JP2013238647A - Shake correction device and optical instrument - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shake correction device able to correct a shake appropriately.SOLUTION: A shake correction device comprises: an acceleration detecting section configured to detect the acceleration of the device; an angular speed detecting section configured to detect the angular speed of the device; a first filter section configured to remove a specific low frequency component from output from the angular speed detecting section; a gravity acceleration calculating section configured to calculate a gravity acceleration component included in output from the acceleration detecting section, using output from the acceleration detecting section and output from the first filter section; a gravity acceleration removal section configured to remove the gravity acceleration component, calculated by the gravity acceleration calculating section, from the output from the acceleration detecting section; a translational shake calculating section configured to calculate an amount of translational shake of the camera from the output from the acceleration detecting section, from which the gravity acceleration component is removed by the gravity acceleration removal section; a second filter section configured to remove a specific low frequency component from the output from the angular velocity detecting section; and an angular shake calculating section configured to calculate an amount of angular shake of the device from the output from the second filter section.

Description

  The present invention relates to a shake correction apparatus and an optical apparatus.

  2. Description of the Related Art Conventionally, an apparatus that corrects image blur that occurs during shooting is known. For example, Patent Document 1 describes an image blur correction camera that corrects image blur without being affected by the gravitational acceleration component by removing the gravitational acceleration component included in the output of the acceleration sensor.

JP 7-225405 A

  In the image blur correction camera described in Patent Document 1, in order to improve calculation accuracy, it is desirable to remove information in the low frequency range from the angular velocity signal by using a filter with a high time constant, but such a filter has a slow convergence. For this reason, there is a problem that the result of the translation blur calculation also has a slow convergence.

The present invention solves the above problems by the following means. For ease of understanding, reference numerals corresponding to the drawings showing an embodiment of the present invention are given and described, but the present invention is not limited to this.
The invention described in claim 1 includes an acceleration detector (35x, 35y) that detects the acceleration of the device, an angular velocity detector (36p, 36y) that detects an angular velocity of the device, and the angular velocity detector (36p, 36r, 36y), a first filter unit (42p, 42r, 42y) for removing a predetermined low-frequency component, an output of the acceleration detection unit (35x, 35y, 35z), and the first filter unit (42p, 42r, 42y) using the output of the acceleration detection unit (35x, 35y) and the gravitational acceleration calculation unit (37, 38) for calculating the gravitational acceleration component included in the output of the acceleration detection unit (35x, 35y). Gravity acceleration removing unit (41x, 41y) for removing the gravitational acceleration component calculated by the gravity acceleration calculating unit (37, 38) from the output, and the gravitational acceleration removing unit (41x 41y) from the output of the acceleration detection unit (35x, 35y) from which the gravitational acceleration component has been removed, the translational shake calculation unit (33) for calculating the translational shake amount of the camera, and the angular velocity detection unit (36p, 36y) ) From the output of the second filter unit (47p, 47y) that removes a predetermined low-frequency component from the output of), and an angle blur calculation unit that calculates the amount of angular blur of the device from the output of the second filter unit (47p, 47y) (48p, 48y).

  ADVANTAGE OF THE INVENTION According to this invention, the blurring correction apparatus which can correct | amend suitable blurring can be provided.

It is sectional drawing which shows the lens-interchangeable camera system to which this invention is applied. 2 is a block diagram illustrating a configuration of a shake detection device 12. FIG. It is a figure which shows an example of the detection direction of the acceleration by acceleration sensor 35x, 35y, 35z, and the detection direction of the angular velocity by angular velocity sensor 36r, 36p, 36y. It is a figure which shows an inertial coordinate system and a camera coordinate system. It is a figure which shows the high-pass filter 42p provided in the back | latter stage of the angular velocity sensor 36p. It is a block diagram which shows the structure of the blur detection apparatus 12 which concerns on 2nd Embodiment.

  Hereinafter, a camera system to which a shake correction apparatus of the present invention is applied will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a cross-sectional view showing an interchangeable lens type camera system to which the present invention is applied. The camera 1 is a so-called single-lens reflex digital camera that includes a camera body 100 and an interchangeable lens 200 that can be attached to and detached from the camera body 100.

  The interchangeable lens 200 has a photographing optical system including a plurality of lenses such as the zoom lens 4, the focus lens 5, and the shake correction lens 6. In FIG. 1, the zoom lens 4, the focus lens 5, and the shake correction lens 6 are illustrated as if each constituted by a single lens, but actually each may be constituted by a plurality of lenses. Good.

  A diaphragm 10 having an opening is provided between the focus lens 5 and the shake correction lens 6. The light flux from the subject passes through the zoom lens 4, the focus lens 5, the opening of the diaphragm 10, and the blur correction lens 6 in order, and travels toward the image sensor 3 in the camera body 100. In FIG. 1, the diaphragm 10 is provided between the focus lens 5 and the shake correction lens 6, but as is well known, the diaphragm 205 may be in front of or behind the photographing optical system, or the focus lens 5. And a lens other than the blur correction lens 6.

  The focus lens 5 is a lens for adjusting the focus position of the photographing optical system, and is driven by the focus lens driving device 8 in the interchangeable lens 200. The zoom lens 4 is a lens for adjusting the focal length of the photographing optical system, and is driven by the zoom lens driving device 7 in the interchangeable lens 200. The blur correction lens 6 is a lens that can be driven in a direction perpendicular to the optical axis of the photographing optical system, and is driven by the blur correction lens driving device 9 in the interchangeable lens 200 to correct image blur of the subject image. In the interchangeable lens 200, there is further provided an aperture driving device 11 that drives the aperture 10 and changes the aperture diameter.

  The zoom lens driving device 7, the focus lens driving device 8, the blur correction lens driving device 9, and the diaphragm driving device 11 each include an actuator (not shown) (for example, a stepping motor, a voice coil motor, an ultrasonic motor, etc.) The driving force by the actuator is configured to be transmitted to a member to be driven (zoom lens 4, focus lens 5, blur correction lens 6, aperture 10) via a driving mechanism (not shown) such as a gear or a cam. Yes.

  In the interchangeable lens 200, in addition to the members described above, a shake detection device 12 is provided. The blur detection device 12 detects a blur amount generated in the camera 1 and outputs it to the camera body 100. Details of the shake detection device 12 will be described later.

  The camera body 100 includes an image sensor 3 such as a CCD or a CMOS that captures a subject image formed by a photographing optical system. The image pickup device 3 is disposed so that the image pickup surface coincides with the planned focal plane of the photographing optical system. A quick return mirror 19 is installed between the imaging optical system and the imaging surface of the imaging element 102 in the camera body 100.

  At the time of non-photographing, the quick return mirror 19 exists on the optical path of the photographing optical system and reflects the subject light above the camera body 100. At this time, the subject light incident on the camera body 100 passes through a focusing screen (not shown) or a pentaprism (pentagonal roof prism) and then travels to a finder (not shown). The photographer can visually recognize a subject image made up of subject light reflected by the quick return mirror 19 through the viewfinder.

  A sub mirror (not shown) is installed on the back surface of the quick return mirror 19. A part of the surface (reflecting surface) of the quick return mirror 19 is half-mirror processed, and subject light incident thereon passes through the quick return mirror 19 and enters the sub mirror. The sub mirror reflects this light beam below the camera body 100. Below the camera body 100, a focus detection device 16 that performs focus detection by a so-called pupil division phase difference detection method is provided. The focus detection device 16 performs focus detection by a well-known method using the reflected light from the sub-mirror 18 to detect the defocus amount.

  The camera body 100 further includes a CPU 2 composed of a microprocessor and its peripheral circuits. The CPU 2 controls each part of the camera 1 by reading and executing a predetermined control program stored in advance in the EEPROM 14 which is a nonvolatile storage medium.

  When the photographer half-presses the release switch 17 provided on the camera body 100, the CPU 2 causes the focus detection device 16 to perform focus detection, and the focus lens 5 is driven by a drive amount corresponding to the detected defocus amount. The focus lens is adjusted by controlling the focus lens driving device 8 in such a manner. When the photographer fully presses the release switch 17, the CPU 2 retracts the quick return mirror 19 from the optical path and drives the shutter 20 provided on the front surface of the image sensor 3 to cause the image sensor 3 to capture a subject image. . An image pickup signal from the image pickup device 3 is input to the signal processing circuit 15, and the signal processing circuit 15 performs known noise processing, A / D conversion, and the like on this signal, and outputs an image signal to the CPU 2. The CPU 2 creates image data of the subject image from this image signal and records it on the recording medium 13 such as a memory card.

  On the rear surface of the camera body 100, a rear liquid crystal 18 that is a display device using liquid crystal is provided. The CPU 2 displays on the rear liquid crystal 18 a screen for setting photographed image data and photographing parameters (for example, shutter speed, aperture value, etc.).

(Description of blur detection device 12)
FIG. 2 is a block diagram illustrating a configuration of the shake detection device 12. The shake detection device 12 includes an acceleration sensor processing unit 31, an angular velocity sensor processing unit 32, a translational shake calculation unit 33, and an angle shake calculation unit 34. The acceleration sensor processing unit 31 includes acceleration sensors 35x, 35y, and 35z that detect accelerations in three axial directions. The angular velocity sensor processing unit 32 includes angular velocity sensors 36r, 36p, and 36y that detect angular velocities about three axes.

  FIG. 3 is a diagram illustrating an example of an acceleration detection direction by the acceleration sensors 35x, 35y, and 35z and an angular velocity detection direction by the angular velocity sensors 36r, 36p, and 36y. In the present embodiment, the intersection of the imaging surface of the imaging device 3 and the optical axis L of the interchangeable lens 200 is the origin of orthogonal coordinates, the optical axis L of the interchangeable lens 200 is the Z axis, and the imaging surface of the imaging device 3 is the XY plane. Represents. The acceleration sensor 35x is configured to detect the X-axis acceleration, the acceleration sensor 35y is configured to detect the Y-axis acceleration, and the acceleration sensor 35z is configured to detect the Z-axis angular velocity. The angular velocity sensor 36r is an angular velocity of rotation (roll) around the Z axis, the angular velocity sensor 36p is an angular velocity of rotation (pitch) around the X axis, and the angular velocity sensor 36y is rotated around the Y axis ( (Yaw) angular velocity is detected.

  Image blur generated in the camera 1 can be classified into translation blur and angle blur. Translational blur is image blur caused by translational motion of the imaging surface, and the translational blur amount can be specified from the output values of the acceleration sensors 35x, 35y, and 35z. Further, the angle blur is an image blur caused by the rotational movement of the imaging surface, and the rotational blur amount can be specified from the output values of the angular velocity sensors 36r, 36p, and 36y.

  However, the output values of the acceleration sensors 35x, 35y, and 35z include acceleration generated by translational motion and gravitational acceleration. Further, when the camera posture changes due to the rotational movement of the camera, the angle formed by the detection axis direction of the acceleration sensors 35x, 35y, and 35z fixed to the camera coordinate system and the gravitational acceleration direction changes. For this reason, the magnitude of the gravitational acceleration included in the output values of the acceleration sensors 35x, 35y, 35 changes according to the change in the posture of the camera. Therefore, in order to specify the translation blur amount, it is necessary to remove the gravitational acceleration component from the output values of the acceleration sensors 35x, 35y, and 35z and calculate the displacement using only the acceleration component generated by the translational motion. In order to calculate the gravitational acceleration component, the shake detection device 12 includes an attitude calculation unit 37 and a gravitational acceleration component calculation unit 38.

  FIG. 4 is a diagram showing an inertial coordinate system and a camera coordinate system. The posture calculation unit 37 calculates a coordinate conversion matrix T for conversion from an inertial coordinate system 39 that is a stationary coordinate system to a camera coordinate system 40 that is a motion coordinate system. The coordinate transformation matrix T is calculated using the initial posture of the camera 1 and the angular velocities around the three axes that are the outputs of the angular velocity sensors 36r, 36p, and 36y. This calculation method is a method used in a strap-down type inertial navigation device or the like, and the details thereof are disclosed in, for example, Japanese Patent Laid-Open No. 2-309702.

  The posture calculation unit 37 first obtains the initial posture of the camera using the gravitational acceleration direction obtained from the outputs of the acceleration sensors 35x, 35y, and 35z. Here, since the camera 1 includes rotational vibration and translational vibration, the posture calculation unit 37 continues to measure the gravitational acceleration direction for an appropriate time, and calculates the average of the measurement results to obtain an average gravitational acceleration. Find the direction. In this way, the posture calculation unit 37 obtains the average posture of the camera with respect to the inertial coordinate system 39 based on the gravitational acceleration direction in the camera coordinate system 40, and sets this as the initial posture of the camera 1.

  The following equations (1) and (2) are differential equations for calculating the coordinate transformation matrix T. The attitude calculation unit 37 obtains ΩC by substituting the angular velocities ωX, ωY, and ωZ about the X, Y, and Z axes that are the outputs of the angular velocity sensors 36p, 36y, and 36r into the following equation (2) to obtain ΩC. The coordinate transformation matrix T is calculated by solving the differential equation of the following equation (1) using as an initial condition.

  The gravitational acceleration component calculation unit 38 multiplies the gravitational acceleration component in the inertial coordinate system 39 by the coordinate transformation matrix T calculated by the posture calculation unit 37 to obtain the gravitational acceleration component in the camera coordinates 40. The acceleration sensor processing unit 31 includes adders 41x and 41y that remove the gravitational acceleration components from the accelerations in the X-axis and Y-axis directions that are output values of the acceleration sensors 35x and 35y. The adders 41x and 41y output the X-axis and Y-axis accelerations generated by the translational motion to the translational blur calculation unit 33.

  The output values of the angular velocity sensors 36r, 36p, and 36y are input to the attitude calculation unit 37 via the high-pass filters 42r, 42p, and 42y, respectively. These high-pass filters 42r, 42p, and 42y have predetermined characteristics necessary for removing the direct current component of the output values of the angular velocity sensors 36r, 36p, and 36y. For example, a cutoff frequency of about 0.1 Hz is set. Has been.

  On the other hand, the output values of the acceleration sensors 35x and 35y are input to the adders 41x and 41y via the high-pass filters 43x and 43y, respectively. The frequency characteristics of these high-pass filters 43x and 43y are equivalent to those of the high-pass filters 42r, 42p and 42y provided in the subsequent stages of the acceleration sensors 36r, 36p and 36y, respectively. That is, the frequency band (signal pass band) of the acceleration sensor processing unit 31 is equivalent to the frequency band (signal pass band) of the angular velocity sensor processing unit 32.

  The translation blur calculation unit 33 performs second-order integration of the acceleration in the X axis direction and the acceleration in the Y axis direction output from the acceleration sensor processing unit 31, respectively, so that the translation blur amount in the X axis direction and the translation blur amount in the Y axis direction are obtained. Is calculated and output to the CPU 2. The accelerations in the X-axis direction and Y-axis direction output from the adders 41x and 41y are respectively input to the integrators 44x and 44y via the high-pass filters 43x and 43y, and then further integrated via the high-pass filters 45x and 45y. 46x and 46y. The outputs of the integrators 46x and 46y are input to the CPU 2. These high-pass filters 43x, 43y, 45x, and 45y are provided to remove fluctuation errors and the like of the acceleration sensors 35x and 35y.

  The angle blur calculation unit 34 integrates the pitch and yaw angular velocities output from the angular velocity sensor processing unit 32 to calculate the pitch and yaw angular blur amounts, and outputs them to the CPU 2. The pitch and yaw angular velocities output from the angular velocity sensors 36p and 36y are input to the integrators 48p and 48y via the high-pass filters 47p and 47y, respectively. Then, the outputs of the integrators 48p and 48y are input to the CPU2. These high-pass filters 47p and 47y are provided for removing a direct current component from the outputs of the angular velocity sensors 36p and 36y, similarly to the high-pass filters 42p and 42y. It is set lower than the high-pass filters 43x, 43y, 45x, 45y. In other words, the frequency band (signal pass band) of the translation blur calculation unit 33 is narrower than the frequency band (signal pass band) of the angle blur calculation unit 34.

  Through the above-described process, the shake detection device 12 outputs the translational shake amount in the X-axis direction and the Y-axis direction, and the pitch and yaw angle shake amounts to the CPU 2. The CPU 2 calculates the drive amount (drive target position) of the shake correction lens 6 for correcting the image shake represented by each of these shake amounts. Specifically, first, the motion of the camera 1 that affects image blur is obtained from the translational displacement in the X-axis and Y-axis directions calculated as described above and the rotation angles around the X-axis and Y-axis. . Further, a two-dimensional image blur amount on the imaging surface is obtained from the distance to the subject (calculated from the position of the focus lens 5) and the photographing magnification (calculated from the position of the zoom lens 4). Next, using these signals, a signal for driving the blur correction lens 6 is calculated so as to cancel the image blur. In accordance with this signal, the CPU 2 causes the blur correction lens driving device 9 to drive the blur correction lens 6.

According to the camera according to the first embodiment described above, the following operational effects can be obtained.
(1) The shake detection device 12 uses the outputs of the acceleration sensors 35x, 35y, and 35z and the outputs of the angular velocity sensors 36r, 36p, and 36y to calculate a gravitational acceleration component and a gravitational acceleration component calculation unit 38. And gravitational acceleration components from the outputs of the high-pass filters 43x and 43y for removing predetermined low-frequency components from the outputs of the acceleration sensors 35x and 35y and the acceleration sensors 35x and 35y from which the low-frequency components have been removed by the high-pass filters 43x and 43y. Adders 41x and 41y to be removed are provided. Since it did in this way, the blurring apparatus which can detect an image blurring amount accurately and can correct | amend a suitable blurring can be provided.

(2) Frequency bands (signal pass bands) of the acceleration sensors 35x and 35y input to the adders 41x and 41y, and frequency bands (signals) of the angular velocity sensors 36p and 36y input to the attitude calculation unit 37 Is substantially the same by the functions of the high-pass filters 43x and 43y and the high-pass filters 42p and 42y. Since it did in this way, the error contained in a gravitational acceleration component becomes substantially zero, and the detection accuracy of translational blur can be improved.

(3) The blur detection device 12 includes a translation blur calculation unit 33 that calculates the translation blur amount of the camera 1 from the outputs of the angular velocity sensors 35x and 35y from which the gravitational acceleration components have been removed by the adders 41x and 41y, and the angular velocity sensor 36p, An angle blur calculation unit 34 that calculates the angle blur amount of the camera 1 from the output of 36y. Here, the frequency band (signal pass band) of the translation blur calculation unit 33 is set to be narrower than the frequency band (signal pass band) of the angle blur calculation unit 34. Since it did in this way, the calculation error accompanying the fluctuation | variation error etc. of the acceleration sensors 35x and 35y can be reduced.

(Second Embodiment)
A camera according to the second embodiment of the present invention has the same configuration as that of the first embodiment shown in FIG. However, only the configuration of the shake detection device 12 is different from the first embodiment. Hereinafter, the blur detection device 12 according to the present embodiment will be described in detail. In the following description, the same portions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and the description thereof is omitted.

  FIG. 5 is a diagram showing a high-pass filter 42p provided as a representative of the angular velocity sensor 36p in the high-pass filter included in the shake detection device 12 as a representative. As shown in FIG. 5A, the high-pass filter 42p receives the pitch direction angular velocity signal ω5 output from the angular velocity sensor 36p, and the high-pass filter 42p receives a preset cutoff frequency fc ( For example, an angular velocity signal ω from which a frequency band less than 0.1 Hz is removed is output.

  In the present embodiment, the high-pass filter 42p is composed of a low-pass filter 51p and an adder 52p as shown in FIG. That is, a frequency band equal to or lower than the cutoff frequency fc is extracted from the original signal ω5 by the low-pass filter 51p (hereinafter, this signal is referred to as a reference value signal ω0 of the original signal ω5), and this signal is added from the original signal ω5 by the adder 52p. remove. As a result, the signal ω output from the adder 52p is substantially the same as the signal output from the high-pass filter 42p. In the present embodiment, the other high-pass filters are also configured by a low-pass filter and an adder, similarly to the high-pass filter 42p shown as a representative in FIG.

  FIG. 6 is a block diagram illustrating a configuration of the shake detection apparatus 12 according to the second embodiment. The shake detection device 12 includes an acceleration sensor processing unit 31, an angular velocity sensor processing unit 32, a translational shake calculation unit 33, and an angle shake calculation unit 34, as in the first embodiment. This embodiment (FIG. 2) differs from the first embodiment in that a low-pass filter and an adder are provided instead of the place where the high-pass filter is provided.

  Next, the frequency characteristics of the translation blur calculation unit 33 and the angle blur calculation unit 34 will be examined in detail. As described above, the translational blur amount is calculated by second-order integration of acceleration in the X-axis direction and Y-axis direction, but the second-order integration also accumulates a small error included in the original acceleration. There is a problem of end. For this reason, in order to accurately calculate the translational shake amount, the acceleration sensor processing unit 31 must accurately remove the gravitational acceleration component. Since the outputs of the angular velocity sensors 36r, 36p, and 36y via the high-pass filters 42r, 42p, and 42y are used for the calculation of the gravity acceleration component by the gravity acceleration component calculation unit 38, the high-pass filters 42r, 42p, and 42y are used. It is important to carry out processing properly.

  However, since these high-pass filters 42r, 42p, and 42y usually use a filter with a large time constant having a cutoff frequency of about 0.1 Hz, the posture of the camera 1 immediately after the calculation is started or the composition is changed. Immediately after the change, the convergence of the output is delayed. The convergence can be accelerated by increasing the cut-off frequency. In this case, not only the DC component but also the blur component is removed from the outputs of the angular velocity sensors 36r, 36p, and 36y. Will get worse.

  Therefore, in the present embodiment, the angle blur calculation unit 34 is provided with a filter having good convergence, and the angular velocity sensor processing unit 32 is provided with a filter that minimizes the calculation error of the reference value ω0. Specifically, the cut-off frequency of the three low-pass filters 53r, 53p, 53y provided in the angular velocity sensor processing unit 32 is set to 0.1 Hz, and the two low-pass filters 54p, 54y provided in the angle blur calculation unit 34 are The cut-off frequency was 0.05 Hz, which is lower than that. In other words, the filter characteristics of each part are set so that the signal processing band in the angle blur calculation unit 34 is wider than the signal processing band in the angular velocity sensor processing unit 32.

According to the camera of the second embodiment described above, the following operational effects can be obtained.
(1) The high pass filters 42p and 42y remove predetermined low frequency components from the outputs of the angular velocity sensors 36p and 36y. The posture calculation unit 37 and the gravitational acceleration component calculation unit 38 use the outputs of the acceleration sensors 35x and 35y and the outputs of the high-pass filters 42p and 42y to calculate the gravitational acceleration component included in the outputs of the acceleration sensors 35x and 35y. The adders 41x and 41y remove the gravity acceleration component calculated by the gravity acceleration component calculation unit 38 from the outputs of the acceleration sensors 35x and 35y. The translation blur calculation unit 33 calculates the translation blur amount of the camera 1 from the outputs of the acceleration sensors 35x and 35y from which the gravitational acceleration components have been removed by the adders 41x and 41y. The high pass filters 47p and 47y remove predetermined low frequency components from the outputs of the angular velocity sensors 36p and 36y. The angle blur calculation unit 34 calculates the angle blur amount of the camera 1 from the outputs of the high pass filters 47p and 47y. Since it did in this way, the convergence of the result of a translation blurring calculation can be accelerated, without reducing calculation precision.

(2) The signal processing bands (signal pass bands) of the high pass filters 42p and 42y are different from the signal processing bands (signal pass bands) of the high pass filters 47p and 47y, respectively. More specifically, the signal processing bands (signal pass bands) of the high pass filters 42p and 42y are wider than the signal processing bands (signal pass bands) of the high pass filters 47p and 47y. Since it did in this way, the blur detection apparatus 12 with high accuracy of angle blur calculation and quick convergence of translation blur calculation is realizable.

  The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.

(Modification 1)
The acceleration sensors 35x, 35y, 35z and the angular velocity sensors 36r, 36p, 36y may be provided in the camera body 100 instead of the interchangeable lens 200. Further, one three-dimensional acceleration sensor may be provided instead of the three acceleration sensors 35x, 35y, and 35z that detect the acceleration of each axis.

(Modification 2)
In each of the above-described embodiments, the image blur is corrected by driving the blur correction lens 6, but it is also possible to correct the image blur by driving the image sensor 3, for example.

(Modification 3)
The calculation method of the initial posture of the camera 1 by the posture calculation unit 37 is not limited to the method described above. For example, the camera 1 may be placed in a certain posture (horizontal, vertical, etc.), and the posture at this time may be recognized by the camera 1 by a method such as pressing a button, and this may be used as the initial posture of the camera 1.

(Modification 4)
The output from the acceleration sensor 35z may be used to determine and correct a three-dimensional image blur amount. That is, similarly to the acceleration sensor 35x and the acceleration sensor 35y, the blur amount in the Z-axis direction may be calculated from the output of the acceleration sensor 35z and output to the CPU 2. The same applies to the angular velocity sensor 36r.

  At this time, as a method of correcting the focus shift due to the translational movement displacement in the Z-axis direction, for example, there is a method of driving the focus lens 5 in the Z-axis direction. Further, as a method for correcting image blur due to rotational movement around the Z axis, for example, there are a method of rotating the imaging surface of the imaging device 3 and a method of using an image rotator.

(Modification 5)
In each of the above-described embodiments, the example in which the shake correction apparatus of the present invention is applied to a so-called single-lens reflex camera system has been described. However, the present invention is not limited to such an embodiment. For example, the present invention can also be applied to an optical apparatus such as a lens-interchangeable camera system that does not have a quick return mirror and a lens-integrated camera. That is, the present invention can be applied to any shake correction apparatus that corrects the shake of various apparatuses other than the optical apparatus.

  As long as the characteristics of the present invention are not impaired, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. .

DESCRIPTION OF SYMBOLS 1 ... Camera, 12 ... Blur detection apparatus, 31 ... Acceleration sensor process part, 32 ... Angular velocity sensor process part, 33 ... Translational blur calculation part, 34 ... Angular blur calculation part, 100 ... Camera body, 200 ... Interchangeable lens

Claims (6)

An acceleration detector for detecting the acceleration of the device;
An angular velocity detector for detecting the angular velocity of the device;
A first filter that removes a predetermined low-frequency component from the output of the angular velocity detector;
A gravitational acceleration calculating unit that calculates a gravitational acceleration component included in the output of the acceleration detecting unit, using the output of the acceleration detecting unit and the output of the first filter unit;
A gravitational acceleration removing unit that removes the gravitational acceleration component calculated by the gravitational acceleration calculating unit from an output of the acceleration detecting unit;
A translation blur calculation unit that calculates a translation blur amount of the camera from the output of the acceleration detection unit from which the gravitational acceleration component has been removed by the gravitational acceleration removal unit;
A second filter unit for removing a predetermined low-frequency component from the output of the angular velocity detection unit;
An angle blur calculation unit that calculates an angle blur amount of the device from an output of the second filter unit;
A shake correction apparatus comprising: The blur correction device according to claim 1,
The blur correction device according to claim 1, wherein a pass band of the signal of the first filter unit and a pass band of the signal of the second filter unit are different from each other. The blur correction device according to claim 2,
The blur correction device according to claim 1, wherein a pass band of a signal of the second filter unit is wider than a pass band of a signal of the first filter unit. In the blur correction device according to any one of claims 1 to 3,
An optical member for correcting image blur;
A control unit that controls driving of the optical member in accordance with output signals of the translational blur calculation unit and the angular blur calculation unit;
A shake correction apparatus comprising: The blur correction device according to claim 4,
The blur correction device, wherein the optical member is a blur correction optical system that is driven to correct image blur or an image sensor that is driven to correct image blur.   An optical apparatus comprising the shake correction apparatus according to claim 1.