JP2002359768A - Device and method for correcting motion of image - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem of misjudgment of occurrence of a camera-shake from operations of panning and/tilting under other conditions for photographing of a still picture when a device able to photograph a moving picture and a still picture and conducting panning and/or tilting at photographing a moving picture has a function of limiting motion correction performance, and a method for correcting motion of the image. SOLUTION: The device and method for correcting motion of an image has two correction modes; a camera-shake correction mode for a moving picture and a camera-shake correction mode for still picture photographing. In the still picture photographing mode S103, no malfunction countermeasure processes S104, S105 at panning are not carried out to enhance a degree of correction at photographing the still picture. In the moving picture photographing mode S103, the malfunction countermeasure processes S104, S105 at panning are carried out.

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 device, an image motion compensating method, and a program for use in compensating for camera shake of an image pickup device, and more particularly, to improving the performance thereof.

[0002]

2. Description of the Related Art With respect to camera shake correction technology of an image pickup apparatus,
For example, there is one disclosed in JP-A-11-183951. This includes a pan / tilt detection unit that detects that the photographer has performed panning and / or tilting in an imaging apparatus having a camera shake correction function,
At the time of panning and / or tilting, the correction performance is limited at the time of panning and / or tilting by changing the cutoff frequency of the HPF, the integration constant, the control gain, and the clip value of the control signal.
In the above-mentioned prior art, a panning and / or tilting operation performed by a photographer is detected by a pan / tilt detecting unit to limit a camera shake correction performance, thereby performing a screen movement by panning and / or tilting. Correction in the same way as camera shake can be avoided, and photographing can be performed without discomfort for the photographer.

[0003]

However, in reality, there may be situations in which the photographer is unlikely to perform panning and / or tilting during photographing. For example, in a video camera or the like that can realize both moving image shooting and high-quality still image shooting with a single device, it is highly likely that panning and / or tilting is performed at the time of moving image shooting. When photographing a still image of a person, the photographing is often performed without moving the video camera. In such a case, most of the shake of the video camera is a camera shake, and it is considered that the movement of the video camera due to panning and / or tilting does not occur.

[0004] Further, when panning and / or tilting is detected, what kind of motion is determined to be panning and / or tilting depends on the design of the device. Since there is also an individual difference, it may be erroneous that the camera shake is erroneously determined as panning and / or tilting depending on how the determination criteria are set. In such a case, since the performance of the camera shake correction is limited, the photographer cannot obtain a sufficient effect of the camera shake correction, and on the contrary, has the opposite effect. In particular, as described above, if such a situation occurs when a still image is unlikely to be panned and / or tilted, the photographer's confidence in the device may be impaired.

That is, in a device that limits the motion compensation performance when panning and / or tilting is performed under certain shooting conditions such as when shooting a moving image, the camera shake is panned under another condition such as when shooting a still image. There is a problem that the effect of camera shake correction cannot be obtained due to erroneous determination that tilting has been performed.

From another viewpoint, in a video camera capable of realizing both of the above-described moving image shooting and high-quality still image shooting with one device, a still image is an image having a larger number of pixels than a moving image. That is the main thing. In a fine image having a large number of pixels, camera shake during exposure affects the deterioration of image quality. Therefore, such still image shooting requires more accurate camera shake correction than moving image shooting. Therefore, contrary to limiting the correction performance under specific conditions as in the prior art, a measure is required to enhance the performance. This applies not only to a video camera but also to a digital still camera having a moving image shooting function.

That is, in a device capable of both moving image shooting and still image shooting, camera shake correction is performed at the time of still image shooting with the same accuracy as that of camera shake correction performed at the time of moving image shooting. Is not enough.

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and has an object to limit motion compensation performance under specific conditions such as when panning and / or tilting is performed. When shooting images,
It is an object of the present invention to provide an image motion correction device, an image motion correction method, and a program capable of shooting a subject without limiting the correction performance by releasing the restriction on the correction performance.

In view of the above problems, the present invention can further enhance the effect of camera shake correction under certain conditions, for example, when shooting a still image, by enhancing the performance of camera shake correction. It is an object of the present invention to provide an image motion correcting device, an image motion correcting method, and a program.

[0010]

In order to solve the above-mentioned problems, a first aspect of the present invention (corresponding to claim 1) is to provide an imaging optical system for forming a subject image on an imaging surface, and An imaging device having an imaging element that converts the formed subject image into a captured image; a motion detection unit configured to detect a motion of the imaging device; and a motion detection unit configured to detect a motion of the imaging device based on the detected motion. A motion correcting means for correcting the motion of the captured image generated by the motion, a pan / tilt discriminating means for discriminating whether or not the detected motion is panning and / or tilting, and detecting the motion in accordance with the discrimination result. A first characteristic changing unit for changing a response characteristic of the movement correcting unit to the movement, a first mode for performing the correction when capturing a moving image, and the correction for performing a still image capturing To Cormorant comprising a switching means for switching the second mode, wherein the first characteristic changing means,
An image motion compensating apparatus which does not change the response characteristic of the motion compensating means according to the determination result when the switching means is switched to the second mode.

Further, the second invention (corresponding to claim 2)
The response characteristic when the determination result indicates that the movement is panning and / or tilting when the switching means is switched to the first mode, the response characteristic is that the movement is panning and / or tilting. Is the image motion compensating apparatus according to the first aspect of the present invention, which is more restricted than the response characteristic when does not indicate panning and / or tilting.

Further, a third aspect of the present invention (corresponding to claim 3)
An imaging optical system that forms a subject image on an imaging surface, an imaging device that has an imaging element that converts the subject image that is formed on the imaging surface into a captured image, and a motion that detects movement of the imaging device. Detecting means, based on the detected motion, a motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device, and performing the correction when capturing a moving image Switching means for switching between a first mode and a second mode for performing the correction when a still image is captured; and
A second characteristic for changing the response characteristic of the motion correcting means to the detected movement when the mode is switched to the first mode, to a characteristic different from that when the switching means is switched to the first mode. An image motion compensating device comprising a change unit.

Further, the fourth invention (corresponding to claim 4)
According to the third aspect of the present invention, the response characteristic when the mode is switched to the second mode is higher in the accuracy of the motion correction than the response characteristic when the mode is switched to the first mode. This is an image motion correction device.

Further, the fifth invention (corresponding to claim 5)
An imaging optical system that forms a subject image on an imaging surface, an imaging device that has an imaging element that converts the subject image that is formed on the imaging surface into a captured image, and a motion that detects movement of the imaging device. Detecting means; motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and detecting the motion by panning and / or tilting. A pan-tilt discriminating unit for discriminating whether or not there is, a first characteristic changing unit for changing a response characteristic of the motion correcting unit to the detected motion according to the discrimination result, and a case where a moving image is captured. A switching unit for switching between a first mode for performing the correction, a second mode for performing the correction when capturing a still image, and switching the switching unit to the second mode. A second characteristic changing unit that changes a response characteristic of the motion correction unit to the detected motion to a different characteristic from the case where the switching unit is switched to the first mode. Wherein the first characteristic changing unit is an image motion compensating device that does not change the response characteristic of the motion compensating unit according to the determination result when the switching unit is switched to the second mode. is there.

Further, a sixth aspect of the present invention (corresponding to claim 6)
The response characteristic when the determination result indicates that the movement is panning and / or tilting when the switching means is switched to the first mode, the response characteristic is that the movement is panning and / or tilting. Is more limited than the response characteristic when the signal does not indicate that the panning and / or the tilting is performed, and the response characteristic when the mode is switched to the second mode is switched to the first mode. From the response characteristics when
An image motion compensator according to a fifth aspect of the present invention, wherein the motion compensation accuracy is higher.

A seventh aspect of the present invention (corresponding to claim 7)
A control signal generating unit that generates a control signal from a detection signal that is a signal corresponding to the detected motion; and an imaging device correction unit that corrects a motion of the imaging device based on the control signal. Means for changing the response characteristic means changing the degree of one or more predetermined processes performed by the control signal generation means on the detection signal and / or generating the control signal generation means An image motion compensator according to any one of the first to sixth aspects of the present invention, wherein the degree of one or more predetermined processes performed on the control signal is changed.

Further, an eighth aspect of the present invention (corresponding to claim 8)
The control signal generating means further includes a clipping means for limiting the control signal so that the width of the correction amount of the motion indicated by the generated control signal is equal to or less than a predetermined width,
The predetermined process is a process performed by the clip unit, and the motion correction unit corrects a motion of the imaging device based on the limited control signal, and the first characteristic change unit and / or the first characteristic change unit. In the image motion compensating apparatus according to the seventh aspect of the present invention, the second characteristic changing means changing the response characteristic means changing the predetermined width.

A ninth aspect of the present invention (corresponding to claim 9).
The control signal generating means has at least coring processing means for performing coring processing for removing the detection signal corresponding to the motion component smaller than a predetermined level in the detection signal; Means processing by the coring processing means, wherein the control signal generating means generates the control signal from the detection signal on which the coring processing has been performed, and outputs the first characteristic changing means and / or the first characteristic changing means. In the image motion compensating apparatus according to the seventh aspect of the present invention, the second characteristic changing means changing the response characteristic means changing the predetermined level.

According to a tenth aspect of the present invention (corresponding to claim 10), the control signal generating means has at least integrating means for integrating the detection signal with a predetermined time constant. The control signal generating means generates the control signal from the integrated detection signal, and wherein the first characteristic changing means and / or the second characteristic changing means Changing the characteristic means changing the predetermined time constant in the image motion correcting apparatus according to the seventh aspect of the present invention.

Further, according to an eleventh aspect of the present invention (corresponding to claim 11), the control signal generating means is arranged such that a width of a correction amount of the motion indicated by the generated control signal is equal to or smaller than a predetermined width. The image processing apparatus further includes a clip unit that restricts the control signal, wherein the predetermined process is a process performed by the clip unit, and the motion correction unit corrects a motion of the imaging device based on the restricted control signal. The tenth invention according to the tenth aspect of the present invention, wherein the changing of the response characteristic by the first characteristic changing means and / or the second characteristic changing means means changing the predetermined time constant and the predetermined width. Image motion compensating device.

Further, according to a twelfth aspect of the present invention (corresponding to claim 12), the control signal generating means includes the detecting signal and / or
Alternatively, at least attenuating means for attenuating the detection signal and / or the control signal by multiplying the control signal by a predetermined gain is provided, wherein the predetermined processing is processing by the attenuating means, and the first characteristic Changing the response characteristic by the changing means and / or the second characteristic changing means means changing the predetermined gain.
An image motion correcting apparatus according to the present invention.

According to a thirteenth aspect of the present invention (corresponding to claim 13), the control signal generating means includes a control signal generating means for controlling the motion control signal generated by the generated control signal so that a width of the correction amount is equal to or smaller than a predetermined width. Further comprising clip means for limiting the control signal,
The predetermined process is a process performed by the clip unit, and the motion correction unit corrects a motion of the imaging device based on the limited control signal, and the first characteristic change unit and / or the first characteristic change unit. The twelfth aspect of the present invention is the image motion compensator according to the twelfth aspect of the present invention, wherein the second characteristic changing means changes the response characteristic means changing the predetermined gain and the predetermined width.

According to a fourteenth aspect of the present invention (corresponding to claim 14), the control signal generating means includes a high-pass filter means having a predetermined cutoff frequency for removing a low frequency component of the detection signal. And integration means for integrating the detection signal with a predetermined time constant, and attenuation means for attenuating the detection signal and / or the control signal by multiplying the detection signal and / or the control signal by a predetermined gain; and And at least one or more clipping means for limiting the control signal so that the width of the motion correction amount indicated by the generated control signal is equal to or less than a predetermined width, wherein the first characteristic changing means and / or Alternatively, the second characteristic changing means changes at least one of the predetermined cutoff frequency, the predetermined time constant, the predetermined gain, and the predetermined width. An image movement correcting device according to a seventh aspect of the present invention to modify the response characteristics by.

A fifteenth aspect of the present invention (corresponding to claim 15) is the image motion compensating apparatus according to the seventh aspect, wherein the image pickup device correcting means is a variable apex prism.

According to a sixteenth aspect of the present invention (corresponding to claim 16), the imaging device correcting means decenters the optical axis of the imaging optical system by being driven relatively to the imaging optical system. An image motion compensating apparatus according to a seventh aspect of the present invention.

According to a seventeenth aspect of the present invention (corresponding to claim 17), the image pickup device correction means is individually driven in a direction orthogonal to the optical axis of the image pickup optical system so that the image pickup optical system The image motion compensator according to the seventh aspect of the present invention, which is one or more lenses that decenter the optical axis.

An eighteenth aspect of the present invention (corresponding to claim 18) is the seventh aspect of the present invention, wherein the imaging device correcting means is driven to rotate about two axes orthogonal to the optical axis of the imaging optical system. An image motion compensating device according to any one of the preceding claims.

In a nineteenth aspect of the present invention (corresponding to claim 19), there is provided any one of the first to eighteenth aspects of the present invention, wherein the movement detecting means is an angular velocity sensor for detecting the angular velocity of the movement of the imaging device itself. An image motion compensating device according to any one of the preceding claims.

According to a twentieth aspect of the present invention (corresponding to claim 20), the motion detecting means is a motion vector detecting means for detecting a motion vector of an image from a photographed image.
An image motion compensator according to any one of the eighteenth aspects of the present invention.

According to a twenty-first aspect of the present invention (corresponding to claim 21), an imaging optical system for forming an object image on an imaging surface, and converting the object image formed on the imaging surface into a captured image. An imaging device having an imaging element; a motion detection unit configured to detect a motion of the imaging device; and a motion that corrects a motion of the captured image caused by the motion of the imaging device based on the detected motion. Correction means; pan / tilt determination means for determining whether the detected movement is panning and / or tilting; and changing a response characteristic of the movement correction means to the detected movement according to the determination result. And a first mode for performing the correction when capturing a moving image and a second mode for performing the correction when capturing a still image. An image motion compensating method for use in an image motion compensating apparatus comprising: a first changing unit configured to switch the first mode to the first mode. The response characteristic of the motion compensator is changed according to the change, and when the switching unit is switched to the second mode, the change of the response characteristic of the motion corrector according to the determination result is not performed. This is an image motion correction method.

According to a twenty-second aspect of the present invention (corresponding to claim 22), an imaging optical system for forming a subject image on an imaging surface, and converting the subject image formed on the imaging surface into a captured image. An imaging device having an imaging element; a motion detection unit configured to detect a motion of the imaging device; and a motion that corrects a motion of the captured image caused by the motion of the imaging device based on the detected motion. An image comprising: a correction unit; and a switching unit configured to switch between a first mode for performing the correction when capturing a moving image and a second mode for performing the correction when capturing a still image. An image motion compensating method used in a motion compensating device, wherein when the switching means is switched to the second mode, the response characteristic of the motion compensating means to the detected movement is determined by the switching means. The case where switching has been made to the first mode is an image motion compensation method for changing different characteristics.

According to a twenty-third aspect of the present invention (corresponding to claim 23), an image pickup optical system for forming an object image on an image pickup surface and the object image formed on the image pickup surface are converted into a picked-up image. An imaging device having an imaging element; a motion detection unit configured to detect a motion of the imaging device; and a motion that corrects a motion of the captured image caused by the motion of the imaging device based on the detected motion. Correction means; pan / tilt determination means for determining whether the detected movement is panning and / or tilting; and changing a response characteristic of the movement correction means to the detected movement according to the determination result. A first characteristic changing unit that performs switching between a first mode that performs the correction when capturing a moving image and a second mode that performs the correction when capturing a still image. And a response characteristic of the motion compensating means to the detected motion when the switching means is switched to the second mode. Is changed to a different characteristic from the case where the switching unit is switched to the first mode, and when the switching unit is switched to the second mode, the first mode is changed.
The characteristic changing means is an image motion correcting method which does not change the response characteristic of the motion correcting means according to the determination result.

According to a twenty-fourth aspect of the present invention (corresponding to claim 24), in the image motion compensating apparatus according to the first aspect, an imaging optical system for forming a subject image on an imaging surface, and the imaging surface An imaging device having an imaging element that converts the subject image formed into a captured image, a motion detection unit that detects a motion of the imaging device, and a motion of the imaging device based on the detected motion. A motion correcting means for correcting the motion of the captured image caused by the motion, a pan / tilt determining means for determining whether the detected motion is panning and / or tilting, and detecting the motion based on the determination result. A first characteristic changing unit for changing a response characteristic of the motion correcting unit to the motion, a first mode for performing the correction when capturing a moving image, and a first mode for performing a correction when capturing a still image. Supplement Is a program for causing a computer to function as all or part of the switching means for switching the second mode to perform.

According to a twenty-fifth aspect of the present invention (corresponding to claim 25), in the image motion compensating apparatus according to the third aspect of the present invention, an imaging optical system for forming a subject image on an imaging surface, and the imaging surface An imaging device having an imaging element that converts the subject image formed into a captured image, a motion detection unit that detects a motion of the imaging device, and a motion of the imaging device based on the detected motion. Motion correction means for correcting the movement of the captured image caused by the movement, a first mode for performing the correction when capturing a moving image, and a second mode for performing the correction when capturing a still image Switching means for switching between the first mode and the second mode, wherein, when the switching means is switched to the second mode, the response characteristic of the motion correcting means to the detected motion is determined by the first mode. Cut into pieces The obtained from the case is a program for causing a computer to function as all or part of the second characteristic changing means for changing the different properties.

According to a twenty-sixth aspect of the present invention (corresponding to claim 26), in the image motion compensating apparatus according to the fifth aspect, an imaging optical system for forming a subject image on an imaging surface, and the imaging surface An imaging device having an imaging element that converts the subject image formed into a captured image, a motion detection unit that detects a motion of the imaging device, and a motion of the imaging device based on the detected motion. A motion correcting means for correcting the motion of the captured image caused by the motion, a pan / tilt determining means for determining whether the detected motion is panning and / or tilting, and detecting the motion based on the determination result. A first characteristic changing unit for changing a response characteristic of the motion correcting unit to the motion, a first mode for performing the correction when capturing a moving image, and a first mode for performing a correction when capturing a still image. Supplement And a second characteristic for changing a response characteristic of the motion correcting unit to the detected motion when the switching unit is switched to the second mode. This is a program for causing a computer to function as all or a part of the changing means.

[0036]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS For example, an image motion compensating apparatus according to the present invention comprises, as an example, a motion detecting means for detecting a motion of an image pickup apparatus and one or a plurality of lens groups. Optical system that forms an image on the imaging surface, an imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal, and corrects the movement of a captured image caused by the movement of the imaging device. A movement correcting unit, a switching unit for switching between a mode for performing a shake correction suitable for capturing a moving image and a mode for performing a shake correction suitable for capturing a still image, and panning or tilting based on an output of the movement detection unit. Pan / tilt discriminating 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, and a pan / tilt discriminating means. A characteristic changing unit that changes a response characteristic of the control signal generating unit based on the determination result, and when a mode for performing a shake correction suitable for capturing a still image is selected by the switching unit, The characteristic changing means does not change the response characteristic of the control signal generating means, which limits the motion correction performance under specific conditions such as when panning or tilting is performed. In the equipment,
Under the other conditions, for example, when a still image is shot, by canceling the restriction on the correction performance, it is possible to photograph the subject without limiting the correction performance.

Further, for example, the image motion compensating device of the present invention comprises, as an example, a motion detecting means for detecting the motion of the image pickup device and one or more lens groups, and forms a subject image on the image pickup surface. Imaging optical system, an imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal, and a motion correction unit that corrects a motion of a captured image caused by a motion of the imaging device A switching unit for switching between a mode for performing a shake correction suitable for capturing a moving image and a mode for performing a shake correction suitable for capturing a still image; and controlling the motion correction unit based on an output of the motion detection unit. Control signal generating means for generating a signal for performing the image stabilization, and when a mode for performing a camera shake correction suitable for photographing a still image is selected by the switching means, the control signal generating means Characteristic changing means for changing response characteristics, and under certain conditions, for example, when photographing a still image, the effect of camera shake correction is further enhanced to further enhance the effect. It has the effect of being able to increase.

Further, for example, in the image motion compensating apparatus according to the present invention, in the image motion compensating apparatus according to the present invention, the control signal generating means includes at least a coring process for removing a minute signal component output from the motion detecting means. Can be executed, and the characteristic changing means changes the level of the signal to be removed in the coring process, whereby the response characteristic of the control signal generating means can be changed. Has an action.

Further, for example, in the image motion compensating device of the present invention, as an example, in the image motion compensating device of the present invention, the control signal generating means has at least an integrating means for integrating the output of the motion detecting means. The changing means changes the time constant of the integration process in the integrating means, and has an effect that the response characteristic of the control signal generating means can be changed.

Further, for example, in the image motion compensating device of the present invention, in the image motion compensating device of the above invention, the control signal generating means includes at least an attenuating means for attenuating a signal for controlling the motion compensating means. The characteristic changing means changes the amount of attenuation in the attenuating means, and has an effect that the response characteristic of the control signal generating means can be changed.

Also, for example, the image motion compensating apparatus of the present invention is an
The control signal generating means has at least means for integrating the output of the motion detecting means, and clip means for limiting the signal width of a signal for controlling the motion correcting means, and the characteristic changing means includes an integration in the integrating means. Processing time constant, and
The present invention is characterized in that the signal width restricted by the clipping means is changed, thereby having an effect that the response characteristic of the control signal generating means can be changed.

Further, for example, in the image motion compensating device of the present invention, in the image motion compensating device of the present invention, the control signal generating means includes at least an attenuating means for attenuating a signal for controlling the motion compensating means; And a clipping unit for limiting a signal width of a signal for controlling the motion correcting unit, wherein the characteristic changing unit changes an amount of attenuation in the attenuation unit and a signal width limited in the clipping unit. This has the effect that the response characteristics of the control signal generating means can be changed.

Further, for example, the image motion compensator of the present invention comprises, as an example, a motion detecting means for detecting the motion of the image pickup device and one or more lens groups, and forms a subject image on the image pickup surface. Imaging optical system, an imaging element that converts a subject image formed on an imaging surface by the imaging optical system into an electric signal, and a motion correction unit that corrects a motion of a captured image caused by a motion of the imaging device Switching means for switching between a mode for performing image stabilization suitable for shooting a moving image and a mode for performing image stabilization suitable for shooting a still image; and determining panning or tilting from the output of the motion detection means. Pan / tilt determining means, control signal generating means for generating a signal for controlling the motion correcting means based on the output of the motion detecting means, A first characteristic changing unit that changes a response characteristic of the control signal generating unit based on a result; and a mode in which a hand shake correction suitable for capturing a still image is selected by the switching unit. A second characteristic changing unit for changing a response characteristic of the generating unit, wherein the first characteristic is selected when a mode for performing a shake correction suitable for capturing a still image is selected by the switching unit. The second characteristic changing unit changes the response characteristic of the control signal generating unit without changing the response characteristic of the control signal generating unit by the changing unit. For devices that limit motion compensation performance under specific conditions, such as when panning or tilting is performed, under other conditions, such as when shooting still images By canceling the restriction on the correction performance, it is possible to take an image of the subject without restricting the correction performance. Also, under certain conditions, for example, when shooting a still image, the performance of the camera shake correction Has the effect that the effect can be further enhanced.

Further, for example, in the image motion compensating device of the present invention, in the image motion compensating device of the present invention, the control signal generating means restricts at least a signal width of a signal for controlling the motion correcting means. It has a clipping means, and the second characteristic changing means changes the signal width limited by the clipping means, whereby the response characteristic of the control signal generating means can be changed. It has the action of:

Also, for example, in the image motion compensating apparatus according to the present invention, the control signal generating means may include at least an output of the motion detecting means. Coring processing for removing a minute signal component can be executed, and the second
Characteristic changing means for changing a level of a signal to be removed in the coring process,
This has the effect that the response characteristics of the control signal generating means can be changed.

Further, for example, in the image motion compensating device of the present invention, in the image motion compensating device of the present invention, the control signal generating means has at least an integrating means for integrating the output of the motion detecting means. The second characteristic changing means is characterized in that the time constant of the integration process in the integrating means is changed, thereby having an effect that the response characteristic of the control signal generating means can be changed.

Further, for example, in the image motion compensating apparatus of the present invention, in the image motion compensating apparatus of the present invention, the control signal generating means includes at least an attenuating means for attenuating a signal for controlling the motion compensating means. The second characteristic changing means changes the amount of attenuation in the attenuating means, and has an effect that the response characteristic of the control signal generating means can be changed.

Further, for example, in the image motion compensating device of the present invention, in the image motion compensating device of the above invention, the control signal generating means includes at least means for integrating the output of the motion detecting means, and motion correcting means. Clip means for limiting the signal width of the signal for controlling the
The characteristic changing means changes the time constant of the integration process in the integrating means and the signal width limited in the clipping means, thereby changing the response characteristics of the control signal generating means. Is possible.

Further, for example, in the image motion compensating apparatus according to the present invention, in the image motion compensating apparatus according to the present invention, the control signal generating means includes at least an attenuating means for attenuating a signal for controlling the motion compensating means; And a clipping means for limiting a signal width of a signal for controlling the motion correcting means, wherein the second characteristic changing means changes an attenuation amount in the attenuation means and a signal width limited in the clipping means. This has the effect that the response characteristics of the control signal generating means can be changed.

Also, for example, in the image motion compensator of the present invention, in the image motion compensator of the present invention, the control signal generating means includes a high-pass filter for removing a low-frequency component of the output of the motion detecting means. The filter has at least one of a filter, an integrating means for integrating the output of the motion detecting means, a gain adjusting means for adjusting a signal gain, and a clipping means for limiting a signal width of a signal for controlling the motion correcting means. The means or the first characteristic changing means determines at least one of a cutoff frequency of the high-pass filter, a time constant of the integration process by the integrating means, a gain value by the gain adjusting means, and a signal width limited by the clipping means. The response characteristic of the control signal generating means is changed by changing.

Further, for example, the image motion compensating apparatus of the present invention is characterized in that, in the image motion compensating apparatus of the above invention, the motion compensating means is a variable apex angle prism.

Further, for example, in the image motion compensating apparatus according to the present invention, as an example, in the image motion compensating apparatus according to the present invention, as an example, the motion compensating means is driven relatively to the image capturing optical system so that The optical axis of the system is decentered.

Further, for example, in the image motion compensator of the present invention, the motion compensator is individually driven in a direction perpendicular to the optical axis in the image motion compensator of the present invention. Characterized by one or more lenses that decenter the optical axis.

Further, for example, in the image motion compensating apparatus according to the present invention, in the image motion compensating apparatus according to the above-mentioned invention, the motion compensating means is configured to rotationally drive the imaging optical system around two axes orthogonal to the optical axis. It is characterized by the following.

Further, for example, the image motion compensating device of the present invention is characterized in that, in the image motion compensating device of the above invention, the motion detecting means is an angular velocity sensor for detecting the angular velocity of the motion of the imaging device itself. Is what you do.

Further, for example, in the image motion compensating apparatus of the present invention, the motion detecting means is a motion vector detecting means for detecting a motion vector of an image from a photographed image. It is a feature.

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 correcting apparatus according to Embodiment 1 of the present invention. In the figure, the imaging optical system 1 includes L1, L
An imaging lens composed of four lens groups 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 perform focusing. The lens unit L3 includes two lens units L31 and L32 disposed closer to the image plane than the lens unit L2, and the lens unit L32, which is a part of the lens unit L3, is physically moved in a direction perpendicular to the optical axis. , The optical axis is decentered according to the amount of movement, and the movement of the image is corrected. Therefore, the movement range of the lens unit L32 corresponds to a camera shake correction range.

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, down, left and right in a plane orthogonal to the optical axis of the imaging optical system 1. It is a means to move to.
The movement amount detecting means 3 is a means for detecting and outputting the actual movement amount of the lens group L32.
At the same time, a feedback control loop for driving and controlling the lens unit L32 is formed.

The imaging optical system drive control means 4 controls the driving of the lens groups 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 is an image pickup device for converting an image incident through the image pickup optical system 1 into an electric signal. Has a number of pixels, when shooting a still image, shoots a still image from signals obtained from more pixels than is required in a normal television system, and when shooting a moving image, it is required in a normal television system. A moving image is obtained from a signal obtained from a certain number of pixels. The analog signal processing means 7 is means for performing analog signal processing such as gamma processing on an image signal obtained by the solid-state imaging device 6. The A / D conversion means 8 is a means for converting an analog signal into a digital signal. The digital signal processing unit 9 is a unit that performs digital signal processing such as noise removal and contour enhancement on the image signal converted into a digital signal by the A / D conversion unit 8.

The angular velocity sensor 10 is an angular velocity sensor for detecting the movement of the image pickup apparatus itself composed of the image pickup optical system 1 and the solid-state image pickup device 6, and based on the output when the image pickup apparatus is stationary. And outputs angular velocity signals in both positive and negative directions depending on the direction of movement of the imaging device. Angular velocity sensor 10
Are required to detect movement in two directions, yawing and pitching, but FIG. 1 shows only one direction. H
The PF 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 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. The amplifier 13 is an amplifier circuit that adjusts a signal level of an output of the angular velocity sensor 10. The A / D converter 14 is a unit for converting the output of the amplifier 13 into a digital signal.

A microcomputer (hereinafter abbreviated as a microcomputer) 15 filters, integrates, phase-compensates, adjusts the gain of the output of the angular velocity sensor 10 fetched via the A / D converter 14 and outputs the output signal. By performing clip processing or the like, a drive control amount of the lens unit L32 necessary for motion correction (hereinafter, referred to as a control signal) is obtained,
It is sent to the L32 lens group drive control means 2 via the / A conversion means 16. The D / A converter 16 receives the control signal from the microcomputer 15 and converts it into an analog signal substantially at the same time as sending the signal to the L32 lens group drive controller 2. When the control signal is 0, the lens unit L32 is held substantially at the center of the movement range. At this time, the optical axis is not decentered, and when the control signal takes a positive or negative value, It is assumed that they are driven in the opposite directions from the substantially center of the movement range in accordance with the sign of the control signal in proportion to the value.

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

The changeover switch 18 is a switch means for the photographer to set switching of a camera shake correction mode. In the first embodiment of the present invention, a mode for performing a camera shake correction suitable for photographing a moving image and a still image It is assumed that both modes for performing image stabilization suitable for shooting can be selected,
Mode for performing image stabilization suitable for capturing moving images (hereinafter, referred to as
The switch 18 switches between two image stabilization modes, a moving image correction mode) and a mode in which image stabilization suitable for capturing a still image (hereinafter, referred to as a still image correction mode) is performed.

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 axes (slide axes) for moving a movable portion in a pitch direction and a yaw direction.
004 is a detent, 2005 and 2006 are magnets, 2007 and 2008 are yokes, 20
Reference numerals 09 and 2010 denote coils, which constitute an electromagnetic actuator that drives a movable portion in the pitch direction by the magnet 2005, the yoke 2007, and the coil 2009. Similarly, 2006, 2008, and 2010 constitute an electromagnetic actuator in the yaw direction. 2011 and 2012 are semiconductor position detecting elements (PSDs), and 2013 and 2014 are infrared light emitting diodes (LEDs).
13 serves to detect the position of the movable portion in the pitch direction, and this corresponds to the movement amount detecting means 3 shown in FIG.
Similarly, 2012 and 2014 constitute the yaw direction movement amount detecting means 3.

The operation of the image motion compensating apparatus according to the first embodiment of the present invention configured as described above will be described below based on a processing program stored in the microcomputer 15. A series of operations such as angular velocity detection by the angular velocity sensor 10 and drive control of the lens group L32 are performed in both the horizontal and vertical directions. However, since the contents are the same in both the horizontal and vertical directions, the description is simplified. Therefore, the horizontal and vertical directions are not distinguished, and only one direction is shown and described.

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 101) 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.

When the timer interrupts,
First, in step 101, the output of the angular velocity sensor 10, that is, the angular velocity of the motion of the imaging device is input to the microcomputer 15.

Next, in step 102, set values (cutoff frequency, integration constant K, gain G, clip value C) used in low-frequency component removal filtering (HPF), integration processing, gain adjustment, and clip processing, which will be described later, are initialized. Set to a value. This initial value has already been adjusted to an optimal value for camera shake correction when shooting a moving image, and if the processing in each of the subsequent steps is performed using the setting value set in this step when shooting a moving image, the optimal value is originally optimal. Shake correction can be performed. Note that initial values of the cutoff frequency, the integration constant K, the gain G, and the clip value C are Fc, Ki, Gi, and C, respectively.

In step 103, it is detected via the changeover switch 18 which of the “moving image correction mode” and the “still image correction mode” has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 104, and in the case of the "still image correction mode", the process proceeds to step 106.

In step 104, panning or tilting is determined from the angular velocity. The determination method in step 104 uses the fact that the state in which the sign is in the same direction and is equal to or higher than a certain level tends to be continuous at the time of panning or tilting. If it is equal to or greater than a certain threshold for a certain period of time, it is determined that panning or tilting has occurred.

If panning or tilting is not determined in step 104, that is, in a normal camera shake state, the processing after step 106 is executed. In this case, the following four steps are performed using the set values set in step 102.

More specifically, step 106 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 an unnecessary signal component of a low frequency such as a temperature drift contained in the output of the angular velocity sensor 10, and for example, the transfer function is (1-Z
^-1 ) / (1−a · Z ⁻¹ ),
By changing the coefficient a, the pass band (cutoff frequency) of the filter can be changed.

Step 107 is a step of performing an integration process on the output of the angular velocity sensor 10 after filtering in step 106 to obtain an angle from the angular velocity.
In this step, for example, the transfer function is 1 / (1-
K · Z ⁻¹ ). In addition,
K is an integration constant, and 0 <K <1. Further, by changing the integration constant, the time constant of the integration process can be manipulated.

Step 108 is a step of performing gain adjustment on the angle information of the motion of the imaging device obtained from the output of the angular velocity sensor 10 in step 107. The output (angle information) of step 107 is multiplied by the gain G.

Step 109 is a step in which the D / A
A process of limiting the control signal with an upper limit or a lower limit so that the control signal sent to the L32 lens drive control means 2 via the conversion means 16 does not indicate a correction amount exceeding the correction range of the lens group L32. This is a step of performing (clip processing), in which clip processing is performed on a control signal based on the clip value C, and the data after clipping is converted into an analog signal by the D / A converter 16 and sent to the L32 group lens drive controller 2. .

The above is the case where panning or tilting is not determined in step 104. Conversely, if panning or tilting is determined in step 104, processing for limiting the function of camera shake correction is added. Is done.

The processing to be added when panning or tilting is determined is that the movement of the imaging apparatus due to panning or tilting is a movement having a low frequency component with respect to normal camera shake. The response of the series of processing systems executed in step 15 to the low frequency band is reduced, and
The purpose is to prevent L32 from following, that is, not to perform unnecessary camera shake correction, and as a result, it is possible to prevent erroneous correction of image movement during panning or tilting.

More specifically, if panning or tilting is determined in step 104, the cutoff frequency, integration constant K, gain G, and clip value used in steps 106, 107, 108, and 109 are determined in step 105. Change the set value of C. For example, the cutoff frequency is set higher than the initial value set in step 102,
The band of the low-frequency component removed in step 106 is widened to limit the function of camera shake correction. Or the integration constant K
Is set to be smaller than the initial value set in step 102, the time constant of the integration process in step 107 can be shortened, thereby reducing the gain for the low-frequency component of the integration process and limiting the function of camera shake correction. I do. Alternatively, the gain G is made smaller than the initial value set in step 102, whereby the control signal sent to the L32 lens group drive control means 2 is made small, and the function of camera shake correction is limited. Alternatively, the clip value C is
Is set smaller than the initial value set in step (1), thereby narrowing the control signal width sent to the L32 lens group drive control means 2 and thereby narrowing the range of correctable camera shake, thereby limiting the function of camera shake correction.

Step 108 may be performed before step 106 to reduce the signal detected by angular velocity sensor 10 and consequently reduce the control signal.

With the processing of step 105,
If panning or tilting is determined in step 104, the function of camera shake correction can be limited.

As described above, when the photographer selects the “moving image correction mode” as the camera shake correction mode, the moving image pickup device such as panning or tilting is often used during moving image shooting. Suitable camera shake correction can be realized.

However, for example, when photographing a still image of a landscape, a person, or the like, there is almost no chance that the photographing is performed while intentionally moving the imaging device, such as panning or tilting. .

Further, when panning or tilting is detected, what kind of movement is determined to be panning or tilting depends on the design of the device. Therefore, depending on the method of setting the criterion, the camera shake may be erroneously determined as panning or tilting. In such a case,
Since the performance of the camera shake correction is limited, the photographer cannot obtain a sufficient camera shake correction effect.

Therefore, in the first embodiment of the present invention, if it is determined in step 103 that the camera shake correction mode is the “still image correction mode”, step 104
And step 105 are not executed, and steps 106, 10
The set values of the cutoff frequency, the integration constant K, the gain G, and the clip value C used in 7, 108, and 109 are kept at the initial values set in step 102. Thus, when the photographer selects the “still image correction mode”, the function of the camera shake correction is not limited, and the image can be shot in a state where the camera shake correction has been suitably performed. That is, if it is determined that the camera shake correction mode is the “still image correction mode”, and if it is determined that steps 104 and 105 are to be executed, step 1
The determination of panning or tilting in 04 is not performed correctly, and it is determined that panning or tilting is performed in spite of camera shake, so that step 105 is executed and the function of camera shake correction is limited. However, as described above, when the camera shake correction mode is determined to be the “still image correction mode” in step 103, step 104 and step 105 are not performed and step 1 is performed.
Since step 106 is executed after 03, such a problem does not occur.

As described above, in the first embodiment of the present invention, when the “still image correction mode” is selected by the mode setting with the changeover switch 18, the determination of panning or tilting and the correction of camera shake based on the result are performed. In the case of still image shooting in which the performance is not limited and, for example, panning or tilting is unlikely to be performed, the camera shake correction performance is not reduced due to erroneous determination of panning or tilting, and shooting is performed in an appropriate camera shake correction state. It can be performed.

Although it has been described in step 104 that panning or tilting is determined, it is determined in step 104 that panning or tilting is performed when the image capturing apparatus is moving while moving in the horizontal direction. In addition, not only is panning or tilting determined when shooting while moving the imaging device in the vertical direction, but also when panning and tilting are performed simultaneously, that is, the imaging device is moved in an arbitrary direction such as an oblique direction. It is also assumed that panning or tilting is determined even when shooting while moving.

The operation of step 104 in the program stored in the microcomputer 15 of the present embodiment and executed by the microcomputer 15 is an example of the pan / tilt determining means of the present invention, and is stored in the microcomputer 15 of the present embodiment. The operations of steps 105 and 103 in the program executed by the microcomputer 15 are examples of the first characteristic changing means of the present invention, and the changeover switch 18 of the present embodiment is an example of the changing means of the present invention. The angular velocity sensor 10 of the present embodiment is an example of the motion detecting means of the present invention, and the L32 lens group drive control means 2, the moving amount detecting means 3, and the microcomputer 15 of the present embodiment are examples of the motion correcting means of the present invention. The microcomputer 15 of the present embodiment is an example of the control signal generating means of the present invention, and the L32 lens group drive control means 2 of the present embodiment is An example of an imaging apparatus correcting means.

(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. A description will be given based on a processing program stored in the microcomputer 15. The same processing contents as in the first embodiment of the present invention are denoted by the same reference numerals as those in FIG. 3 and the description is omitted.

FIG. 4 is an example of a flowchart of a processing program stored in the microcomputer 15. In the process shown in FIG. 4 as well, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

When the timer interrupts,
At step 101, the angular velocity is taken into the microcomputer 15, and at step 202, the set value used in the subsequent processing is set to the initial value.

In step 203, it is detected via the changeover switch 18 which of the “moving image correction mode” and the “still image correction mode” has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 205, and in the case of the "still image correction mode", the process proceeds to step 204.

Step 204 corresponds to step 20 described later.
5 is a step of resetting the coring value to be used.

Step 205 is a step of performing coring processing for removing minute noise components included in the output of the angular velocity sensor 10. Here, as shown in FIG. 5, a certain coring value is provided for the output of the angular velocity sensor 10 converted into a digital signal by the A / D conversion means 14,
If the absolute value of the angular velocity sensor output is equal to or less than the coring value, “0” is output. If the absolute value is equal to or greater than the coring value, the coring value is subtracted from the angular velocity sensor output (when the angular velocity sensor output is positive). Alternatively, a value obtained by adding (when the angular velocity sensor output is negative) is output. As a result, a minute noise component included in the output of the angular velocity sensor 10 converted into a digital signal by the A / D converter 14 can be removed.

Step 210 is a step of further attenuating the control signal that has been clipped in step 109. This processing applies a force that constantly pulls the lens unit L32 back toward the center of the optical axis, thereby preventing the lens unit L32 from continuing to stay near the end of the correction range. Specifically, for example, FIG. 6 is a diagram showing a relationship between the value of the control signal (horizontal axis) and the centering value (vertical axis). As shown in FIG. A centering value is obtained, and the control signal is multiplied by the centering value to perform an attenuation process. It is assumed that the relationship between the control signal value and the centering value can be changed by the value of α shown in FIG. As an example, the centering value at the control signal value corresponding to the optical axis center position is 1.0, and the centering value at the maximum value of the control signal (the maximum value of the correction range) is α, which corresponds to the optical axis center position. The centering value for the control signal value may be obtained in the form of a linear function from the difference between the control signal value and the maximum value of the control signal, and the difference between 1.0 and α, and the centering value may be obtained from the control signal value. In this case, the relationship between the control signal value and the centering value can be easily changed by changing the value of α.

The operation of the second embodiment of the present invention configured as described above will be described below.

As in the first embodiment of the present invention, first, in step 101, the output of the angular velocity sensor 10, that is, the angular velocity of the motion of the imaging device is input to the microcomputer 15. Next, in step 202, setting values (coring value, cutoff frequency, integration constant K, gain G, and gain G) used in coring processing, low-frequency component removal filtering (HPF), integration processing, gain adjustment, clipping processing, and centering processing. (Clip value C, α value) are set to initial values. This initial value has already been adjusted to the optimal value for camera shake correction when shooting a moving image, and if the processing in each of the subsequent steps is performed using the set value set in this step in the moving image shooting, the optimal It is possible to execute a proper shake correction.

In step 203, it is detected via the changeover switch 18 which of the "moving image correction mode" and the "still image correction mode" has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 205, and in the case of the "still image correction mode", the process proceeds to step 204.

If it is determined in step 203 that the mode is the "moving image correction mode", the processing is performed in steps 205, 106 to 109, and 210 with the set values set in step 202, respectively. Is determined, the coring value is reset in step 204. This is, for example, step 20
It is assumed that the coring value set in 2 is about twice the signal level of noise included in the output of the angular velocity sensor 10 converted into a digital signal by the A / D converter 14.
Here, "approximately twice" is a measure with a margin so as not to cause a malfunction due to noise. In this case, all signals larger than the signal level of the noise and smaller than the coring value are removed by the coring process, and it becomes difficult to correct fine camera shake. Therefore, in the "still image correction mode", if the coring value is reduced to about 1 to 1.5 times the signal level of noise, the possibility of malfunction due to noise increases, but the degree of correction for fine camera shake is improved. . That is, step 204
In, by resetting the coring value to a value smaller than its initial value, the degree of correction for minute camera shake is improved. Deterioration can be reduced.

As described above, according to the second embodiment of the present invention, according to the mode setting by the changeover switch 18,
By changing the coring value and setting a smaller coring value in the "still image correction mode" than in the "video correction mode", the degree of correction for minute camera shake is improved,
It is possible to realize high-precision camera shake correction suitable for still image shooting that requires camera shake correction accuracy more than moving image shooting.

In the second embodiment of the present invention,
Although the coring value in the “still image correction mode” is reduced to about 1 to 1.5 times the signal level of noise, this is merely an example, and the present invention is not limited to this.

The operations of steps 202, 203 and 204 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment are examples of the second characteristic changing means of the present invention.

(Embodiment 3) The image motion compensating apparatus according to Embodiment 3 of the present invention differs from Embodiment 2 of the present invention only in the processing contents 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 processing contents as those in the first and second embodiments of the present invention are denoted by the same reference numerals as those in FIGS. 3 and 4, and the description is omitted.

FIG. 7 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the process shown in FIG. 7, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

When the timer interrupts,
At step 101, the angular velocity is taken into the microcomputer 15, and at step 202, the set value used in the subsequent processing is set to the initial value.

In step 203, it is detected via the changeover switch 18 which of the "moving image correction mode" and the "still image correction mode" has been selected by the photographer. In the case of the “moving image correction mode”, the process proceeds to step 205, and in the case of the “still image correction mode”, the process proceeds to step 304.

Step 304 is a step of resetting the integration constant used in step 107.

The operation of Embodiment 3 of the present invention configured as described above will be described below.

As in the second embodiment of the present invention, first, in step 101, the output of the angular velocity sensor 10, that is, the angular velocity of the motion of the imaging device is input to the microcomputer 15. Next, in step 202, setting values (coring value, cutoff frequency, integration constant K, gain G, and gain G) used in coring processing, low-frequency component removal filtering (HPF), integration processing, gain adjustment, clipping processing, and centering processing. (Clip value C, α value) are set to initial values. This initial value has already been adjusted to the optimal value for camera shake correction when shooting a moving image, and if the processing in each of the subsequent steps is performed using the set value set in this step in the moving image shooting, the optimal It is possible to execute a proper shake correction.

In step 203, it is detected through the changeover switch 18 which of the "moving image correction mode" and the "still image correction mode" has been selected by the photographer. In the case of the “moving image correction mode”, the process proceeds to step 205, and in the case of the “still image correction mode”, the process proceeds to step 304.

If it is determined in step 203 that the mode is the "moving image correction mode", the processing is performed in steps 205, 106 to 109, and 210 with the set values set in step 202, respectively. Is determined in step 304, the integration constant is reset. The reason will be described below.

At step 107, the angular velocity sensor 1
When integrating the angular velocity of the movement of the device obtained at 0 and converting it into an angle, if the integration constant is set to a large number less than 1 and close to 1, the time constant of the integration processing becomes longer, and thus the integration processing becomes longer. The gain for low frequency components also increases. Therefore,
For example, if the photographer moves the device slowly with the intention of slightly shifting the shooting direction during shooting, or in the case of panning or tilting, if the gain for the low-frequency component of the integration process is too large, However, the camera responds sharply and applies image stabilization, which makes the photographer feel uncomfortable. Therefore, when the photographer intentionally moves the device as described above, such as when shooting a moving image, it is better to set the integration constant to a somewhat lower value for better operability. Therefore, in the “moving image correction mode” suitable for shooting a moving image, a camera shake correction with good operability can be realized by setting the integration constant to, for example, about 0.9. However, in the case of still image shooting in which the photographer rarely intentionally moves the device as described above, when the integration constant is set to a value larger than the “moving image correction mode”, for example, 0.95, Responsiveness to movement is enhanced, and the degree of camera shake correction (accuracy) can be further increased. In other words, by resetting the integration constant to a value larger than the initial value in step 304, the degree of correction for camera shake is improved. For example, when a minute still image having more pixels than a moving image is captured, the image quality due to camera shake is reduced. Camera shake correction that can further reduce deterioration can be realized.

As described above, according to the third embodiment of the present invention, according to the mode setting by the changeover switch 18,
By changing the integration constant and setting a larger integration constant in the "still image correction mode" than in the "moving image correction mode", the degree of correction for camera shake is improved, and a still image that requires more accurate camera shake correction than movie shooting High-precision camera shake correction suitable for image shooting can be realized.

Note that, in Embodiment 3 of the present invention,
An example has been described in which the integration constant in the “moving image correction mode” is set to 0.9 and the integration constant in the “still image correction mode” is set to 0.95. However, this is merely an example, and the present invention is not limited to this.

The operations of steps 202, 203 and 304 of the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment are examples of the second characteristic changing means of the present invention.

(Embodiment 4) The image motion compensating apparatus according to Embodiment 4 of the present invention differs from Embodiment 2 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 processing contents as those in the first and second embodiments of the present invention are denoted by the same reference numerals as those in FIGS. 3 and 4, and the description is omitted.

FIG. 8 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the process shown in FIG. 8, it is assumed that a loop process is executed at every interruption by a timer built in the microcomputer 15.

When an interrupt by the timer is applied,
At step 101, the angular velocity is taken into the microcomputer 15, and at step 202, the set value used in the subsequent processing is set to the initial value.

In step 203, it is detected via the changeover switch 18 which of the "moving image correction mode" and the "still image correction mode" has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 205, and in the case of the "still image correction mode", the process proceeds to step 404.

Step 404 is a step of resetting the α value used in step 210.

The operation of Embodiment 4 of the present invention configured as described above will be described below.

As in the second embodiment of the present invention, first, in step 101, the output of the angular velocity sensor 10, that is, the angular velocity of the motion of the imaging device is input to the microcomputer 15. Next, in step 202, setting values (coring value, cutoff frequency, integration constant K, gain G, and gain G) used in coring processing, low-frequency component removal filtering (HPF), integration processing, gain adjustment, clipping processing, and centering processing. (Clip value C, α value) are set to initial values. This initial value has already been adjusted to the optimal value for camera shake correction when shooting a moving image, and if the processing in each of the subsequent steps is performed using the set value set in this step in the moving image shooting, the optimal It is possible to execute a proper shake correction.

In step 203, it is detected via the changeover switch 18 which of the "moving image correction mode" and the "still image correction mode" has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 205, and in the case of the "still image correction mode", the process proceeds to step 404.

If it is determined in step 203 that the mode is the "moving image correction mode", the processing is performed in steps 205, 106 to 109, and 210 with the set values set in step 202, respectively. Is determined in step 404, the α value is reset. The reason will be described below.

The centering process in step 210 is performed in step 109 as described in the second embodiment of the present invention.
Is a step of further attenuating the control signal that has been subjected to the clipping process in
2 is constantly applied to the optical axis.
This makes it possible to prevent the lens unit L32 from continuing to stay near the end of the correction range, but on the other hand,
There is also an effect of weakening camera shake correction. That is, as the α value is set to a smaller value, the centering value shown in FIG. 6 becomes smaller as a whole, and the attenuation with respect to the control signal becomes stronger.
Here, when moving images are taken, the equipment often moves,
In the case where the direction and magnitude of occurrence of camera shake are various, it is better to set the α value to a small value and apply a force to appropriately pull the lens group L32 back to the center of the optical axis, so that the lens group L32 stays near the end of the correction range. Opportunities are reduced, and a sufficient correction range can be constantly secured, which is convenient. However, for example, when shooting a fine still image having a larger number of pixels than a moving image, α
If the value is set to be small and the centering value is made small, the effect of camera shake correction is weakened, and image quality deterioration due to camera shake may become more noticeable. Therefore, in Embodiment 4 of the present invention, by setting the α value to a value larger than that in the “moving image correction mode” in Step 404, the centering value in the “still image correction mode” is increased, and the control is performed. By weakening the attenuation to the signal, the effect (accuracy) of the camera shake correction is increased, and the camera shake correction that can reduce the image quality deterioration due to the camera shake can be realized when capturing a fine still image having more pixels than a moving image.

As described above, in the fourth embodiment of the present invention, according to the mode setting by the changeover switch 18,
By changing the α value so that the centering value in the “still image correction mode” is larger than that in the “video correction mode”, the degree of correction for camera shake is improved, and the accuracy of camera shake correction is required more than video shooting. It is possible to realize highly accurate image stabilization suitable for still image shooting.

The operations of steps 202, 203 and 404 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment are examples of the second characteristic changing means of the present invention.

(Embodiment 5) In Embodiment 1 of the present invention, a configuration for switching whether or not to limit the camera shake correction performance based on the determination result of panning or tilting according to the mode setting by the changeover switch 18 However, in this case, if the photographer pans or tilts while shooting in the “still image correction mode”, the device corrects the panning or tilting in the same way as camera shake. Can't shoot as expected and feels uncomfortable.

Therefore, in order to reduce this problem, the fifth embodiment of the present invention proposes the following configuration. Note that the image motion compensating apparatus according to the fifth embodiment of the present invention differs from the first embodiment of the present invention only in the processing content in the microcomputer 15. The explanation is based on the program. In addition, the same processing contents as those in the first embodiment of the present invention are denoted by the same reference numerals as those in FIG. 3 and description thereof is omitted.

FIG. 9 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the process shown in FIG. 9, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

When the timer interrupts,
In step 101, the angular velocity is taken into the microcomputer 15, and in step 102, the set value used in the subsequent processing is set to an initial value.

In step 103, it is detected via the changeover switch 18 which of the “moving image correction mode” and the “still image correction mode” has been selected by the photographer. Then, in the case of the "moving image correction mode", the process proceeds to step 104, and in the case of the "still image correction mode", the process proceeds to step 501.

Step 501 is a step of resetting the clip value used in step 109.

In the fifth embodiment of the present invention configured as described above, only the operation different from that of the first embodiment of the present invention will be described below.

If it is determined in step 103 that the camera shake correction mode is the “still image correction mode”, the process proceeds to step 5
At 01, the clip value is reset. Here, assuming that the value set in step 102 is Ci, step 50
In the case of Ci, Ci 'having a relationship of Ci'<Ci is set as a clip value (Ci and Ci 'are both positive numbers). The reason will be described below.

FIG. 10 is a diagram for explaining a clip value and a camera shake correction range (movement range of the lens unit L32). In FIG. 10, the correction range limited by the clip value Ci is a range indicated by “correction range (A)” in FIG. 10 and is set as a camera shake correction range in the “moving image correction mode”. The correction range limited by the clip value Ci ′ reset in step 501 is a range indicated by “correction range (B)” in FIG. This is the camera shake correction range. As described above, when the clip value is changed in the “still image correction mode”, the correction range in the “still image correction mode” can be narrowed.
Therefore, even if the photographer performs panning or tilting in the “still image correction mode”, the range in which the movement of the device due to the panning or tilting can be corrected is narrower than in the “video correction mode”. Even if the tilting is corrected in the same way as the camera shake, the correction amount is kept small, and the sense of discomfort felt by the photographer is reduced. Also, “Still image correction mode”
When photographing a still image of a landscape or a person, the photographer generally keeps the device still, and the camera shake is not so large. Therefore, even if the correction range is narrowed as shown in FIG. There is no.

As described above, in the fifth embodiment of the present invention, the panning or tilting is corrected in the same manner as the camera shake by changing the camera shake correction range according to the mode setting by the changeover switch 18. It is possible to reduce the sense of incongruity of the photographer due to the camera shake, and it is possible to realize the shake correction suitable for photographing a still image.

In the program stored in the microcomputer 15 of the present embodiment and executed by the microcomputer 15, step 104 is an example of the pan / tilt discriminating means of the present invention, and the operations of steps 102, 103, 501 and 105 are the same as those of the present embodiment. It is an example of the first characteristic changing means and the second characteristic changing means of the invention.

(Embodiment 6) In Embodiment 3 of the present invention, a configuration in which the integration constant is reset according to the mode setting by the changeover switch 18 has been described. In this case,
For example, when the photographer slowly moves the device with the intention of slightly shifting the photographing direction, or in the case of panning or tilting, the gain for the low-frequency component of the integration process is large, so the low-frequency movement of such a device , That is, a strong camera shake correction is applied, and the photographer may feel uncomfortable.

Therefore, in order to alleviate this problem, in the sixth embodiment of the present invention, a step 501 described in the fifth embodiment of the present invention is added to the third embodiment of the present invention as follows. We propose a new configuration. The image motion compensating apparatus according to the sixth embodiment of the present invention differs from the third embodiment of the present invention only in the processing contents in the microcomputer 15. The explanation is based on the program. Further, the same reference numerals as in FIG. 7 denote the same processing contents as in Embodiment 3 of the present invention, and a description thereof will be omitted.

FIG. 11 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the process shown in FIG. 11, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

When an interruption by the timer is applied,
At step 101, the angular velocity is taken into the microcomputer 15, and at step 202, the set value used in the subsequent processing is set to the initial value.

In step 203, it is detected via the changeover switch 18 which of the “moving image correction mode” and the “still image correction mode” has been selected by the photographer. In the case of the “moving image correction mode”, the process proceeds to step 205, and in the case of the “still image correction mode”, the process proceeds to step 304.

Step 304 is the same as that described in the third embodiment of the present invention.

Step 601 is a step of resetting the clip value used in step 109, and performs the same operation as step 501 described in the fifth embodiment of the present invention.

In the sixth embodiment of the present invention configured as described above, only the operation different from that of the third embodiment of the present invention will be described below.

If the camera shake correction mode is the "still image correction mode" in step 203, the fifth embodiment of the present invention will be described.
As in step 501, the clip value is reset in step 601. Here, assuming that the value set in step 202 is Ci, in step 601 Ci '<Ci
Are set as clip values (Ci, C
i 'are both positive numbers).

As described above, in step 601, C
When Ci ′ having a relationship of i ′ <Ci is reset as a clip value, the correction range in the “still image correction mode” is set by the clipping processing in step 109 as in the case described in the fifth embodiment of the present invention. Can be narrowed. Therefore, even if the photographer performs panning or tilting in the “still image correction mode”, the range in which the movement of the device due to the panning or tilting can be corrected is narrower than in the “video correction mode”. Even if the tilting is corrected in the same way as the camera shake, the correction amount is kept small, and the sense of discomfort felt by the photographer is reduced.

As described above, in the sixth embodiment of the present invention, when the integration constant is reset in the “still image correction mode”, the clip value is reset and the correction range of the camera shake is changed. It can reduce the uncomfortable feeling that occurs when the photographer moves the device slowly or panning and tilting with the intention of slightly shifting the shooting direction, and realizes the shake correction suitable for still image shooting it can.

Steps 202, 203, 304 and 601 of the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment are examples of the second characteristic changing means of the present invention.

(Embodiment 7) In Embodiment 4 of the present invention, the configuration in which the α value is reset according to the mode setting by the changeover switch 18 has been described. In this case, in the “still image correction mode”, Although the accuracy of image stabilization improves,
Due to the large centering value, the chance that the lens unit L32 stays near the end of the correction range also increases. In general, the imaging optical system 1 having an optical system for decentering the optical axis, such as the lens group L32, performs imaging depending on whether the lens group L32 is spatially moved and the optical axis is decentered or not. It is extremely difficult in design to keep the optical performance of the optical system 1 constant. Therefore, when the optical axis is decentered, the optical performance is usually slightly degraded as compared with the case where the optical axis is not decentered. Therefore, as in the fourth embodiment of the present invention, the centering value is set large, and the lens group L32 often stays near the end of the correction range. This means that shooting is performed with inferior optical performance. Leads to more opportunities to work.

Therefore, in order to alleviate this problem, in the seventh embodiment of the present invention, the step 501 described in the fifth embodiment of the present invention is added to the fourth embodiment of the present invention as follows. We propose a new configuration. Note that the image motion compensating apparatus according to the seventh embodiment of the present invention differs from the fourth embodiment of the present invention only in the processing content in the microcomputer 15. The explanation is based on the program. Further, the same reference numerals as those in FIG. 8 denote the same processing contents as in Embodiment 4 of the present invention, and a description thereof will be omitted.

FIG. 12 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the process shown in FIG. 12, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

When the timer interrupts,
At step 101, the angular velocity is taken into the microcomputer 15, and at step 202, the set value used in the subsequent processing is set to the initial value.

In step 203, it is detected via the changeover switch 18 which of the “moving image correction mode” and the “still image correction mode” has been selected by the photographer. In the case of the "moving image correction mode", the process proceeds to step 205, and in the case of the "still image correction mode", the process proceeds to step 404.

Step 404 is the same as that described in the fourth embodiment of the present invention.

Step 601 is a step of resetting the clip value used in step 109, and performs the same operation as step 501 described in the fifth embodiment of the present invention.

In the seventh embodiment of the present invention configured as described above, only the operation different from that of the fourth embodiment of the present invention will be described below.

If the camera shake correction mode is the "still image correction mode" in step 203, the fifth embodiment of the present invention will be described.
As in step 501, the clip value is reset in step 601. Here, assuming that the value set in step 202 is Ci, in step 601 Ci '<Ci
Are set as clip values (Ci, C
i 'are both positive numbers).

As described above, in step 601, C
When Ci ′ having a relationship of i ′ <Ci is reset as a clip value, the correction range in the “still image correction mode” is set by the clipping processing in step 109 as in the case described in the fifth embodiment of the present invention. Can be narrowed. Therefore, the range in which the motion of the device can be corrected in the “still image correction mode” is narrower than that in the “video correction mode”.
In step 404, even if the α value is set to a value larger than the “moving image correction mode” and the attenuation by the centering process is weakened, the lens group L32 is located closer to the center of the optical axis, that is, in a state where deterioration in optical performance is small. Can be taken.

As described above, in the seventh embodiment of the present invention, when the α value is reset in the “still image correction mode”, the clip value is also reset and the correction range of the camera shake is narrowed, thereby improving the optical performance. It is possible to reduce the chances of taking a still image near the end of the correction range that is inferior to the image plane, and to achieve camera shake correction suitable for taking a still image.

Steps 202, 203, 404, and 601 of the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment are examples of the second characteristic changing means of the present invention.

(Embodiment 8) A configuration in which the above-described embodiments are combined is also conceivable. Hereinafter, examples of the combination will be described. Note that all the examples of the combination differ only in the processing content in the microcomputer 15, and therefore the operation will be described below based on the processing program stored in the microcomputer 15. In addition, the same reference numerals are given to the same processing contents as those in the embodiment described above, and the description is omitted.

First, an example in which the first and second embodiments of the present invention are combined will be described with reference to FIG. FIG.
Is a combination of the first embodiment of the present invention shown in FIG. 3 and the second embodiment of the present invention shown in FIG. FIG.
Each step in 3 has the same function as the steps in FIGS. 3 and 4 having the same reference numerals, and the description of each step is omitted.

In the configuration shown in FIG.
If the result of the mode discrimination in is the "still image correction mode", the processing of steps 104 and 105 is not performed, but the coring value is reset in step 204 instead. As a result, in the subsequent step 205, the coring process is executed using the coring value reset in step 204. In such a configuration, the first and second embodiments of the present invention
As described in, in the “still image correction mode”, the determination of the panning or tilting and the restriction of the camera shake correction performance based on the result are not performed, so that the camera shake correction performance is reduced due to the erroneous determination of the panning or tilting. It is possible to perform shooting in an appropriate image stabilization state without changing the coring value, and by setting the coring value in the “still image correction mode” smaller than in the “moving image correction mode”, a minute It is also possible to improve the degree of correction for a severe camera shake.

The operation of step 104 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment is an example of the pan / tilt determining means of the present invention, and steps 102, 103, 204 and 105 It is an example of the first characteristic changing means and the second characteristic changing means of the invention.

(Embodiment 9) As in Embodiment 8 of the present invention, an example in which Embodiment 1 and Embodiment 3 of the present invention are combined is also conceivable. In this case, as shown in FIG. 14, the configuration is such that step 204 in FIG. 13 is changed to step 304. Here, if the result of the mode determination in step 103 is the “still image correction mode”, the processing in steps 104 and 105 is not performed, but the integration constant is reset in step 304 instead. As a result, in the subsequent step 107, step 30
The integration process is executed with the integration constant reset in step 4. In such a configuration, as described in the first and third embodiments of the present invention, in the “still image correction mode”, the determination of panning or tilting and the restriction of the camera shake correction performance based on the result are not performed. By doing so, the camera shake correction performance does not decrease due to erroneous determination of panning or tilting, shooting can be performed in an appropriate camera shake correction state, and the integration constant is changed, compared with the “moving image correction mode” By setting a large integration constant in the “still image correction mode”, the degree of correction for camera shake can be improved.

The operation of step 104 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment is an example of the pan / tilt determining means of the present invention, and the operation of steps 102, 103, 304 and 105 is performed. Is an example of the first characteristic changing means and the second characteristic changing means of the present invention.

(Embodiment 10) Embodiment 8 of the present invention
Similarly to the above, an example in which the first embodiment and the fourth embodiment of the present invention are combined is also conceivable. In this case, as shown in FIG. 15, the configuration is such that step 204 in FIG. 13 is changed to step 404. Here, if the result of the mode determination in step 103 is “still image correction mode”, the processing of steps 104 and 105 is not performed, and the α value is reset in step 404 instead. As a result, in the subsequent step 210, a centering value is obtained from the α value reset in step 404, and the control signal is attenuated based on the centering value. In such a configuration, as described in the first and fourth embodiments of the present invention, in the “still image correction mode”, the determination of panning or tilting and the restriction of the camera shake correction performance based on the result are not performed. Accordingly, the camera shake correction performance does not decrease due to erroneous determination of panning or tilting, and it is possible to perform photographing in an appropriate camera shake correction state, and α
By changing the value so that the centering value in the “still image correction mode” is larger than that in the “moving image correction mode”, the degree of correction for camera shake can be improved.

The operation of step 104 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment is an example of the pan / tilt determination means of the present invention, and the operation of steps 102, 103, 404, and 105 is performed. Is an example of the first characteristic changing means and the second characteristic changing means of the present invention.

(Embodiment 11) An example in which Embodiment 6 and Embodiment 9 of the present invention are combined is also conceivable.
In this case, as shown in FIG. 16, a configuration is obtained by adding step 601 shown in FIG. 11 to the configuration of FIG. Here, if the result of the mode determination in step 103 is the “still image correction mode”, the processing in steps 104 and 105 is not performed, and the integration constant is reset in step 304 instead. As a result, in the subsequent step 107, the integration process is performed using the integration constant reset in step 304. Also,
In step 601, the clip value is also reset. In addition to the effects described in the ninth embodiment of the present invention, the clip value is reset to narrow the correction range of the camera shake, so that, for example, If you move the device slowly in order to slightly shift the shooting direction,
It is possible to reduce a sense of discomfort at the time of shooting that occurs in the case of tilting.

The operation of step 104 in the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment is an example of the pan / tilt determination means of the present invention, and the operations of steps 102, 103, 304, 601,
The operation of 105 is an example of the first characteristic changing means and the second characteristic changing means of the present invention.

(Embodiment 12) Embodiment 1 of the present invention
Similarly to Embodiment 1, an example in which Embodiment 7 and Embodiment 10 of the present invention are combined is also conceivable. In this case, as shown in FIG. 17, step 6 shown in FIG.
01 is added. Here, if the result of the mode determination in step 103 is “still image correction mode”, the processing in steps 104 and 105 is not performed, and the α value is reset in step 404 instead. As a result, in the subsequent step 210, a centering value is obtained from the α value reset in step 404, and the control signal is attenuated based on the centering value. Step 60
In 1, the clip value is also reset. In addition to the effects described in the tenth embodiment of the present invention, the clip value is reset and the correction range of the camera shake is changed.
It is possible to reduce the chances of taking a still image near the end of the correction range inferior in optical performance.

The operation of step 104 of the program stored in the microcomputer 15 and executed by the microcomputer 15 according to the present embodiment is an example of the pan / tilt determining means of the present invention, and the operations of steps 102, 103, 404, 601, and
The operation of 105 is an example of the first characteristic changing means and the second characteristic changing means of the present invention. Examples in which the embodiments of the present invention are combined are not limited to those described above. For example, the embodiments 2 to 4 of the present invention are combined,
A configuration including at least two of resetting the coring value, resetting the integration constant, and resetting the α value in the “still image correction mode” is also conceivable. Similarly, the sixth and seventh embodiments of the present invention are combined, and the “still image correction mode”
A configuration having both resetting of the integration constant and resetting of the α value is also conceivable. Similarly, Embodiments 8 to 10 of the present invention
, A configuration including at least two of resetting of the coring value, resetting of the integration constant, and resetting of the α value in the “still image correction mode” is also conceivable. Similarly, combining Embodiments 11 to 12 of the present invention,
A configuration having both resetting of the integration constant and resetting of the α value in the “still image correction mode” is also conceivable. In addition, in the example in which the embodiments of the present invention are combined as described above, it is possible to obtain an effect that combines the effects realized in the individual embodiments.

In the first embodiment of the present invention, the determination method in step 104 is based on, for example, the angular velocity sensor 1.
If the angular velocity obtained in step 1 is equal to or greater than a certain threshold for a certain period of time, it is determined that panning or tilting has occurred.
However, the present invention is not limited to this. For example, a method of determining the panning or tilting by analyzing the vibration frequency component of the angular velocity obtained by the angular velocity sensor 11 can be considered. It is needless to say that the present invention is effective no matter what method panning or tilting is determined. This is the same as in the other embodiments when determining panning or tilting.

In Embodiment 1 of the present invention, it has been described that an image is obtained from signals obtained from pixels of the number required for a standard television system at the time of shooting a moving image, but the present invention is not limited to this. Instead, for example, a configuration is also conceivable in which interpolation processing or the like is performed on a signal obtained from pixels equal to or larger than the number of pixels required for the standard television system to obtain a moving image conforming to the standard television system. Needless to say, even in this case, the present invention is effective. The moving image here may be either an interlaced system or a non-interlaced system. Further, the number of frames per second is 60 in the NTSC system and 50 in the PAL system.
Although the number of frames is not limited to this, it is apparent that the present application is also effective for capturing a moving image of about 10 frames per second, which is captured by a moving image capturing function of a digital still camera.

In Embodiment 1 of the present invention, the control signal for driving and controlling the lens unit L32 has been described as taking a positive or negative value. However, the present invention is not limited to this. For example, the lower limit is set to 0. There is no problem even if it takes a value only on the positive number side.

In the second embodiment of the present invention, the method shown in FIG. 5 has been described as a method of coring processing. However, the present invention is not limited to this. For example, as shown in FIG. If the value is equal to or less than the coring value, “0” is output, and if the value is equal to or more than the coring value, the output of the acceleration sensor is directly output. This is the same in other embodiments when the coring process is performed.

Further, in the second embodiment of the present invention, the method shown in FIG. 6 has been described as a method for obtaining a centering value for performing an attenuation process on a control signal, but the present invention is not limited to this. As shown in FIG. 19, a method of obtaining the control signal value and the centering value by a nonlinear function is also conceivable. This is the same in other embodiments when performing the attenuation process.

In the second embodiment of the present invention, it is clear that the present invention is effective regardless of the order in which the clip processing in step 109 and the centering processing (attenuation processing) in step 210 are performed first. is there. This is the same as in the case of performing the clip processing in step 109 and the centering processing (attenuation processing) in step 210 in other embodiments.

In all of the embodiments of the present invention, the solid-state imaging device 6 has been described as having a larger number of pixels than required for a standard television system. However, the present invention is not limited to this. The present invention is also effective in a configuration in which an image is obtained from pixels having the same number of pixels both when shooting a moving image and when shooting a still image using a solid-state imaging device having the number of pixels required for the standard television system. Clearly there is. Further, the number of pixels of the solid-state imaging device 6 and the number of pixels required for shooting a moving image are not necessarily restricted by the standard television system.

In all of the embodiments of the present invention, the changeover switch 18 may be, for example, a push button type switch, a slide switch, a touch panel type switch, or the like, but is not limited thereto. Also,
Instead of the physical switch means, for example, an example in which the imaging apparatus has a display means such as a liquid crystal display device and selects a camera shake correction mode from a menu displayed on the display means may be considered. It goes without saying that the present invention is effective regardless of which means is used.

In all of the embodiments of the present invention, the changeover switch 18 has been described as switching the camera shake correction mode by the photographer. However, the present invention is not limited to this. For example, the imaging device captures a moving image. There is another switch means for switching between a mode (hereinafter, referred to as a moving image shooting mode) and a mode for shooting a still image (hereinafter, referred to as a still image shooting mode). A configuration is also conceivable in which the switch 18 switches between the “moving image correction mode” and the “still image correction mode” in conjunction with the switching of the “still image shooting mode”.

In addition, for example, a two-stage push switch is provided for switching between the "moving image shooting mode" and the "still image shooting mode", and the "moving image correction mode" is linked with the two-stage pressing switch. A configuration in which the “still image correction mode” is switched is also conceivable. At this time, for example, a state in which the two-stage push-type switch is not pressed is referred to as a “movie shooting mode”. At this time, the changeover switch 18 is set to the “movie correction mode”, and the two-stage push-type switch is pressed down one step. In this state, the changeover switch 18 is set to the “still image correction mode” while the “moving image shooting mode” is kept, and the image stabilization is performed in the “still image correction mode” when the two-stage push-type switch is further depressed by another stage. A configuration is also conceivable in which the mode is shifted to the “still image shooting mode” and still image shooting is performed. Similarly, in the state where the two-stage push-type switch is not pressed, the image stabilization is not performed, and in the state where the two-stage push-type switch is pushed down by one stage, the switch 18 is set to the “moving image correction mode”. A configuration is also conceivable in which the switch 18 is set to the “still image correction mode” in a state where the two-stage push-type switch is depressed by another stage, and a still image is captured.

Further, in all of the embodiments of the present invention, in addition to the changeover switch 18, a switch means for turning on / off the camera shake correction itself may be provided.

In all of the embodiments of the present invention, each initial value set in step 102 or step 202 is set to an optimal value for camera shake correction at the time of moving image shooting, but is not limited to this. Instead, for example, in step 102 and step 202, the initial value is set to an optimal value for still image shooting, and based on the determination result of “moving image correction mode” and “still image correction mode”, In such a case, even if the setting values are changed to the optimum values for moving image shooting, there is no difference from the present invention as a result.

Further, in all of the embodiments of the present invention, as a shake correcting means, a configuration is adopted in which a part of the lenses in the imaging optical system 1 is moved in a direction perpendicular to the optical axis to decenter the optical axis. The description has been given by way of example, but the present invention is not limited to this. For example, two glass plates are connected by a bellows, the inside of which is filled with a liquid having a high refractive index, and the optical axis eccentricity is changed by changing the angle of the glass plates. Needless to say, the present invention is also effective in an optical system using a possible variable apex angle prism.

As another example, as a shake correcting means, the image pickup optical system 1 and the solid state image pickup device 6 are rotatably supported and driven with respect to the housing of the image pickup apparatus to correct the movement (for example, , "Development of Image Shake Prevention Technology for Video Cameras" Technical Report of the Institute of Television Engineers of Japan, Vol.11, No.28, pp19
-24 (1987)).

In all of the embodiments of the present invention, 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, another sensor such as an acceleration sensor, or A method of detecting a motion vector of an image by pattern matching between fields or frames of a captured image may be used in place of the angular velocity sensor. Further, in this case, it is conceivable to determine panning or tilting by a method such as determining that panning or tilting is performed when the motion vector is equal to or greater than a certain threshold value for a predetermined period of time.

Further, in all of the embodiments of the present invention, the example in which the program processing is performed by the microcomputer has been described. 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 embodiments of the present invention, the number of solid-state image pickup devices in the image pickup device is not particularly mentioned. It is clear that the present invention is also effective in an apparatus. Also, it is apparent that the present invention is similarly effective in an imaging apparatus using an imaging tube instead of a solid-state imaging device.

The present invention is a program for causing a computer to execute the functions of all or a part of the above-described image motion compensating apparatus of the present invention (or an apparatus, an element, a circuit, a unit, or the like). , A program that operates in cooperation with a computer.

Note that some means (or devices, elements, circuits, units, and the like) of the present invention and some steps (or steps, operations, functions, and the like) of the present invention refer to a plurality of these means. Or means of several means or steps of a step, or means of one means or step
It means some functions or some operations.

A computer-readable recording medium on which the program of the present invention is recorded is also included in the present invention.

[0196] One use form of the program of the present invention may be a form in which the program is recorded on a computer-readable recording medium and operates in cooperation with the computer.

[0197] One embodiment of the program of the present invention may be a mode in which the program is transmitted through a transmission medium, read by a computer, and operates in cooperation with the computer.

The recording medium includes a ROM and the like, and the transmission medium includes a transmission medium such as the Internet,
Light, radio waves, sound waves, etc. are included.

The computer of the present invention described above
It is not limited to pure hardware such as a CPU, but may include firmware, an OS, and peripheral devices.

As described above, the configuration of the present invention may be realized by software or hardware.

[0201]

As is apparent from the above description, the present invention is applicable to a device which limits the motion compensation performance under a specific condition such as a case where panning or tilting is performed. Below, for example, when shooting a still image, by removing the restriction of the correction performance,
It is possible to provide an image motion correction device, an image motion correction method, and a program that can capture a subject without limiting the correction performance.

Further, according to the present invention, in a case where a still image is photographed under a certain condition, the effect of camera shake correction can be further enhanced by enhancing the performance of camera shake correction. A motion correction method and a program can be provided.

[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 camera shake correction optical mechanism according to the first embodiment of the present invention.

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

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

FIG. 5 is a diagram showing an example of a coring process according to the second embodiment of the present invention.

FIG. 6 is a diagram illustrating an example of an attenuation process according to the second embodiment of the present invention.

FIG. 7 is a flowchart for explaining processing by a microcomputer 15 according to Embodiment 3 of the present invention;

FIG. 8 is a flowchart for explaining processing performed by a microcomputer 15 according to Embodiment 4 of the present invention;

FIG. 9 is a flowchart for explaining processing contents by a microcomputer 15 according to the fifth embodiment of the present invention.

FIG. 10 is a diagram illustrating a change in a correction range due to clip processing according to the fifth embodiment of the present invention.

FIG. 11 shows a microcomputer 15 according to the sixth embodiment of the present invention.
Flowchart for explaining the processing contents by

FIG. 12 shows a microcomputer 15 according to the seventh embodiment of the present invention.
Flowchart for explaining the processing contents by

FIG. 13 shows a microcomputer 15 according to the eighth embodiment of the present invention.
Flowchart for explaining the processing contents by

FIG. 14 shows a microcomputer 15 according to the ninth embodiment of the present invention.
Flowchart for explaining the processing contents by

FIG. 15 shows a microcomputer 1 according to a tenth embodiment of the present invention.
5 is a flowchart for explaining the processing contents according to the fifth embodiment.

FIG. 16 shows a microcomputer 1 according to an eleventh embodiment of the present invention.
5 is a flowchart for explaining the processing contents according to the fifth embodiment.

FIG. 17 shows a microcomputer 1 according to a twelfth embodiment of the present invention.
5 is a flowchart for explaining the processing contents according to the fifth embodiment.

FIG. 18 is a diagram showing another example of the coring process.

FIG. 19 is a diagram showing another example of a method for obtaining a centering value.

[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 imaging device drive control means 18 · · · switch

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G03B 5/06 G03B 5/06 17/48 17/48

Claims (26)

[Claims] An imaging device that includes an imaging optical system that forms a subject image on an imaging surface, an imaging device that converts the subject image that is formed on the imaging surface into a captured image, and a motion of the imaging device. Motion detecting means for detecting; motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and the detected motion is panned and / or panned. Pan / tilt determining means for determining whether or not the tilting is performed; first characteristic changing means for changing a response characteristic of the movement correcting means to the detected movement in accordance with the determination result; A first mode for performing the correction when performing the first characteristic change, and a switching unit configured to switch between a first mode for performing the correction when capturing a still image and the second mode for performing the correction. The image motion compensating device does not change the response characteristic of the motion compensating device according to the determination result when the switching device is switched to the second mode. 2. The response characteristic when the determination result indicates that the motion is panning and / or tilting when the switching means is switched to the first mode, the response characteristic is the determination result. 2. The image motion compensator according to claim 1, wherein the response characteristic is smaller than the response characteristic in a case where does not indicate that the motion is panning and / or tilting. 3. An image pickup apparatus having an image pickup optical system for forming an object image on an image pickup surface, an image pickup device for converting the object image formed on the image pickup surface into a picked-up image, and Motion detecting means for detecting, motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion, and the correction in the case of capturing a moving image Switching means for switching between a first mode for performing the correction and a second mode for performing the correction when capturing a still image; and detecting when the switching means is switched to the second mode. Changing the response characteristic of the movement correcting means to the movement to a different characteristic from the case where the switching means is switched to the first mode.
Image motion compensating device provided with a characteristic changing means. 4. The accuracy of the motion correction according to claim 3, wherein the response characteristic when switching to the second mode is higher than the response characteristic when switching to the first mode. Image motion compensation device. 5. An image pickup apparatus comprising: an image pickup optical system for forming a subject image on an image pickup surface; an image pickup device for converting the subject image formed on the image pickup surface into a picked-up image; Motion detecting means for detecting; motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and the detected motion is panned and / or panned. Pan / tilt determining means for determining whether or not the tilting is performed; first characteristic changing means for changing a response characteristic of the movement correcting means to the detected movement in accordance with the result of the determination; Switching means for switching between a first mode for performing the correction when performing the correction, and a second mode for performing the correction when capturing a still image; and A second mode for changing a response characteristic of the motion correction unit to the detected motion when the mode is switched to a mode different from a case where the switching unit is switched to the first mode;
The first characteristic changing unit does not change the response characteristic of the motion correcting unit according to the determination result when the switching unit is switched to the second mode. Image motion compensation device. 6. The response characteristic when the determination result indicates that the movement is panning and / or tilting when the switching means is switched to the first mode, the response characteristic is the determination result. Is more restricted than the response characteristic when the motion does not indicate panning and / or tilting, and the response characteristic when switched to the second mode is the first mode. 6. The image motion compensating apparatus according to claim 5, wherein the accuracy of the motion compensation is higher than the response characteristic when switching is performed. 7. A control signal generating means for generating a control signal from a detection signal which is a signal corresponding to the detected motion, and correcting the motion of the imaging device based on the control signal. Changing the response characteristic means changing a degree of one or a plurality of predetermined processes performed by the control signal generating means on the detection signal and / or generating the control signal. 7. The apparatus according to claim 1, wherein a degree of one or a plurality of predetermined processes performed on the control signal generated by the means is changed. 8. The control signal generating unit further includes a clipping unit that limits the control signal so that a width of the amount of correction of the motion indicated by the generated control signal is equal to or smaller than a predetermined width. The predetermined process is a process performed by the clip unit. The motion correction unit corrects a motion of the imaging device based on the limited control signal, and the first characteristic change unit and / or the second characteristic change unit. 8. The image motion compensating apparatus according to claim 7, wherein said characteristic changing means changes said response characteristic by changing said predetermined width. 9. The control signal generating means includes at least coring processing means for performing coring processing for removing the detection signal corresponding to the motion component smaller than a predetermined level in the detection signal. The predetermined processing is processing by the coring processing means, wherein the control signal generating means generates the control signal from the detection signal on which the coring processing has been performed, and the first characteristic changing means and / or 8. The image motion compensator according to claim 7, wherein said changing of said response characteristic by said second characteristic change means means changing said predetermined level. 10. The control signal generation means includes at least integration means for integrating the detection signal with a predetermined time constant, wherein the predetermined processing is processing by the integration means, Generating the control signal from the integrated detection signal, and changing the response characteristic by the first characteristic changing unit and / or the second characteristic changing unit changes the predetermined time constant. The image motion compensating device according to claim 7, wherein 11. The control signal generating unit further includes a clip unit that limits the control signal so that a width of a correction amount of the motion indicated by the generated control signal is equal to or smaller than a predetermined width. The predetermined process is a process performed by the clip unit. The motion correction unit corrects a motion of the imaging device based on the limited control signal, and the first characteristic change unit and / or the second characteristic change unit. 11. The image motion compensating apparatus according to claim 10, wherein changing the response characteristic by the characteristic changing unit changes the predetermined time constant and the predetermined width. 12. The control signal generating means has at least an attenuating means for attenuating the detection signal and / or the control signal by multiplying the detection signal and / or the control signal by a predetermined gain. The process of (1) is a process by the attenuation unit, and changing the response characteristic by the first characteristic changing unit and / or the second characteristic changing unit means changing the predetermined gain. 8. The image motion compensating device according to 7. 13. The control signal generating means further includes clip means for limiting the control signal so that the width of the amount of correction of the motion indicated by the generated control signal is equal to or less than a predetermined width. Is the processing by the clipping means, wherein the motion correcting means corrects the motion of the imaging device based on the limited control signal, and wherein the first characteristic changing means and / or the second 13. The image motion compensating apparatus according to claim 12, wherein changing the response characteristic by the characteristic changing unit includes changing the predetermined gain and the predetermined width. 14. The control signal generating means includes a high-pass filter having a predetermined cutoff frequency for removing a low-frequency component of the detection signal, and an integration for integrating the detection signal with a predetermined time constant. Means, and attenuating means for attenuating the detection signal and / or the control signal by multiplying the detection signal and / or the control signal by a predetermined gain, and a correction amount of the motion indicated by the generated control signal. The apparatus has at least one or more clipping means for limiting the control signal so that the width is equal to or less than a predetermined width, wherein the first characteristic changing means and / or the second characteristic changing means comprises the predetermined cut. A request to change the response characteristic by changing at least one of an off-frequency, the predetermined time constant, the predetermined gain, and the predetermined width. Image motion compensation apparatus of claim 7, wherein. 15. The image motion correction device according to claim 7, wherein said image pickup device correction means is a variable apex angle prism. 16. The image motion correction device according to claim 7, wherein said imaging device correction unit is driven relatively to said imaging optical system to decenter the optical axis of said imaging optical system. 17. The imaging device correcting means is one or more lenses that are individually driven in a direction orthogonal to the optical axis of the imaging optical system to decenter the optical axis of the imaging optical system. Item 7. An image motion correcting device according to Item 7. 18. The image motion correction device according to claim 7, wherein the imaging device correction means rotationally drives around two axes orthogonal to the optical axis of the imaging optical system. 19. The 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 imaging apparatus itself.
19. The image motion compensator according to any one of 18. 20. The image motion compensator 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. 21. An image pickup apparatus having an image pickup optical system that forms a subject image on an image pickup surface, an image pickup device that converts the subject image formed on the image pickup surface into a pickup image, and Motion detecting means for detecting; motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and the detected motion is panned and / or panned. Pan / tilt determining means for determining whether or not the tilting is performed; first characteristic changing means for changing a response characteristic of the movement correcting means to the detected movement in accordance with the result of the determination; An image motion compensating apparatus comprising: a switching unit that switches between a first mode for performing the correction when performing the correction and a second mode for performing the correction when capturing a still image. An image motion correction method to be used, wherein the first characteristic changing unit changes the response characteristic of the motion correcting unit according to the determination result when the switching unit is switched to the first mode. An image motion correction method that does not change the response characteristic of the motion correction unit according to the determination result when the switching unit is switched to the second mode. 22. An image pickup apparatus having an image pickup optical system for forming an image of a subject on an image pickup surface, an image pickup device for converting the object image formed on the image pickup surface into a picked-up image, and Motion detecting means for detecting, motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion, and the correction in the case of capturing a moving image And a switching means for switching between a first mode for performing the correction and a second mode for performing the correction when a still image is captured. When the switching unit is switched to the second mode, the response characteristic of the motion compensating unit to the detected movement is determined by changing the switching unit to the first mode. Image motion compensation method of changing to a different characteristic. 23. An image pickup apparatus having an image pickup optical system that forms a subject image on an image pickup surface, an image pickup device that converts the subject image formed on the image pickup surface into a pickup image, and Motion detecting means for detecting; motion correcting means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and the detected motion is panned and / or panned. Pan / tilt determining means for determining whether or not the tilting is performed; first characteristic changing means for changing a response characteristic of the movement correcting means to the detected movement in accordance with the determination result; The present invention is applied to an image motion correcting apparatus including a first mode for performing the correction when performing the correction and a switching unit for performing switching between the second mode for performing the correction when capturing a still image. An image motion correction method, wherein, when the switching means is switched to the second mode, the switching means switches the response characteristic of the motion correction means to the detected movement to the first mode. If the switching means has been switched to the second mode, the first characteristic changing means determines a response characteristic of the motion correcting means according to the determination result. Image motion compensation method that does not change the image. 24. The image motion compensator according to claim 1,
An imaging optical system configured to form a subject image on an imaging surface; an imaging device including an imaging device configured to convert the subject image formed on the imaging surface into a captured image; and a motion detection unit configured to detect a motion of the imaging device. Motion correction means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and whether the detected motion is panning and / or tilting. Pan / tilt discriminating means for discriminating whether or not, a first characteristic changing means for changing a response characteristic of the motion correcting means to the detected motion in accordance with the discrimination result, and a correction when a moving image is taken Functioning as a whole or a part of a switching unit for switching between a first mode for performing the correction and a second mode for performing the correction when a still image is captured. A program for causing. 25. The image motion compensator according to claim 3, wherein
An imaging optical system configured to form a subject image on an imaging surface; an imaging device including an imaging device configured to convert the subject image formed on the imaging surface into a captured image; and a motion detection unit configured to detect a motion of the imaging device. A motion correcting unit that corrects a motion of the captured image generated due to the motion of the imaging device based on the detected motion; and a first correction unit that performs the correction when capturing a moving image. Switching means for switching between a mode and a second mode for performing the correction when capturing a still image; and when the switching means is switched to the second mode, the switching means for the detected movement. A computer as all or a part of a second characteristic changing unit for changing a response characteristic of the motion correcting unit to a characteristic different from a case where the switching unit is switched to the first mode; The program to make the function. 26. The image motion compensator according to claim 5, wherein
An imaging optical system configured to form a subject image on an imaging surface; an imaging device including an imaging device configured to convert the subject image formed on the imaging surface into a captured image; and a motion detection unit configured to detect a motion of the imaging device. Motion correction means for correcting the motion of the captured image generated due to the motion of the imaging device based on the detected motion; and whether the detected motion is panning and / or tilting. Pan / tilt discriminating means for discriminating whether or not, a first characteristic changing means for changing a response characteristic of the motion correcting means to the detected motion in accordance with the discrimination result, and a correction when a moving image is taken Switching means for switching between a first mode for performing the correction and a second mode for performing the correction when capturing a still image, and the switching means switching to the second mode. When the obtained program for causing a computer to function as all or part of the second characteristic changing means for changing the response characteristics of the motion compensation means for said detected motion.