limited by a high-pass filter (HPF). The HPF in this step is for removing a low-frequency unnecessary signal component such as a temperature drift included in the output of the angular velocity sensor 10, and for example, the transfer function is (1-Z ^-1 ) / (1-
a · Z ⁻¹ ), and the pass band (cutoff frequency) of the filter is determined by the filter coefficient a (0 <a <1).

Step 111 is a step of performing an integration process on the output of the angular velocity sensor 10 after filtering in step 110 to obtain a camera shake angle, that is, a correction angle required for camera shake correction, from the camera shake angular velocity. In this step, for example, the transfer function is 1 /
It is assumed that the filter has a filter characteristic of (1−K · Z ⁻¹ ).
Note that K is an integration constant, and 0 <K <1. Also,
By changing this integration constant, the time constant of the integration process can be manipulated. The camera shake angle obtained in this step is a value having a positive or negative sign at the center value 0, and this value is hereinafter referred to as θ.

Step 112 is a conditional branch based on the value of the camera shake angle θ. If the absolute value | θ | is equal to or greater than the fixed value θmax, the process proceeds to step 113, where the absolute value | θ |
If it is less than max, the process proceeds to step 114.

In step 113, the counter value CNT is incremented, and in step 114, the counter value CNT is reset to zero.

Step 115 is a conditional branch based on the counter value CNT. If the counter value CNT is equal to or greater than the maximum value CNTmax, the overflow of the counter value CNT is avoided by substituting the maximum value CNTmax for the counter value CNT in step 116.

Step 117 is a step of improving the phase characteristics of the signal that has passed through step 111. This step is performed by using the angular velocity sensor 10 itself and the HP rate relative to the angular velocity sensor output.
F11, LPF12, for adjusting the phase change of the signal due to various filtering processes in step 110. For example, the transfer function is (cdZ- ¹ ) / (e-
g · Z ⁻¹ ), and the coefficient c,
The phase compensation band is determined by d, e, and g.

Step 118 is a step of adjusting the gain for the angle information of the camera shake movement obtained from the output (angular velocity) of the angular velocity sensor 10 in step 111.

In step 119, the microcomputer 15 sends L3
In a step of limiting the signal width of the control signal with a certain clip value (clip processing) so that the control signal sent to the two-lens group drive control means 2 does not indicate a correction amount exceeding the motion correction range by the lens group L32. Yes, the absolute value of the control signal is limited to C or less (the control signal is limited to a signal width of + C to -C). The data after the clip processing is converted into an analog signal by the D / A converter 16 and sent to the L32 lens group drive controller 2.

The operation of the image motion compensating apparatus according to the first embodiment having the above-described configuration will now be described.
5 will be described. A series of operations such as angular velocity detection by the angular velocity sensor and drive control of the lens group L32 are performed in both the horizontal and vertical directions. However, the contents are substantially the same in both the horizontal and vertical directions. The processing for one direction will be described without distinguishing between.

As described above, the range that can be corrected by the shake correcting means is finite. Therefore, when a shake exceeding the correction range occurs, the motion remaining in the captured image becomes discontinuous, and the image becomes unsightly. Become.

Therefore, in the present invention, when a shake exceeding the correction range occurs as described above, the function of the camera shake correction is limited to weaken the correction of the camera shake, and as a result, the discontinuity of the motion of the image is reduced. The purpose is to reduce the feeling.

Hereinafter, in the first embodiment, as a process for limiting the function of the camera shake correction, a step of performing an integration process on the output of the angular velocity sensor 10 and a process of changing the integration constant in the integration process Will be described.

In step 112 shown in FIG. 3, the camera shake angle θ obtained in step 111, that is, the level of the camera shake correction angle required for camera shake correction is set to a certain value θmax.
Compare with This is to determine the magnitude of the shake to be corrected based on the magnitude of the camera shake angle θ with respect to the correction range of the shake correction means, and to detect the displacement state of the optical axis. If the constant value θmax is set to a value corresponding to, for example, 90% of the maximum correction range, when the absolute value of the angle θ of the camera shake is equal to or larger than the constant value θmax, the shake to be corrected is set to It can be determined that the probability of exceeding is high. Then, the time during which the state in which the absolute value of the camera shake angle θ is equal to or greater than the fixed value θmax is counted in step 113, and when the count exceeds the predetermined count value (CNTmax), the integration constant K is reduced in step 104. (For example, the initial value of K is set to 0.9 and K1 = 0.01, and in step 104, K is decreased by 0.01). As a result, the amount of attenuation generated during the integration process (step 111) increases, and the camera shake correction performance decreases. The effect of this will be described with reference to FIG.

When the imaging device moves as shown in FIG. 4A, the output of the angular velocity sensor taken into the microcomputer 15 is as shown in FIG. When the output of the angular velocity sensor is integrated, if the integration constant K is 1.0, the motion of the image pickup device (FIG. (A)) and the integration result of the angular velocity sensor output should be the same. When the value is further decreased from the initial value by the step 104, the integration result of the angular velocity sensor output is attenuated as the integration constant K decreases, as shown in FIG. The movement of the image to be performed is also small. As a result, the motion remaining in the captured image corresponds to a result obtained by subtracting FIG. (D) from FIG. (A) and is as shown in FIG.

FIG. 11F shows the speed of the motion appearing in the photographed image by the above-described operation. At time t2, a sharp change in the speed occurs. However, in the conventional example shown in FIG. It can be seen that no speed change has occurred at time t3. This indicates that the motion remaining in the captured image becomes discontinuous only at time t2, that is, since the moving speed of the imaging device is reduced, the discontinuity of the residual motion is easily visually recognized at time t3. It can be seen that the unsightly residual runout in the above is eliminated.

Note that the absolute value of the camera shake angle θ is a constant value θ.
If less than max, the counter value C
NT is reset to zero, and in step 105, the integral constant K increases by the integral constant change value K2, and the function of camera shake correction is restored. Here, K1 and K2 may be the same value or different values. For example, if K1 and K2, which determine the amount of change in the integral constant K, are given a large difference in their values, such as K1 = 0.01 and K2 = 0.0001, the return will be much slower than the decrease in the integral constant K, and the correction range It is also possible to maintain the state in which the effect of the camera shake correction is weakened for a long time after the occurrence of a shake exceeding the limit.

As described above, in the first embodiment of the present invention, the microcomputer 15 has means for integrating the output of the angular velocity sensor 10, and is used at the time of integration processing when a shake exceeding the correction range occurs. By changing the integration constant K, the function of the camera shake correction is restricted and the correction is weakened, so that the discontinuous motion of the image caused by the finite range of motion that can be corrected by the motion correcting means is eliminated. Can be reduced.

Although the method of adding and subtracting the constant numbers K1 and K2 has been described as a method of changing the integration constant K in FIG. 3, the present invention is not limited to this. For example, K is predetermined as a method of changing the integration constant K. How to divide and multiply by a number
A method of preparing a plurality of constants for determining the amount of change of the integration constant K, such as 1, K2, and changing the amount of change of the integration constant K according to the elapsed time after the counter value CNT reaches the maximum value CNTmax, etc. Conceivable.

In this embodiment, the integral constant K
Has been described with respect to a configuration in which is continuously changed for each processing loop, but the present invention is not limited to this. For example, a method of changing the integration constant K stepwise once for each of a plurality of loop processings is also conceivable.

In the series of operations in this embodiment, since the contents are substantially the same in both the horizontal and vertical directions, the processing for one direction has been described without distinguishing between the horizontal and vertical directions. K initial value, maximum value, minimum value,
The changing method and the maximum value CNTmax do not need to be the same in the horizontal and vertical directions, and the constants and the changing method may be different in the horizontal and vertical directions as needed. For example, in the horizontal direction, the imaging device is often shaken greatly due to panning of the photographer, etc., so if the horizontal K1 value is larger than the vertical K1 value, if a vibration that exceeds the correction range occurs, The effect of the camera shake correction in the horizontal direction is weakened earlier, which is more effective.

[0086] Although one example has been shown above as the initial value of K and the values of K1 and K2, the present invention is not limited to this.

(Embodiment 2) The image motion compensating apparatus according to Embodiment 2 of the present invention differs from Embodiment 1 of the present invention only in the content of processing in the microcomputer 15, so that the operation is A description will be given based on a processing program stored in the microcomputer 15. The same parts as those in the first embodiment of the present invention are denoted by the same reference numerals as in FIGS. 1, 2, and 3, and the description is omitted.

FIG. 5 is an example of a flowchart of a processing program stored in the microcomputer 15. When camera shake correction is activated by an instruction from the operator of the imaging apparatus or the like, a series of processes shown in FIG. 5 is started. Although not shown in FIG. 5, a series of processing loops starting from the capture of the angular velocity (step 102) is interrupted at a fixed period by a timer built in the microcomputer 15, for example, and is looped at each interruption (for example, every 1 msec). It is assumed that processing is executed.

First, when the camera shake correction enters the operating state, in step 101 filtering (HP
F), setting values used in integration processing, phase compensation, gain adjustment, and clip processing (cutoff frequency (fc) for HPF, integration constant (K), phase compensation band, gain (G), clip value
(C)) to the initial value. The cutoff frequency (fc), integration constant (K), gain (G), and clip value (C) of the HPF
Are fci, Ki, Gi, and Ci, respectively.

Further, the resetting of the counter value (CNT) to zero, the maximum value of the counter value (CNTmax), the gain change value
(G1, G2), the maximum gain value (Gmax), and the minimum gain value (Gmin) are also set. The maximum gain value Gmax is the initial gain value.
It is assumed to be equal to Gi.

In step 204, the value of the gain change value G1 is subtracted from the value of the gain G used in the gain adjustment described later, and this value is newly stored as the gain G.
At 5, the value of the gain change value G2 is added to the value of the gain G,
This is the step of storing this as a new gain G.

Step 206 is a conditional branch based on the gain G. When the gain G is equal to or smaller than the minimum gain Gmin, the process proceeds to step 207. When the gain G is larger than the minimum gain Gmin, the process skips step 206 and proceeds to the next step. move on. In step 207, the gain G is prevented from becoming a value less than the gain minimum value Gmim by substituting the gain minimum value Gmin for the gain G.

Step 208 is a conditional branch based on the gain G. If the gain G is equal to or larger than the maximum gain value Gmax, the process proceeds to step 209, where the gain G is changed to the maximum gain value Gmax.
If smaller, step 209 is skipped and the process proceeds to the next step. In step 207, the gain G is set to the maximum gain value G.
By substituting max, the gain G is prevented from becoming larger than the maximum gain value Gmax.

Step 218 is a step of multiplying the camera shake angle information obtained from the output (angular velocity) of the angular velocity sensor 10 by a certain gain value in order to perform gain adjustment. The gain by which the angle information is multiplied in this step
G is determined in the steps described above.

The operation of the image motion compensating apparatus according to the second embodiment having the above-described configuration will now be described.
5 will be described. A series of operations such as angular velocity detection by the angular velocity sensor and drive control of the lens group L32 are performed in both the horizontal and vertical directions. However, the contents are substantially the same in both the horizontal and vertical directions. The processing for one direction will be described without distinguishing between.

As described above, the range that can be corrected by the shake correcting means is finite. Therefore, when a shake exceeding the correction range occurs, the motion remaining in the captured image becomes discontinuous and the image becomes unsightly. Become.

Therefore, also in the present embodiment, when a shake exceeding the correction range occurs as described above, the function of the shake correction is reduced to weaken the correction of the shake,
As a result, an object of the present invention is to reduce the sense of discontinuity in the motion of an image.

In the second embodiment, as a process for restricting the function of camera shake correction, a process of changing a gain value when performing gain adjustment on camera shake angle information θ will be described.

Similarly to the first embodiment, the counter counts the time during which the state in which the absolute value of the camera shake angle θ is equal to or larger than the fixed value θmax is used, and the gain G is changed according to the counter value CNT. . For example, when the counter value CNT becomes equal to or more than a predetermined maximum value (CNTmax), the gain G is reduced in step 204 (for example, G
Is set to 1.0 and G1 = 0.01, and in step 204, G is decreased by 0.01). As a result, the gain value multiplied at the time of the gain adjustment (step 218) becomes smaller, so that the control signal becomes smaller, and the camera shake correction performance decreases. The effect of this will be described with reference to FIG.

When the imaging device moves as shown in FIG. 6A, the output of the angular velocity sensor taken into the microcomputer 15 is as shown in FIG. The result of integrating the output of this angular velocity sensor with the integration constant being less than 1.0 is shown in FIG.
When the gain is adjusted using the gain G whose value has decreased from the initial value in step 204, the control signal output from the microcomputer 15 changes as shown in FIG. The movement of the image to be performed is also small. As a result, the motion remaining in the captured image corresponds to a result obtained by subtracting FIG. (D) from FIG. (A) and is as shown in FIG.

FIG. 17F shows the speed of the motion appearing in the photographed image by the above-mentioned operation. At time t2, a sharp change in the speed occurs. However, in the conventional example shown in FIG. It can be seen that no speed change has occurred at time t3. This indicates that the motion remaining in the captured image becomes discontinuous only at time t2, that is, since the moving speed of the imaging device is reduced, the discontinuity of the residual motion is easily visually recognized at time t3. It can be said that the unsightly run-out in the above has been resolved.

Note that the absolute value of the camera shake angle θ is a constant value θ.
If less than max, the counter value C
NT is reset to zero, and in step 205, the gain G increases by the gain change value G2, and the function of camera shake correction is restored. Here, G1 and G2 may be the same value or different values. For example, G that determines the amount of change in gain G
If a large difference is given between G1 and G2, such as G1 = 0.01 and G2 = 0.0001, the return will be much slower than the decrease of the gain G, and the camera shake will occur after a shake exceeding the correction range has occurred. The state in which the effect of the correction is weakened can be maintained for a long time.

As described above, in the second embodiment of the present invention, the microcomputer 15 has the means for adjusting the gain,
If a shake exceeding the correction range occurs, the function of the camera shake correction is restricted by weakening the correction by changing the gain G used in the gain adjustment, so that the movement correction range that can be corrected by the motion correction means is finite. , It is possible to reduce the discontinuous motion of the image caused by the above.

In FIG. 5, the method of adding and subtracting the fixed numbers G1 and G2 has been described as a method of changing the gain G. However, the present invention is not limited to this.
Multiply and divide by a predetermined number, G1, G2
A method of preparing a plurality of constants for determining the amount of change in the gain G as described above and changing the amount of change in the gain G according to the elapsed time after the counter value CNT reaches the maximum value CNTmax may be considered.

Further, in the present embodiment, a configuration in which the gain G is continuously changed for each processing loop has been described. However, the present invention is not limited to this. It is also conceivable to change the gain G.

Further, the series of operations in the present embodiment have substantially the same contents in both the horizontal and vertical directions, so that the processing for one direction has been described without distinguishing between the horizontal and vertical directions. The initial value, maximum value, minimum value, change method and maximum value CNTmax of the counter value need not be the same in the horizontal and vertical directions, and the constants and change methods may be different in the horizontal and vertical directions as necessary. It is also possible to do. For example, in the horizontal direction, due to panning of the photographer, the imaging device is often shaken greatly, so if the horizontal G1 value is larger than the vertical G1 value, if a vibration that exceeds the correction range occurs, The effect of the camera shake correction in the horizontal direction is weakened earlier, which is more effective.

[0107] Although one example has been described above as the initial value of G and the values of G1 and G2, the present invention is not limited to this.

(Embodiment 3) The image motion compensating apparatus according to Embodiment 3 of the present invention differs from Embodiment 1 of the present invention only in the contents of processing in the microcomputer 15, so that the operation is A description will be given based on a processing program stored in the microcomputer 15. The same parts as those in the first embodiment of the present invention are denoted by the same reference numerals as in FIGS. 1, 2, and 3, and the description is omitted.

FIG. 7 is an example of a flowchart of a processing program stored in the microcomputer 15. When the camera shake correction is activated by an instruction of the operator of the imaging apparatus or the like, a series of processes illustrated in FIG. 7 is started. Although not shown in FIG. 7, a series of processing loops starting from the acquisition of the angular velocity (step 102) are interrupted at a fixed period by a timer built in the microcomputer 15, for example, and are looped at each interruption (for example, every 1 msec). It is assumed that processing is executed.

First, when the camera shake correction enters the operating state, at step 101 filtering (HP
F), setting values used in integration processing, phase compensation, gain adjustment, and clip processing (cutoff frequency (fc) for HPF, integration constant (K), phase compensation band, gain (G), clip value
(C)) to the initial value. The cutoff frequency (fc), integration constant (K), gain (G), and clip value (C) of the HPF
Are fci, Ki, Gi, and Ci, respectively.

Further, the resetting of the counter value (CNT) to be described later and the resetting of the maximum value of the counter value (CNTmax), the change value of the clip value (C1, C2), the maximum value of the clip value (Cmax), and the minimum value of the clip value (Cmin) Also make settings. The maximum clip value Cm
ax is equal to the clip value initial value Ci.

In step 304, the value of the clip value change value C1 is subtracted from the value of the clip value C used in the clip processing described later, and this value is newly stored as the clip value C.
In step 105, the value of the clip value change value C2 is added to the value of the clip value C, and this value is newly stored as the clip value C.

Step 306 is a conditional branch based on the clip value C. If the clip value C is equal to or smaller than the clip value minimum value Cmin, the process proceeds to step 307. If the clip value C is larger than the clip value minimum value Cmin, step 306 is skipped. To the next step. In step 307, the clip value
Substituting the clip value minimum value Cmin for C gives the clip value C
Is less than the clip value minimum value Cmim.

Similarly, step 308 is a conditional branch based on the clip value C, and the clip value C is set to the maximum clip value Cma.
If the value is equal to or more than x, the process proceeds to step 309. If the clip value C is smaller than the clip value maximum value Cmax, the process skips step 309 and proceeds to the next step. In step 307, the clip value C is substituted for the clip value maximum value Cmax to prevent the clip value C from becoming larger than the clip value maximum value Cmax.

In step 319, the microcomputer 15 sends L3
This is a step of performing clip processing so that the control signal sent to the second lens drive control means 2 does not indicate a correction amount exceeding the correction range of the lens group L32. The clip value C used in the clip processing in this step is determined in each of the above steps.

The operation of the image motion compensating apparatus according to the third embodiment having the above-described configuration will be described below.
5 will be described. A series of operations such as angular velocity detection by the angular velocity sensor and drive control of the lens group L32 are performed in both the horizontal and vertical directions. However, the contents are substantially the same in both the horizontal and vertical directions. The processing for one direction will be described without distinguishing between.

As described above, since the range that can be corrected by the shake correcting means is finite, when a shake exceeding the correction range occurs, discontinuity occurs in the motion remaining in the captured image, making the image unsightly. Become.

Therefore, also in the present embodiment, when a shake exceeding the correction range occurs as described above, the function of the camera shake correction is limited to weaken the correction of the camera shake.
As a result, an object of the present invention is to reduce the sense of discontinuity in the motion of an image.

In the following, in the third embodiment, the microcomputer 15 performs processing for restricting the function of camera shake correction.
The process of changing the clip value that determines the upper limit of the control signal sent from the to the L32 group lens drive control means 2 will be described.

As in the first embodiment, the counter counts the time during which the state in which the absolute value of the camera shake angle θ is equal to or greater than the fixed value θmax, and changes the clip value C according to the counter value CNT. I do. For example, when the counter value CNT becomes equal to or more than a predetermined maximum value (CNTmax), the clip value C is reduced in step 304 (for example, the initial value of C is set to 100, C1 = 1, and step 30 is performed).
In 4, decrease C by 1). As a result, the clip value for limiting the upper limit of the control signal sent to the L32 lens drive control unit 2 during the clip processing (step 318) becomes smaller, so that the control signal width is narrowed, and the camera shake correction performance is reduced. The effect of this will be described with reference to FIG.

When the image pickup device moves as shown in FIG. 8A, the output of the angular velocity sensor taken into the microcomputer 15 is as shown in FIG. 8B. The result of integrating the output of this angular velocity sensor with the integration constant being less than 1.0 is shown in FIG.
On the other hand, when clip processing is performed using the clip value C whose value has decreased from the initial value in step 304, the control signal output from the microcomputer 15 changes as shown in FIG. The motion of the image to be corrected is also small. As a result, the motion remaining in the captured image corresponds to a result obtained by subtracting FIG. (D) from FIG. (A) and is as shown in FIG.

FIG. 11F shows the speed of the motion appearing in the photographed image by the above-described operation. At time t2, a sharp change in the speed occurs, but in the conventional example shown in FIG. It can be seen that no speed change has occurred at time t3. This indicates that the motion remaining in the captured image becomes discontinuous only at time t2, that is, since the moving speed of the imaging device is reduced, the discontinuity of the residual motion is easily visually recognized at time t3. It can be said that the unsightly run-out in the above has been resolved.

Note that the absolute value of the camera shake angle θ is a constant value θ.
If less than max, the counter value C
NT is reset to zero, and in step 305, the clip value C increases by the clip value change value C2, and the function of camera shake correction is restored. Here, C1 and C2 may be the same value or different values. For example, if C1 and C2, which determine the amount of change in the clip value C, give a large difference to the values, such as C1 = 1, C2 = 0.01, the return will be much slower than the decrease in the clip value C, and It is also possible to keep the state in which the effect of the camera shake correction is weakened for a long time after a shake exceeding the range occurs.

As described above, in the third embodiment of the present invention, the microcomputer 15 has the means for performing the clipping process on the control signal, and is used at the time of the clipping process when a shake exceeding the correction range occurs. By changing the clip value C, the function of the camera shake correction is restricted and the correction is weakened, so that the discontinuous motion of the image caused by the finite range of motion that can be corrected by the motion correcting means is eliminated. Can be reduced.

In FIG. 7, the method of adding or subtracting the fixed numbers C1 and C2 has been described as a method of changing the clip value. However, the present invention is not limited to this. For example, C may be a predetermined number. Prepare multiple constants that determine the amount of change in the clip value C, such as C1 and C2, and change the amount of change in the clip value C according to the elapsed time since the CNT value reached CNTmax Methods, etc. are also conceivable.

Further, in the present embodiment, the clip value
The configuration in which C is continuously changed for each processing loop has been described. However, the present invention is not limited to this. For example, a method of changing the clip value C stepwise once for each of a plurality of loop processes may be considered. .

In the series of operations in this embodiment, since the contents are substantially the same in both the horizontal and vertical directions, the processing for one direction has been described without distinguishing between the horizontal and vertical directions. It is not necessary to make the initial value, maximum value, minimum value, change method of C and the maximum value CNTmax of the counter the same in the horizontal and vertical directions, and different constants and change methods in the horizontal and vertical directions as necessary. It is also possible to do. For example, in the horizontal direction, due to panning of the photographer, the imaging device is often shaken greatly, so if the horizontal C1 value is larger than the vertical C1 value, if a vibration that exceeds the correction range occurs, The effect of the camera shake correction in the horizontal direction is weakened earlier, which is more effective.

[0128] Further, although examples have been described above as the initial values of C and the values of C1 and C2, the present invention is not limited to these.

(Embodiment 4) An image motion compensating apparatus according to Embodiment 4 of the present invention comprises Embodiments 1 to 3 of the present invention.
Are all combined. Therefore, only the processing contents in the microcomputer 15 are different from those of the first to third embodiments of the present invention, and the operation will be described based on the processing program stored in the microcomputer 15. In addition, Embodiment 1 of this invention
3, the same reference numerals as in FIGS. 1, 2, 3, 5, and 7 denote the same parts, and a description thereof will be omitted.

FIG. 9 is an example of a flowchart of a processing program stored in the microcomputer 15. When the camera shake correction is activated by an instruction of the operator of the imaging apparatus or the like, a series of processes shown in FIG. 9 is started. Although not shown in FIG. 9, a series of processing loops starting from the capture of the angular velocity (step 102) is interrupted at a fixed period by a timer built in the microcomputer 15, for example, and is looped for each interruption (for example, every 1 msec). It is assumed that processing is executed.

First, when the camera shake correction enters the operating state, in step 101, filtering (HP
F), setting values used in integration processing, phase compensation, gain adjustment, and clip processing (cutoff frequency (fc) for HPF, integration constant (K), phase compensation band, gain (G), clip value
(C)) to the initial value. The cutoff frequency (fc), integration constant (K), gain (G), and clip value (C) of the HPF
Are fci, Ki, Gi, and Ci, respectively.

Further, the resetting of the counter value (CNT) to be described later, the maximum value of the counter value (CNTmax), the change value of the integration constant (K1, K2), the maximum value of the integration constant (Kmax), and the minimum value of the integration constant (Km
in), gain change value (G1, G2), gain maximum value (Gmax), gain minimum value (Gmin), clip value change value (C1, C2), clip value maximum value (Cmax), clip value minimum value (Cmin ) Is also set. The maximum value of the integration constant (Kmax) is the initial value of the integration constant Ki,
The maximum gain value (Gmax) is equal to the initial gain value Gi, and the maximum clip value (Cmax) is equal to the initial clip value Ci.

Step 103 is a conditional branch based on the counter value CNT.
In steps 104 to 109, the integration constant K is operated in accordance with the counter value CNT as in
In steps 204 to 209, the gain G is operated, and in steps 304 to 309, the clip value C is operated.
Is operated.

In step 112 shown in FIG. 9, similarly to the first to third embodiments, the camera shake angle θ obtained in step 111, that is, the level of the camera shake correction angle required for camera shake correction is fixed. By comparing with the value θmax, the magnitude of the shake to be corrected is determined with respect to the correction range of the shake correcting means. If the absolute value of the camera shake angle θ is equal to or greater than the fixed value θmax, it is determined that the shake to be corrected is likely to exceed the correction range, and the absolute value of the camera shake angle θ is equal to or greater than the fixed value θmax. Step 11 is the time that the state continues
Count at 3 and determine the maximum value (CNTma
x) If not, steps 104, 204, 30
4 In each, integration constant K, gain G, clip value C
(For example, the initial value of K is 0.9, K1 = 0.01, G
Is 1.0, G1 = 0.01, the initial value of C is 100, C1 = 1, and in steps 104, 204 and 304, K, G,
Lower C). Thereby, the integration process (step 1)
11), the amount of attenuation generated at the time of (11) increases, and the gain value multiplied at the time of gain adjustment (step 118) decreases, so that the control signal sent to the L32 group lens drive control means 2 decreases, and the clip processing (step 318) )
As a result, the upper limit of the control signal is limited, and the camera shake correction performance is reduced. The effect of this will be described with reference to FIG.

When the imaging device moves as shown in FIG. 10A, the output of the angular velocity sensor taken into the microcomputer 15 is as shown in FIG.

When the output of the angular velocity sensor is integrated and the integration constant K is 1.0, the operation of the imaging device (FIG. 10A)
And the integration result of the angular velocity sensor output should be the same,
When the integration constant K is further reduced from the initial value in step 104, the integration result of the angular velocity sensor output decreases as the integration constant K decreases, as shown in FIG.

When the gain adjustment and clip processing are performed in steps 118 and 119 using the gain G and the clip value C whose values have been reduced from the initial values in steps 204 and 304, the control signal output from the microcomputer 15 is the same as that in FIG. As shown in (D), the movement of the image to be corrected is further restricted as compared with FIG. As a result, the motion remaining in the captured image corresponds to a result obtained by subtracting FIG. (D) from FIG. (A) and is as shown in FIG.

FIG. 17F shows the speed of the movement appearing in the photographed image by the above-described operation. At time t2, a sharp change in the speed occurs, but in the conventional example shown in FIG. It can be seen that no speed change has occurred at time t3. This indicates that the motion remaining in the captured image becomes discontinuous only at time t2, that is, since the moving speed of the imaging device is reduced, the discontinuity of the residual motion is easily visually recognized at time t3. It can be said that the unsightly run-out in the above has been resolved.

It should be noted that the absolute value of the camera shake angle θ is a constant value θ.
If less than max, the counter value C
NT is reset to zero and steps 105, 205, 30
At 5, the integration constant K, gain G, and clip value C increase by K2, G2, and C2, respectively, and the function of camera shake correction is restored.

As described above, in the fourth embodiment of the present invention, the microcomputer 15 determines the integration constant K, the gain G, and the clip value C when the shake exceeding the correction range occurs.
By combining the changes, the action of the image stabilization can be more effectively limited, and the discontinuous motion of the image caused by the finite range of motion correction that can be corrected by the motion correction means can be reduced. it can.

In FIG. 9, the constants K1, K2, and G are used to change the integration constant K, the gain G, and the clip value C.
Although the method of adding / subtracting 1, G2, C1, and C2 has been described, the present invention is not limited to this, as in the first to third embodiments.

Further, in the present embodiment, a configuration in which the integration constant K, the gain G, and the clip value C are continuously changed for each processing loop has been described. However, the present invention is not limited to this. A method is also conceivable in which the integration constant K, the gain G, and the clip value C are changed stepwise once for each loop processing.

The series of operations according to the present embodiment have substantially the same contents in both the horizontal and vertical directions. Therefore, the processing for one direction has been described without distinguishing between the horizontal and vertical directions. The initial value, maximum value, minimum value, change method of K, gain G, clip value C, and maximum value CNTmax of the counter value need not be the same in the horizontal and vertical directions. It is also conceivable to make the constants and the changing method different. For example, in the horizontal direction, there are many chances that the imaging device is largely shaken due to panning of the photographer.If the K1, G1, and C1 values in the horizontal direction are larger than the K1, G1, and C1 values in the vertical direction, the correction range is reduced. When such a vibration occurs, the effect of the horizontal hand-shake correction is weakened earlier, which is more effective.

Further, the integration constant K, the gain G, the initial value of the clip value C, and the values of K1, K2, G1, G2, C1, and C2 have been described above as examples, but are not limited thereto. For example, K
If 1> K2, G1> G2, C1> C2, the first embodiment
As in the case of ~ 3, the restoration is slower than the decrease of the integration constant K, the gain G, and the clip value C, and the state in which the effect of the camera shake correction is weakened after a shake exceeding the correction range occurs can be maintained for a long time. It is possible.

Further, the above example has been shown as an example of the integration constant K, the gain G, the initial value of the clip value C, and the values of K1, G1, and C1, but the present invention is not limited to this.
Has described an example in which all of the first to third embodiments are combined. For example, the first embodiment, the second embodiment,
Alternatively, the configuration in which the first embodiment and the third embodiment or the combination of the second embodiment and the third embodiment is
Steps 104 to 10 in FIG. 9 of the fourth embodiment
9, Steps 204 to 209, Steps 304 to 309
Can be easily configured by deleting any of them, and in that case, the motion compensation performance can be more effectively limited than in each of the first to third embodiments.

In all of the above embodiments, the constant value θmax is a value corresponding to 90% of the maximum correction range. However, the present invention is not limited to this.
Although no specific value is mentioned, the maximum value CNTmax may be set to a value corresponding to 0.5 msec in time, but is not limited thereto.

In all of the above embodiments, the optical axis is decentered by moving some of the lenses in the imaging optical system 1 in the direction perpendicular to the optical axis as the optical shake correcting means. However, it is needless to say that the present invention is also effective in an optical system using a variable apex angle prism.

In all of the above embodiments, the means for detecting the movement of the image pickup apparatus has been described by taking an angular velocity sensor as an example. However, the present invention is not limited to this. For example, pattern matching between fields or frames of a photographed image is performed. There is no problem if a method for detecting a motion vector of an image is used instead of the angular velocity sensor. In this case, as shown in FIG. 11, the motion vector of the image may be detected from the image signal that has passed through the A / D converter 8 and passed to the microcomputer 15, so that the angular velocity sensor shown in FIG. HPF 11 and LPF required in the configuration using 10
12, the amplifier 13, and the A / D conversion means 14 become unnecessary.

Further, in all of the above embodiments, an example has been described in which the microcomputer performs the program processing. However, the present invention is not limited to this, and the program processing by the microcomputer can be realized by hardware such as an electronic circuit. Needless to say, there is.

In all of the above embodiments, it is needless to say that the HPF processing performed in the microcomputer 15 can be integrated into the HPF 11 in FIG.

Further, in all the above embodiments, the transfer functions of the HPF, the phase compensation, and the integration process among the processes in the microcomputer 15 are illustrated as specific examples, but the present invention is not limited to these. It is needless to say that the present invention is effective even if processes represented by different transfer functions having the same effect are used.

In all of the above embodiments,
Although no particular mention is made of the number of solid-state image pickup devices in the image pickup apparatus, it is clear that the present invention is effective in any one of a single-chip image pickup apparatus, a two-chip image pickup apparatus, and a three-chip image pickup apparatus. Also, it is apparent that the present invention is similarly effective in an imaging device using an imaging tube instead of a solid-state imaging device.

In all of the above embodiments,
Although the state of the displacement of the optical axis is detected based on the output of the angular velocity sensor 10 as the movement detecting means, the lens group L3
The state of the optical axis displacement may be detected based on the output of the movement amount detecting means 3 for detecting the movement amount of the optical axis 2.

[0154]

As described above, according to the present invention, the movement of the subject image caused by the movement of the imaging device is corrected by displacing the optical axis of the imaging optical system for forming the subject on the imaging surface. And a control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means for detecting the motion of the imaging device, and the optical axis displacement by the motion correcting means. The response characteristic of the control signal generating means is changed based on the state of the control signal. Therefore, if a shake exceeding the range of motion correction by the motion correcting means occurs, the function of the camera shake correction is restricted to correct the camera shake. Can be reduced, thereby making it possible to reduce the discontinuous motion of the image caused by the finite range of motion correction by the motion correction means.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an image motion correcting apparatus according to a first embodiment of the present invention.

FIG. 2 is a perspective view of a shake correction optical mechanism according to the first embodiment of the present invention.

FIG. 3 is a flowchart for explaining processing contents by a microcomputer 15 according to the first embodiment of the present invention;

FIG. 4 is an explanatory diagram showing an effect of the first embodiment of the present invention.

FIG. 5 is a flowchart for explaining processing contents by a microcomputer 15 according to the second embodiment of the present invention;

FIG. 6 is an explanatory diagram showing an effect of the second embodiment of the present invention.

FIG. 7 is a flowchart for explaining processing contents by a microcomputer 15 according to the third embodiment of the present invention;

FIG. 8 is an explanatory diagram showing an effect of the third embodiment of the present invention.

FIG. 9 is a flowchart for explaining processing by a microcomputer 15 according to Embodiment 4 of the present invention;

FIG. 10 is an explanatory diagram showing an effect of the fourth embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration example having an image motion vector detection unit in the image motion correction device according to the first to fourth embodiments of the present invention.

FIG. 12 is a diagram showing an imaging optical system in a conventional example.

FIG. 13 is a perspective view of a shake correction optical mechanism in a conventional example.

FIG. 14 is a block diagram showing an image motion compensator according to a conventional example.

FIG. 15 is an explanatory diagram showing a problem of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Imaging optical system 2 ... L32 group lens drive control means 3 ... Moving amount detection means 4 ... Imaging optical system drive control means 5 ... A / D conversion means 6 ... Solid-state imaging Element 7 ... Analog signal processing means 8 ... A / D conversion means 9 ... Digital signal processing means 10 ... Angular velocity sensor 11 ... HPF 12 ... LPF 13 ... Amplifier 14 ... · A / D conversion means 15 · · · microcomputer 16 · · · D / A conversion means 17 · · · solid-state image sensor drive control means

Claims (22)

[Claims] 1. A motion correcting means for correcting a motion of a subject image caused by a motion of an imaging device by displacing an optical axis of an imaging optical system for imaging a subject on an imaging surface, and a motion of the imaging device. Control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means for detecting the position of the optical axis. An image motion compensator, wherein a response characteristic of a generator is changed. A motion detection unit configured to detect a motion of the imaging device; an imaging optical system provided in the imaging device, configured by a plurality of lenses, and configured to image a subject on an imaging surface; An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, the control signal generating means includes integrating means for integrating an output of the motion detecting means, and the detection by the optical axis displacement detecting means Based on the result Image motion compensation apparatus characterized by changing the response characteristic of the control signal generating means by changing the time constant of the feeder said integrating means. 3. When the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion correcting means,
3. The apparatus according to claim 2, wherein a time constant of said integrating means is set shorter than in other cases. A motion detection unit configured to detect a motion of the imaging device; an imaging optical system provided in the imaging device, including a plurality of lenses, and configured to form an image of a subject on an imaging surface; An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means includes a gain adjusting means for adjusting a gain of a signal for controlling the motion correcting means generated therein. Including Image motion compensation apparatus characterized by changing the response characteristic of the control signal generating means by changing the gain of the signal based on the detection result of the optical axis displacement detector. 5. When the optical axis displacement is at or near the maximum displacement that can be displaced by the motion compensating means,
5. The apparatus according to claim 4, wherein the gain of the gain adjusting means is set smaller than in other cases. 6. A motion detecting means for detecting a motion of an imaging device; an imaging optical system provided in the imaging device, comprising a plurality of lenses, and for imaging a subject on an imaging surface; An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means includes a clipping means for limiting a signal width of a signal for controlling the motion correcting means generated therein. Including Image motion compensation apparatus characterized by changing the response characteristic of the control signal generating means by changing the signal width based on the detection result by the Kihikarijiku displacement detector. 7. When the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion correcting means,
7. The apparatus according to claim 6, wherein the signal width is limited to be smaller than in other cases. 8. An imaging optical system provided in the imaging device, the imaging device including a plurality of lenses, and configured to form an image of a subject on an imaging surface. An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means controls the motion correcting means and an integrating means for integrating an output of the motion detecting means. Signal gay And a gain adjusting means for adjusting the response characteristic of the control signal generating means by changing a time constant of the integrating means and a gain of the signal based on a detection result by the optical axis displacement detecting means. An image motion compensator characterized by the following. 9. When the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion correcting means, the time constant of the integrating means is set shorter than in other cases, and the gain adjustment is performed. 9. The apparatus according to claim 8, wherein the gain of the means is set small. 10. An image pickup optical system provided in the image pickup apparatus, the image pickup optical system configured to include a plurality of lenses, and configured to form an image of a subject on an image pickup surface. An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means controls the motion correcting means and an integrating means for integrating an output of the motion detecting means. Signal of signal Clipping means for limiting a width, and changing a response characteristic of the control signal generating means by changing a time constant of the integrating means and the signal width based on a detection result by the optical axis displacement detecting means. Characteristic image motion compensator. 11. When the displacement of the optical axis is at or near the maximum displacement that can be displaced by the motion compensating means, the time constant of the integrating means is set shorter and the signal width is smaller than in other cases. 11. The image motion compensating apparatus according to claim 10, wherein is limited to a small value. 12. A motion detecting means for detecting a motion of an imaging device; an imaging optical system provided in the imaging device, comprising a plurality of lenses, and for imaging a subject on an imaging surface; An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, the control signal generating means adjusts a gain of a signal for controlling the motion correcting means, and a signal of the signal. Width And a clipping means for limiting the response characteristic of the control signal generating means by changing a gain and a signal width of the signal based on a detection result by the optical axis displacement detecting means. Motion compensator. 13. When the amount of optical axis displacement is at or near the maximum displacement that can be displaced by the motion compensating means, the gain of the gain adjusting means is set smaller than in other cases, and the signal width is reduced. The image motion compensating apparatus according to claim 12, wherein? 14. A motion detecting means for detecting a motion of an imaging device; an imaging optical system provided in the imaging device, comprising a plurality of lenses, and imaging a subject on an imaging surface; An image sensor for converting a subject image formed on an imaging surface into an electric signal; and a motion correction for correcting a motion of the subject image caused by a movement of the imaging device by displacing an optical axis of the imaging optical system. Means, a control signal generating means for generating a signal for controlling the motion correcting means based on an output of the motion detecting means, an optical axis displacement detecting means for detecting a state of optical axis displacement by the motion correcting means, The optical axis displacement detecting means detects an optical axis displacement amount, and the control signal generating means controls the motion correcting means and an integrating means for integrating an output of the motion detecting means. Signal Gain adjustment means for adjusting the signal width, and clip means for limiting the signal width of the signal, based on a detection result by the optical axis displacement detection means, a time constant of the integration means, a gain of the signal and the signal. An image motion compensator wherein the response characteristic of the control signal generator is changed by changing the width. 15. When the optical axis displacement amount is at or near the maximum displacement amount that can be displaced by the motion correcting means, the time constant of the integrating means is set shorter than in other cases, and the gain adjustment is performed. Set the gain of the means small,
15. The apparatus according to claim 14, wherein the signal width is limited to a small value. 16. The method according to claim 1, wherein the response characteristic of the control signal generating means is changed continuously within a predetermined time.
The image motion compensator according to any one of claims 15 to 15. 17. The method according to claim 1, wherein the response characteristic of the control signal generating means is changed stepwise within a predetermined time.
The image motion compensator according to any one of claims 15 to 15. 18. An apparatus according to claim 1, wherein said motion correcting means is a variable apex angle prism. 19. The image motion according to claim 1, wherein the motion compensator is driven relatively to the imaging optical system to decenter the optical axis of the imaging optical system. Correction device. 20. The motion compensation means according to claim 1, wherein the motion compensation means comprises one or more lenses which are individually driven in a direction orthogonal to the optical axis to decenter the optical axis of the imaging optical system. 18. The image motion compensating device according to any one of 17. 21. An apparatus according to claim 1, wherein said motion detecting means is an angular velocity sensor for detecting an angular velocity of a movement of the image pickup apparatus itself. 22. An apparatus according to claim 1, wherein said motion detecting means is a motion vector detecting means for detecting a motion vector of an image from a captured image.