JP2004348147A - Camera with hand-shake correcting function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hand-shake camera with blurring correcting function which permits accurate vibration proof control by means of a hand-shake correcting system and can prevent the damage of a hand-shake correcting optical mechanism. <P>SOLUTION: The camera with hand-shake correcting function comprises an angular velocity detecting circuit 5 of a hand-shake detecting means 12 for detecting the hand-shake of a camera, a photographing focal distance detecting means 3 for detecting the focal distance of a photographing optical system, a distance measuring means 7 for detecting the objective distance and a proper correction coefficient calculating means for calculating a proper correction coefficient which represents how much the optical axis of the photographing optical system should be changed for the output of the hand-shake detecting means from the output of the photographing focal distance detecting means 3 and the output of the distance measuring means 7. Therein, the hand-shake is corrected by controlling a correction lens via a motor 4 by means of a motor driving circuit 2 in accordance with the correction coefficient and the output of the hand-shake detecting means and changing the optical axis of the photographing optical system of the camera. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a camera having a camera shake correction function.

  In a camera having a conventional camera shake correction function, camera shake caused by the camera is detected by a camera shake detection circuit using an angular velocity sensor or the like, and the camera shake is changed by changing the optical axis of a photographing optical system based on the detected amount. Cameras have been proposed to suppress them. As the optical axis changing means of the photographing optical system, for example, the optical axis is changed by shifting a correction lens which is a part of the photographing lens. The optical axis changing means of the photographing optical system is driven by an actuator such as a motor. More specifically, when a motor is used, the rotation of the motor is reduced by a gear or the like, and the rotational movement of the gear is converted into a linear movement to drive the correction lens.

  Conventionally, as an operation procedure of a camera having a camera shake correction function, the position of the correction lens is read by a displacement detection unit such as an interrupter so that the photographing optical axis is at a predetermined center position, and the correction lens is moved substantially in the shift range. Driving to the center position (this will be referred to as a centering operation), and then controlling the correction lens so as to cancel the camera shake according to the output of the camera shake detection circuit immediately before the exposure process for exposing the film by operating the shutter ( This control is referred to as image stabilization control), exposure processing is completed, and the image stabilization control is ended. Thereafter, the camera shake correction optical system is moved to a predetermined reference position (this is referred to as a reset position). ).

However, the camera shake correction system configured as described above has the following problems.
The first problem is that when an appropriate correction coefficient for changing the optical axis with respect to the output value of the camera shake detection circuit is determined, the camera shake correction optical system is determined from the appropriate correction coefficient and the output value of the camera shake detection circuit. The correction amount of the optical system is calculated, an actuator such as a motor is driven by a drive amount proportional to the correction amount, and the camera shake correction is performed by changing the photographing optical axis. However, there is a response delay in the mechanism of the camera shake correction optical system or the actuator such as a motor. Specifically, it is necessary to drive the actuator and then operate the camera shake correction optical system to achieve the desired correction. take time. Alternatively, the above-described calculation time is required from when the output of the camera shake detection circuit is detected to when the actuator such as a motor is driven. Also, fluctuations in the power supply (usually a battery) that drives the camera or the actuator, or variations in the characteristics of the mechanism of the camera shake correction optical system, more specifically, the amount of drive to a predetermined actuator On the other hand, the easiness of movement of each mechanism is different, or the easiness of movement of one mechanism changes due to a temporal change or a temperature change. Due to these problems, the image stabilization control is not performed with high accuracy, and the control error increases.

The second problem is that , similarly to the above-described image stabilization control, in centering control or reset control, there is a response delay in a camera shake correction optical system or an actuator such as a motor. After the actuator is driven, it takes time for the camera shake correction optical system to operate and reach the intended correction. In addition, fluctuations in the power supply (usually a battery) that drives the camera or the actuator, or variations in the mechanical characteristics of the camera shake correction optical system, and more specifically, the amount of drive to a predetermined actuator On the other hand, the ease of movement of each mechanism is different, or the easiness of movement of one mechanism changes with time or temperature. As a result, since accurate control cannot be performed, the operation noise of the mechanism or the actuator due to uneven speed at the time of driving may be very annoying. In addition, there arises a problem that stopping accuracy at the center position during the centering control cannot be obtained.

The third problem is that , conventionally, first, the characteristics of the mechanism of the camera shake correction optical system are significantly deteriorated with time, and in the worst case, the camera shake correction optical system may not operate at all. In this case, even if the image stabilization control is performed, accurate control cannot be performed, or a photograph with a large camera shake may be taken due to the image stabilization control. Next, conventionally, centering control, reset control, or image stabilization control is often performed by detecting the position of a camera shake correction optical system using a position detection circuit or the like. In this case, the position detection circuit is broken, and If the position of the optical system cannot be detected and the control is continued as it is, an accident such as hitting the control end of the camera shake correction optical system mechanism and damaging the mechanism occurs.

  There are such problems in the conventional image stabilization system, and the present invention solves these problems, enables accurate image stabilization control, and prevents damage to the image stabilization optical system mechanism. It is intended to prevent.

To achieve the above object, the present invention takes the following measures.
First,
For the first problem, an optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, An angular velocity detecting means for detecting an angular velocity due to camera shake, a displacement velocity calculating means for calculating a displacement velocity from an output of the displacement detecting means, and a target displacement velocity of the optical axis changing means according to an output of the angular velocity detecting means. Target displacement speed calculating means, and basic drive amount calculating means for calculating a basic drive amount by multiplying the target displacement speed by a certain coefficient, wherein any of the basic drive amount and the following means is used for calculation. Driving means for driving the actuator according to the correction driving amount or the combination thereof is provided. As a result, it is possible to minimize the control error due to the response delay of the mechanism of the camera shake correction optical system or the actuator, the influence of the operation time such as drive calculation, the influence of the fluctuation of the power supply, the characteristic variation of the mechanism, and the like.
(1) Correction drive amount calculation method 1
Speed error calculating means for calculating a speed error from a difference between the displacement speed and the target displacement speed; and correction driving amount calculating means for calculating a corrected driving amount obtained by multiplying the speed error by a certain coefficient. Method 2
Speed error calculating means for calculating a speed error from the difference between the displacement speed and the target displacement speed, and integrating or integrating the speed error when the absolute value of the speed error is equal to or greater than a predetermined value, and conversely, the speed error If the absolute value of is smaller than a predetermined value, the integrated drive amount is calculated by multiplying the output value of the speed error product integrator by an integral value or a speed error integrator that clears the integrated value by a coefficient. Correction drive amount calculation means (3) correction drive amount calculation method 3
Correction drive amount calculation means for multiplying a differential value of the target displacement speed or a target speed differentiation means for calculating an amount of change in a predetermined time by an output value of the target speed differentiation means by a certain coefficient; Method 4
A speed error calculating means for calculating a speed error from a difference between the displacement speed and the target displacement speed; a speed error integrating means for integrating or integrating the speed errors to calculate a speed error integrated value; and the speed error integrating means. Correction drive amount calculation means (5) for calculating a correction drive amount obtained by multiplying the output value by a coefficient.
A target displacement position calculating means for integrating or integrating the target displacement speed to calculate a target displacement position; and a displacement position error calculating means for calculating a displacement position error amount from an output of the displacement detecting means and the target displacement position. And a correction drive amount calculation means for calculating a correction drive amount by multiplying the output value of the displacement position error amount calculation means by a certain coefficient. The time further includes a speed error integration stopping means for clearing the speed error integrated value or stopping the operation of the speed error integrating means. For the item (5), the target displacement position calculating means integrates or integrates the output value of the displacement position detecting means after a predetermined time has elapsed by driving the actuator, as an initial value. . Further, for the items (1) to (5), the driving means calculates a predetermined correction amount that is positive when the calculated driving amount is positive and negative when the calculated driving amount is negative. Added to the drive amount. Alternatively, the coefficient of the correction drive amount calculation means is set based on a value stored in a rewritable nonvolatile memory in advance. Alternatively, there is further provided a battery checking means for measuring a power supply capability of a power supply for operating the driving means, and a coefficient to be multiplied by a target displacement speed of the basic driving amount calculating means is changed by an output value of the battery checking means. I made it. Alternatively, a centering drive unit that drives the actuator to drive the optical axis to a substantially central position, and a maximum displacement speed calculation unit that calculates a maximum displacement speed of an output value of the displacement speed calculation unit during operation of the centering drive unit And a coefficient to be multiplied by the target displacement speed of the basic drive amount calculation means is varied by the maximum displacement speed. Alternatively, a centering drive unit for controlling the optical axis changing unit at a constant speed by changing a drive amount for driving the actuator to drive the optical axis to a substantially central position, and averaging the drive amount during the constant speed control. Average drive amount calculating means for calculating a value, wherein a coefficient to be multiplied by a target displacement speed of the basic drive amount calculating means is varied by an output of the average drive amount calculating means.

Next, the following measures are taken for the second problem .
First, at the time of centering control, an optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, A displacement speed calculating means for calculating a displacement speed from an output of the detecting means, and a target for calculating a target displacement speed in accordance with a difference between an output value of the displacement detecting means and a substantially central position in the range of displacement of the optical axis. Displacement speed calculating means and basic drive amount calculating means for calculating a basic drive amount by multiplying the target displacement speed by a certain coefficient are provided, and the basic drive amount is calculated using any of the following means. Driving means is provided for driving the actuator in accordance with the correction drive amount or a combination thereof to drive the optical axis to the center position. As a result, even if there is a response delay of the mechanism of the camera shake correction optical system or the actuator, an influence of an operation time such as a drive operation, an influence of a power supply fluctuation, a characteristic variation of the mechanism, etc., the center position at the time of the centering control. The stopping accuracy can be improved, and the operation sound becomes smoother.
(1) Correction drive amount calculation method 1
Speed error calculating means for calculating a speed error from a difference between the displacement speed and the target displacement speed; and correction driving amount calculating means for calculating a corrected driving amount obtained by multiplying the speed error by a certain coefficient. Method 2
Speed error calculating means for calculating a speed error from the difference between the displacement speed and the target displacement speed, and integrating or integrating the speed error when the absolute value of the speed error is equal to or greater than a predetermined value, and conversely, the speed error If the absolute value of is smaller than a predetermined value, a speed error integrating means for clearing the integrated value or the integrated value, and a correction drive for calculating a corrected drive amount obtained by multiplying the output value of the integrating means by a coefficient. Amount calculation means (3) Correction drive amount calculation method 3
A target speed differentiating means for calculating a differential value of the target displacement speed or a change amount for a predetermined time, and a correction driving amount calculating means for calculating a correction driving amount obtained by multiplying an output value of the differentiating means by a coefficient are provided. Was.

  Next, at the time of reset control, an optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, A displacement speed calculating means for calculating a displacement speed from an output of the displacement detecting means, a speed error calculating means for calculating a speed error from a difference between the displacement speed and a predetermined target displacement speed, and a coefficient multiplied by the target displacement speed A basic drive amount calculating means for calculating a basic drive amount, and a correction drive amount calculating means for calculating a correction drive amount by multiplying the speed error by a certain coefficient, wherein the basic drive amount and the correction drive amount, or a combination thereof. And a driving means for driving the actuator to drive the optical axis to a reset position at one end of the range of its displacement.

Next, at the time of centering drive, abnormality or deterioration of the mechanism of the camera shake correction optical system was detected by the following method, and damage to the mechanism was prevented.
(1) Centering drive suspension method 1
Optical axis changing means for changing the optical axis of the taking lens; an actuator for driving the optical axis changing means; a centering driving means for driving the actuator to drive the optical axis to a substantially central position; and the centering drive A centering drive stopping means is provided for stopping the centering drive operation if the operation does not end within a predetermined time from the start of the operation of the means.

An optical axis changing unit for changing an optical axis of the taking lens; an actuator for driving the optical axis changing unit; a centering driving unit for driving the actuator to drive the optical axis to a substantially central position; A displacement speed calculating means for calculating a displacement speed from an output of the displacement detecting means, and the following centering drive stop is provided.
(2) Centering drive stop method 2
Centering driving stop means to stop the operation of centering the drive when the displacement speed of the subsequent predetermined time after the start of operation of centering the drive means is smaller than a predetermined value (3) centering the drive stop process 3
A centering drive stopping means for stopping the centering drive operation when the displacement speed is smaller than a predetermined value during the operation of the centering drive means;

As described above, the present invention has the following effects.

First, the first effect is that in the image stabilization control that suppresses camera shake on the image plane by changing the optical axis by the output of the angular velocity detection circuit, the present invention uses various means to improve the image stabilization control characteristics. In the prior art, anti-vibration control is performed due to the effect of the response delay of the camera shake correction optical system or the actuator, the effect of operation time such as drive operation, the effect of power supply fluctuation, and the influence of other fluctuations such as characteristic fluctuation of the mechanism. However, the remaining control error can be minimized, and the operation noise can be reduced by performing smooth control.

The second effect is that in the centering control for driving the optical axis changing means so that the photographing optical axis is located substantially at the center of the position range of the optical axis , the present invention uses various means to improve the centering control characteristics . Therefore, centering is performed even when there is an effect of a response delay of the mechanism of the optical axis changing means or the actuator, an effect of an operation time such as a drive operation, an influence of a power supply fluctuation, or an influence of a fluctuation such as a characteristic fluctuation of the mechanism. In the control , smooth and prompt control can be performed, and operation noise can be reduced. In addition, the stopping accuracy at the center position during the centering control is also improved.

Finally, the third effect is that by stopping the centering control, it is possible to prevent damage to the mechanism of the camera shake correction optical system beforehand.

  In the present invention, it is possible to perform high-precision anti-shake control, centering control, and reset control by using the various means, and to prevent damage to the camera shake correction optical system mechanism beforehand. It became.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1. FIG. 1 is a circuit diagram showing a portion related to an embodiment of the present invention. Reference numeral 5 denotes an angular velocity detecting circuit as a camera shake detecting means for detecting an angular velocity due to the camera shake, and adjusting the output of the angular velocity and individual gain variations of the angular velocity detecting circuit 5 written in the E2PROM 10 which is a writable nonvolatile memory. , The subject distance detected by the distance measuring circuit 7, and the photographing optical system composed of the photographing lenses 11, 12, 13, and 14 are zoom lenses capable of changing the focal length, and the zoom position detecting circuit A predetermined operation is performed by the CPU 1 which is a one-chip microcomputer based on the photographing focal length detected by 8 and a camera shake correction lens as an optical axis changing means in the photographing lenses 11, 12, 13, and 14 by the motor drive circuit 2. 13 (sometimes simply referred to as a correction lens or an anti-vibration lens) By changing the optical axis by shifting the optical axis at an appropriate speed by controlling the data 4, the camera is configured to cancel the camera shake on the image plane. Normally, such correction of the correction lens 13 is necessary for two axes that intersect at right angles. However, since the same control is performed, only the control for one axis will be described. The CPU 1 also includes a battery check circuit 6 for checking the remaining capacity of a battery (not shown) or a current supply capability for operating a circuit system, a shutter circuit 9 for performing an exposure process, a half-press SW 15 , Full-press SW 16 is connected.

The output value of the angular velocity detection circuit 5 changes in accordance with the angular velocity caused by camera shake, and the CPU 1 performs A / D conversion on the output value to detect the angular velocity of camera shake. The rotation of the motor 4 is converted into linear motion by an appropriate gear or the like (not shown) to drive the camera shake correction lens 13. The lens position detecting circuit 3 as a displacement detecting means for detecting the displacement of the optical axis changing means detects the position of the camera shake correction lens 13 by a known technique. Next, the CPU 1 is a one-chip microcomputer and controls the sequence of the camera. Further, it also has a timer function for measuring time, a timer interrupt process for performing the process at regular time intervals, a PWM output function for outputting an arbitrary duty, and a function for A / D converting the output of the angular velocity detection circuit 5. .
2. Vibration control Next, an outline of a vibration control method at the time of exposure will be described.

The CPU 1 detects the angular velocity caused by the camera shake by performing A / D conversion on the output of the angular velocity detection circuit 5, calculates at what speed the anti-vibration lens 13 is shifted at the angular velocity to reduce the camera shake, and calculates the result. The motor drive circuit 2 calculates the drive amount of the motor 4 from the anti-vibration lens target speed VC and the anti-vibration lens position VR which is the position of the anti-vibration lens 13 detected from the output of the lens position calculation circuit 3. By controlling the motor 4 through the controller and shifting the optical axis at an appropriate speed to change the optical axis, the camera shake is canceled. The control method of the motor 4 will be described in the case where the control is performed by PWM (PULSE WIDTH MODULATION) control. Normally, the PWM control is a method in which the power supply time during a certain period is varied, that is, the speed is controlled by varying the duty of the motor being on. Next, the specific contents will be described.
(1) Output of angular velocity detection circuit—calculation of target velocity conversion coefficient of image stabilizing lens

First, the CPU 1 performs distance measurement (may be referred to as AF) processing by the distance measurement circuit 7 at a predetermined timing, and detects a subject distance as a result thereof and a focal length at which shooting is performed by the zoom position detection circuit 8. A gain adjustment value G0 for correcting individual variations of the angular velocity detection circuit 5 written in the E2PROM value is read, and from these results, how much the correction lens 13 should be shifted with respect to the output value of the angular velocity detection circuit 5 can be obtained. The appropriate correction coefficient A0 (which may be referred to as an angular velocity detection circuit output-vibration-proof lens target velocity conversion coefficient) is calculated as follows.

  The angular velocity detection circuit output-vibration-proof lens target velocity conversion coefficient A0 is a value obtained by multiplying a value calculated by a certain function of the focal length at which photographing is performed and the object distance by a gain adjustment value G0 as shown in the above equation. Is obtained as The above function of the focal length of the photographing optical system and the object distance is unique to the photographing optical system, and A0 is approximated by an equation (Equation 2) using variables d1 and d2 obtained as functions of the focal length. May be calculated. In addition, as a generally known distance measuring circuit, the output value thereof is generally the reciprocal of the object distance, and the equation (Equation 2) is a calculation equation suitable therefor.

  Note that the following method is used to further simplify the above equation and reduce the computational load on the CPU 1. The focal length of the photographing optical system is divided into several zones, and d1 and d2 at the representative focal length of each zone are calculated in advance, and the CPU 1 reads the calculated values from a predetermined memory. Speeds up the process. Table 1 shows an example in the case of a zoom optical system having a shooting focal length of 35 mm to 105 mm.

In the example of Table 1, the photographing focal length is divided into ten zones, and d1 and d2 for each zone are determined in advance as shown in Table 1. In addition, it is necessary to calculate this calculation process with high accuracy, and the calculation to be performed by the one-chip microcomputer which is the CPU 1 is still advanced even if the simplified upper equation is used, and the calculation time is very long. It takes a long time. Therefore, it is difficult to perform this processing at the same time during the image stabilization control. Therefore, in the present embodiment, before starting the image stabilization control processing, the calculation is performed at a relatively infrequent timing during half-pressing, in particular, before starting the image stabilization control processing.
(2) Calculation of Image Stabilization Lens Target Speed Next, image stabilization control performed at the time of exposure will be described. The processing described below is processing performed in timer interrupt processing performed at predetermined time intervals.

  First, the output of the angular velocity detecting circuit 5 is A / D-converted, and the output of the angular velocity detecting circuit and the anti-vibration lens target velocity conversion coefficient calculation A0 calculated by the above-described method are used to calculate the anti-vibration lens target velocity VC according to the following equation. Is calculated.

(3) Calculation of Motor Drive Duty Next, in order to control the anti-vibration lens 13 with high accuracy with respect to the anti-vibration lens target speed VC calculated in (2), the motor 4 is controlled by the following method. Do. The drive duty for driving the motor 4 is calculated by using a control formula as shown below, and the motor 4 is driven through the motor drive circuit 2.

Now, each term of the equation (Equation 4) will be described in detail.
First, the first and sixth terms of the equation (Equation 4) will be described. FIG. 2 shows the rising characteristics of the anti-vibration lens speed VR when the speed of the anti-vibration lens 13 when the motor 4 is energized at a predetermined duty is plotted on the vertical axis and the time from the start of energization is plotted on the horizontal axis. is there. The speed VR of the anti-vibration lens 13 changes so as to be approximately represented by the following function.

  Here, VR0 is the speed of the anti-vibration lens in a steady state after a sufficient time has elapsed since the start of energization at the predetermined duty, and τ is a mechanism for converting the rotation of the motor 4 and the motor into a shift motion of the anti-vibration lens. Is a time constant determined by the above characteristic, and usually takes a value of about several tens of ms when a coilless motor is used. FIG. 3 shows a relationship with the steady-state image stabilization lens speed VR when the drive duty supplied to the motor 4 is changed. First, the drive duty is increased from the point A1, that is, 0%. The motor remains stopped up to the point A2, but after the point A2, the motor starts rotating at once and reaches the point A3. From the point A3, as the drive duty increases, the steady-state image stabilization lens speed VR increases, and the drive duty reaches 100% at the point A4. Conversely, when the drive duty is reduced, the steady-state image stabilization lens speed VR0 is reduced as the drive duty is reduced. However, unlike the case where the drive duty is increased, the motor does not stop rotating even when the drive duty becomes less than or equal to the drive duty at the point A3. In the example of FIG. 3, the motor stops rotating only after the driving duty of the point A5 becomes equal to or less than the driving duty. In summary, when the drive duty is changed, the number of rotations of the motor, that is, the speed of the anti-vibration lens, changes along a path of A1, A2, A3, A4, A5, A6, and A7. It can be understood from this that if a straight line connecting the points A3 and A4 is set to the slope K1 and the X-tangent of this straight line is set to Doffset, if the motor is driven by the drive duty calculated by the following equation, the time becomes constant. In this state, the image stabilizing lens can be shifted at the image stabilizing lens target speed VR which is a control target.

  Here, Doffset is a positive constant, and the previous ± sign indicates that the actual driving direction of the anti-vibration lens 13 has a positive or negative direction, so that the Doffset term is + when the first term is positive, A negative value means that-is added to the first term. Similarly, ± in the sixth term of the equation (Equation 4) represents + when the calculation result of the first to fifth terms is positive, and − when the calculation result of the first term is negative, and the calculation results of the first to fifth terms, respectively. Means to add to Here, the driving amount calculated in the first term is a term based on the mechanism of the correction optical system or the basic static characteristic of the motor 4, and the amount calculated thereby is the basic driving amount or the basic driving duty. , And the amount calculated in other terms is referred to as a correction drive amount or a correction drive duty.

  Next, the second term will be described with reference to FIG. FIG. 2 shows the anti-vibration lens target speed VC and the actual anti-vibration lens speed VR when the control of the motor 4 is started from time t = 0 using only the first and sixth terms of the equation (Equation 4). Show. In the control in this case, a response delay occurs until the actual image stabilizing lens speed VR catches up with the image stabilizing lens target speed VC due to the time constant of the image stabilizing lens shift mechanism including the motor 4. Further, in such control, a speed that is consistent with the target speed VC cannot always be obtained due to an external load factor, for example, a power supply voltage supplied to the motor 4 or a fluctuation of a vibration-proof lens shift mechanism. The second term is obtained by adding the difference between the target image stabilization lens speed VC and the actual image stabilization lens speed VR, that is, the drive duty according to the speed error ΔV, to the first and sixth terms.

  Here, if K2 is set too large, the tracking performance will be improved, but overshoot and oscillation will occur. Conversely, if the K2 is set too small, smooth control can be expected, but the tracking performance will be deteriorated. The best value is obtained experimentally for K2.

  Next, the third term will be described with reference to FIG. 5A, 5B, and 5C show that when the control of the motor 4 is started using only the first and sixth terms of the equation (Equation 4), a step input is given to the anti-vibration lens target velocity VC. Shows the actual anti-vibration lens speed VR from the time t = 0 in the case of the above. The third term is a term mainly contributing to the improvement of the rising characteristics. FIG. 5A shows the rise of the anti-vibration lens speed VR when control is performed only in the first and sixth terms of the equation (Equation 4). Here, when the absolute value of the speed error ΔV is equal to or more than a predetermined value K3_th, the speed error ΔV is integrated to obtain an integrated value ΔS, and when the absolute value of the speed error ΔV is less than the predetermined value K3_th, the integrated value ΔS is calculated. clear. FIG. 5B shows the state of the integrated value ΔS in the case of FIG. It should be noted that ΔS = 0 when the drive start t = 0.

  The control of the third term is such that the drive duty corresponding to the integrated value ΔS of the speed error is added to the first, sixth, and second terms. This is shown in FIG. 5 (c), in which the rise characteristic is improved as compared with the case where the control of the third term is not performed. Further, in the control up to the second term, when the speed error ΔV decreases to some extent, the correction amount to the drive duty of the second term decreases accordingly. Especially, when an external factor is large, it cannot be neglected. The amount of speed error remains. On the other hand, if K2 is increased to reduce the remaining speed error, smooth control cannot be performed due to oscillation or the like. In this regard, the third term is added, and by setting K3 and K3_th to appropriate values, it becomes possible to improve the speed error and perform smooth control. Note that K3 and K3_th are set to the best values through experiments.

  Next, when control is performed using the first, second, third, and sixth terms, the problem is that the motor 4, the anti-shake lens shift mechanism, and the control by the present embodiment Due to a response delay of the control system such as a calculation, a slight time delay occurs in the anti-shake lens position VR actually controlled with respect to the anti-shake lens target speed VC. FIG. 6 shows this state. To correct this, a correction term according to the fourth term is added. The fourth term indicates the amount of temporal change in the anti-vibration lens target speed VC, that is, the driving duty according to dVC / dt, which is the time differential value of VC, as the first term, the second term, the third term, and the sixth term. Term. Here, the time differential value dVC / dt may be approximated as a change amount of the image stabilizing lens target speed VC during the unit time Δt as in the following equation.

  Here, VC ′ is the anti-shake lens target speed before the unit time Δt of VC at the current time. Incidentally, the coefficient K4 of the fourth correction term is theoretically obtained from the delay of the control system, or set to the best value experimentally.

  Next, even when control is performed using the first, second, third, fourth, and sixth terms, a slight speed error ΔV remains. Is negligible, but when the time in seconds is long, this speed error ΔV is accumulated, resulting in a large positional error. Therefore, the correction based on the position error is performed according to the fifth term. Assuming that this position error is ΔL, ΔL is calculated by the following two methods. The first method is to integrate or integrate the image stabilization lens target speed VC from a predetermined timing (this timing is usually the start of image stabilization control), and calculate the image stabilization lens target position LC as in Equation (11). I do.

  Next, a position error ΔL is calculated from the difference between the calculated anti-vibration lens target position LC and the actual anti-vibration lens position LR as in Expression (12).

  In the second method, the position error ΔL is calculated as shown in Expression (13) by integrating or integrating the speed error ΔV from a predetermined timing.

  The drive duty is added to the first, second, third, fourth, and sixth terms according to the position error calculated by one of the above two methods, but is the fifth term. . Note that the coefficient K5 is set to the best value so that the position error ΔL is small by experiment and the control is smooth.

As described above, the coefficients K1, K2, K3, K3_th, K4, K5, and Doffset of the control equation (Equation 4) are determined to set values independently for each control term using experiments and the like. Actually, resetting is performed again by experiments using the control formula (Equation 4) so that the anti-vibration lens speed error ΔV or the anti-vibration lens position error ΔL becomes smaller as a whole.
(3) Approach Control in Image Stabilization Control Next, the approach control for a predetermined time from the start of control in the image stabilization control performed at the time of exposure will be described. Now, when the image stabilization control is started from t = 0 using Equation (4) when the image stabilization lens target speed VC as shown in FIG. 7 is given, the motor 4 or the image stabilization is considered. The speed error ΔV is large at the beginning of the control due to the rising time constant of the mechanical system. As is clear from the description of the position error ΔL while ΔV is large, ΔL increases and the fifth term increases. For this reason, in the example of FIG. 7, immediately after the start of driving, overshoot or oscillation-limited control is performed, and it takes time until the control is stabilized.

Therefore, the fifth term may be set to 0, ΔL = 0, or the correction of the fifth term may not be performed for a predetermined time (running section shown in FIG. 7) from the start of the control. . As a result, overshoot and oscillation at the start of the anti-shake control can be prevented, and the time during which the control is stabilized can be shortened. FIG. 7 shows an example of control when the approach control is performed and when it is not performed. Here, this approach section is set to end at least before the exposure timing, and each timing is set so that the exposure is started after the control is stabilized.
3. Next, a control method for driving the image stabilizing lens 13 to the center position LS of the shift range of the image stabilizing lens in a process performed before the exposure process will be described.
(1) Calculation of Target Speed of Anti-Vibration Lens The processing described below is processing performed in timer interrupt processing performed at predetermined time intervals.

  First, a value obtained by adding a predetermined speed Voffset at a speed corresponding to the difference between the anti-vibration lens position LR detected by the lens position detection circuit 3 and the center position LS as in the following equation is set as the anti-vibration lens target speed VC. .

In this embodiment, a predetermined limit speed VC_C is provided such that VC ≦ VC_C with respect to the calculated value of Expression (Equation 14). Here, if the limit speed VC_C is set to be larger than a certain value, the image stabilizing lens speed VC can be arithmetically obtained by Expression (Equation 14). The drive duty obtained by the control formula in which the third term or the fourth term is deleted is in a finite range of, for example, 100% to -100%. The range is also finite. Depending on the setting of VC_C to be controlled, it is also possible to set the speed so that there is no limit.
(2) Calculation of motor drive duty Next, the drive duty is calculated with respect to the anti-vibration lens target speed VC calculated in the item (1) as follows, and the motor 4 is controlled.

  First, the motor 4 is driven at the drive duty calculated by the following equation until the anti-vibration lens position LR is a predetermined value Lstop before the center position LS.

  The above equation is a control equation in which the fifth term is deleted from the equation (Equation 4), and the coefficients K1, K2, K3, K4, and Doffset are determined in the same way as in the description of the equation (Equation 4). Alternatively, it is set to the same value as the equation (Equation 4), and the integration start of ΔS or the integration start timing is the centering drive start timing. Further, the operation can be simplified by using a control expression in which the third term or the fourth term of the equation (Equation 4) is also deleted.

  Next, the drive duty of the image stabilizing lens position LR after the predetermined value Lstop of the center position LS follows the following equation.

Alternatively, the motor 4 may be in a short brake state.
(3) State of Control The relationship between the actual image stabilizing lens speed VR and the image stabilizing lens position LR will be described with reference to FIG. First, the initial position of the anti-vibration lens 13 is at the position B0. This position B0 is referred to as a reset position, and the value of the anti-vibration lens position LR is determined to be 0.

  Here, considering the case where the limit speed VC_C is set to VC_C1 as shown in FIG. 8, first, the centering drive of the anti-vibration lens is started from B0, and the target speed VC of the anti-vibration lens is set. However, due to the relationship of the time constant of the image stabilization control system, the image stabilization lens speed VR gradually increases and reaches B5. When the speed reaches B5, the anti-shake lens target speed VC is not set to a value equal to or higher than the set limit value VC_C1, so that the anti-shake lens target speed VC is limited, and the anti-shake lens target speed between B5 and B6 described below. The speed becomes VC_C1, during which the image stabilizing lens 13 is controlled at the set speed. Next, from B6 to B3 before Lstop of the center position LS, VC gradually decreases along the dotted line calculated by the equation (Equation 14), and from B3, the drive duty is set to 0, or the motor 4 is short-braked. In this state, the anti-vibration lens 13 finally stops near B4 near the center position LS.

Next, considering the case where the limit speed VC_C is set to VC_C2, first, the centering drive of the image stabilizing lens is started from B0, and the image stabilizing lens attempts to control the target speed VC of the set image stabilizing lens. However, due to the relationship of the time constant of the image stabilization control system, the image stabilization lens speed VR gradually increases and reaches B5. Even when the speed reaches B5, the speed is not limited this time, and the image stabilization lens speed VR increases as it is, and reaches B2. Between B2 and B3, which is before Lstop of the center position LS, VC is set by a straight line calculated by the equation (Equation 14), and the anti-shake lens 13 is controlled by this straight line, and the anti-shake lens 13 gradually approaches the center position LS. The speed VR decreases, the drive duty is set to 0 from B3, or the motor 4 is set to the short brake state, and the vibration proof lens 13 finally stops at a position B4 near the center position LS.
4. Next, in a process performed after the exposure process, control is performed to drive the image stabilizing lens 13 to a reset position at one end of the shift range of the image stabilizing lens, that is, a position where the image stabilizing lens position LR is 0. The method will be described.
(1) Calculation of Target Speed of Anti-Vibration Lens The processing described below is processing performed in timer interrupt processing performed at predetermined time intervals.

  First, a predetermined constant speed VC_R is set as a vibration-proof lens target speed VC as in the following equation.

Here, VC_R is naturally set to a negative value when the reset position B0 is set to the anti-vibration lens position LR = 0 and the direction of the center position LS is set to a positive coordinate axis as shown in FIG.
(2) Calculation of Motor Drive Duty Next, the drive duty is calculated using the equation (15) with respect to the anti-vibration lens target speed VC calculated in (1), and the motor 4 is controlled. Then, it is confirmed that the image stabilizing lens 13 has stopped at the reset position, and the resetting process of the image stabilizing lens ends. The method of determining whether the vehicle has stopped at the reset position will be described later. The equation (Equation 15) is a control equation in which the fifth term is deleted from the equation (Equation 4), and the coefficients K1, K2, K3, K4, and Doffset are the same as those described in the equation (Equation 4). Or set to the same value as the equation (Equation 4), and the integration start of ΔS or the integration start timing is the reset drive start timing. Further, the calculation can be simplified by using a control formula in which the third term or the fourth term of the equation (Equation 15) is also deleted. (3) State of Control In FIG. 8, the relationship between the actual image stabilizing lens speed VR and the image stabilizing lens position LR will be described by taking as an example a case where the position before the reset processing of the image stabilizing lens 13 is located at B4. , B4, the reset operation of the image stabilizing lens is started, the image stabilizing lens attempts to control to the set target speed VC_R of the image stabilizing lens, but gradually from the relation of the time constant of the image stabilizing control system. The speed VR increases and reaches C1. Control from C1 to C2 is performed at the set target speed VC_R, it is determined that the reset position has been reached at C2, and reset control of the image stabilizing lens is completed. The determination of the arrival at the reset position is made by confirming that the image stabilizing lens speed VR suddenly decreases at C2 and becomes approximately 0, and thus the image stabilizing lens speed VR becomes equal to or lower than a predetermined value. 5. Variable of control coefficient K1 As described above, at the time of image stabilization control during exposure, centering control of the image stabilizing lens, or reset control of the image stabilizing lens, Equation (4), Equation (15), or Equation (10) The control is performed by the control formula in which the third and fourth terms are deleted from 15). However, in this case, there are external factors such as the influence of the battery voltage fluctuation or the fluctuation of the anti-shake lens shift mechanism. In this case, a method for detecting the external factors and flexibly changing the control coefficient K1 will be described as a method for performing the control with high accuracy.

  As a first method, there is a method in which the coefficient K1 is first changed by a battery check voltage (abbreviated as a BC voltage) indicating a residual capacity of a battery detected by the battery check circuit 6 or a power supply capability value. The calculation method is obtained as a function of the BC voltage based on the equation (Equation 18). Alternatively, Expression (Equation 18) may be simplified as Expression (Equation 19).

  Equation (Equation 18) or Equation (Equation 19) means that when the BC voltage is large, in other words, when the remaining capacity of the battery or the power supply capability is large, K1 is set small, and Equation (Equation 4) or , (Equation 15), or the first term of the control equation in which the third or fourth term is deleted from Equation (Equation 15), the ratio of the drive duty to the image stabilizing lens target speed VC is set to be small. Thus, an increase in the speed of the anti-vibration lens when the remaining capacity of the battery or the power supply capability is too large is compensated for. Conversely, when the BC voltage is small, in other words, when the remaining capacity of the battery or the power supply capacity is small, K1 is set to be large, and the equation (4), the equation (15), or the equation (15) is set. By setting the ratio of the drive duty to the anti-vibration lens target speed VC large in the first term of the control formula from which the third or fourth term is deleted, the remaining capacity of the battery or the power supply capability is reduced. Even when it is small, it compensates for the decrease in the speed of the anti-vibration lens. Note that the coefficient Kbc is set to the best value through experiments.

  The second method and the third method similarly detect the remaining capacity of the battery, the fluctuation of the power supply capacity, and the fluctuation of the vibration-proof lens shift mechanism from the movement of the lens during the centering control of the vibration-proof lens. , The control coefficient K1 is corrected.

  First, in the second method, the speed limit setting value VC_C is set so that the speed is not limited in the centering process of the image stabilizing lens. The method may be such that the speed limit VC_C is set to VC_C2 in FIG. 8 or the speed limit is not performed. When the maximum value of the image stabilizing lens speed VR when the centering process of the image stabilizing lens is performed and the maximum value is set to VRmax is set as described above, the equation (Equation 21) or its simplification is used. It is obtained by the formula (Equation 22).

  Note that the coefficient Kmax is set to the best value through experiments. This will be described with reference to FIG. FIG. 9 shows the relationship between the anti-vibration lens position LR and the anti-vibration lens speed VR during the centering control shown in FIG. 8 by the time t from the start of the control and the anti-vibration lens speed VR. Now, when the centering control of the anti-vibration lens is started at t = 0, the anti-vibration lens speed VR increases from B0 to the point B5, and is finally calculated by the equation (Equation 14) shown in FIG. In the vicinity of a point B2 (this point is also indicated by B2 in FIG. 9) intersecting the dotted line, the anti-vibration lens speed VR reaches the maximum value. The control coefficient K1 is calculated from the maximum value VRmax by the method described above.

  Next, in a third method, in the centering process of the vibration-proof lens, the speed limit set value VC_C is set so as to limit the speed. The method may be such that the speed limit VC_C is set to VC_C1 in FIG. The centering process of the image stabilizing lens is performed in such a setting, and the average value of the drive duty during the period in which the speed limit is applied and the image stabilizing lens speed VR is controlled by the speed limit value VC_C is calculated. , And Dave, the control coefficient K1 is obtained by the equation (Equation 23) or the simplified equation (Equation 24).

  Further, the control coefficient K1 may be calculated by the equation (Equation 25) in which VC_C is added to the parameter.

Note that the coefficient Kave or Kave 'is set to the best value by experiment. Further, the section for calculating the drive duty average value needs to be controlled at a constant speed of the speed limit value VC_C in which the image stabilizing lens speed VR is set (this section is referred to as a constant speed area). It is. Therefore, the average driving between the two points after a predetermined time set so as to be always in the constant speed region from the start of centering of the image stabilizing lens and also after the next predetermined time set so as to be always in the constant speed region. The duty may be calculated, or after a predetermined time set so as to be always in the constant speed region from the start of centering of the image stabilizing lens, to the point B6 in FIG. The point B6 can be detected by confirming that the VC calculated in the equation (Equation 14) is equal to or less than VC_C. This will be described with reference to FIG. Now, when the centering control of the anti-vibration lens is started from t = 0, the anti-vibration lens speed VR increases from the point B0 to the point B5, and the set limit speed VC_C between B5 and B6 (see FIG. 9). In the example, the anti-vibration lens is controlled by VC_C1). The point B6 is the point where the dotted line calculated by the equation (Equation 14) shown in FIG. 8 intersects with the limit speed VC_C (this point is also shown as B6 in FIG. 9). It is controlled at the speed calculated by (Equation 14). At this time, the state of the drive duty in the so-called constant speed region from B5 to B6 is shown in the lower diagram of FIG. The average value of the drive duty in the constant speed region between B5 and B6 is calculated, or B7 after a predetermined time from control start t = 0 (in this case, the constant speed region is always set at the point of B7. The predetermined drive time is set in this manner), and the average drive duty during B6 is calculated, and the control coefficient K1 is calculated by the above-described method.
6. Drive duty limit setting If the speed control is mistaken for any reason during the centering control of the anti-vibration lens or the reset control of the anti-vibration lens, it will hit the control end of the anti-vibration lens and break the anti-vibration lens shift mechanism. May be. Alternatively, at the time of reset control of the image stabilizing lens, it is determined that the image stabilizing lens speed VR has fallen below the predetermined speed and has been driven to the reset position for a while after hitting the reset position, and the reset control ends. During this operation, the anti-vibration lens speed VR decreases, and according to the difference between the anti-vibration lens target speed VC and this VR, the third or fourth term is obtained from Expression (Equation 15) or Expression (Equation 15). The drive duty calculated by the control formula from which is deleted increases. At this time, a large force is applied to the anti-vibration lens shift mechanism via the motor 4, and the anti-vibration lens shift mechanism may be damaged.

  Therefore, in the present embodiment, the control in which the third or fourth term is deleted from Equation (Equation 15) or Equation (Equation 15) during centering control of the image stabilizing lens and reset control of the image stabilizing lens. A limit is set for the drive duty calculated by the equation.

However, there is a problem in this case when the remaining capacity of the battery or the power supply capability value is low, or when the movement of the anti-vibration lens shift mechanism or the like is poor, the limit value of the drive duty is reduced. It is possible that the anti-vibration lens does not move at all. In order to avoid such a problem, in the present embodiment, the limit value of the drive duty is varied depending on the BC voltage or the value of VRmax or Dave detected during the centering control during the reset control. Note that the limit value of the drive duty may be calculated using the control coefficient K1 calculated based on the value of VRmax or Dave. The formula for calculating the drive duty limit value in each case is as follows.
When using the BC voltage or K1 calculated from the BC voltage, the following equation is used.

  When VRmax or K1 calculated by VRmax is used, the following equation is used.

  When Dave or K1 calculated by Dave is used, the following equation is used.

Since the upper limit of the drive duty is up to 100%, the setting of the drive duty limit value is also up to 100%. The coefficients K11, K11 ', K12, K12', K13, and K13 'are set to values that do not damage the vibration-proof lens shift mechanism and that the vibration-proof lens 13 can operate reliably.
7. How to detect abnormalities at the time of centering and resetting of the anti-vibration lens If the speed control is mistaken for some reason during the centering control of the anti-vibration lens or the reset control of the anti-vibration lens, hit the control end of the anti-vibration lens The vibration-proof lens shift mechanism may be damaged. Therefore, this abnormality is detected during the centering control of the image stabilizing lens and the reset control of the image stabilizing lens, and when the abnormality is detected, the control is interrupted, and the image stabilizing control at the time of exposure is also stopped. Is prevented from being damaged.

  In the first abnormality detection method, it is determined that an abnormality has occurred when the processing has not been completed after performing control for a predetermined time during centering control of the image stabilizing lens or reset control of the image stabilizing lens. This abnormality is called a time-up abnormality.

  The second abnormality detection method detects a maximum value VRmax of the anti-vibration lens speed VR during the centering control of the anti-vibration lens, and if the VRmax is not equal to or more than a predetermined value, the movement of the anti-vibration lens 13 is determined. It is judged as abnormal because it is bad or does not move at all due to mechanical damage. This abnormality will be referred to as a vibration-proof lens movement abnormality.

The third abnormality detection method is to detect the minimum value VRmin of the anti-vibration lens speed VR at the time of centering control of the anti-vibration lens, and if the VRmin is not equal to or more than the predetermined value, the anti-vibration lens position detection circuit 3 It is determined that there is a defect in the detection of an error and that the detection is abnormal. This abnormality will be referred to as a vibration-absorbing lens position detection abnormality. In addition, when the direction of the center position LS is positive, the anti-vibration lens 13 is driven in a positive manner during the centering control, so that the anti-vibration lens speed VR cannot have a negative value. However, at the start of the centering control or immediately before the end of the centering control, sometimes a negative speed is detected. During that time, the detection of this abnormality is stopped, and at the same time, the VRmin is set to a predetermined value. The predetermined value used for determining whether the value is not more than the value is set to a value that is not detected unless the image stabilizing lens position detection circuit 3 is abnormal.
8. Processing of CPU 1 Next, the processing shown in the flowcharts of FIGS. 10 to 20 shows the operation of the present embodiment, and shows only the part related to the present embodiment among the programs built in the CPU 1. It is.
(1) Half-pressing process When the half-pressing SW 15 connected to the CPU 1 is turned on, the process of the CPU 1 is started according to the flow shown in FIG. First, the process starts from S1000, and in S1001, coefficients K2, K3, K3_th, K4, K5, Doffset, K10, Kbc, Kmax, Kave, Kave ', K11, K11', K12, K12 ', K13 in the anti-vibration control. , And K13 'are read from the E2PROM and written into each coefficient. Each coefficient in these controls is set in the E2PROM so that it can be easily changed later. These control coefficients should be set to the best values according to the characteristics of the anti-vibration lens shift mechanism or the motor 4, and if this characteristic changes for any reason, the control accuracy must be set to an appropriate value. Can not keep. For example, in the case of a product made based on the present embodiment, if the variation in the mechanical characteristics or the variation in the characteristics of the motor 4 is to be adjusted for each product, the setting values of the E2PROM may be changed. Just become possible. Alternatively, the same can be said when the anti-vibration lens shift mechanism or the motor 4 is changed after mass production of a product manufactured based on this embodiment. Next, in step S1002, the BC voltage is detected by the battery check circuit 6, and in step S1003, the BC anti-vibration control coefficient K1 is calculated by the equation (Equation 18) or the equation (Equation 19). Next, in S1004, a distance measurement process (AF process) is performed by the distance measurement circuit 7, and in S1005, the angular velocity gain adjustment value is read from the E2PROM and set to G0.
4 and G0 obtained in S1005, and the current focal length of the photographing optical system are detected by the zoom position detection circuit 8, and from these, the equation (1) or the equation (2) is used. An angular velocity detection circuit output-vibration-proof lens target speed conversion coefficient A0 is calculated, and the process proceeds to S1007. In step S1007, it is determined whether the full-press SW16 is on. If it is on, the process proceeds to step S1010. If it is off, the process proceeds to step S1008. If it is on, the process returns to step S1007. If this is the case, the process ends in S1009. In step S1010, the adjustment value of the center position LS of the anti-vibration lens is read from the E2PROM, entered into the center position LS, and the flow advances to step S1011. In many cases, the predetermined position cannot always be said to be the best position for the imaging resolution due to the mechanical accuracy of the image stabilizing lens shift system and the mounting accuracy of the image stabilizing lens 13. Thus, the adjustment value is written in the E2PROM for each product to drive the anti-vibration lens 13 to the best point of the imaging resolution. Next, in S1011, a limit value of the drive duty when performing centering drive of the image stabilizing lens is set, and the process proceeds to S1012. In step S1011, the drive duty limit setting value is calculated by the equation (Equation 26), the equation (Equation 27), or the equation (Equation 28). In S1012, a centering process of the anti-vibration lens 13 shown in FIG. 13 described later is performed, and the anti-vibration lens 13 is driven to the center position LS set in S1010. In S1013, an image stabilization control start process shown in FIG. 15 to be described later is performed, and the image stabilization lens 13 is shifted according to the output detected by the angular velocity detection circuit 5 to cancel the image plane shift due to camera shake on the image plane. Let it. In step S1014, at the time of exposure in the exposure processing performed in step S1015, a predetermined period of time required for the image stabilization control to be started and the run-in control to be completed and the image stabilization control to be stable is already waited in step S1013. Then, the process proceeds to S1015. In step S1015, the shutter circuit 9 is operated to perform an exposure process. When the exposure processing is completed in S1015, the anti-shake control started in S1014 is ended in S1016, the motor 4 is set to the short brake state for a predetermined time, and the anti-shake lens 13 is stopped. In step S1017, the drive duty limit value in the reset control of the image stabilizing lens is calculated based on the BC voltage using one of Expressions (Expression 26), Expression (Expression 27), and Expression (Expression 28), or centering. When the limit speed VC_C at the time of control is set so as not to limit the anti-vibration lens speed as shown by VC_C2 in FIG. 8, equations (29), (30), When the limit speed VC_C at the time of the centering control is set so as to limit the image stabilizing lens speed as shown by VC_C1 in FIG. It is calculated by any one of (Equation 32), Eq. (33), and Eq. (34), and in S1018, the anti-vibration lens reset processing shown in FIG. 14 described below is performed based on the calculated drive duty limit value. The vibration lens 13 is driven to the reset position, and ends the processing of this embodiment in S1019.

  Next, another embodiment of the half pressing process will be described with reference to FIG. Since the same processing as that of FIG. 10 is performed except for a certain part, only a part different from FIG. 10 in FIG. 11 will be described here. First, the first difference is that when an abnormality is detected in the centering control of the image stabilizing lens performed in the immediately preceding step S1112 in S1113, that is, an abnormality is detected even in one of the time-up abnormality, the movement condition abnormality, and the image-stabilizing lens position abnormality. If there is, the process proceeds to S1115, and nothing is performed. Otherwise, that is, if the process is performed without any abnormality at the time of centering control of the image stabilizing lens, the limit speed VC_C at the time of centering control is plotted at S1114. In the case where a setting is made so that there is no limit to the speed of the anti-vibration lens as shown by VC_C2 of No. 8, the limit at the time of centering control is calculated by the equation (Equation 21) or the equation (Equation 22) based on VRmax. When the speed VC_C is set such that the speed of the anti-vibration lens is limited as shown by VC_C1 in FIG. 8, the formula (number) is obtained based on Dave. 3), equation (24), and re-calculate the image stabilization control coefficient K1 in either equation (25). This is because when calculating K1 with the BC voltage, only the remaining capacity of the battery or the fluctuation of the power supply capability is considered in the calculation of K1, but VRmax obtained at the time of the centering control of the anti-vibration lens, or , And Dave, the calculation is performed in consideration of the fluctuation factors of the anti-vibration lens shift mechanism, etc., so that the K1 can be calculated with higher accuracy. Accordingly, even in the anti-vibration control process started from S1115, the accuracy can be improved. Good control becomes possible. Further, when an abnormality is detected during the centering control of the vibration proof lens, VRmax or Dave may not be set to an accurate value, and it is better not to calculate K1 based on VRmax or Dave. Therefore, in this case, recalculation of K1 is not performed.

The second difference is in the method of setting the drive duty limit value of the anti-shake lens reset control in S1119 immediately before performing the anti-shake lens reset control. This processing will be described with reference to the processing shown in FIG. 12 called in S1119. The processing is started from S1200, it is determined in S1201 whether an abnormality has been detected during the centering control of the anti-vibration lens, and no abnormality has been detected. In this case, if the limit speed VC_C at the time of the centering control is set in S1202 so as not to limit the image stabilizing lens speed as shown by VC_C2 in FIG. 8, the equation (Equation 29) is obtained based on VRmax. In the case where the limit speed VC_C at the time of the centering control is set so as to limit the image stabilizing lens speed as shown by VC_C1 in FIG. , Dave, the limit value of the drive duty is calculated by any one of Expression (Expression 32), Expression (Expression 33), and Expression (Expression 34). Conversely, if an abnormality is detected, the drive duty limit value is determined in step S1203 by using the BC voltage using the equation (Equation 26), the equation (Equation 27), or a predetermined value. I have. Further, when an abnormality is detected during the centering control of the image stabilizing lens, VRmax or Dave may not be set to an accurate value, and the drive limit duty is not calculated based on VRmax or Dave. In this case, the drive limit duty is determined based on the BC voltage or a predetermined value.
(2) Image Stabilization Control The image stabilization control start processing shown in FIG. 15 is performed in accordance with the output of the angular velocity detection circuit 5 in the processing called in step S1013 of FIG. 10 or in the processing called in step S1115 of FIG. This is a process of starting image stabilization control that operates to suppress camera shake on the image plane. This processing is started from S1500. First, in S1501, it is determined whether or not the anti-vibration lens centering time-up abnormality FLG has been set. If it has been set, the processing ends in S1508. If not set, the processing proceeds to S1502. move on. In step S1502, it is determined whether the image stabilizing lens movement abnormality FLG is set. If the flag FLG is set, the process ends in step S1508. If the flag FLG is not set, the process advances to step S1503. In step S1503, it is determined whether the image stabilizing lens position detection error FLG is set. If the flag FLG is set, the process ends in step S1508. If the flag FLG is not set, the process advances to step S1504. Next, in S1504, the limit value of the drive duty of the anti-vibration lens is set to a predetermined value, the anti-vibration control run timer is set in S1505, ΔS is cleared in S1506, and the anti-vibration control timer interrupt processing described later is performed in S1507. By permitting, image stabilization control starts, and this processing ends in S1507. It is determined whether any abnormality has been detected during the centering drive control of the anti-vibration lens, which will be described later, performed before the present processing is started in S1501, S1502, and S1503, and if it is abnormal, the process proceeds to S1508. This processing is ended so that the image stabilization control is not started, that is, the image stabilization control is not performed.

  Next, the anti-shake control timer interrupt processing shown in FIG. 16 will be described. This anti-vibration control timer interrupt process is a timer interrupt process that is started at a predetermined interval, for example, 1 ms. The process is started from S1600, and the anti-shake lens position LR set in the previous anti-shake control timer interrupt process is inserted into LR ′ in S1601. The current anti-shake lens position detected by the lens position detection circuit 3 in S1602. Into the LR. Next, in S1603, the anti-vibration lens speed VR is calculated by subtracting the previous anti-vibration lens position LR 'from the current anti-vibration lens position LR by Expression (Formula 35).

  Next, in step S1604, the output of the angular velocity detection circuit 5 is A / D-changed. In step S1605, the output of the angular velocity detection circuit calculated using Expressions (1) and (2) is converted to the target speed of the vibration-proof lens. The anti-shake lens target speed VC is calculated from the coefficient calculation A0 and the A / D conversion value obtained in S1604, and the flow advances to S1606. In S1606, it is determined whether the anti-vibration control start timer set in S1505 in FIG. 15 has expired. If the time has not elapsed, the anti-vibration lens speed error integrated value ΔL is cleared in S1608, and the process proceeds to S1609. If the time is up, the anti-vibration lens speed error ΔV is integrated by equation (Equation 13) in step S1607 to obtain ΔL, and the flow advances to step S1609. In S1609, the drive duty calculation process shown in FIG. 20 is performed to calculate the drive duty, and the process proceeds to S1610. The drive duty calculation process illustrated in FIG. 20 is a detailed description of the calculation method of Expression (Equation 4) in a flow, and the details will be described later. In step S1610, it is determined whether the absolute value of the drive duty is larger than the set drive duty limit value. If it is larger, the drive duty is set to the limit value in step S1611, and the process advances to step S1612. Here, the drive duty may be a positive value or a negative value. In S1611, when the drive duty is positive, a positive limit value is set for the drive duty, and when the drive duty is negative, the absolute value of the set limit value is set. Means that a value with a negative sign is set as the drive duty without changing. If it is not large in S1610, the process proceeds to S1612. In step S1612, the motor 4 is driven at the set drive duty, and the process ends in step S1613.

  Next, another example of the image stabilization control timer interrupt processing will be described with reference to FIG. Since the anti-shake control timer interrupt process differs from the process shown in FIG. 16 only in one of the following portions, only the differences will be described here. Until the anti-vibration lens target speed VC is calculated in S1905, the same processing as in FIG. 16 is performed. In S1906, it is determined whether the anti-vibration control start timer set in S1505 in FIG. If not, the anti-vibration lens target position LC is set to the current anti-vibration lens position LR in S1908, and the flow advances to S1909. If the time is up, the anti-vibration lens target speed VC is integrated in S1907 by Expression (Equation 11). That is, the current image stabilizing lens target position LC is obtained by adding the image stabilizing lens target speed VC to the current image stabilizing lens target position LC, and the process proceeds to S1609. In S1609, the position error ΔL is calculated by subtracting the anti-vibration lens position LR from the anti-vibration lens target speed LC using Expression (12), and the flow advances to S1910. Since the processing after the drive duty calculation processing in S1910 is the same as that in FIG. 16, the description will be omitted.

Next, the drive duty calculation processing shown in FIG. 20 will be described. This drive duty calculation process is a flow showing the calculation method of the equation (Equation 4), and the process starts from S2000. In S2001, K1 is multiplied by K1 in the process of calculating the first term of Expression (Equation 4) to obtain D1, and the process proceeds to S2002. In S2002, the speed error ΔV obtained by subtracting the anti-vibration lens speed VR from the anti-vibration lens speed VR in the process of calculating the second term of Expression (Formula 4) is multiplied by K2 to obtain D2, and the process proceeds to S2003. S2003, S2004, S2005, and S2006 are processes for calculating the third term of the equation (Equation 4). First, in S2003, the absolute value of the difference between the anti-vibration lens target speed VC and the anti-vibration lens speed VR is determined, and it is determined whether or not the absolute value is equal to or greater than K3_th. The error ΔV (that is, equivalent to VC-VR) is added to the speed error integrated value ΔS up to now, and is set to ΔS. If the error ΔV is not equal to or larger than the value, ΔS is cleared by the equation (Equation 9) in S2005. The process proceeds to step S2006, where K3 is multiplied by ΔS calculated in step S2006 to obtain D3, and the process proceeds to step S2007. In step S2007, in the process of calculating the fourth term of the equation (Equation 4), the previous image stabilization lens speed VC ′ is subtracted from the current image stabilization lens target velocity VC according to the equation (Equation 10), and the image stabilization control timer interrupt is performed. Since the processing is performed at predetermined time intervals, the amount of change in the anti-vibration lens target speed during the predetermined time is obtained, and the obtained value is multiplied by K4 to obtain D4, and the process proceeds to S2008. In S2008, ΔL is multiplied by K5 in the process of calculating the fifth term of the equation (Equation 4) to obtain D5, and the process proceeds to S2009. In step S2009, the obtained D1, D2, D3, D4, and D5 are all added, that is, the sum of the first to fifth terms of the equation (Equation 4) is obtained, and the sum is set to D. Then, the process proceeds to S2010. In the processes of S2010, S2011, and S2012, the sixth term of the equation (Equation 4) is added when the sum D from the first term to the fifth term is positive, and is subtracted when the sum D is negative. First, in S2010, it is determined whether or not D is 0 or more. If it is 0 or more, Doffset is added to D in S2011 to obtain a drive duty. In S2013, the present process is terminated. In step S2012, Doffset is subtracted from D to set the drive duty, and the process ends in step S2013.
(3) Centering of anti-vibration lens The anti-vibration lens centering process shown in FIG. 13 is a process of driving the anti-vibration lens 13 to the center position LS in the process called in S1012 of FIG. 10 or S1112 of FIG. It is. This processing is started from S1300. First, in S1301, the anti-vibration lens stop FLG is cleared, and the FLG (the anti-vibration lens centering time-up abnormality FLG, the anti-vibration lens movement condition) which is set when the above-described abnormality is detected. The abnormal FLG and the anti-vibration lens position detection error FLG are cleared, and in S1302, a time-out time for suspending the anti-vibration lens centering process is set. Here, the set time is set such that the anti-vibration lens 13 is surely driven to the center position at the set time without any abnormality after the centering control is started. In S1303, ΔS is cleared, and in S1304, the anti-shake lens centering control is started by permitting the anti-shake lens centering timer interrupt processing shown in FIG. The anti-shake lens centering timer interrupt processing will be described later.

  Next, a wait is performed for a predetermined time in S1305, and in S1306, the max speed VRmax and the min speed VRmin of the image stabilizing lens are cleared. The meaning of the wait for the predetermined time in S1305 will be described here. Generally, the lens position detection circuit 3 is generally configured to detect a change in the position of the anti-vibration lens 13 by the count number of the interrupter signal pulse, for example. Used. In such a case, since the interrupter signal is a discrete signal, the anti-vibration lens speed VR is detected by the number of pulses entering a predetermined time, or the anti-vibration lens speed VR is detected by the reciprocal of the cycle of the interrupter signal. In such a case, in the initial stage of starting the centering control of the image stabilizing lens, not only an accurate value of the image stabilizing lens speed VR cannot be detected, but also a value that is impossible to detect may be detected. Therefore, even when such an interrupter is used, VRmax and VRmin are cleared after the centering control is started and a predetermined time is waited to calculate an accurate image stabilizing lens speed. Incidentally, the wait time in S1305 is usually set to about 5 ms to about 10 ms in many cases. VRmax and VRmin are the maximum and minimum values of the anti-vibration lens speed VR, respectively, and the detection is performed by an anti-vibration lens centering timer interrupt process shown in FIG. 18 described later. Next, in S1307, a wait is performed for a predetermined time, and in S1308, the drive duty integrated value INTEG_DUTY and the drive duty integrated number INTEG_CNT are cleared. The drive duty integrated value and the drive duty integrated number are for calculating the drive duty average value Dave, and the wait time of S1307 is set so that the timing of S1308 becomes the timing of B7 in FIG. From the timing of S1308, that is, from the point of B7 in FIG. 9, the drive duty is integrated every predetermined time in the anti-vibration lens centering timer interrupt process described later, and the value is added to the drive duty integrated value INTEG_DUTY. The integration number is put into the drive duty integration number INTEG_CNT.

  Next, when the process of S1308 ends, in S1309, the timer of the image stabilization lens centering process interruption timer set in S1302 has expired, that is, a predetermined time has elapsed since the start of the centering control of the image stabilization lens. It is determined whether the time is up. If the time is up, an anti-shake lens centering time up abnormality FLG is set as a time up abnormality in S1310, and the flow advances to S1316. Conversely, if the time is not up, it is determined in step S1311 whether or not VRmax is equal to or less than a predetermined value. If not, in step S1312, the motion of the image stabilizing lens 13 is determined to be abnormal, and the motion of the image stabilizing lens 13 is determined to be abnormal. The abnormal condition FLG is set, and the process proceeds to S1316. The process in S1311 utilizes the fact that the maximum value VRmax of the anti-vibration lens speed becomes small when the motion of the anti-vibration lens 13 is poor. VRmax used in the determination in S1311 may be determined by determining whether or not the anti-vibration lens speed VR is equal to or less than a predetermined value. Conversely, if it is not less than the predetermined value, it is determined in step S1313 whether or not VRmin is less than the predetermined value. If not, it is determined in step S1314 that the detection of the lens position is abnormal, and the anti-vibration lens position is detected. The abnormal FLG is set, and the process proceeds to S1316. In the process of S1313, when there is an abnormality in the output of the lens position detection circuit 3, the image stabilization lens speed VR detected by the output of the lens position detection circuit 3 is an abnormal value and a small value that is impossible, for example, In the case where the value is calculated as a value having a negative sign, the fact that this abnormal value is set to VRmin when it is detected in the interruption of the image stabilizing lens centering timer is used. VRmin used for the determination in S1313 may be determined by determining whether or not the anti-vibration lens speed VR is equal to or less than a predetermined value. On the other hand, if the value is not equal to or less than the predetermined value, whether the anti-vibration lens is stopped in S1315 is determined by setting the anti-vibration lens position LR set in the anti-vibration lens centering timer interrupt process to a predetermined value Lstop before the center position LS. (Corresponding to the point B3 in FIG. 8) when the anti-vibration lens stop FLG is set. If the anti-vibration lens stop FLG is not set in S1315, the process returns to S1309, and the above processing is repeated until the anti-vibration lens stop FLG is set. If the image stabilizing lens stop FLG is set, the process advances to step S1316.

In step S1316, the anti-vibration lens centering timer interrupt process is prohibited, and the anti-vibration lens 13 that has been in the short brake state for a predetermined time in the motor 4 is securely stopped.
The average driving duty Dave between B7 and B6 in FIG. 9 is calculated from the driving duty integration value INTEG_DUTY set in the anti-vibration lens centering timer interrupt process described later and the driving duty integration number INTEG_CNT using Expression (Formula 36). The calculation is performed, and the process proceeds to S1318.

In step S1318, the image stabilizing lens centering process ends.
Next, the anti-shake lens centering timer interrupt processing shown in FIG. 18 will be described. The anti-vibration lens centering timer interrupt process is a timer interrupt process that is started at predetermined intervals, for example, at 1 ms intervals. The process is started from S1800. In S1801, LR ′ is set to the anti-shake lens position LR set in the previous anti-shake lens centering interruption process. In S1802, the current anti-shake lens position detected by the lens position detection circuit 3 Into the LR. Next, in S1803, the anti-vibration lens speed VR is calculated by subtracting the previous anti-vibration lens position LR ′ from the current anti-vibration lens position LR using Expression (Formula 35). This is because the present process is performed at predetermined intervals, for example, at 1 ms intervals. Therefore, it is possible to detect how much the anti-vibration lens 13 has moved in the predetermined time from the difference between the position of the anti-vibration lens 13 of the previous time and the current time. The vibration lens speed VR is calculated. Next, in S1804, it is determined whether or not the anti-vibration lens speed VR is higher than VRmax. If the speed is higher, VR is added to VRmax in S1805, and the process proceeds to S1806. In S1806, if the anti-vibration lens speed VR is lower than VRmin, VR is added to VRmin in S1807, and the process proceeds to S1808. If not, the process proceeds to S1808. Through the processing in S1804, S1805, S1806, and S1807, the maximum value and the minimum value of the image stabilizing lens speed VR are calculated. Next, in step S1808, it is determined whether the anti-vibration lens position LR has been driven a predetermined amount Lstop before the center position LS (corresponding to the point B3 in FIG. 8) based on whether LR + Lstop has exceeded LS. If it is determined that the operation has been performed, the anti-vibration lens stop FLG is set in step S1809, and the process advances to step S1810. Conversely, if it is determined that the lens has not been driven to that position, the process advances to step S1810. In step S1810, the anti-shake lens target speed VC is calculated using equation (Equation 14). In step S1811, it is determined whether VC is greater than the limit value VC_C of the anti-shake lens target speed. Is set, and the drive duty is calculated from the equation (Equation 15) or the equation (Equation 15) by removing the third or fourth term from the equation (Equation 15) in S1814, and the drive duty is added to INTEG_DUTY in S1815. In this way, the drive duty is integrated, and in step S1816, the integration number INTEG_CNT of the drive duty is incremented by one, and the flow advances to step S1817. Conversely, if it is not large in S1811, the drive duty is calculated in S1812 by the equation (Equation 15) or the control equation in which the third or fourth term is deleted from the equation (Equation 15), and the flow proceeds to S1817. Through the processes from S1811 to S1817, a limit is set to the anti-shake lens target speed VC. Further, the state in which the limit is applied is an area from the start of the centering control of the image stabilizing lens of FIG. 9 to B6, and as described in the description of FIG. 13, at the point of B7 in FIG. 9, INTEG_DUTY and Since the value of INTEG_CNT is cleared, the integrated value of the drive duty between B7 and B6 and the number of times of integration can be obtained. Next, in S1817, it is determined whether the absolute value of the drive duty is larger than the set limit value of the drive duty, and if it is larger, the drive duty is set to the limit value in S1818, and the process proceeds to S1819. Here, the drive duty may be a positive value or a negative value. In S1818, the drive duty has a positive limit value if it is positive, and the absolute value of the set limit value if it is negative in S1818. This means setting a value with a negative sign without changing the value to the drive duty. On the other hand, if it is not large in S1817, the process proceeds to S1819. In step S1819, the motor 4 is driven at the set drive duty, and the process ends in step S1820.

  Next, the method of calculating the drive duty in S1812 and S1814 in FIG. 18 will be described with reference to FIG. FIG. 21 is a flowchart showing a control expression obtained by deleting the fifth term of Expression (Equation 4), that is, a flow of calculation of Expression (Equation 15). The process starts from S2100. In S2101, K1 is multiplied by K1 in the process of calculating the first term of Expression (Equation 15) to obtain D1, and the process proceeds to S2102. In step S2102, the speed error ΔV obtained by subtracting the image stabilizing lens speed VR from the image stabilizing lens target speed VC in the process of calculating the second term of the equation (Equation 15) is multiplied by K2 to obtain D2, and the process proceeds to S2103. S2103, S2104, S2105, and S2106 are processes for calculating the third term of the equation (Equation 15). First, in step S2103, the absolute value of the difference between the anti-vibration lens target speed VC and the anti-vibration lens speed VR is determined, and whether the absolute value is equal to or greater than K3_th is determined. The error ΔV (that is, corresponding to VC-VR) is added to the speed error integrated value ΔS up to now, and is set to ΔS. If the error ΔV is not equal to or larger than the value, ΔS is cleared by the equation (Equation 9) in S2105, The process advances to step S2106 to multiply ΔS calculated in step S2106 by K3 to obtain D3, and then advances to step S2107. In step S2107, in the process of calculating the fourth term of Expression (Equation 15), the previous image stabilization lens speed VC 'is subtracted from the current image stabilization lens target speed VC by Expression (Equation 10), thereby performing image stabilization lens centering. Since the timer interrupt processing is performed at predetermined time intervals, the amount of change in the anti-vibration lens target speed during the predetermined time is obtained, the obtained value is multiplied by K4 to obtain D4, and the process proceeds to S2108. In S2108, the obtained D1, D2, D3, and D4 are all added up, that is, the sum of the first to fourth terms of the equation (Equation 15) is obtained, which is set to D, and the process proceeds to S2109. The processing of S2109, S2110, and S2111 is processing of adding the fifth term of Expression (Equation 15) if the sum D from the first to fourth terms is positive, and subtracting the sum if it is negative. First, it is determined whether or not D is equal to or greater than 0 in S2109. If D is greater than or equal to 0, Doffset is added to D in S2110 to set a drive duty. In S2112, the process ends. D is subtracted from Doffset to obtain the drive duty, and the process ends in S2112.

Also, when the control expression used in the drive duty calculation in S1812 and S1814 in FIG. 18 uses the expression obtained by deleting the third and fourth terms of Expression (Equation 15), the step corresponding to that item is used. Can be deleted.
(4) Reset of anti-vibration lens The anti-vibration lens reset processing shown in FIG. 14 is processing to drive the anti-vibration lens 13 to the reset position in the processing called in S1018 of FIG. 10 or in S1120 of FIG. is there. This processing is started from S1400. First, in S1401, the anti-shake lens reset time-up abnormality FLG is cleared, and in S1402, an anti-shake lens reset processing interruption time-up time is set. Here, the set time is set such that the anti-vibration lens 13 is driven to the reset position by the set time without any abnormality after the reset control is started. In step S1403, ΔS is cleared. Next, in step S1404, the anti-shake lens reset control is started by permitting the anti-shake lens reset timer interrupt process illustrated in FIG. The anti-shake lens reset timer interrupt processing will be described later. Next, a wait is performed for a predetermined time in step S1305, and in step S1406, the timer of the image stabilizing lens reset process interruption timer set in step S1402 has expired, that is, a predetermined time has elapsed since the start of the reset control of the image stabilizing lens. It is determined whether the time is up. If the time is up, an anti-vibration lens reset time up abnormality FLG is set as a time up abnormality in S1407, and the flow advances to S1409. On the other hand, if the time has not elapsed, it is determined whether the anti-vibration lens speed VR has become equal to or less than the predetermined value in S1408, and if not, the process returns to S1406. Determines that the anti-vibration lens speed has become a small value because the anti-vibration lens 13 has been driven to the reset position, and proceeds to S1409. In step S1409, the anti-vibration lens reset timer interrupt process is prohibited, the motor 4 is short-circuited for a predetermined time to make the anti-vibration lens 13 stop without fail, and in step S1410, the lens position detection circuit 3 is reset to output the anti-vibration lens position. The value is cleared, and the process ends in S1411.

  Next, the anti-shake lens reset timer interrupt processing shown in FIG. 17 will be described. The anti-vibration lens reset timer interrupt process is a timer interrupt process that starts at a predetermined interval, for example, 1 ms. The process is started from S1700. In S1701, LR 'is set to the anti-shake lens position LR set in the previous anti-shake lens reset timer interrupt process. In S1702, the current anti-shake lens detected by the lens position detection circuit 3 is set. Put the position in LR. Next, in S1703, the anti-vibration lens speed VR is calculated by subtracting the previous anti-vibration lens position LR 'from the current anti-vibration lens position LR by Expression (Formula 35). Next, in S1704, the anti-vibration lens target speed VC is calculated using the equation (Equation 17), and in S1705, the third or fourth term is deleted from the equation (Equation 15) or the equation (Equation 15). The drive duty is calculated using the control equation described above, and in S1706, it is determined whether the absolute value of the drive duty is larger than the set drive duty limit value. If the drive duty is larger, the drive duty is set to the limit value in S1707 and the process proceeds to S1708. move on. Here, the drive duty may be a positive value or a negative value. However, in S1707, if the drive duty is positive, a positive limit value is set for the drive duty, and if negative, the absolute value of the set limit value is set. Means that a value with a negative sign is set as the drive duty without changing. If it is not large in S1706, the process proceeds to S1708. In step S1708, the motor 4 is driven at the set drive duty, and the process ends in step S1709.

  When the control equation used in the drive duty calculation in S1705 in FIG. 17 uses the equation (Equation 15), the control equation is expressed by the equation (Equation 15) using FIG. 21 described for the centering of the anti-vibration lens. When using an equation from which the third or fourth term has been deleted, the step corresponding to the deleted term in FIG. 21 may be deleted.

As described above, in the present embodiment, the PWM control for controlling the anti-vibration lens 13 by changing the duty for driving the motor 4 has been described. Can be replaced. In this case, it corresponds to the control in which the drive duty is replaced with the drive voltage. In other words, a microcomputer having a D / A conversion function may generate a voltage corresponding to the value of the drive duty, and the motor drive circuit 2 may be configured to drive the motor 4 with a voltage proportional to the voltage. Further, in the present embodiment, a method of shifting a part of the photographing optical system has been described as a method of changing the optical axis of the photographing optical system, but other than this, a vari-angle prism may be used, It is also possible to use another actuator such as a voice coil instead of the motor.

FIG. 2 is a circuit diagram schematically showing a part related to the present invention. FIG. 5 is a diagram illustrating a drive rising characteristic of the correction lens 13 of the present invention. FIG. 7 is a diagram illustrating a drive duty of the correction lens 13 and a steady-state lens speed characteristic of the present invention. FIG. 4 is a diagram illustrating a control formula in the vibration control according to the present invention. FIG. 4 is a diagram illustrating a control formula in the vibration control according to the present invention. FIG. 4 is a diagram illustrating a control formula in the vibration control according to the present invention. FIG. 4 is a diagram for explaining the approach control in the anti-vibration control of the present invention. FIG. 4 is a diagram illustrating centering control and reset control of the correction lens 13 of the present invention. FIG. 7 is a diagram illustrating a state of detection of a maximum lens speed and calculation of an average drive duty during centering control of the correction lens 13 of the present invention. It is a flowchart which shows the flow of the half-press process of this invention. It is a flowchart which shows the flow of another half-press process of this invention. 9 is a flowchart illustrating a flow of a drive duty limit value setting process at the time of the anti-shake lens reset control according to the present invention. 6 is a flowchart illustrating a flow of a vibration-proof lens centering process according to the present invention. 5 is a flowchart illustrating a flow of a vibration reduction lens reset process according to the present invention. 6 is a flowchart illustrating a flow of a vibration reduction control start process according to the present invention. 6 is a flowchart illustrating a flow of an image stabilization control timer interrupt process according to the present invention. 6 is a flowchart illustrating a flow of an image stabilization reset timer interrupt process according to the present invention. 6 is a flowchart illustrating a flow of an anti-vibration centering timer interrupt process of the present invention. It is a flowchart which shows the flow of other image stabilization control start processing of this invention. 5 is a flowchart illustrating a flow of a drive duty calculation process in the image stabilization control of the present invention. 5 is a flowchart illustrating a flow of a drive duty calculation process in the centering control or the reset control according to the present invention.

Explanation of reference numerals

1 CPU
2 Motor drive circuit 3 Lens position detection circuit 4 Motor 5 Angular velocity detection circuit 6 Battery check circuit 7 Distance measurement circuit 8 Zoom position detection circuit 9 Shutter circuit 10 E2PROM
11 Shooting lens 1
12 Shooting lens 2
13 Photographing lens 3 (correction lens for vibration proof)
14 Shooting lens 4
15 Half-press SW
16 Full-press SW

Claims (48)

Camera shake detecting means for detecting camera shake, photographing focal length detecting means for detecting the focal length of the photographing optical system, and distance measuring means for detecting the subject distance,
A proper correction coefficient for calculating a proper correction coefficient of how much the optical axis of the photographing optical system should be changed with respect to the output of the camera shake detecting means from the output of the photographing focal length detecting means and the output of the distance measuring means. Calculating means for correcting a camera shake by changing an optical axis of a photographic optical system of the camera according to the correction coefficient and an output of the camera shake detecting means. The distance measuring means outputs a reciprocal of the distance of the photographing subject, and the appropriate correction coefficient calculating means calculates a first variable which is a function of an output value of the focal length detecting means and an output of the distance measuring means. 2. The camera shake correction camera according to claim 1, wherein the camera shake correction camera calculates the sum of the multiplied value and a second variable that is a function of the focal length detecting means. Camera shake detecting means for detecting camera shake, photographing focal length detecting means for detecting the focal length of the photographing optical system, and distance measuring means for detecting the subject distance,
A rewritable nonvolatile memory in which a gain adjustment value for correcting an individual output variation of the camera shake detecting means is written; an output of the photographing focal length detecting means; an output of the distance measuring means; Proper correction coefficient calculating means for calculating an appropriate correction coefficient for changing the optical axis of the photographing optical system with respect to the output of the camera shake detecting means from the gain adjustment value written in the memory. A camera shake correction camera, wherein the camera shake is corrected by changing an optical axis of a photographing optical system of the camera according to the correction coefficient and an output of the camera shake detection means. The distance measuring means outputs a reciprocal of the distance of the photographing subject, and the appropriate correction coefficient calculating means calculates a first variable which is a function of an output value of the focal length detecting means and an output of the distance measuring means. The camera shake correction camera according to claim 3, wherein the camera shake correction camera calculates the sum by multiplying the gain adjustment value by the sum of the multiplied value of (i) and a second variable that is a function of the focal length detecting means. 5. The method according to claim 2, wherein the first variable and the second variable have fixed values for each focal length zone divided into a plurality of focal length zones of the photographing focal length. A camera-shake correction camera according to claim 1. The camera according to any one of claims 1 to 5, wherein the calculation of the appropriate correction coefficient is performed at least after the operation of the distance measuring unit is completed and before the camera shake is corrected. An optical axis changing means for changing the optical axis of the taking lens,
An actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, an angular velocity detecting means for detecting an angular velocity due to camera shake, and a displacement for calculating a displacement velocity from an output of the displacement detecting means Speed calculating means, target displacement speed calculating means for calculating a target displacement speed of the optical axis changing means according to the output of the angular velocity detecting means, and a speed for calculating a speed error from a difference between the displacement speed and the target displacement speed. Error calculation means, basic drive amount calculation means for calculating a basic drive amount by multiplying the target displacement speed by a coefficient, and correction drive amount calculation means for calculating a correction drive amount by multiplying the speed error by a coefficient And a drive unit for driving the actuator with at least the basic drive and the correction drive amount. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, displacement detecting means for detecting displacement of the optical axis changing means, and angular velocity detection for detecting an angular velocity due to camera shake Means, a displacement speed calculating means for calculating a displacement speed from an output of the displacement detecting means, a target displacement speed calculating means for calculating a target displacement speed of the optical axis changing means according to an output of the angular velocity detecting means, Speed error calculating means for calculating a speed error from a difference between the displacement speed and the target displacement speed, and integrating or integrating the speed error when the absolute value of the speed error is equal to or greater than a predetermined value, and conversely, calculating the speed error. If the absolute value is less than a predetermined value, a speed error integrating means for clearing the integrated value or the integrated value and a basic drive amount calculated by multiplying the target displacement speed by a coefficient. Drive amount calculation means, correction drive amount calculation means for calculating a correction drive amount obtained by multiplying an output value of the speed error integration means by a coefficient, and drive means for driving the actuator with at least the basic drive and the correction drive amount And a camera shake correction camera. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, displacement detecting means for detecting displacement of the optical axis changing means, and angular velocity detection for detecting an angular velocity due to camera shake Means, a displacement speed calculating means for calculating a displacement speed from an output of the displacement detecting means, a target displacement speed calculating means for calculating a target displacement speed of the optical axis changing means according to an output of the angular velocity detecting means, A target speed differentiating means for calculating a differential value of the target displacement speed or a change amount for a predetermined time; a basic drive amount calculating means for calculating a basic drive amount by multiplying the target displacement speed by a certain coefficient; Correction drive amount calculation means for calculating a correction drive amount obtained by multiplying the output value of the differentiator by a certain coefficient; and driving the actuator with at least the basic drive and the correction drive amount. Image stabilization camera; and a driving means for. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, displacement detecting means for detecting displacement of the optical axis changing means, and angular velocity detection for detecting an angular velocity due to camera shake Means, a displacement speed calculating means for calculating a displacement speed from an output of the displacement detecting means, a target displacement speed calculating means for calculating a target displacement speed of the optical axis changing means according to an output of the angular velocity detecting means, A speed error calculating means for calculating a speed error from a difference between the displacement speed and the target displacement speed; a speed error integrating means for integrating or integrating the speed errors to calculate a speed error integrated value; Basic drive amount calculation means for calculating a basic drive amount by multiplying a coefficient, and a correction drive amount for calculating a correction drive amount by multiplying an output value of the speed error integration means by a coefficient Detecting means and, image stabilization camera; and a driving means for driving the actuator by at least the basic driving a correction drive amount. The speed error integration stopping means for clearing the speed error integration value for a predetermined time after driving the actuator or for stopping the operation of the speed error integration means. Camera shake correction camera. An optical axis changing means for changing the optical axis of the taking lens,
An actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, an angular velocity detecting means for detecting an angular velocity due to camera shake, and a displacement for calculating a displacement velocity from an output of the displacement detecting means Speed calculating means, target displacement speed calculating means for calculating a target displacement speed of the optical axis changing means according to the output of the angular velocity detecting means, and integrating or integrating the target displacement speed to calculate a target displacement position A target displacement position calculating means, a displacement position error calculating means for calculating a displacement position error amount from an output of the displacement detecting means and the target displacement position, and a basic drive amount by multiplying the target displacement speed by a coefficient. A basic drive amount calculating means for calculating; and a correction drive amount calculating means for calculating a correction drive amount by multiplying an output value of the displacement position error amount calculating means by a coefficient. Image stabilization camera also characterized by having a drive means for driving the actuator by the basic drive and the correction drive amount. 13. The camera according to claim 12, wherein the target displacement position calculation unit integrates or integrates an output value of the displacement position detection unit after a predetermined time after driving the actuator as an initial value. The driving means is positive when the calculated driving amount is positive,
The camera shake correction camera according to any one of claims 7 to 13, further comprising adding a predetermined negative correction amount to the calculated drive amount when negative. The coefficient of the correction driving amount calculating means is set by a value stored in a rewritable nonvolatile memory in advance.
A camera shake correction camera according to claim 14. 16. The camera shake correction camera according to claim 7, further comprising a limit provided on a driving amount of the driving unit so that the driving unit is not driven with a predetermined driving amount or more. It further comprises a battery checking means for measuring a power supply capability of a power supply for operating the driving means, wherein a coefficient to be multiplied by a target displacement speed of the basic drive amount calculating means is varied by an output value of the battery checking means. A camera shake correction camera according to any one of claims 7 to 16, characterized in that: A centering drive unit that drives the actuator and drives the optical axis to a substantially central position, a maximum displacement speed calculation unit that calculates a maximum displacement speed of an output value of the displacement speed calculation unit during operation of the centering drive unit, 17. The image stabilization according to claim 7, further comprising: a coefficient multiplied by a target displacement speed of the basic drive amount calculating means, the coefficient being varied by the maximum displacement speed. camera. A centering drive unit that controls the optical axis changing unit at a constant speed by changing a drive amount for driving the actuator to drive the optical axis to a substantially central position, and calculates an average value of the drive amount during the constant speed control. 8. An average driving amount calculating means for calculating, wherein a coefficient for multiplying a target displacement speed of the basic driving amount calculating means is made variable by an output of the average driving amount calculating means. A camera shake correction camera according to any one of claims 1 to 16. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a target displacement speed calculating means for calculating a target displacement speed in accordance with a difference between a substantially middle position of the range of displacement of the optical axis and an output value of the displacement detecting means, Speed error calculation means for calculating a speed error from the difference between the displacement speed and the target displacement speed, basic drive amount calculation means for calculating a basic drive amount by multiplying a coefficient to the target displacement speed, and Correction drive amount calculation means for calculating a correction drive amount multiplied by a certain coefficient; and driving the actuator by at least the basic drive and the correction drive amount to drive the optical axis to the center position. Image stabilization camera; and a motion means. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a target displacement speed calculating means for calculating a target displacement speed in accordance with a difference between a substantially middle position of the range of displacement of the optical axis and an output value of the displacement detecting means, Speed error calculating means for calculating a speed error from the difference between the displacement speed and the target displacement speed, and integrating or integrating the speed error when the absolute value of the speed error is equal to or greater than a predetermined value,
Conversely, when the absolute value of the speed error is less than the predetermined value, the integral drive amount is calculated by multiplying the integral value or a speed error integrating means for clearing the integrated value by a coefficient to the target displacement speed. A basic drive amount calculation unit, a correction drive amount calculation unit that calculates a correction drive amount obtained by multiplying an output value of the integration unit by a certain coefficient, and driving the actuator by at least the basic drive and the correction drive amount; And a drive unit for driving the camera to the center position. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a target displacement speed calculating means for calculating a target displacement speed in accordance with a difference between a substantially middle position of the range of displacement of the optical axis and an output value of the displacement detecting means, A differential value of the target displacement speed, or a target speed differentiating means for calculating an amount of change for a predetermined time;
Basic drive amount calculation means for calculating a basic drive amount by multiplying the target displacement speed by a coefficient, and correction drive amount calculation means for calculating a correction drive amount by multiplying a coefficient by an output value of the differentiating means, Driving means for driving the actuator by at least the basic drive and the correction drive amount to drive the optical axis to the center position. The driving means is positive when the calculated driving amount is positive,
23. The camera shake correction camera according to claim 20, further comprising adding a predetermined negative correction amount to the calculated drive amount when the camera drive amount is negative. It further comprises a battery checking means for measuring a power supply capability of a power supply for operating the driving means, wherein a coefficient to be multiplied by a target displacement speed of the basic drive amount calculating means is varied by an output value of the battery checking means. A camera shake correction camera according to any one of claims 20 to 23. 25. The camera according to claim 20, wherein the center position is set based on a value stored in a rewritable nonvolatile memory in advance. The camera according to any one of claims 20 to 25, further comprising an upper limit value for the target displacement speed. The driving unit stops the optical axis displacing unit when the difference between the center position and the output of the displacement detecting unit reaches a predetermined amount, in which the actuator is in a short brake state, or the driving amount is set to zero. The camera shake correction camera according to any one of claims 20 to 26, further comprising: The camera shake correction camera according to any one of claims 20 to 27, further comprising setting an upper limit on a drive amount of the actuator. The apparatus further includes a battery check unit that measures a power supply capability of a power supply that operates the driving unit, and further includes an upper limit value that sets an upper limit for the drive amount of the actuator, which is variable according to an output value of the battery check unit. 29. The camera shake correction camera according to claim 28. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a speed error calculating means for calculating a speed error from a difference between the displacement speed and a predetermined target displacement speed, and a basic drive amount calculated by multiplying the target displacement speed by a coefficient. Basic drive amount calculation means, correction drive amount calculation means for calculating a correction drive amount obtained by multiplying the speed error by a certain coefficient, and driving the actuator by at least the basic drive and the correction drive amount to displace the optical axis. And a driving means for driving to a reset position at one end of the range. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means Displacement speed calculating means for calculating a speed, speed error calculating means for calculating a speed error from a difference between the displacement speed and a predetermined target displacement speed, and calculating the speed error when an absolute value of the speed error is equal to or more than a predetermined value. If the absolute value of the speed error is less than a predetermined value, the speed error integrating means for clearing the integrated value or the integrated value is multiplied by a coefficient to the target displacement speed. A basic drive amount calculating means for calculating a basic drive amount, a correction drive amount calculating means for calculating a correction drive amount obtained by multiplying an output value of the integrating means by a coefficient, and at least the basic drive and the correction drive amount Drives more said actuator, image stabilization camera; and a driving means for driving the optical axis to the reset position of the one end of the range of its displacement. The driving means is positive when the calculated driving amount is positive,
The camera according to any one of claims 30 to 31, further comprising adding a predetermined negative correction amount to the calculated driving amount when the driving amount is negative. It further comprises a battery checking means for measuring a power supply capability of a power supply for operating the driving means, wherein a coefficient to be multiplied by a target displacement speed of the basic drive amount calculating means is varied by an output value of the battery checking means. A camera shake correction camera according to any one of claims 30 to 32. 34. The camera according to claim 30, further comprising an upper limit value for the target displacement speed. 35. The camera according to claim 30, wherein an upper limit is set for a driving amount of the actuator. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means Displacement speed calculating means for calculating a speed; centering driving means for driving the actuator to drive the optical axis to a substantially central position; driving the actuator to drive the optical axis to a reset position at one end of a range of the displacement. Reset driving means, and maximum displacement speed calculating means for calculating the maximum displacement speed of the output value of the displacement speed calculating means during operation of the centering driving means, wherein the maximum displacement speed is calculated according to the maximum displacement speed. A camera shake correction camera characterized in that a limit is provided for a drive amount of the reset drive means so as not to be driven by a drive amount or more. An optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a driving amount for driving the actuator. A centering drive unit that controls the optical axis changing unit at a constant speed to change the optical axis to a substantially central position, and an average drive amount calculation unit that calculates an average value of the drive amount during the constant speed control. Reset drive means for driving the actuator and driving the optical axis to a reset position at one end of the range of its displacement, and a drive amount calculated according to an output value of the average drive amount calculation means. A camera shake correction camera, wherein a limit is set on a driving amount of the reset driving unit so as not to be driven. Optical axis changing means for changing the optical axis of the taking lens; an actuator for driving the optical axis changing means; a centering driving means for driving the actuator to drive the optical axis to a substantially central position; and the centering drive And a centering drive canceling unit for canceling the centering drive operation if the operation is not completed even if a predetermined time has elapsed from the start of the operation of the unit. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a centering drive means for driving the actuator to drive the optical axis to a substantially central position, and a displacement speed after a predetermined time from the start of operation of the centering drive means, the displacement speed being greater than a predetermined value And a centering drive stopping means for stopping the operation of the centering drive when the distance is small. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means Displacement speed calculation means for calculating a speed, centering drive means for driving the actuator to drive the optical axis to a substantially central position, and maximum displacement speed for detecting the maximum value of the displacement speed during operation of the centering drive means Detecting means, and centering drive stopping means for stopping the operation of the centering drive when the output value of the maximum displacement speed detecting means is smaller than a predetermined value during the operation of the centering drive means. Camera shake correction camera. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a centering driving means for driving the actuator to drive the optical axis to a substantially central position, and a maximum value of the displacement speed after a lapse of a predetermined time from the start of the operation of the centering driving means A maximum displacement speed detecting means for detecting the centering drive means for stopping the operation of the centering drive when the output value of the maximum displacement speed detecting means is smaller than a predetermined value during the operation of the centering drive means. A camera shake correction camera comprising: Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a centering drive means for driving the actuator to drive the optical axis to a substantially central position, and the driving means, wherein the displacement speed is smaller than a predetermined value during the operation of the centering drive means. A camera shake correction camera, comprising: a centering drive stopping unit that stops the operation of the centering drive. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means Displacement speed calculation means for calculating a speed, centering drive means for driving the actuator to drive the optical axis to a substantially central position, and minimum displacement speed for detecting a minimum value of the displacement speed during operation of the centering drive means Detecting means, and centering drive stopping means for stopping the centering drive operation when the output value of the minimum displacement speed detecting means is smaller than a predetermined value during the operation of the centering drive means. Camera shake correction camera. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, a displacement detecting means for detecting a displacement of the optical axis changing means, and a displacement from an output of the displacement detecting means A displacement speed calculating means for calculating a speed, a centering drive means for driving the actuator to drive the optical axis to a substantially central position, and a minimum value of the displacement speed after a lapse of a predetermined time from the start of operation of the centering drive means And a centering drive stopping means for stopping the operation of the centering drive when the output value of the minimum displacement speed detecting means is smaller than a predetermined value during the operation of the centering drive means. A camera shake correction camera comprising: The method according to any one of claims 42 to 44, wherein the predetermined value to be compared with the output value of the minimum displacement speed detecting means during the operation of the centering driving means is a negative sign. Camera shake correction camera. A camera shake detection unit that detects camera shake, a camera shake correction unit that corrects camera shake by driving the actuator in accordance with an output of the camera shake detection unit, and a case where centering drive is stopped by the centering drive stop unit. The camera shake correction camera according to any one of claims 38 to 45, further comprising: stopping operation of the camera shake correction means. Optical axis changing means for changing the optical axis of the taking lens, an actuator for driving the optical axis changing means, displacement detecting means for detecting a displacement of the optical axis changing means, and an optical axis for driving the actuator; Reset driving means for driving the reset driving means to a reset position at one end of the range of the displacement, and reset driving for stopping the reset driving operation if the operation is not completed even if a predetermined time has elapsed from the start of the operation of the reset driving means. A camera shake correction camera, comprising: a stop unit. The apparatus further includes a battery check unit that measures a power supply capability of a power supply that operates the driving unit, and further includes an upper limit value that sets an upper limit for the drive amount of the actuator, which is variable according to an output value of the battery check unit. 36. The camera shake correction camera according to claim 35.