JP2012237770A - Imaging apparatus and lens barrel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately control vibration by minimizing the effect of drive other than vibration control for photographing optical systems.SOLUTION: The imaging apparatus comprises: a shake detecting part configured to detect shake of the apparatus; an imaging part 3 configured to image a subject image formed via photographing optical systems 1 and 2 and output an image signal; calculation parts 23a and 23b configured to calculate an amount of control for controlling an image blur, formed on the imaging part 3, based on the detection result of the shake detecting part; first drive parts 24a and 24b configured to advance or retract the photographing optical systems 1 and 2 or imaging part 3 in a direction orthogonal to an optical axis Z of the photographing optical systems 1 and 2 according to the amount of control; a second drive part 22 configured to advance or retract the photographing optical systems 1 and 2 in the direction of the optical axis Z; and a control part 12 configured to control the calculation parts 23a and 23b so as to make a calculation parameter in the calculation of the amount of control when the photographing optical systems are driven by the second drive part 22 different from that when the photographing optical systems are not driven by the second drive part 22.

Description

  The present invention relates to an imaging device and a lens barrel.

  A technique for suppressing image blur caused by camera shake is known (see Patent Document 1).

Japanese Patent Laid-Open No. 4-68323

  In the prior art, image blurring caused by camera shake (for example, frequency 1 to 3 Hz) is suppressed, and therefore, it occurs in a case of driving other than anti-shake control, for example, small driving called wobbling during focus adjustment. There has been a problem that image blur caused by vibrations having different frequencies (for example, 10 Hz) has not been considered.

An image pickup apparatus according to a first aspect of the present invention includes a shake detection unit that detects a shake of the device, an image pickup unit that picks up a subject image formed through a photographing optical system, and outputs an image signal. A calculation unit that calculates a control amount for suppressing image blurring formed on the imaging unit based on a detection result by the unit, and a photographing optical system or a part of the photographing optical system or the imaging unit according to the control amount. A first driving unit that moves forward and backward in a direction orthogonal to the optical axis of the imaging optical system, a second driving unit that moves a part of the imaging optical system or the imaging optical system back and forth in the direction of the optical axis, and a second driving unit And a control unit that controls the calculation unit so that the calculation parameter in the control amount calculation differs between when driven and when not driven.
According to an eighth aspect of the present invention, a lens barrel includes an imaging optical system that forms an image on an imaging unit, a shake detection unit that detects shake of the barrel, and a detection optical system based on a detection result of the shake detection unit. A calculation unit for calculating a control amount for suppressing image blurring formed on the imaging unit, and a photographing optical system or a part of the photographing optical system according to the control amount orthogonal to the optical axis of the photographing optical system The first drive unit that moves forward and backward in the direction, the second drive unit that moves the shooting optical system or a part of the shooting optical system back and forth in the direction of the optical axis, and when driven by the second drive unit and when not driven And a control unit that controls the calculation unit so as to vary calculation parameters in the quantity calculation.

  According to the present invention, it is possible to appropriately perform the image stabilization control while suppressing the influence of driving other than the image stabilization control for the photographing optical system.

It is a block diagram which illustrates the composition of the camera carrying the image blur correction device by a first embodiment. It is a figure explaining the basic composition of a shake amendment lens control part. It is a block diagram explaining the structure of a PID phase compensation part. It is a flowchart explaining the flow of the process which a controller part performs at the time of AF process. It is a figure which illustrates each parameter in a PID phase compensation part. It is a figure which illustrates the basic composition of the shake correction lens control part by a second embodiment. It is a figure which illustrates each parameter in a PID phase compensation part.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a block diagram illustrating the configuration of a camera equipped with an image blur correction device according to the first embodiment of the present invention. In FIG. 1, the photographing optical system includes a focus lens 1 and a shake correction lens 2. The focus lens 1 is driven back and forth in the optical axis Z direction by the focus lens drive unit 22 to adjust the focus of the photographing optical system. The focus lens driving unit 22 includes a motor (not shown) and its driving circuit. The drive direction and drive amount of the focus lens 1 for focus adjustment are calculated by the focus lens control unit 21 that receives an instruction from the controller unit 12, thereby controlling the position of the focus lens 1.

  The shake correction lens 2 is driven to move forward and backward in the X and Y directions orthogonal to the optical axis Z by the shake correction lens driving units 24 a and 24 b, and moves the image position formed on the imaging surface of the image sensor 3. The shake correction lens driving unit 24a includes a motor and its drive circuit, and drives the shake correction lens 2 in the X direction in order to correct the shake in the Yaw direction. In the present description, suppressing image blur caused by camera shake by changing the position of the optical system is referred to as blur correction. The shake correction lens driving unit 24b includes a motor and its drive circuit, and drives the shake correction lens 2 in the Y direction in order to correct the shake in the pitch direction.

  The drive direction and drive amount of the shake correction lens 2 for shake correction are calculated by the shake correction lens control units 23a and 24b that have received a shake correction execution instruction from the controller unit 12, and thereby the position of the shake correction lens 2 is determined. Control each one. The blur correction lens control unit 23a sends a control signal for blur correction in the Yaw direction to the blur correction lens drive unit 24a, and the blur correction lens control unit 23b blurs the control signal for blur correction in the Pitch direction. It is sent to the lens driving unit 24b.

  The image pickup device 3 is constituted by a CCD image pickup device, a MOS type image pickup device, or the like, and outputs an electric signal (image pickup signal) corresponding to the light intensity of the subject image formed on the image pickup surface. Analog signal processing unit 4 includes, for example, a CDS circuit, an AGC circuit, a color separation circuit, and the like. The analog signal processing unit 4 performs various analog signal processings on the imaging signal, and sends the imaging signal after the analog processing to the A / D converter 5. The A / D converter 5 converts an analog signal into a digital signal. The A / D converted image signals are input to the digital signal processing unit 6 and the controller unit 12, respectively.

  The digital signal processing unit 6 includes signal processing circuits such as a gain control circuit, a luminance signal generation circuit, and a color difference signal generation circuit. The digital signal processing unit 6 performs various image processing such as edge enhancement, gamma correction, and white balance adjustment on the input image pickup signal. The imaging signal input to the digital signal processing unit 6 is temporarily stored in the buffer memory 11 and is appropriately read from the buffer memory 11 for each process described above. The signal after image processing is stored in the buffer memory 11 again. Note that the buffer memory 11 is configured as a frame memory capable of storing data for a plurality of frames captured by the image sensor 3.

  The Enc / Dec processing unit 9 performs data encoding processing when recording image data on the external storage medium 10 and data decoding processing when reading encoded image data from the external storage medium 10. For example, when recording image data on the external storage medium 10, a series of image processing by the digital signal processing circuit 6 is performed and image data stored in the buffer memory 11 is recorded in the case of still image recording. In the case of JPEG format or moving image recording, data encoding processing is performed in a format such as MPEG2 or H264 / AVC. The Enc / Dec processing unit 9 also includes an interface for performing data communication with the external storage medium 10.

  The LCD monitor 8 functions as an EVF (Electronic View Finder) at the time of shooting. That is, the image signal picked up by the image pickup device 3 at predetermined time intervals (for example, 30 frames / second) is subjected to signal processing by the digital signal processing circuit 6 via the analog signal processing circuit 4 and the A / D converter 5. Thereafter, it is stored in the buffer memory 11 and also sequentially stored in the VRAM 7. As a result, a monitor image based on the image data stored in the VRAM 7 is sequentially displayed on the LCD monitor 8. This monitor image is called a through image or a live view image.

  The LCD monitor 8 displays a reproduced image during reproduction. That is, in the reproduction mode for reproducing and displaying the image data stored in the external storage medium 10, the image data read from the external storage medium 10 is sequentially stored in the VRAM 7. As a result, a reproduction display image based on the image data stored in the VRAM 7 is displayed on the LCD monitor 8.

  The operation unit 14 includes a setting operation member for performing various settings in addition to a release button, a moving image recording start button, and a moving image recording stop button. The operation unit 14 sends operation signals corresponding to various operations to the controller unit 12. The controller unit 12 controls the entire camera. The controller unit 12 includes a focusing calculation unit 13, a nonvolatile memory 15, an AE calculation unit (not shown), an AWB calculation unit (not shown), and the like. The focus calculation unit 13 calculates a focus evaluation value during autofocus (AF) adjustment. The nonvolatile memory 15 stores a program executed by the controller unit 12. The AE calculation unit performs automatic exposure calculation for photographing the subject with appropriate exposure based on the digital imaging signal after conversion by the A / D converter 5. The AWB calculation unit sets the white balance adjustment gain based on the R, G, B color signal components constituting the digital imaging signal.

(Auto focus adjustment (AF) processing)
The outline of the AF processing is as follows. The focus calculation unit 13 extracts a predetermined high-frequency component from the spatial frequency of image data in a preset AF area (not shown), and integrates the absolute value of the extracted high-frequency component. This integrated value is called a focus evaluation value, and represents the contrast of an image in an AF area or a specific subject area set as an AF area. The controller unit 12 instructs the focus lens control unit 21 about the drive direction and drive amount of the focus lens 1 so that the focus evaluation value calculated by the focus calculation unit 13 approaches the peak.

(Blur correction processing)
Details of the blur correction lens control units 23a and 23b will be described with reference to FIG. Based on the camera shake amount, the camera shake correction lens control units 23a and 23b calculate a target position for driving the camera shake correction lens 2 in order to correct image blur caused by the camera shake amount. The shake correction lens control units 23a and 23b further feed back the actual position of the shake correction lens 2 to generate drive pulses, and output the generated drive pulses to the shake correction lens drive units 24a and 24b, respectively. . With such a configuration, the shake correction lens 2 is accurately driven to the target position. The shake correction lens controllers 23a and 23b have the same basic configuration except that the control direction is the Yaw direction or the Pitch direction.

  FIG. 2 is a diagram illustrating a basic configuration of the shake correction lens control unit 23a (23b). In FIG. 2, the shake detection unit 31 includes an angular velocity sensor such as a gyro sensor. The camera shake detection unit 31 in the camera shake correction lens control unit 23a detects camera shake in the Yaw direction, and the camera shake detection unit 31 in the camera shake correction lens control unit 23b detects camera shake in the Pitch direction.

  The preprocessing circuit 32 includes an amplifier circuit (Amp) and a low-pass filter (LPF). The preprocessing circuit 32 amplifies the shake detection signal, and sends a signal having a component having a frequency equal to or lower than a predetermined frequency to the A / D converter 33. The A / D converter 33 converts an analog signal into a digital signal. The A / D converted shake detection signal is sent to a target position calculator 35 through a high pass filter (HPF) 34 at a predetermined frequency or higher. The target position calculation unit 35 calculates the camera shake angle by integrating the camera shake detection signal after the high-pass filter processing, and calculates the target position of the camera shake correction lens 2 for correcting the camera shake angle. The target position calculation unit 35 in the shake correction lens control unit 23a calculates a target position in the X direction, and the target position calculation unit 35 in the shake correction lens control unit 23b calculates a target position in the Y direction. A signal indicating the target position is input to the subtracter 36.

  The shake correction lens position sensor 39 is configured by a light position sensor (PSD) or the like. The shake correction lens position sensor 39 in the shake correction lens control unit 23a detects the position of the shake correction lens 2 in the X direction, and the shake correction lens position sensor 39 in the shake correction lens control unit 23b is in the Y direction of the shake correction lens 2. The position of is detected. The preprocessing circuit 40 includes an amplifier circuit (Amp) and a low-pass filter (LPF). The preprocessing circuit 40 amplifies the position detection signal, and sends out a signal having a frequency equal to or lower than a predetermined frequency among the amplified signals to the A / D converter 41. The A / D converter 41 converts an analog signal into a digital signal. The A / D converted position detection signal is input to the subtractor 36.

  The subtracter 36 subtracts the position detection signal from the input signal indicating the target position. The output of the subtractor 36 becomes a position deviation and is input to the PID phase compensation unit 37 together with the wobbling operation signal. Here, the wobbling operation refers to detecting the change in the focus evaluation value (increasing and approaching the peak or decreasing and moving away from the peak) by moving the focus lens 1 in the optical axis Z direction for a minute interval. Say. The wobbling operation signal is a signal indicating that the controller unit 12 instructs the focus lens control unit 21 to drive the focus lens 1 for the wobbling operation. For example, the controller unit 12 outputs an H level wobbling operation signal during the wobbling drive, and outputs an L level wobbling operation signal while the wobbling is not driven.

  The PID phase compensator 37 performs a known PID calculation on the position deviation obtained based on the signal indicating the target position and the position detection signal, so that each of the blur correction lens driving units 24a and 24b has the same. The operation amount for driving the motor is determined. Details of the PID control performed by the PID phase compensation unit 37 using the wobbling operation signal will be described later. The drive pulse generation unit 38 generates a pulse signal to be supplied to the motor drive circuits in the shake correction lens drive units 24 a and 24 b based on the operation amount determined by the PID phase compensation unit 37.

  FIG. 3 is a block diagram illustrating the configuration of the PID phase compensation unit 37. The PID phase compensation unit 37 adds the outputs of the feedforward computing unit 372, the proportional computing unit 373, the integral computing unit 374, and the differential computing unit 375 by the adder 378 and the adder 379, and drives the added value to the lens. Is sent to the drive pulse generation unit 38 as an operation amount for.

The PID phase compensation unit 37 multiplies the subtraction result by the subtractor 36 described above by the proportionality calculation unit 373 by the proportionality coefficient Kp. This is a proportional term (P) in PID control. The proportional term (P) is suitable for obtaining an output proportional to the deviation between the current position and the target position. The PID phase compensator 37 further adds the result of cumulative addition of the deviation, that is, the result of subtraction by the subtractor 36 and the cumulative addition value 376 of the deviation before one sampling by the adder 380, and integrates the addition result. The operation unit 374 multiplies the integration coefficient Ki. This is the integral term (I) in PID control. Note that Z represents Z conversion, and Z ⁻¹ represents information before one sampling. The integral term (I) is suitable for the case where it is desired to bring a steady deviation that cannot be obtained by proportional calculation close to zero.

  Further, the PID phase compensation unit 37 subtracts the subtraction result 377 of one sampling before from the subtraction result by the subtracter 36, and multiplies the subtraction result by the differential operation unit 375 by the differential coefficient Kd. This is the differential term (D). The differential term (D) is suitable for obtaining an output corresponding to the change in the deviation.

  On the other hand, the feedforward calculation unit 372 multiplies the signal indicating the target position by a feedforward coefficient Kff. This is the feedforward term (FF). The feedforward calculation unit 372 is provided for the purpose of assisting feedback control by PID. Specifically, for example, by setting the value of the coefficient Kff to a positive value, the influence of the centripetal force that changes depending on the position of the shake correction lens 2 can be reduced, so that the effect of improving the control characteristics at low frequencies can be achieved. is there. Moreover, when it is set to a negative value, there is an effect of improving control characteristics in a high frequency region.

  A value obtained by adding all the results of P, I, D, and FF described above is the output of the PID phase compensation unit 37. The shake correction parameter switching unit 371 determines whether or not the drive motor (not shown) of the focus lens driving unit 22 is driving the focus lens 1 for the wobbling operation, that is, the above-described wobbling operation signal is H level or L level. Depending on whether or not, the parameters (gain in this example) of the feedforward computing unit 372, the proportional computing unit 373, the integral computing unit 374, and the differential computing unit 375 are switched.

  The reason for switching the parameters is as follows. Usually, the blur correction targets image blur caused by camera shake with a vibration frequency of 1 Hz to 3 Hz. On the other hand, the frequency of vibration due to repeated driving and stopping for the focus lens 1 as in the wobbling operation during focus adjustment is about 10 Hz. For this reason, an appropriate blur correction control is performed in each case by switching the parameter group between the case where image blur suppression is performed for 1 Hz to 3 Hz and the case where vibration suppression is performed for 1 Hz to 10 Hz. To do.

  FIG. 4 is a flowchart for explaining the flow of processing executed by the controller unit 12 during AF processing. The controller unit 12 activates the process shown in FIG. 4 when there is a request to start the AF process. For example, when an AF switch (not shown) that configures the operation unit 14 is turned on during still image shooting, a release switch (not illustrated) that configures the operation unit 14 when shooting still images is requested. Is pressed halfway, or a moving image recording switch (not shown) constituting the operation unit 14 is turned on. In this description, it is assumed that the focus adjustment is repeatedly performed (referred to as continuous AF) in the case of still image shooting.

  In step S1 of FIG. 4, the controller unit 12 instructs the blur correction lens control units 23a and 23b to change the blur correction control parameter to a parameter for the wobbling operation, and the process proceeds to step S2. Specifically, the output wobbling operation signal is changed from L level to H level. As a result, the shake correction parameter switching unit 371 sends a signal for instructing parameter switching to each arithmetic unit in the PID phase compensation unit 37 based on the wobbling operation signal.

  FIG. 5 is a diagram illustrating parameters of the feedforward calculation unit 372, the proportional calculation unit 373, the integral calculation unit 374, and the differentiation calculation unit 375 in the PID phase compensation unit 37. According to FIG. 5, the value of the proportionality coefficient Kp is Kp2 for wobbling “in operation” and Kp1 for wobbling “not in operation”. For example, Kp2> Kp1 is established between Kp1 and Kp2.

  The value of the differential coefficient Kd is set to Kd2 for wobbling “in operation” and to Kd1 for wobbling “not in operation”. For example, Kd2> Kd1 is established between Kd1 and Kd2. Regardless of whether the wobbling is “operating” or the wobbling “not operating”, the value of the feedforward coefficient Kff is fixed to Kff1 and the value of the integration coefficient Ki is fixed to Ki1.

  In this embodiment, when the frequency to be controlled is high, it is effective to increase the proportional term (P) and the differential term (D). Therefore, for each of the proportionality coefficient Kp and the differential coefficient Kd, the value of the wobbling “in operation” is changed to a value that is not larger than the value of the wobbling “in operation”. Instead, only one of the proportional coefficient Kp and the differential coefficient Kd may be changed. Further, according to the frequency to be controlled, other parameters, that is, not only the proportional coefficient Kp and the differential coefficient Kd, but at least one of all the coefficients including the feedforward coefficient Kff and the integral coefficient Ki are made different. It may be.

  When receiving the parameter change instruction, the shake correction lens control units 23a and 23b perform shake correction control using the changed shake correction control parameter. In step S2 of FIG. 4, the controller unit 12 instructs the focus lens control unit 21 to start a wobbling operation, and the process proceeds to step S3. At this time, the controller unit 12 also instructs the period and amplitude of the wobbling operation at the same time. Upon receiving the wobbling start instruction, the focus lens control unit 21 outputs a driving pulse to the focus lens driving unit 22 so as to execute the wobbling operation with the instructed amplitude and period.

  In step S <b> 3, the controller unit 12 acquires a focus determination result from the focus calculation unit 13. The controller unit 12 acquires the respective focus evaluation values from the focus calculation unit 13 when the focus lens 1 is moved to the close side and when the focus lens 1 is moved to the infinite side, and the focus direction ( The direction in which the focus evaluation value increases with the movement of the focus lens 1 (so-called hill climbing direction) is determined, and the process proceeds to step S4.

  In step S4, the controller unit 12 determines whether or not the focus lens 1 is positioned in the vicinity of the in-focus state. For example, if the controller unit 12 detects that the focus evaluation value that is increasing as the focus lens 1 moves exceeds the peak, the controller unit 12 makes an affirmative determination in step S4 and proceeds to step S7. When the controller unit 12 does not detect that the increasing focus evaluation value exceeds the peak, the controller unit 12 makes a negative determination in step S4 and proceeds to step S5.

  In step S5, the controller unit 12 sends an instruction to the focus lens control unit 21, continues the wobbling operation for driving the focus lens 1 in the focusing direction (mountain climbing direction), and proceeds to step S6. The focus lens 1 moves in the in-focus direction by the wobbling operation.

  In step S6, the controller unit 12 determines whether or not there is an AF process termination request. When there is an end request, the controller unit 12 makes an affirmative determination in step S6 and ends the process of FIG. If there is no termination request, the controller unit 12 makes a negative determination in step S6 and returns to step S3. The AF processing end request includes, for example, a case where the half-press operation of the release switch is canceled, a case where the release switch is fully pressed, or a case where a moving image shooting end instruction is issued.

  In step S7 that proceeds after making an affirmative determination in step S5 described above, the controller unit 12 sends an instruction to the focus lens control unit 21 when the focus calculation unit 13 detects that the focus lens is near the focus, and the focus lens 1 is moved. The focus position (for example, the position corresponding to the peak of the focus evaluation value) is moved.

  In step S8, the controller unit 12 temporarily stores information indicating the focus evaluation value at the in-focus position in a memory (not shown). The focus evaluation value information stored here is used when determining whether or not the focused state is maintained in step S12. In step S9 after the focus evaluation value information is stored in the memory, the controller unit 12 instructs the focus lens control unit 21 to stop the wobbling operation and proceeds to step S10.

  In step S10, the controller unit 12 instructs the shake correction control parameter to be changed to a parameter when the wobbling is not operated, and the process proceeds to step S11. Specifically, the output wobbling operation signal is changed from H level to L level.

  The shake correction parameter switching unit 371 that has detected the change from the H level to the L level of the wobbling operation signal returns the value of the proportional coefficient Kp to Kp1 and returns the value of the differential coefficient Kd to Kd1. As described above, in the present embodiment, the value of the feedforward coefficient Kff is maintained at Kff1, and the value of the integration coefficient Ki is maintained at Ki1.

  When receiving the above instruction, the camera shake correction lens control units 23a and 23b perform camera shake correction control using the camera shake correction control parameters after the change. In step S <b> 11, the controller unit 12 acquires a focus determination result from the focus calculation unit 13. The controller unit 12 is configured to periodically acquire the focus evaluation value from the focus calculation unit 13 even after the wobbling operation is stopped.

  In step S12, the controller unit 12 determines whether or not the in-focus state is maintained. The controller unit 12 sequentially compares the focus evaluation value acquired periodically with the focus evaluation value information stored in the memory in step S8. If the change is less than the predetermined value, an affirmative determination is made in step S12 and step S13. Proceed to If the change is greater than or equal to the predetermined value, the controller unit 12 makes a negative determination in step S12 and returns to step S1. When returning to step S1, the controller unit 12 is out of focus, so the above-described focus adjustment process is performed again.

  In the case of proceeding to step S13, since the focused state is maintained, the controller unit 12 determines whether or not there is an AF processing end request. When there is an end request, the controller unit 12 makes an affirmative determination in step S13 and ends the process of FIG. If there is no termination request, the controller unit 12 makes a negative determination in step S13 and returns to step S11. As described above, the AF processing end request is issued when a half-press operation of a release switch (not shown) constituting the operation unit 14 is released, when the release switch is fully pressed, or when a moving image shooting end instruction is issued. The case where it was broken is included.

According to the first embodiment described above, the following operational effects can be obtained.
(1) The camera detects a shake by a shake detection unit 31 that detects camera shake, an imaging element 3 that captures an image of a subject formed through a photographing optical system, and outputs image data. Based on the result, the blur correction lens control units 23a and 23b for calculating the control amount for suppressing the image blur imaged on the image sensor 3, and the photographing optical system or the image sensor 3 according to the control amount are photographed optically. The blur correction lens driving units 24a and 24b that move back and forth in the XY directions orthogonal to the optical axis Z of the system, the focus lens driving unit 22 that moves the photographing optical system back and forth in the direction of the optical axis Z, and the focus lens driving unit 22 The controller unit 12 that controls the shake correction lens control units 23a and 23b is provided so that the calculation parameters in the control amount calculation are different between when driven and when not driven. Accordingly, it is possible to appropriately control the image stabilization while suppressing the influence of the drive by the focus lens driving unit 22 other than the shake correction lens driving units 24a and 24b that perform the image stabilization control.

(2) In the camera of the above (1), the focus lens drive unit 22 drives at the time of focus adjustment based on the focus evaluation value obtained from the image data. Therefore, when the focus lens 1 is repeatedly driven and stopped in the so-called mountain climbing method, the influence of the drive by the focus lens drive unit 22 can be suppressed and the image stabilization control can be appropriately performed.

(3) In the cameras of the above (1) and (2), the calculation parameters include a phase compensation calculation parameter, which is suitable when performing phase compensation control as anti-vibration control.

(4) In the camera of (1), the phase compensation calculation parameter includes a proportional term, an integral term, and a derivative term, and the controller unit 12 controls the shake correction lens so that at least one of the phase compensation calculation parameters is different. Since the units 23a and 23b are controlled, the image stabilization control can be appropriately performed while suppressing the influence of the driving by the focus lens driving unit 22 other than the blur correction lens driving units 24a and 24b.

(Modification 1)
In the above description, two parameters (proportional coefficient Kp and differential coefficient Kd) out of the four blur correction control parameters Kp, Ki, Kd, and Kff are made different between wobbling “in operation” and “not in operation”, and feed The values of the forward coefficient Kff and the integral coefficient Ki were set to the same values for wobbling “in operation” and “not in operation”, respectively. The shake correction control parameters that are different between wobbling “in operation” and “not in operation” are not necessarily two. For example, any one, any two, any three, or all four may be made different depending on whether the wobbling is “in operation” or “not in operation”.

(Second embodiment)
In addition to determining whether wobbling is “in operation” or wobbling “not in operation”, it also determines the shooting mode (still image recording or video recording) and the camera support status (fixed to a tripod or handheld). You may comprise so that the shake correction control parameter may be switched according to a result. FIG. 6 is a diagram illustrating a basic configuration of the shake correction lens control unit 23a (23b) according to the second embodiment. In FIG. 6, the same components as those in FIG. 2 in the first embodiment are denoted by common reference numerals, and the description thereof is omitted.

  The support state determination unit 60 detects whether or not the camera is fixed to a tripod. Specifically, based on the shake detection signal output from the preprocessing circuit 32, if the above-described vibration of 1 Hz to 3 Hz is detected, it is determined that the camera is not fixed to the tripod (that is, “held”). If the above-described vibration of 1 Hz to 3 Hz is not detected, it is determined that the camera is fixed to a tripod as “tripod fixed”. The support state determination unit 60 sends a signal indicating the determination result to the shake correction parameter switching unit 371B.

  Further, the controller unit 12 of the second embodiment sends a signal indicating the shooting mode (during still image recording or moving image recording) to the shake correction parameter switching unit 371B. For example, the period from when the moving image recording start button is operated to when the moving image recording stop button is operated is determined as moving image recording (“moving image”), and the rest is determined as still image recording (“still image”). The controller unit 12 outputs a signal indicating whether still image recording or moving image recording is performed as a shooting mode signal.

  The focus lens control unit 21 is driven by the focus lens drive unit 22 in accordance with, for example, the camera support state (the above-mentioned “three-pole fixed” or “hand-held”) and the shooting mode (the above “moving image” or “still image”). Different at least one of frequency and amplitude.

  The shake correction parameter switching unit 371B of the second embodiment includes a high-pass filter (HPF) 34B, a target position calculation unit based on the wobbling operation signal, the shooting mode signal, and the signal indicating the support state determination result. 35B and PID phase compensator 37B are each sent a signal instructing parameter switching. Thereby, the high-pass filter (HPF) 34B switches its cut-off frequency. The target position calculation unit 35B switches parameters used for calculation of the target position. The PID phase compensation unit 37B switches the four blur correction control parameters as illustrated in FIG.

FIG. 7 is a diagram illustrating parameters of the feedforward calculation unit 372, the proportional calculation unit 373, the integration calculation unit 374, and the differentiation calculation unit 375 in the PID phase compensation unit 37B of the second embodiment.
(Feed forward coefficient Kff)
According to FIG. 7, the value of the feedforward coefficient Kff when the camera is “handheld” and wobbling “not operating” is Kff1, and the feedforward coefficient Kff when the camera is “handheld” and wobbling “operating” The value is Kff2. Also, the value of the feed forward coefficient Kff when the camera is “tripod fixed” and the wobbling “not in operation” is Kff3, and the value of the feed forward coefficient Kff when the camera is “tripod fixed” and the wobbling “in operation” is Kff4. For example, Kff1>Kff2> 0 and Kff4 <Kff3 <0. A common value is used for the feedforward coefficient Kff without distinguishing between the case of the “moving image” and the case of the “still image”.

(Proportional coefficient Kp)
When the camera is “handheld” and wobbling “not in operation” and “still image”, the proportional coefficient Kp is Kp1, and the camera is “handheld” and wobbling “in operation” and “still image” In this case, the value of the proportional coefficient Kp is set to Kp2. Further, when the camera is “tripod fixed” and wobbling “not in operation” and “still image”, the value of the proportional coefficient Kp is Kp3, and the camera is “tripod fixed” and wobbling “in operation”. The value of the proportional coefficient Kp in the case of “still image” is set to Kp4.

  Furthermore, the value of the proportional coefficient Kp when the camera is “handheld” and wobbling “not operating” and “moving” is Kp5, and the camera is “handheld” and wobbling “operating” and “moving” In this case, the value of the proportional coefficient Kp is set to Kp6. In addition, when the camera is “tripod fixed” and wobbling “not in operation” and “moving image”, the value of the proportional coefficient Kp is Kp7, and the camera is “tripod fixed” and wobbling “in operation” and “moving image” In this case, the value of the proportionality coefficient Kp is Kp8.

(Differential coefficient Kd)
The value of the differential coefficient Kd when the camera is wobbling “not operating” and “still image” is Kd1, and the value of the differential coefficient Kd when the camera is “operating” and “still image” is Let Kd2. The value of the differential coefficient Kd when the camera is wobbling “not operating” and “moving image” is Kd3, and the value of the differential coefficient Kd when the camera is “operating” and “moving image” is Kd4. To do. As for the differential coefficient Kd, it is not distinguished whether the camera is “hand-held” or “tripod-fixed”.

(Integration coefficient Ki)
The value of the integration coefficient Ki is set to Ki1 regardless of whether the camera is wobbling “operating” or “not operating”, whether the camera is “handheld” or “tripod-fixed”, and “movie” or “still image”. Fix it.

  According to the second embodiment described above, the controller unit 12 of the camera performs “moving image” shooting or “still image” shooting, or when the camera is “tripod-fixed” or when the camera is “held”. , The blur correction lens control units 23a and 23b are controlled so that at least one of the blur correction control parameters is further varied. By subdividing the switching of the shake correction control parameters, the influence of the drive by the focus lens drive unit 22 other than the shake correction lens drive units 24a and 24b is suppressed and appropriately prevented regardless of the holding state of the camera and the shooting mode. Vibration control can be performed.

(Modification 2)
In the above description, the case where the driving cycle and amplitude of the focus lens 1 during the wobbling operation are always performed under the same conditions has been described as an example. Instead of this, the drive period and amplitude of the focus lens 1 during the wobbling operation may be varied depending on, for example, whether the camera is “handheld” or “tripod-fixed”. When changing the driving cycle and amplitude of the focus lens 1 during the wobbling operation according to the holding state of the camera, the shake correction control is performed so that the value of the shake correction control parameter is changed for each range of the amplitude and the cycle. The parameters should be further subdivided.

  According to the second modification, the shake correction control parameter for wobbling “not in operation” is made different, for example, when the camera is “tripod-fixed” and when the camera is “held”. By subdividing the switching of the shake correction control parameters, the image stabilization control is appropriately performed while suppressing the influence of the drive by the focus lens drive unit 22 other than the shake correction lens drive units 24a and 24b regardless of the holding state of the camera. Can do. In addition, you may make it differ by the case where not only the holding | maintenance state of a camera but "moving image" photography or "still image" photography. In this case, the image stabilization control can be appropriately performed while suppressing the influence of driving by the focus lens driving unit 22 other than the blur correction lens driving units 24a and 24b regardless of the shooting mode of the camera.

(Modification 3)
Although an example in which the shake detection unit 31 is configured by an angular velocity sensor such as a gyro sensor has been described, the shake detection unit 31 may be configured to electronically detect shake based on an image acquired by the image sensor 3. For example, it is possible to detect a motion vector between frame images taken at predetermined time intervals (30 frames / second) and detect the presence or absence of blur based on the motion vector.

(Modification 4)
In the above description, the focal length of the photographing optical system is not particularly mentioned, but the photographing optical system is not limited to a single focus lens, and may be configured by a zoom lens.

(Modification 5)
In the above description, an example in which the controller unit 12 is configured by one CPU has been described. The present invention can be applied to a case where the controller unit 12 is configured by a plurality of CPUs in addition to the case where the controller unit 12 for controlling the entire camera is configured by one CPU. That is, the controller unit 12 may be divided into a camera body side CPU and a lens barrel side CPU like a single-lens reflex camera body and an interchangeable lens.

(Modification 6)
In the above-described embodiment, the method of moving the blur correction lens 2 forward and backward in the direction orthogonal to the optical axis Z for blur correction has been described. However, the method of moving the image sensor 3 forward and backward in the direction orthogonal to the optical axis Z is also described. The present invention may be applied.

  The above description is merely an example, and is not limited to the configuration of the above embodiment. Moreover, you may combine embodiment mentioned above and each modification suitably.

DESCRIPTION OF SYMBOLS 1 ... Focus lens 2 ... Shake correction lens 3 ... Image pick-up element 12 ... Controller part 13 ... Focus calculation part 21 ... Focus lens control part 22 ... Focus lens drive part 23a, 23b ... Shake correction lens control part 24a, 24b ... Shake correction Lens drive unit 31 ... blur detection unit 37, 37B ... PID phase compensation unit 372 ... feedforward calculation unit 373 ... proportional calculation unit 374 ... integral calculation unit 375 ... differential calculation unit Z ... optical axis

Claims (8)

A shake detection unit for detecting the shake of the device;
An imaging unit that captures an image of a subject formed through the imaging optical system and outputs an image signal;
An arithmetic unit that calculates a control amount for suppressing image blurring formed on the imaging unit based on a detection result by the shake detection unit;
A first driving unit that moves the imaging optical system or a part of the imaging optical system or the imaging unit in a direction perpendicular to the optical axis of the imaging optical system according to the control amount;
A second drive unit that moves the photographing optical system or a part of the photographing optical system back and forth in the direction of the optical axis;
A control unit that controls the calculation unit so that calculation parameters in the control amount calculation differ between when driven by the second drive unit and when not driven;
An imaging apparatus comprising: The imaging device according to claim 1,
The imaging apparatus, wherein the second driving unit performs the driving at the time of focus adjustment based on a focus evaluation value obtained from the image signal. The imaging device according to claim 1 or 2,
The imaging apparatus, wherein the calculation parameter includes a phase compensation calculation parameter. The imaging device according to claim 3.
The phase compensation calculation parameter includes a proportional term, an integral term, and a derivative term,
The said control part controls the said calculating part so that at least 1 of the said phase compensation calculation parameter may differ, The imaging device characterized by the above-mentioned. The imaging apparatus according to claim 4,
The control unit controls the calculation unit to further vary at least one of the phase compensation calculation parameters when shooting a movie or still image, or when the device is fixed on a tripod or when the device is held by a hand. An imaging apparatus characterized by: The imaging apparatus according to claim 4,
The control unit controls the calculation unit to further change at least one of the phase compensation calculation parameters according to at least one of a driving frequency and an amplitude by the second driving unit. . The imaging apparatus according to claim 5,
The imaging apparatus according to claim 1, wherein the calculation parameter when not driven is different between when the apparatus is fixed to a tripod and when the apparatus is held by a hand. An imaging optical system that forms an image on the imaging unit;
A shake detection unit for detecting the shake of the lens barrel;
A calculation unit that calculates a control amount for suppressing image blurring formed on the imaging unit via the photographing optical system based on a detection result by the shake detection unit;
A first drive unit that moves the imaging optical system or a part of the imaging optical system forward and backward in a direction orthogonal to the optical axis of the imaging optical system according to the control amount;
A second drive unit that moves the photographing optical system or a part of the photographing optical system back and forth in the direction of the optical axis;
A control unit that controls the calculation unit so that calculation parameters in the control amount calculation differ between when driven by the second drive unit and when not driven;
A lens barrel comprising:

Images