JP2006038925A - Camera, lens and camera system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a camera system for photographing an image with less blurring even at macro-photographing. <P>SOLUTION: The camera system comprises: a parallel shake arithmetic processing means for arithmetically processing the signal of a parallel shake detecting means; a rotational shake arithmetic processing means for arithmetically processing the signal of the rotational shake detecting means; and an arithmetic operation period control means for changing the arithmetic processing period of the parallel shake arithmetic processing means and the arithmetic processing period of the rotational shake arithmetic processing means in accordance with an object distance or the magnification of the photographed image. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a photographing apparatus that improves the accuracy of a photographed image by correcting camera shake.

  With the current camera, all the important tasks for shooting such as determining exposure and focusing are automated, and it is very unlikely that people who are unskilled in camera operation will fail to shoot.

  Recently, a system for preventing camera shake applied to the camera has been studied, and there are almost no factors that cause a photographer to make a shooting mistake.

  Here, a vibration-proof system that prevents camera shake will be briefly described.

  The camera shake at the time of shooting is usually a vibration of 1 Hz to 10 Hz as a frequency. However, as a basic idea for making it possible to take a photograph without image shake even if such a camera shake occurs at the time of exposure, Camera vibrations due to camera shake are detected, and the correction lens must be displaced within the plane orthogonal to the optical axis in accordance with the detection result (optical image stabilization system).

  That is, in order to take a picture that does not cause image shake even if camera shake occurs, it is necessary to first detect the camera vibration accurately and secondly correct the optical axis change due to camera shake.

  Image blur correction is performed by detecting camera shake with an angular velocity sensor or the like, and driving a correction optical device that decenters the photographing optical axis based on camera shake detection information (see, for example, Patent Document 1). ).

  In order to improve the accuracy of shake correction during close-up shooting with a short shooting distance, an acceleration sensor and an angular velocity sensor are mounted to detect not only rotational shake but also parallel shake and correct both shakes ( For example, see Patent Document 2).

Moreover, in patent document 2, since the several signal processing of an acceleration sensor and an angular velocity sensor must be performed, the amount of calculations will increase. In order to solve this problem, the signal processing of the acceleration sensor and the angular velocity sensor is performed when the shooting distance is shorter than the predetermined distance, and the signal processing of the acceleration sensor is not performed when the distance is longer than the predetermined distance, and only the angular velocity sensor is processed. Has been proposed (see, for example, Patent Document 3).
JP-A-7-218967 Japanese Patent Laid-Open No. 3-46642 Japanese Patent Laid-Open No. 11-271831

  In Patent Document 3, when the shooting distance is longer than the predetermined distance, the signal processing load is reduced. However, when the shooting distance is closer than the predetermined distance, the signal processing load eventually increases.

  Therefore, an object of the present invention is to change the calculation cycle of the angular velocity sensor signal and the calculation cycle of the acceleration sensor signal in accordance with the shooting distance or the shooting image magnification, so that a camera, a lens, and a camera that have a shake correction effect even during macro shooting To provide a system.

In order to achieve the above object, the invention according to the present application
Parallel shake detection means for detecting shake in a direction parallel or perpendicular to the optical axis of the camera optical system, and rotational shake detection means for detecting rotational shake around the optical axis of the camera optical system or around the axis perpendicular to the optical axis When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
It has an arithmetic processing period control means for changing the arithmetic cycle of the parallel shake arithmetic processing means and the arithmetic processing period of the rotational shake arithmetic processing means in accordance with the subject distance or the photographic image magnification.

In order to achieve the above object, the invention according to the present application is
Parallel shake detection means for detecting shake in a direction parallel or perpendicular to the optical axis of the camera optical system, and rotational shake detection means for detecting rotational shake around the optical axis of the camera optical system or around the axis perpendicular to the optical axis When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
Image blur correction means for driving the lens and correcting image blur based on the calculation result of the parallel shake calculation processing means and the calculation result of the rotational shake calculation processing means;
It has an arithmetic processing period control means for changing the arithmetic cycle of the parallel shake arithmetic processing means and the arithmetic processing period of the rotational shake arithmetic processing means in accordance with the subject distance or the photographic image magnification.

In order to achieve the above object, the invention according to the present application is
Parallel shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera, and rotational shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
It has an arithmetic processing period control means for changing the arithmetic cycle of the parallel shake arithmetic processing means and the arithmetic processing period of the rotational shake arithmetic processing means in accordance with the subject distance or the photographic image magnification.

In order to achieve the above object, the invention according to the present application is
Parallel shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera, and rotational shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
Image blur correction means for driving the lens and correcting image blur based on the calculation result of the parallel shake calculation processing means and the calculation result of the rotational shake calculation processing means;
It has an arithmetic processing period control means for changing the arithmetic cycle of the parallel shake arithmetic processing means and the arithmetic processing period of the rotational shake arithmetic processing means in accordance with the subject distance or the photographic image magnification.

  According to the present invention, the calculation cycle of angular velocity sensor signal processing for detecting rotational shake and the calculation cycle of acceleration sensor signal processing for detecting parallel shake are changed according to the photographic image magnification. The parallel shake and the rotational shake can be corrected without using a high-speed and expensive arithmetic circuit or CPU for performing both signal processes.

(First embodiment)
Hereinafter, the present invention will be described in detail based on the illustrated embodiments.

  FIG. 1 shows a camera system including a camera body 1 and an interchangeable lens 2. The photographic light flux from the subject passes through the photographic optical system of the interchangeable lens 2 and is partially reflected by the quick return main mirror 3 whose central portion is a half mirror during the preparation for photographing, and becomes an erect image at the pentaprism 4 and photographed. The person can check the subject image on the optical viewfinder 5. A photometric circuit 6 measures the illuminance on a focus plate surface (not shown), inputs the measurement result to the camera system control MPU 7, and the camera system control MPU 7 captures shooting conditions such as exposure time and aperture. Is determined. The photometric sensor in the photometric circuit 6 is divided into a plurality of areas, and a photometric result for each area can be obtained.

  A sub-mirror 8 is disposed on the back surface of the quick return main mirror 3, and the light beam that has passed through the half mirror surface of the quick return main mirror 3 is incident on the distance measuring means 9, and is subjected to photoelectric conversion and signal processing to control the camera system. To MPU7 for use.

  When the photographing operation is started, the quick return main mirror 3 and the sub mirror 8 are retracted to the pentaprism 4 side, the focal plane shutter 10 is driven by the shutter driving circuit 11, and the photographing light flux is on the surface of the imaging unit (CCD or CMOS) 12. The formed optical image is photoelectrically converted into an imaging signal. Reference numeral 13 denotes a timing generator that controls the accumulation operation, the readout operation, the reset operation, and the like of the imaging unit 12.

  Reference numeral 14 denotes a CDS circuit (double correlation sampling circuit) for reducing accumulated charge noise of the image pickup unit 12, reference numeral 15 denotes a gain control circuit for amplifying the image pickup signal, and reference numeral 16 converts the amplified image pickup signal from analog to digital. This is an A / D converter.

  Reference numeral 17 denotes a video signal processing circuit that performs filter processing, color conversion processing, gamma processing, and the like on digitized image data. The image signal subjected to the signal processing is stored in the buffer memory 18 and displayed on the LCD 19 or recorded on the removable memory card 20.

  The operation unit 21 is a switch for setting the shooting mode of the camera, setting the recording image file size, and releasing and shooting.

  The camera system control MPU 7 controls the above-described operation of the camera body 1, and communicates with the lens MPU 24 via the interface circuit 22 on the camera body 1 side and the interface circuit 23 on the interchangeable lens 2 side to exchange lenses. A focus drive command is transmitted to 2, and data such as operation states and optical information in the digital camera body 1 and the interchangeable lens 2 are transmitted and received.

  In the interchangeable lens 2, a focus lens 25, a zoom lens 26, an image shake correction lens 27, and a diaphragm 28 are disposed as a part of the photographing optical system.

  The focus lens 25 is driven by a control signal from the lens MPU 24 via a focus control circuit 29 and a focus lens driving motor 30. In addition to the focus lens drive circuit, the focus control circuit 28 includes a focus encoder that outputs a zone pattern signal and a pulse signal according to the movement of the focus lens. The subject distance can be detected by this focus encoder.

  The zoom lens 26 moves when the photographer operates a zoom operation ring (not shown). The zoom encoder 31 outputs a zone pattern signal corresponding to the movement of the zoom lens. The captured image magnification is obtained by the lens MPU 24 reading signals from the focus encoder and the zoom encoder 31 and reading stored captured image magnification data in advance by a combination of the subject distance and the focal length.

  The image blur correction lens 27 is driven via an image blur correction control circuit 32 and a linear motor 33. In the image blur correction, the lens MPU 24 calculates a correction lens drive target signal from the shake signals of the angular velocity sensor 35 that detects rotational shake and the acceleration sensor 36 that detects parallel shake, and a correction lens position signal output from the correction lens encoder 34. And the drive signal is output to the image blur correction control circuit 32.

  The diaphragm 28 is driven via a diaphragm control circuit 37 and a stepping motor 38 by a control signal from the lens MPU 24.

  FIG. 2 is a diagram for explaining the parallel shake and the rotational shake, and only the vertical shake is shown for simplification.

In FIG. 2, when the photographing optical system moves from line A to line B due to the camera shake of the photographer, the line D parallel to line A passing through the front principal point C of the photographing optical system and the distance Yp of line A are parallel. It becomes a shake. Further, the angle θp formed by the line B and the line D is a rotational shake.
The image shake displacement Ysp on the image plane due to the parallel shake Yp is as follows.
Ysp = Yp · β (Formula 1)
However, β is taken image magnification.

  Here, if the acceleration sensor 36 for parallel shake detection is arranged near the front principal point, the calculation for calculating the parallel shake Yp can be simplified.

Further, the image shake displacement Yrp on the image plane due to the rotational shake θp is as follows.
Yrp = f (1 + β) tan θp (Expression 2)
However, f is a focal length, and the (1 + β) term is a term representing an apparent change in focal length due to focusing of the fully extended lens. In the case of a partially extended lens, it follows a correction formula specific to each lens.

  Next, the photographing operation on the camera body 1 side will be described with reference to the flowchart shown in FIG.

  If the main switch is turned on on the camera body 1 side, the operation starts from step 100.

  (Step 100) It is determined whether or not the release switch in the operation unit 21 of the camera body 1 is half-pressed (SW1ON). If it is half-pressed, the process proceeds to step 101. If it is not half-pressed, the process proceeds to step 126, and the process here ends.

  (Step 101) Camera lens status communication is performed with the lens MPU 24 via the interface circuits 22 and 23. Here, the camera state (release switch state SW1 ON, shooting mode, shutter speed, etc.) is transmitted to the lens, and the lens state (focal length, aperture state, focus lens drive state, etc.) is received. . Although the camera lens status communication is described only in the main part in the flowchart of the present embodiment, it is performed at any time when the camera state changes or when the camera wants to check the lens state.

  (Step 102) Since the release switch is pressed halfway (SW1ON), the distance measuring means 9 measures the distance and calculates the focus lens driving amount for focusing on the subject.

  (Step 103) The focus lens drive amount is transmitted to the interchangeable lens 2. This data is transmitted, for example, as a drive target pulse amount of the focus encoder.

  (Step 104) When driving of the focus lens is completed, distance measurement is performed again.

  (Step 105) It is determined whether or not it is within the in-focus depth.

  (Step 106) Since it is within the focus depth, focus display is performed. This is done by turning on an LED in the optical viewfinder 5 of the camera body 1 or generating a sound.

  (Step 107) A photometric result (luminance) from the photometric circuit 6 is obtained, and an exposure time Tv and an aperture value (aperture drive amount) are calculated.

  (Step 108) It is determined whether or not the release switch in the operation unit 21 of the camera body 1 is fully pressed (SW2ON). If it is fully pressed, the process proceeds to step 109.

  (Step 109) Mirror up of the quick return main mirror 3 is performed. At this time, the sub mirror 8 is also driven to the pentaprism 4 side together with the main mirror 3.

  (Step 110) The aperture drive amount obtained in Step 107 is transmitted to the interchangeable lens 2 to drive the aperture 28.

  (Step 111) The front curtain shutter is driven.

  (Step 112) The subject image is exposed to the imaging unit 12 to accumulate charges.

  (Step 113) When the exposure time elapses, the rear curtain shutter is driven to end the exposure.

  (Step 114) The charge transfer (reading) from the imaging unit 12 is performed.

  (Step 115) The read captured image signal is converted into digital data through the CDS circuit 14, the gain control circuit 15, and the A / D converter 16, and stored in the buffer memory 18.

  (Step 116) An aperture opening command is transmitted to the interchangeable lens 2, and the aperture 28 is returned to the open position.

  (Step 117) The quick return main mirror 3 and sub mirror 8 are mirrored down.

  (Step 118) Image correction processing such as gamma correction and compression processing is performed.

  (Step 119) The image data subjected to the image correction processing is displayed on the LCD 19 and recorded in the memory card 20, and a series of operations up to photographing is completed.

  Next, the operation on the interchangeable lens 2 side will be described according to the flowcharts shown in FIGS. 4, 5, and 6.

  When the lens is attached to the camera, serial communication is performed from the camera to the lens, and the operation starts from step 200 in FIG.

  (Step 200) Initial setting for lens control and image blur correction control is performed.

(Step 201) The state of switches (not shown) and the position of zoom / focus are detected. Examples of the switches include a switch for switching between auto focus and manual focus, and an ON / OFF switch for an image blur correction function.
(Step 202) It is determined whether or not there is a focus drive command communication from the camera. If the focus drive command has been received, the process proceeds to step 203; otherwise, the process proceeds to step 207.

  (Step 203) In the focus drive command communication from the camera, the target drive amount (pulse number) of the focus lens is also transmitted, so the number of pulses of the focus encoder in the focus control circuit 29 is detected to drive the target pulse number. Focus drive control is performed.

  (Step 204) It is determined whether or not the target pulse number P has been reached. If the target has been reached, the process proceeds to step 205, and if not, the process proceeds to step 206.

  (Step 205) Since the target number of pulses has been reached, the driving of the focus lens is stopped.

  (Step 206) Since the target number of pulses has not been reached, the speed of the focus lens driving motor 29 is set according to the number of remaining driving pulses. Decreases as the number of remaining drive pulses decreases.

  (Step 207) If OFF of the image blur correction function ON / OFF switch is detected in Step 201, the image blur correction lens 26 is locked to the optical axis center. If ON is detected and the release switch SW1 ON of the camera is detected by camera lens status communication, the lock is released (unlocked), and the image blur correction operation is enabled.

  (Step 208) It is determined whether or not a command to stop all driving (stop driving all actuators in the lens) is received from the camera. If no operation is performed on the camera side, the entire drive stop command is transmitted from the camera after a while.

  (Step 209) All drive stop control is performed. Here, all actuator driving is stopped, and the microcomputer is put into a sleep (stopped) state. Power supply to the image shake correction apparatus is also stopped. Thereafter, when any operation is performed on the camera side, the camera sends a communication to the lens to cancel the sleep state.

  During these operations, if there is a request for serial communication interruption or image blur correction control interruption due to communication from the camera, such interruption processing is performed.

  The serial communication interrupt process decodes communication data and performs lens processing such as aperture driving and focus lens driving according to the decoding result. Then, SW1ON, SW2ON, shutter speed, camera model, and the like can be determined by decoding the communication data.

  The image blur correction interrupt is a timer interrupt that is generated at regular intervals, and performs pitch direction (vertical direction) control and yaw direction (horizontal direction) image blur correction control.

  First, the serial communication interrupt will be described with reference to the flowchart of FIG.

  When communication from the camera is received, the operation starts from step 300.

  In step 300, an instruction (command) from the camera is analyzed, and the process branches to a process corresponding to each instruction.

  In step 301, since the focus drive command is received, in step 302, the speed of the focus lens drive motor 29 is set according to the target drive pulse number, and focus lens drive is started.

  In step 303, since the aperture drive command is received, in order to drive the aperture 28 based on the transmitted aperture drive data, the drive pattern of the stepping motor 38 is set in step 304, and the set drive pattern is controlled by the aperture control. The output is output to the stepping motor 38 via the circuit 37 to drive the diaphragm 28.

  In step 305, since the camera lens status communication is received, in step 306, the lens focal length information, IS operation state, and the like are transmitted to the camera, and the camera status state (release switch state, shooting mode, shutter speed, etc.). ).

  In step 307, there are other instructions, such as lens focus sensitivity data communication and lens optical data communication. These processes are performed in step 308.

  Next, image blur correction interruption will be described with reference to the flowchart of FIG.

  When an image blur correction interrupt occurs during the main operation of the lens, the lens MPU 24 starts image blur correction control from step 400 in FIG.

  (Step 400) The pre-stored photographic image magnification data β is read from the signals of the focus encoder and zoom encoder 31.

  (Step 401) It is determined whether the photographed image magnification β is 0.5 times or more. If it is 0.5 times or more, the process proceeds to step 402; otherwise, the process proceeds to step 409.

  (Step 402) The signal of the acceleration sensor 36 is A / D converted.

  (Step 403) A high pass filter operation is performed to cut low frequency components. The high-pass filter time constant is switched for a predetermined time from the start of calculation, and an operation for quickly stabilizing the signal is also performed.

  (Step 404) The second-order integration calculation is performed with the high-pass filter calculation result as an input. This result is displacement data Ys.

  (Step 405) It is determined whether AD_FLG = 1. AD_FLG is a flag that is inverted every time an image blur correction timer interrupt occurs. If AD_FLG = 0, the process proceeds to step 406 and A / D conversion of the angular velocity sensor signal is performed. If AD_FLG = 1, the process proceeds to step 416 and A / D conversion of the angular velocity sensor signal is not performed. That is, if the setting is such that an image blur correction timer interruption occurs every 1 msec, the acceleration sensor signal has a calculation cycle every 1 msec, while the angular velocity sensor signal has a calculation cycle every 2 msec.

  (Step 406) The signal of the angular velocity sensor 35 is A / D converted.

  (Step 407) A high-pass filter operation is performed to cut low frequency components. The high-pass filter time constant is switched for a predetermined time from the start of calculation, and an operation for quickly stabilizing the signal is also performed.

  (Step 408) An integration operation is performed with the high-pass filter operation result as an input. This result is angular displacement data Ya.

  If it is determined in step 401 that the captured image magnification β is not 0.5 times or more, the process proceeds to step 409 below.

  (Step 409) The signal of the angular velocity sensor 35 is A / D converted.

  (Step 410) A high-pass filter operation is performed to cut low frequency components. The high-pass filter time constant is switched for a predetermined time from the start of calculation, and an operation for quickly stabilizing the signal is also performed.

  (Step 411) An integration calculation is performed with the high-pass filter calculation result as an input. This result is angular displacement data Ya.

  (Step 412) It is determined whether AD_FLG = 1. AD_FLG is a flag that is inverted every time an image blur correction timer interrupt occurs. If AD_FLG = 0, the process proceeds to step 413 to perform A / D conversion of the acceleration sensor signal. If AD_FLG = 1, the process proceeds to step 416, and the A / D conversion of the acceleration sensor signal is not performed. In other words, if the setting is such that the image blur correction timer interruption occurs every 1 msec, the angular velocity sensor signal has a calculation cycle every 1 msec, while the acceleration sensor signal has a calculation cycle every 2 msec.

  (Step 413) The signal of the acceleration sensor 36 is A / D converted.

  (Step 414) A high-pass filter operation is performed to cut low frequency components. The high-pass filter time constant is switched for a predetermined time from the start of calculation, and an operation for quickly stabilizing the signal is also performed.

  (Step 415) The second-order integration calculation is performed with the high-pass filter calculation result as an input. This result is displacement data Ys.

  (Step 416) AD_FLG is inverted.

  (Step 417) The amount of eccentricity of the image blur correction lens 27 for correcting the image blur due to the shake angular displacement Ya and the shake displacement Ys varies depending on the focus position and the zoom position. Specifically, the eccentric amount adjustment data K for correcting the shake angular displacement Ya and the eccentric amount adjustment data L for correcting the shake displacement Ys are read from the table data from the signals of the zoom encoder 31 and the focus encoder, and corrected. Convert to lens drive data. The calculation result is stored in a RAM area (not shown) set by SFTDRV in the lens MPU 24.

  (Step 418) A / D conversion is performed on the signal of the correction lens encoder 34 that detects the amount of eccentricity of the image blur correction lens 27, and the A / D result is stored in a RAM area set by SFTPST in the lens MPU 24.

  (Step 419) A feedback calculation (SFTDRV-SFTPST) is performed. The calculation result is stored in a RAM area set by SFT_DT in the lens MPU 24.

  (Step 420) The loop gain LPG_DT is multiplied by the calculation result SFT_DT of Step 419. The calculation result is stored in a RAM area set by SFT_PWM in the lens MPU 24.

  (Step 421) A phase compensation calculation is performed in order to obtain a stable control system.

  (Step 422) The calculation result of Step 421 is output as PWM to the port of the lens MPU 24, and the image blur correction interruption is completed. The output is input to a driver circuit in the IS control circuit 32, and the image blur correction lens 27 is driven by the linear motor 33 to correct the image blur.

  As described above, the interchangeable lens 2 detects parallel shake from the calculation cycle of angular velocity sensor signal processing for detecting rotational shake when the captured image magnification β is greater than or equal to a predetermined value in Step 400 to Step 416 in FIG. When the acceleration sensor signal processing calculation cycle is shortened and the captured image magnification is other than the above, the calculation cycle of acceleration sensor signal processing for detecting parallel shake is made longer than the calculation cycle of angular velocity sensor signal processing for detecting rotational shake. Thus, parallel shake and rotational shake can be corrected without using a high-speed and expensive arithmetic circuit or CPU for performing signal processing of both the angular velocity sensor and the acceleration sensor.

  In the present embodiment, the calculation period of angular velocity sensor signal processing for detecting rotational shake and the acceleration for detecting parallel shake according to the photographic image magnification calculated from the focal length (zoom position) and the subject distance (focus position). Although an example in which the calculation cycle of the sensor signal processing is changed is shown, in the case of a single focus lens, the same operation as described above may be performed according to the subject distance.

  In this embodiment, the value of the photographic image magnification for switching the calculation cycle is set to one. However, by setting a plurality of values and switching them, finer image blur correction control can be performed.

  In this embodiment, an example in which an acceleration sensor is applied as the parallel shake detection unit has been described. However, an imaging element of a camera body may be applied.

  In this embodiment, an example in which the present invention is applied to an interchangeable lens of a digital single-lens reflex camera system has been described. However, the present invention may be applied to a silver salt camera, a compact camera, a video camera, and the like.

It is a block diagram which shows the structure of the camera system of embodiment of this invention. It is explanatory drawing of the parallel shake and rotation shake in embodiment of this invention. It is a flowchart which shows operation | movement of the camera main body of embodiment of this invention. It is a flowchart which shows operation | movement of the interchangeable lens of embodiment of this invention. It is a flowchart which shows operation | movement of the interchangeable lens of embodiment of this invention. 6 is a flowchart illustrating an image blur correction operation according to the embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Camera body 2 Interchangeable lens 22 Camera side interface circuit 23 Lens side interface circuit 24 Lens MPU
Reference Signs List 25 focus lens 26 zoom lens 27 image shake correction lens 29 focus lens drive motor 30 focus control circuit 31 zoom encoder 32 image shake correction control circuit 33 image shake correction lens drive motor 34 image shake correction lens encoder 35 acceleration sensor 36 Angular velocity sensor

Claims (8)

Parallel shake detection means for detecting shake in a direction parallel or perpendicular to the optical axis of the camera optical system, and rotational shake detection means for detecting rotational shake around the optical axis of the camera optical system or around the axis perpendicular to the optical axis When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
A camera, a lens, and a camera system, comprising: an arithmetic processing cycle control unit that changes an arithmetic cycle of the parallel shake arithmetic processing unit and an arithmetic processing cycle of the rotational shake arithmetic processing unit according to a subject distance or a photographed image magnification . Parallel shake detection means for detecting shake in a direction parallel or perpendicular to the optical axis of the camera optical system, and rotational shake detection means for detecting rotational shake around the optical axis of the camera optical system or around the axis perpendicular to the optical axis When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
Image blur correction means for driving the lens and correcting image blur based on the calculation result of the parallel shake calculation processing means and the calculation result of the rotational shake calculation processing means;
A camera, a lens, and a camera system, comprising: an arithmetic processing cycle control unit that changes an arithmetic cycle of the parallel shake arithmetic processing unit and an arithmetic processing cycle of the rotational shake arithmetic processing unit according to a subject distance or a photographed image magnification . Parallel shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera, and rotational shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
A camera, a lens, and a camera system, comprising: an arithmetic processing cycle control unit that changes an arithmetic cycle of the parallel shake arithmetic processing unit and an arithmetic processing cycle of the rotational shake arithmetic processing unit according to a subject distance or a photographed image magnification . Parallel shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera, and rotational shake detection means for detecting at least one axial shake among the three axial shakes acting on the camera When,
A parallel shake calculation processing means for calculating a signal of the parallel shake detection means; a rotational shake calculation processing means for calculating a signal of the rotational shake detection means;
Image blur correction means for driving the lens and correcting image blur based on the calculation result of the parallel shake calculation processing means and the calculation result of the rotational shake calculation processing means;
A camera, a lens, and a camera system, comprising: an arithmetic processing cycle control unit that changes an arithmetic cycle of the parallel shake arithmetic processing unit and an arithmetic processing cycle of the rotational shake arithmetic processing unit according to a subject distance or a photographed image magnification .   When the subject distance is closer than a predetermined value or the photographic image magnification is larger than a predetermined value, the calculation period of the parallel shake calculation processing means is shortened and the calculation period of the rotational shake calculation means is lengthened. A camera, a lens, and a camera system comprising the calculation cycle control means according to any one of claims 1 to 4.   When the subject distance is farther than a predetermined value or the photographic image magnification is smaller than a predetermined value, the calculation period of the parallel shake calculation processing means is lengthened, and the calculation period of the rotational shake calculation means is shortened, A camera, a lens, and a camera system comprising the calculation cycle control means according to any one of claims 1 to 4.   5. A camera, a lens, and a camera system, wherein the translational shake detecting means according to claim 1 is an acceleration sensor.   5. The camera, lens, and camera system according to claim 1, wherein the rotational shake detecting means is an angular velocity sensor.

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