JP2015184300A - Tremor detection device, imaging device, tremor detection method and detection program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem in which an unstable period occurring after a pan/tilt operation is ended cannot be minimized.SOLUTION: A tremor detection device is composed of: means that detects a tremor of a device body to output a tremor signal; means that cuts off a DC component included in the tremor signal; integration means that integrates an output from the means outputting the tremor signal; means that performs sampling of the integrated values at a prescribed rate to hold the sampling value; average value calculation means that calculates an average value of the held sampling values; pan/tilt operation detection means that detects a pan/tilt operation relative to the device body; and setting means that, when ending of the pan/tilt operation of the device body having the pan/tilt operation performed is detected, sets the average value as an initial value of the integrated value after the pan/tilt operation is ended.

Description

  The present invention relates to a shake detection apparatus, a shake detection method, a shake detection program, and a photographing apparatus that detect shake.

  2. Description of the Related Art An imaging device equipped with an image blur correction device that corrects image blur is known. The image shake correction apparatus includes a gyro sensor and a high pass filter. The gyro sensor detects a shake of the photographing apparatus main body and outputs a shake signal. The high-pass filter removes the offset component (DC component) included in the shake signal output from the gyro sensor and integrates the shake signal after removal of the offset component (AC component due to shake, angular velocity signal) Get a signal. The image blur correction device performs image blur correction based on the obtained angle signal.

  FIG. 6 shows the integrated value (angle signal) of the shake signal integrated and output in the high-pass filter. In FIG. 6, the vertical axis indicates the integral value, and the horizontal axis indicates time. As shown in FIG. 6, since the high-pass filter is unstable because the integral value is zero immediately after the start of the operation of the image blur correction apparatus, the offset component cannot be sufficiently removed (period T1 in FIG. 6). reference). When the filtering process continues, the high-pass filter accumulates and stabilizes the integrated value, so that the offset component can be sufficiently removed (see period T2 in FIG. 6). Hereinafter, for convenience of explanation, an unstable period in which the offset component is not sufficiently removed is referred to as an “unstable period”, and a period in which the offset component is sufficiently removed is referred to as a “stable period”. Further, a period in which the offset component to be removed in the unstable period is large is referred to as a “transient response period”.

  Consider a case where image blur correction is performed using an integral value of an unstable period. In this case, the image blur correction device cannot accurately perform image blur correction due to an integration error caused by the offset component. The image blur correction apparatus can perform image blur correction with high accuracy by using an integral value in a stable period. In order to perform image blur correction with high accuracy, it is desirable that the unstable period is short and the stable period is long.

  When the photographing apparatus is panned or tilted, the shake signal output from the gyro sensor changes greatly. In the example of FIG. 6, when the shake signal output from the gyro sensor greatly falls due to the pan / tilt operation with respect to the photographing apparatus, the integrated value falls greatly due to the integration of the shake shake signal (period T <b> 3 in FIG. 6). reference). Further, at the end of the pan / tilt operation, the difference between the greatly lowered integrated value and the integrated value during the stable period is large, and a period (transient response period) in which the offset cannot be removed correctly by calculation in the high-pass filter occurs. During the transient response period, the integral value gradually increases due to the integration of the shake signal including the offset component, and approaches the level of the integral value during the stable period. That is, when the pan / tilt operation is performed on the photographing apparatus, a transient response period (period T4 corresponding to the broken line in FIG. 6) occurs as shown in FIG.

  In the photographing apparatus described in Patent Document 1, the integral value is reset to zero at the end of the pan / tilt operation in order to suppress the occurrence of a transient response period that occurs with the pan / tilt operation. Thereby, as illustrated in FIG. 6, the occurrence of the transient response period T4 is suppressed.

JP 2007-324929 A

  As described above, in the configuration described in Patent Document 1, the integration value is reset to zero at the end of the pan / tilt operation, thereby suppressing the occurrence of the transient response period. However, as illustrated in FIG. 6, a long unstable period T4 'still occurs after the integration value is reset. As described above, the configuration described in Patent Document 1 is also disadvantageous in performing image blur correction with high accuracy because the unstable period occurs after the integration value is reset.

  The present invention has been made in view of the above circumstances, and the object of the present invention is to provide a shake detection device, a photographing device, and a shake detection suitable for shortening the unstable period that occurs after the end of the pan / tilt operation. A method and a shake detection program are provided.

  The shake detection device of the present embodiment includes a shake signal output unit that detects a shake of the apparatus body and outputs a shake signal, a DC component cut unit that cuts a DC component included in the shake signal, and a DC component cut unit. An integration means for integrating the output; a holding means for sampling and holding the integration value by the integration means at a predetermined rate; an average value calculating means for calculating an average value of the sampling values held by the holding means; After the pan / tilt operation is completed, the pan / tilt operation detecting means for detecting the pan / tilt operation and the end of the pan / tilt operation of the device body in which the pan / tilt operation is performed are detected by the pan / tilt operation detecting means. Setting means for setting the average value as an initial value of the integral value.

  According to the present embodiment, since the unstable period that occurs after the end of the pan / tilt operation can be suppressed to be short, it is advantageous for performing image blur correction with high accuracy.

  The average value calculating means may be configured to calculate the average value of the sampling values held in the holding means when the pan / tilt operation for the apparatus main body is started or ended.

  For example, the holding unit interrupts sampling of the integral value during the pan / tilt operation of the apparatus main body.

  When the device body is panned / tilted with a time interval, the shake detector detects the time between the previous pan / tilt operation and the current pan / tilt operation based on the detection result by the pan / tilt motion detection means. It is good also as a structure provided with the time interval determination means which determines whether an interval is below a predetermined time interval. In this case, the setting unit determines that the time interval between the previous pan / tilt operation and the current pan / tilt operation is equal to or less than a predetermined time interval by the time interval determination unit, and the current pan / tilt operation is performed. When the end of the pan / tilt operation is detected, the average value set when the end of the previous pan / tilt operation is detected is used as the initial value of the integrated value after the end of the current pan / tilt operation. Set again.

  The shake detection device may include a continuous operation determination unit that determines whether or not the device body has been pan / tilt continuously for a predetermined time or more based on a detection result by the pan / tilt operation detection unit. The setting means determines that the pan / tilt operation has been continued for a predetermined time or longer by the continuous operation determining means, and the pan / tilt operation detecting means detects the end of the pan / tilt operation. An arbitrary fixed value is set as the initial value of the integral value after the tilt operation is completed.

  The holding unit holds, for example, a predetermined number of sampled values sampled most recently on the time axis.

  The imaging apparatus of this embodiment is an apparatus provided with said shake detection apparatus and image pick-up element, for example. In this case, for example, the holding unit interrupts sampling of the integral value during the exposure period of the image sensor.

  The shake detection method of the present embodiment includes a shake signal output step for detecting a shake of the apparatus body and outputting a shake signal, a DC component cut step for cutting a DC component included in the shake signal, and an output after the DC component cut An integration step for integrating, a holding step for sampling and holding the integration value obtained in the integration step at a predetermined rate, an average value calculation step for calculating an average value of the sampling values held in the holding step, When the pan / tilt operation detecting step for detecting the pan / tilt operation on the apparatus main body and the end of the pan / tilt operation of the apparatus main body being pan / tilted are detected in the pan / tilt operation detecting step, A setting step for setting the average value as an initial value of the integral value after the end of the tilting operation.

  The shake detection program of the present embodiment is a program for causing a computer to execute the shake detection method described above.

  According to the present embodiment, there are provided a shake detection device, a photographing device, a shake detection method, and a shake detection program suitable for suppressing an unstable period that occurs after the end of the pan / tilt operation.

It is a block diagram which shows the structure of the imaging device of embodiment of this invention. It is a figure which shows the image blurring correction flow performed in embodiment of this invention. It is a figure which shows the detail of process step S12 (process performed in relation to pan / tilt operation | movement) of FIG. FIG. 4A shows an angular velocity signal output from a multi-axis gyro sensor provided in the imaging apparatus of the embodiment of the present invention (FIG. 4A), and an integrated value (angle) integrated and output in the digital high-pass filter circuit. It is a figure shown (FIG.4 (b)). FIG. 5A shows an angular velocity signal output from the multi-axis gyro sensor provided in the imaging apparatus of the embodiment of the present invention (FIG. 5A), and an integrated value (angle) integrated and output in the digital high-pass filter circuit. It is a figure shown (FIG.5 (b)). It is a figure which shows the integrated value (angle signal) of the shake signal integrated and output within a high-pass filter in the conventional structure.

  Hereinafter, a photographing apparatus according to an embodiment of the present invention will be described with reference to the drawings. In the following, a digital single lens reflex camera will be described as an embodiment of the present invention. The photographing apparatus is not limited to a digital single lens reflex camera, but includes, for example, a mirrorless single lens camera, a compact digital camera, a video camera (broadcast studio camera, etc.), a camcorder, a tablet terminal, a PHS (Personal Handy phone System), a smartphone, and a feature. It may be replaced with another type of device having a photographing function such as a phone or a portable game machine.

[Configuration of the photographing apparatus 1]
FIG. 1 is a block diagram showing a configuration of the photographing apparatus 1 of the present embodiment. As shown in FIG. 1, the photographing apparatus 1 includes a CPU (Central Processing Unit) 100, an operation unit 102, a diaphragm / shutter driving circuit 104, a photographing lens 106, a diaphragm 108, a shutter 110, an image sensor 112, and a signal processing circuit 114. , Image processing engine 116, buffer memory 118, card interface 120, LCD (Liquid Crystal Display) control circuit 122, LCD 124, ROM (Read Only Memory) 126, external connection interface 128, multi-axis gyro sensor 130, AD conversion circuit 132 A digital high-pass filter circuit 134 and an image blur correction mechanism 136 are provided.

  The operation unit 102 includes various switches necessary for the user to operate the photographing apparatus 1, such as a power switch, a release switch, and a photographing mode switch. When the user presses the power switch, power is supplied from the battery (not shown) to the various circuits of the photographing apparatus 1 through the power line. After supplying power, the CPU 100 accesses the ROM 126, reads out a control program, loads it into a work area (not shown), and executes the loaded control program to control the entire photographing apparatus 1.

  When the release switch is operated, the CPU 100 drives the aperture and shutter so that an appropriate exposure can be obtained based on a photometric value measured by a TTL (Through The Lens) exposure meter (not shown) built in the photographing apparatus 1. The diaphragm 108 and the shutter 110 are driven and controlled via the circuit 104. More specifically, drive control of the aperture 108 and the shutter 110 is performed based on an AE function designated by a shooting mode switch, such as a program AE (Automatic Exposure), shutter speed priority AE, aperture priority AE, or the like. The CPU 100 performs AF (Autofocus) control together with AE control. An active method, a phase difference detection method, a contrast detection method, or the like is applied to the AF control. Since the configuration and control of this type of AE and AF are well known, detailed description thereof is omitted here.

  The light flux from the subject passes through the photographing lens 106, the diaphragm 108, and the shutter 110 and is received by the image sensor 112. The image sensor 112 is, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image sensor 112 accumulates an optical image formed by each pixel on the imaging surface as an electric charge corresponding to the amount of light. The signal is converted into a signal and output to the signal processing circuit 114. Hereinafter, for convenience of explanation, the optical axis AX direction of the photographing lens 106 is defined as the z direction, and two directions orthogonal to the z direction and orthogonal to each other are defined as the x direction and the y direction. The x direction and the y direction are directions parallel to the imaging surface of the image sensor 112.

  The signal processing circuit 114 performs predetermined signal processing on the electrical signal (photographed data) input from the image sensor 112 and outputs the processed signal to the image processing engine 116. The image processing engine 116 performs predetermined signal processing such as color interpolation, matrix calculation, and Y / C separation on the signal input from the signal processing circuit 114 to generate a luminance signal Y and color difference signals Cb, Cr, The image is compressed in a predetermined format such as JPEG (Joint Photographic Experts Group). The buffer memory 118 is used as a temporary storage location for processing data when the image processing engine 116 executes processing.

  A memory card 200 is detachably inserted into a card slot of the card interface 120.

  The image processing engine 116 can communicate with the memory card 200 via the card interface 120. The image processing engine 116 stores the generated compressed image signal (captured image data) in the memory card 200 (or a built-in memory (not shown) provided in the image capturing apparatus 1).

  Further, the image processing engine 116 performs predetermined signal processing on the signal after Y / C separation, and buffers it in a frame memory (not shown) in units of frames. The image processing engine 116 sweeps the buffered signal from each frame memory at a predetermined timing, converts it into a video signal of a predetermined format, and outputs it to the LCD control circuit 122. The LCD control circuit 122 modulates and controls the liquid crystal based on the image signal input from the image processing engine 116. Thereby, the photographed image of the subject is displayed on the display screen of the LCD 124. The user can view through the display screen of the LCD 124 a real-time through image captured with appropriate brightness and focus based on AE control and AF control.

  When the user performs a reproduction operation of the photographed image, the image processing engine 116 reads the photographed image data designated by the operation from the memory card 200 or the built-in memory, converts it into an image signal of a predetermined format, and the LCD control circuit 122. Output to. The LCD control circuit 122 performs modulation control on the liquid crystal based on the image signal input from the image processing engine 116, so that a captured image of the subject is displayed on the display screen of the LCD 124.

  The external connection interface 128 is an interface for connecting to an external device such as a PC (Personal Computer). The external connection interface 128 uses a wired connection protocol such as HDMI (High-Definition Multimedia Interface, HDMI is a registered trademark), USB (Universal Serial Bus), and a wireless connection protocol such as Wi-Fi, Bluetooth (registered trademark), and IrDA. And can communicate with a PC or the like.

  By the way, when the photographing apparatus 1 vibrates due to the camera shake of the photographer, an angular shake or a rotational shake of the optical axis AX occurs, and the subject image incident on the imaging surface of the image sensor 112 shakes. The vibration of the photographing apparatus 1 that causes image blur is detected by the multi-axis gyro sensor 130. Specifically, the multi-axis gyro sensor 130 detects the angular velocities in the X direction and the Y direction and the angular velocities around the axis in the Z direction.

  The angular velocity signal output from the multi-axis gyro sensor 130 is AD converted by the AD conversion circuit 132 and input to the digital high-pass filter circuit 134. In the digital high-pass filter circuit 134, the offset component (DC component) included in the angular velocity signal input from the AD conversion circuit 132 is removed, and the angular velocity signal after the offset component is removed is integrated. Thereby, an angle signal is obtained.

  The CPU 100 drives and controls the image blur correction mechanism 136 based on the angle signal input from the digital high-pass filter circuit 134. Note that the image blur correction mechanism 136 has a well-known configuration, and a detailed description thereof is omitted here. The image blur correction mechanism 136 moves the image sensor 112 in a direction in which image blur on the imaging surface is canceled based on the angle signal. Thereby, the shake of the captured image caused by hand shake or the like can be suppressed. Further, the image blur correction mechanism 136 deviates a photographed image due to camera shake or the like by decentering a part of the photographing lens 106 from the optical axis based on the angle signal input from the digital high-pass filter circuit 134. You may replace with the structure which cancels.

[Image stabilization flow considering pan / tilt motion]
Next, an image blur correction flow that takes into account the occurrence of pan / tilt operations on the photographing apparatus 1 will be described. The image blur correction flow shown in FIG. 2 starts when the power of the photographing apparatus 1 is turned on and ends when the power of the photographing apparatus is turned off. The digital high-pass filter circuit 134 continuously outputs an angle signal calculated by the filter process even during execution of this flow. By executing this flow, the unstable period that occurs after the end of the pan / tilt operation is suitably suppressed.

[S11 in FIG. 2 (determination of operation of release switch)]
In this processing step S11, it is determined whether or not the release switch has been fully pressed.

[S12 in FIG. 2 (Processing Performed in Relation to Pan / Tilt Operation)]
This process step S12 is executed when it is determined in the process step S11 that the release switch is not fully pressed (S11: NO). In this process step S12, a predetermined process is executed in relation to the pan / tilt operation for the photographing apparatus 1. In addition, the process of this flow returns to process step S11 after completion | finish of this process step S12.

FIG. 3 is a diagram showing details of process step S12 (process executed in association with the pan / tilt operation) in FIG.
-Process step S12A of FIG.
In this processing step S12A, it is determined whether or not it is a period during which the photographing apparatus 1 is currently panned or tilted. Hereinafter, for convenience of explanation, a period in which the photographing apparatus 1 is panned or tilted is referred to as a “pan / tilt operation period”, and a period in which the photographing apparatus 1 is not panned or tilted is referred to as a “normal operation period”. ". Here, FIG. 4A shows an angular velocity signal output from the multi-axis gyro sensor 130. In FIG. 4A, the vertical axis indicates the level (angular velocity) of the angular velocity signal, and the horizontal axis indicates time. As shown in FIG. 4A, the angular velocity signal output from the multi-axis gyro sensor 130 includes an offset component due to, for example, a temperature change very slightly. The level of the angular velocity signal temporarily changes greatly when the photographing apparatus 1 is panned or tilted (refer to the pan / tilt operation period in FIG. 4A). In this processing step S12A, for example, when the absolute value of the level of the angular velocity signal output from the multi-axis gyro sensor 130 is equal to or greater than a predetermined threshold, it is determined as the pan / tilt operation period, and the absolute value is less than the predetermined threshold. Is determined as the normal operation period.
-Process step S12B of FIG.
This processing step S12B is executed when it is determined in the processing step S12A that it is the normal operation period (S12A: NO). In this processing step S12B, it is determined whether or not a pan / tilt operation has been started. In this processing step S12B, for example, if an absolute value of the level of the angular velocity signal output from the multi-axis gyro sensor 130 is detected to be equal to or greater than a predetermined threshold, it is determined that the pan / tilt operation has started.
-Process step S12C of FIG.
This processing step S12C is executed when it is determined in the processing step S12B that the pan / tilt operation has not been started (S12B: NO). In this processing step S12C, the integrated value (angle) of the angular velocity signal integrated in the digital high-pass filter circuit 134 is sampled. Specifically, it is determined whether or not 100 ms has passed since the previous sampling. If it is determined that 100 ms has passed, the integral value (angle) is sampled and held in the buffer 100 a in the CPU 100. The buffer 100a holds N sampling values sampled most recently on the time axis. The sampling values before N are sequentially overwritten and erased by the newly sampled values. That is, in this embodiment, the processing value S11 in FIG. 2 and the processing steps S12A to S12C in FIG. 3 are repeated, whereby the integral value (angle) is sampled at 10 Hz, and new N sampling values are obtained on the time axis. Is held in the buffer 100a.
-Process step S12D of FIG.
This processing step S12D is executed when it is determined in the processing step S12B that the pan / tilt operation is started (S12B: YES). In this processing step S12D, an average value (angle) of N sampling values (the number when the number does not reach N) held in the buffer 100a is calculated. Hereinafter, for convenience of explanation, an average value (angle) of the calculated sampling values is referred to as an “average integrated value”.
-Process step S12E of FIG.
This processing step S12E is executed when it is determined in the processing step S12A that it is the pan / tilt operation period (S12A: YES). In this processing step S12E, it is determined whether or not the pan / tilt operation has ended. In this processing step S12E, for example, when the absolute value of the level of the angular velocity signal output from the multi-axis gyro sensor 130 becomes less than a predetermined threshold value, it is determined that the pan / tilt operation has ended.
-Process step S12F of FIG.
This process step S12F is executed when it is determined in the process step S12E that the pan / tilt operation has ended (S12E: YES). In this process step S12F, the integral value (angle) output from the digital high-pass filter circuit 134 is set to the average integral value calculated in process step S12D. That is, in the present processing step S12F, when the pan / tilt operation on the photographing apparatus 1 is completed, the average integral value calculated in the processing step S12D is set as an initial value of the integral value (angle) after the pan / tilt operation is completed. The

  FIG. 4B is a diagram showing an integrated value (angle) integrated and output in the digital high-pass filter circuit 134. With reference to FIG. 4B, the processing step S12 in FIG. 2 (processing executed in association with the pan / tilt operation) will be exemplarily described. In FIG. 4B, the vertical axis indicates the integrated value (angle) of the angular velocity signal, and the horizontal axis indicates time.

  As illustrated in FIG. 4B, immediately after the start of the photographing apparatus 1, the integral value (angle) of the angular velocity signal output from the digital high-pass filter circuit 134 is zero and unstable. Period T11 is set. Thereafter, the process proceeds to a stable period T12. During the unstable period T11 and the stable period T12, the integrated value (angle) of the angular velocity signal is sampled at a predetermined rate (here, 10 Hz), and the N most recent sampling values on the time axis are held in the buffer 100a. Is done. In FIG. 4B, sampling points are indicated by white circles for convenience. When the pan / tilt operation for the photographing apparatus 1 is started, an average value of N sampling values held in the buffer 100a, that is, an average integral value is calculated. The calculation timing of the average integral value is not limited to when the pan / tilt operation is started, but may be when the pan / tilt operation is ended. During the unstable period T13 (in the example of FIG. 4B, substantially the same period as the pan / tilt operation period), the sampling of the integral value is interrupted. When the pan / tilt operation is finished, an average integral value is set as an initial value of the integral value (angle) after the pan / tilt operation is finished. After setting the average integration value, sampling of the integration value (angle) and holding of the sampling value are resumed.

  As shown in FIG. 4B, the average integrated value is set as the initial value of the integrated value (angle) after the end of the pan / tilt operation, whereby the case of Patent Document 1 (the broken line in FIG. 4B). It can be seen that the unstable period (see period T14 ′ in FIG. 4B) is suppressed to be shorter than the unstable period T14). Therefore, the photographing apparatus 1 of the present embodiment is advantageous in performing image blur correction with higher accuracy than the photographing apparatus described in Patent Document 1.

  Note that the reliability of the average integrated value tends to decrease as the pan / tilt operation continues for a longer time. Therefore, when it is determined that the pan / tilt operation has continued for a predetermined time or longer, the initial value of the integral value (angle) to be set after the pan / tilt operation is finished is not a mean integral value but a predetermined fixed value. It is good. The fixed value can be arbitrarily set by operating the operation unit 102, for example.

[S13 in FIG. 2 (exposure period end determination)]
This processing step S13 is executed when it is determined in the processing step S11 that the release switch is fully pressed (S11: YES). In this processing step S13, it is determined whether or not the exposure period of the image sensor 112 started when the release switch is fully pressed is finished. During the exposure period of the image sensor 112, sampling of the integral value (angle) output from the digital high pass filter circuit 134 is interrupted.

[S14 in FIG. 2 (Image Stabilization Processing)]
This processing step S14 is repeatedly executed until it is determined in processing step S13 that the exposure period of the image sensor 112 has ended (S13: YES). Note that the processing of this flow returns to processing step S11 when exiting the loop between NO determination in processing step S13 and this processing step S14 (YES determination in processing step S13). In this processing step S14, the image blur correction mechanism 136 moves the image sensor 112 in the direction in which the image blur on the imaging surface is canceled based on the angle signal input from the digital high-pass filter circuit 134. In the present embodiment, as illustrated in FIG. 4B, since the unstable period after the end of the pan / tilt operation is suppressed to be short, the exposure of the image sensor 112 is performed immediately after the end of the pan / tilt operation. Even if it is performed, the image blur correction by the image blur correction mechanism 136 is accurately performed.

  For example, different pan / tilt operations may be performed quickly after a short time interval (for example, 500 ms). The image blur correction flow in this case will be described with reference to FIG. FIG. 5A is a diagram similar to FIG. 4A, and the angular velocity signal output from the multi-axis gyro sensor 130 when different pan / tilt operations are performed quickly with a short time interval. Indicates. FIG. 5B is the same diagram as FIG. FIG. 5B shows an integrated value (angle) integrated and output in the digital high-pass filter circuit 134 when the angular velocity signal shown in FIG. 5A is output from the multi-axis gyro sensor 130.

  As shown in FIG. 5B, when the first pan / tilt operation is finished, the average integral value is set as the initial value of the integral value (angle) after the pan / tilt operation is finished. Sampling is resumed starting from the average integrated value, and the sampled value is held in the buffer 100a. Then, the second pan / tilt operation is started with a short time interval. Therefore, there are few sampling values obtained from the end of the first pan / tilt operation to the start of the second pan / tilt operation, and there is a possibility that the average integrated value may be a value with no reliability. Therefore, in the example of FIG. 5B, the average integrated value is not calculated at the start or end of the second pan / tilt operation, and the integrated value (angle) is also calculated at the end of the second pan / tilt operation. As the initial value, the average integrated value at the end of the first pan / tilt operation is set again.

  The above is the description of the exemplary embodiments of the present invention. Embodiments of the present invention are not limited to those described above, and various modifications are possible within the scope of the technical idea of the present invention. For example, the embodiment of the present application also includes an embodiment that is exemplarily specified in the specification or a combination of obvious embodiments and the like as appropriate.

1 photographing apparatus 100 CPU
102 Operation Unit 104 Aperture / Shutter Drive Circuit 106 Shooting Lens 108 Aperture 110 Shutter 112 Image Sensor 114 Signal Processing Circuit 116 Image Processing Engine 118 Buffer Memory 120 Card Interface 122 LCD Control Circuit 124 LCD
126 ROM
128 External connection interface 130 Multi-axis gyro sensor 132 AD conversion circuit 134 Digital high-pass filter circuit 136 Image blur correction mechanism 200 Memory card

Claims (14)

A shake signal output means for detecting a shake of the apparatus body and outputting a shake signal;
DC component cutting means for cutting a DC component included in the shake signal;
Integrating means for integrating the output from the DC component cutting means;
Holding means for sampling and holding the integration value by the integration means at a predetermined rate;
Average value calculating means for calculating an average value of the sampling values held by the holding means;
Pan / tilt operation detecting means for detecting pan / tilt operation with respect to the apparatus body;
When the end of the pan / tilt operation of the apparatus body that is pan / tilt is detected by the pan / tilt operation detector, the average value is used as an initial value of the integrated value after the pan / tilt operation is completed. A setting means for setting
Comprising
Shake detection device. The average value calculating means includes
When the pan / tilt operation for the apparatus main body is started or ended, an average value of the sampling values held in the holding unit is calculated.
The shake detection device according to claim 1. The holding means is
During the pan / tilt operation of the apparatus body, the sampling of the integral value is interrupted.
The shake detection apparatus according to claim 1 or 2. When the apparatus main body is panned / tilted with a time interval, the time interval between the previous pan / tilt operation and the current pan / tilt operation is predetermined based on the detection result by the pan / tilt motion detecting means. A time interval determining means for determining whether or not the time interval is equal to or less than
The setting means includes
The time interval determining means determines that the time interval between the previous pan / tilt operation and the current pan / tilt operation is equal to or less than a predetermined time interval, and the end of the current pan / tilt operation is the pan / tilt operation. When detected by the motion detection means, the average value set when the end of the previous pan / tilt operation is detected is set again as the initial value of the integrated value after the end of the current pan / tilt operation.
The shake detection apparatus according to any one of claims 1 to 3. Continuous operation determining means for determining whether or not the apparatus main body has been pan / tilt operated continuously for a predetermined time or more based on a detection result by the pan / tilt operation detecting means;
The setting means includes
When it is determined by the continuous operation determining means that the apparatus main body has been pan / tilt operated continuously for a predetermined time or more, and the end of the pan / tilt operation is detected by the pan / tilt operation detecting means, Set an arbitrary fixed value as the initial value of the integral value after the end of the tilting operation.
The shake detection apparatus according to any one of claims 1 to 4. The holding means is
Holds a predetermined number of sampled values sampled most recently on the time axis,
The shake detection apparatus according to any one of claims 1 to 5. An imaging device comprising the shake detection device according to any one of claims 1 to 6 and an imaging device,
The holding means is
During the exposure period of the image sensor, the sampling of the integral value is interrupted.
Shooting device. A shake signal output step for detecting a shake of the apparatus body and outputting a shake signal;
A DC component cut step for cutting a DC component included in the shake signal;
An integration step of integrating the output after the DC component cut;
A holding step of sampling and holding the integration value obtained in the integration step at a predetermined rate;
An average value calculating step for calculating an average value of the sampling values held in the holding step;
A pan / tilt operation detecting step for detecting a pan / tilt operation with respect to the apparatus body;
When the end of the pan / tilt operation of the device body that is pan / tilt is detected in the pan / tilt operation detection step, the average value is set as the initial value of the integrated value after the pan / tilt operation ends. A setting step to set the value;
including,
Shake detection method. In the average value calculating step,
When the pan / tilt operation for the apparatus main body is started or ended, an average value of the sampling values held in the holding step is calculated.
The shake detection method according to claim 8. In the holding step,
During the pan / tilt operation of the apparatus body, the sampling of the integral value is interrupted.
The shake detection method according to claim 8 or 9. When the apparatus body is panned / tilted with a time interval, the time interval between the previous pan / tilt operation and the current pan / tilt operation is predetermined based on the detection result in the pan / tilt motion detection step. Including a time interval determination step of determining whether or not the time interval is equal to or less than
In the time interval determining step, it is determined that the time interval between the previous pan / tilt operation and the current pan / tilt operation is equal to or less than a predetermined time interval, and the end of the current pan / tilt operation is When detected in the tilt motion detection step,
In the setting step,
As the initial value of the integrated value after the end of the current pan / tilt operation, the average value set when the end of the previous pan / tilt operation is detected is set again.
The shake detection method according to any one of claims 8 to 10. A continuous operation determination step for determining whether or not the apparatus main body has been continuously pan / tilt operated for a predetermined time or more based on a detection result in the pan / tilt operation detection step;
When it is determined in the continuous operation determination step that the apparatus main body has been pan / tilt continuously for a predetermined time or more, and the end of the pan / tilt operation is detected in the pan / tilt operation detection step,
In the setting step,
An arbitrary fixed value is set as the initial value of the integral value after the pan / tilt operation ends.
The shake detection method according to any one of claims 8 to 11. In the holding step,
Holds a predetermined number of sampled values sampled most recently on the time axis,
The shake detection method according to any one of claims 8 to 12.   A shake detection program for causing a computer to execute the shake detection method according to any one of claims 8 to 13.

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