JP2001054005A - Motion detector and device for correcting motion of image - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a motion detector where a stable reference output of a sensor can be obtained even on occurrence of external disturbance by generating a reference signal at a corresponding point of time from the outputs at a plurality of points of time and detecting a motion of an image pickup device on the basis of the motion signal and the reference signal. SOLUTION: A reference output value calculation means 142 calculates and generates a reference output (reference signal) of an angular velocity sensor on the basis of a filtering result by a reference output detection LPF 141. The reference output value calculation means 142 sums two consecutive reference outputs among outputs of the reference output detection LPF 141 obtained by each sampling period and halves the sum. That is, the reference output value calculation means 142 provides the reference output at a corresponding point of time to summing averaging processing of output of the reference output detection LPF 141 by the reference output value calculation means 142. Thus, the summation and averaging of outputs of the reference output detection LPF 141 to obtain the reference output of the angular velocity sensor by the reference output value calculation means 142 can detect the stable reference output.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion detecting device for detecting motion such as camera shake of an image pickup device such as a video camera, and an image motion correcting device for correcting the motion of an image using the motion detecting device. About.

[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 of an image pickup apparatus, for example, an image pickup unit having an image pickup optical system and a solid-state image pickup device is supported by a gimbal mechanism, and this is driven based on motion information of the image pickup apparatus itself obtained from an angular velocity sensor. There is a method of controlling the movement of an image by controlling (for example, “Development of image blur prevention technology for video camera”, Technical Report of the Institute of Television Engineers of Japan, Vol. 11, No. 28, pp. 19-24 (1987)).

In the above-mentioned system, an imaging unit of an imaging device is rotatably supported at its center of gravity by a gimbal mechanism, and pitching of the imaging device obtained from an angular velocity sensor is performed.
Based on the movement information in the two yawing directions, the attitude of the imaging unit is controlled by an actuator constituted by a coil and a magnet, thereby stabilizing the captured image.

[0005] As another example, a method of correcting a motion of an image by providing a variable apex angle prism in front of an image pickup optical system and controlling the same based on information from an angular velocity sensor ("optical type"). There is a camera shake correction system “Technical Report of the Institute of Television Engineers of Japan, Vol. 17, No. 5, pp. 15-20 (1993)).

In the above method, two glass plates are connected by a bellows made of a special film, and a variable apex angle 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 provided 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.

Another example is disclosed in Japanese Patent Application Laid-Open No.
No. 84 discloses a method for controlling the signal read address so that only a part of the image on the image sensor is read as an output image according to the movement of the image, and correcting the movement of the image. Also, JP-A-61-198
Japanese Patent Publication No. 884 discloses a method in which a captured image is temporarily stored in an image memory, and a signal readout control from the image memory is performed in accordance with the image movement to correct the image movement.

In order to detect the movement of the image pickup apparatus or the image, a method using an angular velocity sensor which is a mechanical sensor for detecting the angular velocity of the image pickup apparatus, and a method of detecting a motion vector of an image by pattern matching from successive photographed images. The method is mainly used.

In the method using the angular velocity sensor, a signal corresponding to the angular velocity of the movement is output from the angular velocity sensor centering on the output (DC component) of the angular velocity sensor when the imaging device is stationary. This DC component, that is, the reference output of the angular velocity sensor is removed from the output of the angular velocity sensor,
A signal (AC component of the output of the angular velocity sensor) indicating the angular velocity of up, down, left and right with respect to the reference position is obtained. Then, the angle of the movement of the imaging device with respect to the reference position is obtained by time integration, and the means for correcting the movement as exemplified above is driven or controlled in accordance with the angle to stabilize the movement of the captured image. Let it.

[0012]

As described above, it is well known that various methods have been proposed and put into practical use with respect to an image motion compensating device. When a mechanical sensor such as an angular velocity sensor is used, the reference output (reference voltage) of the sensor output has a different value for each sensor due to individual variations and temperature characteristics of the sensor itself.

For this reason, for example, Japanese Patent Application Laid-Open No. 63-8627 discloses a configuration in which a moving averager is provided for detecting a reference output of an angular velocity sensor and a reference output (DC component) of the output of the angular velocity sensor is extracted. . FIG. 14 shows an example of the angular velocity sensor output and the moving averager output (reference output) when the reference output of the angular velocity sensor is extracted by such a moving averager or a low-pass filter having the same effect. That is, it can be seen that the reference output of the angular velocity sensor output can be stably detected by the moving averager.

However, if the image pickup apparatus receives an impact due to disturbance such as a collision or a drop, or is affected by external noise, the moving averager alone can stabilize the reference output of the angular velocity sensor output. Cannot be detected. For example, when an impulse-like signal due to impact or noise is superimposed on the output of the acceleration sensor as shown in FIG.
It can be seen that a rapid change occurs in the output of the moving averager, and the reference output detected at that portion becomes discontinuous.

If a discontinuity occurs in the reference output detected as described above, an error or a discontinuity occurs in the angle of the motion obtained based on the reference output, so that the motion can be detected with high accuracy. For this reason, it is difficult to accurately correct the motion of the image, or the image after the motion correction has a strange feeling.

In view of the above, the present invention provides a motion detecting device capable of obtaining a stable sensor reference output even when such a disturbance occurs, and furthermore, using this motion detecting device with high accuracy and uncomfortable feeling. An object of the present invention is to realize a motion correction of a non-existent image.

[0017]

In order to solve the above-mentioned problems, the present invention is configured as follows.

That is, according to the present invention, there is provided a signal output means for outputting a motion signal corresponding to the motion of an imaging device, a signal filtering means for filtering a motion signal from the signal output means, and a signal filtering means. Generating a reference signal as a reference for the motion signal based on the output, wherein the reference signal generating the reference signal at a corresponding time from at least two outputs among the outputs of the signal filtering means; Generating means for detecting a motion of the imaging device based on the motion signal and the reference signal.

According to the present invention, a shock caused by a disturbance such as a collision or a drop, or the influence of noise from the outside causes the reference signal (reference signal) of the motion signal from the signal output means such as an angular velocity sensor. Output) cannot be detected stably, a stable reference signal can be generated based on the output of the signal filtering means, and a highly accurate motion can be detected.

Further, by using the motion detecting device, it is possible to realize a motion correction of an image with high accuracy and without a sense of incongruity.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A motion detecting device according to a first aspect of the present invention comprises a signal output means for outputting a motion signal corresponding to the motion of an imaging device, and a signal for filtering the motion signal from the signal output means. Filtering means for generating a reference signal based on the output of the signal filtering means, the reference signal being a reference for the motion signal. And a reference signal generating means for generating the reference signal at the time of performing the operation, and detecting a movement of the imaging device based on the motion signal and the reference signal. Since the reference signal at the corresponding time is generated from at least two of the outputs of the signal filtering means, the motion signal from the signal output means such as an angular velocity sensor changes rapidly due to disturbance such as collision or drop. did In case, it will be able to generate a stable reference signal, thereby enabling highly accurate motion detection.

According to a second aspect of the present invention, there is provided a signal output means for outputting a motion signal corresponding to the motion of an image pickup apparatus, a signal filtering means for filtering a motion signal from the signal output means, and the signal filtering means. Generating a reference signal serving as a reference for the motion signal based on the output of the wave means. And a reference signal generating means for generating, based on the motion signal and the reference signal, detecting a motion of the imaging device. According to the invention of claim 2, an output of the signal filtering means is provided. Two consecutive
By generating a reference signal by, for example, averaging and averaging the outputs at the time, even when a motion signal from a signal output unit such as an angular velocity sensor suddenly changes due to a disturbance such as a collision or a drop, a stable reference signal is generated. This makes it possible to perform highly accurate motion detection.

According to a third aspect of the present invention, there is provided a signal output means for outputting a motion signal corresponding to the motion of an image pickup apparatus, a signal filtering means for filtering a motion signal from the signal output means, and the signal filtering means. Generating a reference signal as a reference for the motion signal based on an output of the wave means; extracting a low frequency component from an output of the signal filtering means by a low-pass filter to generate a reference signal; Reference signal generating means,
According to the third aspect of the present invention, a low-frequency component is extracted from an output of the signal filtering means by a low-pass filter based on the motion signal and the reference signal. Since the reference signal is generated, a stable reference signal can be obtained even when the motion signal from the signal output means such as an angular velocity sensor suddenly changes due to a disturbance such as a collision or a drop, and a highly accurate motion can be obtained. Detection becomes possible.

According to a fourth aspect of the present invention, there is provided a signal output means for outputting a motion signal corresponding to the motion of the image pickup apparatus, a signal filtering means for filtering a motion signal from the signal output means, and the signal filtering means. Generating a reference signal as a reference for the motion signal based on an output of the signal filtering means. If the output of the signal filtering means changes, after a certain time, the changed signal filtering is performed. A reference signal generating means for generating a reference signal within the predetermined time, and when the output of the signal filtering means does not change, the output of the signal filtering means being used as a reference signal. And detecting the movement of the imaging device based on the movement signal and the reference signal. According to the invention, the signal filtering means is provided by disturbance such as collision or dropping. The output of the Expediently, the reference signal generating means, after a certain time, the output with a reference signal of the signal 瀘波 means after the change, because it produces a reference signal within a predetermined time period,
Even when a motion signal from a signal output unit such as an angular velocity sensor suddenly changes due to a disturbance or the like, a stable reference signal can be obtained, and highly accurate motion detection can be performed.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the signal output means is an angular velocity sensor for detecting an angular velocity of the movement of the imaging device itself. According to the invention described in 5, even when the angular velocity signal, which is the motion signal from the angular velocity sensor, suddenly changes due to a disturbance such as a collision or a drop, a stable reference signal can be generated, and highly accurate motion detection can be performed. It becomes possible.

According to a sixth aspect of the present invention, in the first aspect of the present invention, the signal output means is an acceleration sensor for detecting the acceleration of the movement of the imaging device itself. According to the sixth aspect of the invention, even when the acceleration signal, which is the motion signal from the acceleration sensor, suddenly changes due to a disturbance such as a collision or a drop, a stable reference signal can be generated, and highly accurate motion detection can be performed. It becomes possible.

According to a seventh aspect of the present invention, in the first aspect of the present invention, the signal filtering means includes a low-frequency filter for filtering only a low-frequency component of a motion signal of the signal output means. According to the seventh aspect of the present invention, since the reference signal is generated based on the output of the low-pass filter, the reference signal is generated from a signal output means such as an angular velocity sensor due to a disturbance such as a collision or a fall. Even if the motion signal changes rapidly, a stable reference signal can be generated, and highly accurate motion detection can be performed.

According to an eighth aspect of the present invention, there is provided an image motion compensating apparatus which is provided in an image pickup apparatus and includes a plurality of lenses for picking up an object. An imaging optical system that forms an image on a surface, an imaging element that converts a subject image formed on the imaging surface by the imaging optical system into an electric signal, and a movement of the subject image that occurs due to the movement of the imaging device. And a control means for controlling the motion correction means based on an output of the motion detection device. According to the invention of claim 8, the motion of the image can be accurately and without discomfort. Motion correction becomes possible.

According to a ninth aspect of the present invention, in accordance with the eighth aspect of the present invention, the motion correcting means is individually driven in a direction orthogonal to the optical axis of the imaging optical system, so that the light of the imaging optical system is According to the ninth aspect of the present invention, the optical axis of the imaging optical system is decentered, and the motion of an image can be corrected with high precision and without a sense of incongruity. .

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1) FIG. 1 is a block diagram showing an image motion compensating apparatus provided with a motion detecting apparatus according to Embodiment 1 of the present invention. In FIG. 1, the imaging optical system 1 includes an imaging lens including four lens groups L1, L2, L3, and L4, and performs zooming by moving the lens group L2 in the optical axis direction. Focusing is performed by moving in the optical axis direction. The lens unit L3
L31 and L31 arranged on the imaging surface side of the lens unit L2.
The lens group L32, which is a part of the lens group L3, moves in a direction perpendicular to the optical axis, thereby correcting the movement 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 correcting vibration, and moves the lens group L32 up, down, left and right in a plane orthogonal to the optical axis of the imaging optical system 1. Let me move to. The movement amount detection means 3 detects and outputs the actual movement amount of the lens unit L32. The feedback amount control loop for driving and controlling the lens unit L32 is formed together with the L32 lens unit drive control unit 2.

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

The solid-state image pickup device 6 converts an image incident through the image pickup optical system 1 into an electric signal. The analog signal processing means 7 converts an image signal obtained by the solid-state image pickup device 6 into an analog signal such as gamma processing. The A / D converter 8 is a means for performing signal processing, and 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 is an angular velocity sensor as signal output means for detecting the movement of the image pickup apparatus itself and outputting an angular velocity signal as a movement signal, which is originally intended to detect movement in two directions of yawing and pitching. Figure 1
FIG. 1 typically shows only one direction. The LPF 11 is a low-pass filter for removing, for example, a resonance frequency component and a noise component of the sensor out of unnecessary band components included in the output of the angular velocity sensor 10, and the amplifier 12 adjusts the signal level of the output of the angular velocity sensor 10. A / A
The D conversion means 13 is a means for sampling the output of the amplifier 12 at a fixed sampling frequency and converting it into a digital signal.

The reference signal detection means 14 detects the reference output (reference signal) from the output of the angular velocity sensor 10 obtained through the A / D conversion means 13 and sends it to the control means 15 at the subsequent stage.

The control means 15 subtracts the reference output of the angular velocity sensor 10 obtained by the reference signal detection means 14 from the output of the angular velocity sensor 10 obtained through the A / D conversion means 13 to obtain the output of the angular velocity sensor 10. Extract the AC component.
Then, the angle of the motion is obtained by time-integrating the AC component, that is, the motion is detected, and the drive control amount of the lens unit L32 necessary for the motion correction (hereinafter, this is referred to as a control signal) is detected from the detected angle. ) Is calculated and sent to the L32 lens group drive control means 2 via the D / A conversion means 16. Upon receiving the signal from the control unit 15, the D / A conversion unit 16 converts the signal into an analog signal at substantially the same time and sends the analog signal to the L32 lens group drive control unit 2.

The L32 lens group drive control means 2 corrects the image movement 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 correcting optical mechanism for controlling the drive of 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 a block diagram showing an example of the configuration of the reference signal detecting means 14. The reference output detection LPF 141 is A / D
This is a low-pass filter as signal filtering means for filtering the output of the angular velocity sensor 10 obtained through the conversion means 13 and extracting low-frequency components. The reference output value calculation means 142
It has a function as a reference signal generating means for calculating and generating a reference output (reference signal) of the angular velocity sensor 10 based on the result of filtering by the reference output detection LPF 141.

FIG. 4 is a block diagram showing an example of the configuration of the reference output value calculation means 142. The memory 1421 stores the output value of the reference output detection LPF 141, and stores the output value of the A / D conversion unit 13.
This is a means to output with a delay of the sampling period.
Reference numeral 1422 denotes the output of the reference output detection LPF 141 and the memory 14.
An adder for adding the output of the adder 21 and an amplifier 1423 are means for multiplying the output of the adder 1422 by a constant. Note that a constant multiplied by the amplifier 1423 is ２３ in the present embodiment.

The operation of the image motion compensating apparatus according to the first embodiment configured as described above will be described below. 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.

FIG. 5 is a schematic diagram for explaining an output state of the reference output detection LPF 141 when an impulse-like vibration is superimposed on an output of the angular velocity sensor 10 due to a collision or the like during photographing. In FIG. 5, t1 to t8 are timings at which the output of the angular velocity sensor 10 is sampled by the A / D conversion means 13, T is the sampling period, and A and B are the output values of the reference output detection LPF 141.

Here, for example, if the output of the impulse-shaped angular velocity sensor as described above occurs, the output of the reference output detection LPF 141 suddenly changes from A to B at time t4 as shown in FIG. 5, for example. Suppose you did.

At this time, the reference output value calculating means 142 outputs a reference output detection LPF obtained every sampling period.
Of the outputs 141, two successive reference outputs are added and multiplied by a factor of two, that is, an averaging operation is performed to obtain a reference output at the corresponding time.

That is, the reference output at the time corresponding to the processing is obtained by the averaging process of the output of the reference output detection LPF 141 by the reference output value calculating means 142.

In this case, the output of the reference output value calculation means 142 has a value indicated by a black circle in FIG. As shown in FIG. 6, the output of the reference output detection LPF 141 is added and averaged by the reference output value calculation means 142, so that the reference output of the acceleration sensor 10 at time t4 becomes the added average of A and B, and The abrupt change in the reference output of the angular velocity sensor 10 that occurs at the time t4 is reduced.

As described above, in the first embodiment of the present invention, the reference output calculating means 142 detects the reference output.
The output of the LPF 141 is added and averaged, and this is used as the angular velocity sensor 1
By setting the reference output to 0, the angular velocity sensor 1
Even when the output of 0 rapidly changes, a stable reference output can be detected.

In the first embodiment of the present invention, an example is shown in which the outputs of the reference output detection LPF 141 are added and averaged at two consecutive time points. However, the present invention is not limited to this. A method of adding an appropriate weight to, for example, 0.7: 0.3 or the like to the output of the detection LPF 141 is also conceivable.

Further, the reference output detection LP at two discontinuous points in time
The output of F141 may be used.
The output of the reference output detection LPF 141 at or above the time may be used.

(Embodiment 2) The motion detecting apparatus according to Embodiment 2 of the present invention is different from Embodiment 1 of the present invention in that
Since only the reference output value calculating means 142 as the reference signal generating means is different, the operation will be mainly described below. 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 a block diagram showing a configuration example of the reference output value calculation means 142. 1424 is a reference output detection LP
An adder that adds the output of the F141 and the output of the memory 1426, an amplifier 1425 is a means for multiplying the output of the adder 1424 by a constant, and a memory 1426 stores the output value of the amplifier 1425. This is a means for outputting after delaying by the sampling period. This is a cyclic low-pass filter, and a constant to be multiplied by the amplifier 1425 is set to 1/2 in the present embodiment.

The operation of the image motion compensating apparatus according to the second embodiment configured as described above will be described below. 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 in the first embodiment, when the output of the reference output detection LPF 141 changes as shown in FIG. 5, in the second embodiment, the reference output value calculating means 142 operates as shown in FIG.
Since the filter is a recursive low-pass filter as shown in FIG.
The output of 2 asymptotically moves from A to B with a certain time constant.
As described above, by making the configuration of the reference output value calculating means 142 into a recursive low-pass filter configuration shown in FIG.
Abrupt changes in the reference output of the angular velocity sensor 10 that occur at the boundary can be reduced.

As described above, in the second embodiment of the present invention, the reference output calculating means 142 is configured as a recursive low-pass filter, so that even if the output of the angular velocity sensor 10 suddenly changes due to disturbance, Stable reference output can be detected.

In the second embodiment, a cyclic low-pass filter configuration as shown in FIG. 7 is shown as an example of the configuration of the reference output value calculating means 142. However, the present invention is not limited to this configuration. It goes without saying that the same effect as that of the present embodiment can be realized by the filter configuration. Further, the configuration of the low-pass filter is not limited to the recursive type, and it is needless to say that the same effect as that of the present embodiment can be realized even with a non-recursive type filter configuration as shown in FIG. 9 as an example. The configuration of the recursive filter is not limited to the configuration shown in FIG.

(Embodiment 3) The motion detecting apparatus according to Embodiment 3 of the present invention is different from Embodiment 1 of the present invention in that
Since only the reference output value calculation means 142 is different as the reference signal generation means, the operation thereof will be mainly described below. 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. 10 is a flowchart for explaining the contents of processing performed by the reference output value calculating means 142. In the third embodiment, the reference output value calculating means 14
2 is assumed to be constituted by a programmable microcomputer, for example, and the processing contents are shown in FIG.
This will be described in detail with reference to the flowchart shown in FIG. Note that FIG.
Although not described, a series of processing loops starting from the capture of the output of the reference output detection LPF 141 (step 102) is interrupted in synchronization with the A / D conversion timing of the A / D conversion means 13, and for each interrupt It is assumed that loop processing is executed.

In FIG. 10, first, when the camera shake correction enters the operating state, in step 101, a set value (reference output of the angular velocity sensor 10 sent to the control means 15: CENT, which is sent to the control means 15; constant used for division in step 106: IN
T, target value of reference output: CENT_tar, reference value change amount: Dif
Set f) to the initial value. Note that CENT, INT, CENT_tar,
The initial values of Diff are A, 5, B, and 0, respectively.

Next, when an interrupt is issued in synchronization with the A / D conversion timing of the A / D conversion means 13, first, in step 1,
02, the output of the reference output detection LPF 141 is fetched. The output of this reference output detection LPF 141 is LPF_out
And

Step 103 is a reference output detection LPF 14
This is a step of comparing LPF_out and CENT_tar, which are outputs of step 1, and if LPF_out and CENT_tar are equal, step 1
04 is executed. Conversely, if LPF_out and CENT_tar are different, steps 105 and 106 are executed.

This CENT_tar is a target value of the reference output of the angular velocity sensor 10. In the third embodiment, processing is performed so that the reference output of the angular velocity sensor 10 sent from the reference output value calculation means 142 to the control means 15 is finally set to the value of CENT_tar.

In step 105, LPF_out is stored in CENT_tar.
Is substituted, whereby the target value of the reference output is updated to the latest value output from the reference output detection LPF 141.

At step 106, the target value CE of the reference output is obtained.
The result of dividing the difference between NT_tar and the current reference output CENT by INT is assigned to Diff.

In step 104, the current reference output
Add Diff to CENT and make this a new CENT.

The steps after step 107 are the reference output.
This is a step for limiting the CENT so as not to exceed the target value CENT_tar.
When the Diff is a positive value, CENT is compared with CENT_tar in step 108, and CENT is CE.
If it is NT_tar or more, CENT is set to CENT in step 109.
Substitute NT_tar. Conversely, at step 107, Diff
If is a negative value less than or equal to 0, in step 110 CENT
Is compared with CENT_tar. If CENT is equal to or less than CENT_tar, in step 111, CENT_tar is substituted for CENT.

The operation of the image motion compensating apparatus according to the third embodiment configured as described above will now be described with reference to FIGS.
This will be described with reference to FIG. 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.

It is assumed that the output (= LPF_out) of the reference output detection LPF 141 is stable at the A value after the start of the operation state of the camera shake correction. In this case, it is assumed that CENT = A, CENT_tar = A, Diff = 0, and INT = 5 for CENT, CENT_tar, Diff, and INT shown in the flowchart of FIG. 10, respectively.

Here, as shown in FIG.
It is assumed that the output of F141 (= LPF_out) changes to the B value at time t4, and then remains at B value until time t8.

In this case, since CENT_tar and LPF_out have different values in step 103 of FIG. 10, B is substituted for CENT_tar in step 105. Next, in step 106, the result obtained by dividing the difference between CENT_tar and CENT by INT, that is, (BA) / 5 is substituted for Diff.

In step 104, the value of CENT is obtained by adding the Diff value obtained in step 106 to the original CENT, so that the value of CENT is a value increased by (BA) / 5. This value is the value indicated by the black circle at time t4 in FIG. 11, and is sent to the control means 15 as the reference output of the angular velocity sensor 10.

Thereafter, CENT is sequentially determined in accordance with the flowchart shown in FIG. 10, which changes linearly from A as shown by the black circle in FIG.
This is the value of T_tar. In this way, by making the output of the reference output value calculation means 142 become the output of the reference output detection LPF 141 after a certain time by the method shown in FIG. 10, the reference of the angular velocity sensor 10 sent to the control means 15 is obtained. The output changes as shown by a black circle in FIG. 11, and a sudden change in the reference output of the angular velocity sensor 10 occurring at the time t4 can be reduced.

As described above, in the third embodiment of the present invention, the output of the reference output value calculating means 142 is made to be the output of the reference output detection LPF 141 after a certain period of time. Is stable, a stable reference output can be detected.

The time required for the output of the reference output value calculation means 142 to become the output of the reference output detection LPF 141 is IN
It can be changed by the value of T. In the present embodiment, INT = 5 has been described as an example.
Assuming that NT = 10, the output of the reference output value calculation means 142 is twice as long as that in the above example,
1 is output.

In the third embodiment, the reference output value calculating means 142 has been described by way of an example in which the microcomputer performs program processing. However, the present invention is not limited to this. Needless to say, it is possible to realize this.

Further, in all of the above-described embodiments, an example is described in which 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 shake correcting means. Although the description has been made, the present invention is not limited to this, and it goes without saying that the present invention is also effective for an optical system using a variable apex prism, for example.

In all of the above embodiments, the image pickup unit including the image pickup optical system 1 and the solid-state image pickup element 6 is rotatably supported and driven with respect to the housing of the image pickup apparatus as shake correction means. A configuration for correcting the movement is also conceivable.

Further, in all of the above-described embodiments, the configuration for optically correcting the shake as the shake correcting means has been described as an example. However, the present invention is not limited to this. For example, the drive control of the solid-state image pickup device and the image memory Even with the method of correcting the movement by drive control, the effects shown in all the above embodiments can be realized.

In all of the above embodiments, the means for detecting the movement of the imaging device has been described by taking an angular velocity sensor as an example. However, the present invention is not limited to this. For example, an acceleration sensor for detecting the acceleration of the movement of the imaging device may be used. It is needless to say that the present invention is effective even in such a configuration.

[0080]

As described above, according to the present invention, the movement from a signal output means such as an angular velocity sensor can be achieved by receiving an impact due to a disturbance such as a collision or a drop, or being affected by noise from the outside. Even when the reference signal of the signal cannot be detected stably, a stable reference signal can be generated based on the output of the signal filtering means, and the accuracy of motion detection can be improved.

Further, it is possible to accurately and smoothly correct the motion of an image by using the motion detecting device.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an image motion compensating device including a motion detecting device 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 block diagram showing a configuration example of a reference signal detection unit 14 according to the first embodiment of the present invention.

FIG. 4 is a block diagram illustrating a configuration example of a reference output value calculating unit 142 according to the first embodiment of the present invention.

FIG. 5 is a reference output detection LPF 14 according to the first embodiment of the present invention.
Explanatory diagram showing an output example of No. 1

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

FIG. 7 is a block diagram illustrating a configuration example of a reference output value calculation unit 142 according to the second embodiment of the present invention.

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

FIG. 9 is a block diagram showing another configuration example of the reference output value calculating means 142 according to the second embodiment of the present invention.

FIG. 10 is a flowchart for explaining processing contents by reference output value calculating means 142 according to the third embodiment of the present invention;

FIG. 11 is an explanatory diagram showing an effect of the third embodiment of the present invention.

FIG. 12 is a lens configuration diagram of 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 an explanatory diagram showing an effect of a moving averager or a low-pass filter in 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 (signal output means) 11 ... LPF 12 ... Amplifier 13 ... · A / D conversion means 14 ··· reference signal detection means 15 ··· control means 16 ··· D / A conversion means 17 ··· solid-state image sensor drive control means 141 ··· reference output detection LPF (signal filtering) Wave means) 142 ··· Reference output value calculation means (reference signal generation means)

Claims (9)

[Claims] 1. A signal output means for outputting a motion signal corresponding to a motion of an image pickup device; a signal filtering means for filtering a motion signal from the signal output means; and an output from the signal filtering means. A reference signal generating means for generating a reference signal serving as a reference for the motion signal, wherein the reference signal generating means generates the reference signal at a corresponding time from at least two outputs among outputs of the signal filtering means; A motion detection device, comprising: detecting a motion of an imaging device based on the motion signal and the reference signal. 2. A signal output means for outputting a motion signal corresponding to a motion of an imaging device; a signal filtering means for filtering a motion signal from the signal output means; and an output from the signal filtering means. A reference signal generating means for generating a reference signal as a reference of the motion signal, wherein the reference signal generating means generates the reference signal at a corresponding time from an output at two consecutive time points among outputs of the signal filtering means. A motion detection device, comprising: detecting a motion of an imaging device based on the motion signal and the reference signal. 3. A signal output means for outputting a motion signal corresponding to the motion of the imaging apparatus; a signal filtering means for filtering the motion signal from the signal output means; and an output from the signal filtering means. A reference signal generating means for generating a reference signal as a reference for the motion signal, and extracting a low frequency component from an output of the signal filtering means by a low-pass filter to generate a reference signal; A motion detection device, comprising: detecting a motion of an imaging device based on the motion signal and the reference signal. 4. A signal output means for outputting a motion signal corresponding to the motion of the imaging device; a signal filtering means for filtering the motion signal from the signal output means; and an output from the signal filtering means. Generating a reference signal as a reference for the motion signal, wherein when the output of the signal filtering means changes, after a certain time, the output of the changed signal filtering means is used as a reference signal. Along with
A reference signal generating unit that generates a reference signal within the predetermined time, and when the output of the signal filtering unit does not change, the reference signal generating unit uses the output of the signal filtering unit as a reference signal. A motion detection device for detecting a motion of an imaging device based on the reference signal. 5. The motion detection device according to claim 1, wherein the signal output unit is an angular speed sensor that detects an angular speed of a motion of the imaging device itself. 6. The motion detection device according to claim 1, wherein the signal output unit is an acceleration sensor that detects an acceleration of a motion of the imaging device itself. 7. The motion detecting device according to claim 1, wherein said signal filtering means is a low-pass filter for filtering only a low-frequency component of the motion signal of the signal output means. 8. An image pickup optical system according to claim 1, wherein the image pickup optical system is provided in the image pickup apparatus, includes a plurality of lenses, and forms an image of a subject on an image pickup surface. An image sensor that converts a subject image formed on an imaging surface from an optical system into an electric signal; a motion correction unit that corrects a motion of the subject image generated due to a motion of the imaging device; Control means for controlling the motion correction means based on the output. 9. The image processing apparatus according to claim 8, wherein the motion compensator includes one or more lenses that are individually driven in a direction perpendicular to the optical axis of the imaging optical system to decenter the optical axis of the imaging optical system. Image motion compensation device.