JP2016173517A - Image blurring correction device, optical instrument, imaging apparatus and control method - Google Patents
Image blurring correction device, optical instrument, imaging apparatus and control method Download PDFInfo
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本発明は、像ブレ補正装置、光学機器、撮像装置および制御方法に関する。 The present invention relates to an image blur correction apparatus, an optical apparatus, an imaging apparatus, and a control method.
撮影時のカメラ姿勢を検出する機能を有する撮像装置が提案されている。撮像装置は、例えば、撮影した静止画像、動画像と共に姿勢情報も記録しておき、再生時には姿勢情報に基づいて表示方向を変えることができる。 An imaging device having a function of detecting a camera posture at the time of shooting has been proposed. For example, the imaging apparatus can record posture information together with captured still images and moving images, and can change the display direction based on the posture information during reproduction.
光学方向と異なる方向に光学系の一部（例えば、シフトレンズなど）を移動させる光学式ブレ補正機能を有する撮像装置では、シフトレンズを所定位置に保持するために必要な保持力に基づいて、重力方向を検出することができる。特許文献１は、振れ補正手段がレンズを駆動する際の負荷に基づいて、被写体像における重力方向を検出するカメラを開示している。 In an imaging apparatus having an optical blur correction function that moves a part of an optical system (for example, a shift lens) in a direction different from the optical direction, based on a holding force necessary to hold the shift lens in a predetermined position, The direction of gravity can be detected. Patent Document 1 discloses a camera that detects the direction of gravity in a subject image based on a load when a shake correction unit drives a lens.
しかし、シフトレンズの保持力は、モータの構成部材の温度特性など、シフトレンズを構成する様々な部材の温度特性によって変化する。したがって、温度による特性変化が大きい部材を使用する場合は、カメラ使用時の環境温度によっては、姿勢検出の精度が低下してしまう。 However, the holding force of the shift lens varies depending on the temperature characteristics of various members constituting the shift lens, such as the temperature characteristics of the constituent members of the motor. Therefore, when a member having a large characteristic change due to temperature is used, the accuracy of posture detection is lowered depending on the environmental temperature when the camera is used.
本発明は、環境温度によらず、重力方向を精度良く検出することを実現できる像ブレ補正装置の提供を目的とする。 An object of the present invention is to provide an image blur correction device that can accurately detect the direction of gravity regardless of the environmental temperature.
本発明の一実施形態の像ブレ補正装置は、 ブレ補正手段を制御して撮像画像の像ブレを補正する像ブレ補正装置であって、像ブレ補正中の前記ブレ補正手段の制御量を取得する取得手段と、前記取得された制御量のうち、前記ブレ補正手段を中心位置に保持するために用いられる第１の制御量を第１の補正係数で温度補正し、前記像ブレ補正用に前記ブレ補正手段を移動させるための第２の制御量を第２の補正係数で温度補正する制御手段を備える。 An image blur correction apparatus according to an embodiment of the present invention is an image blur correction apparatus that corrects an image blur of a captured image by controlling a blur correction unit, and acquires a control amount of the blur correction unit during the image blur correction. Among the acquired control amounts, the first control amount used to hold the blur correction unit at the center position is temperature-corrected with a first correction coefficient, and used for the image blur correction. Control means for correcting the temperature of the second control amount for moving the blur correction means with a second correction coefficient is provided.
本発明の像ブレ補正装置によれば、環境温度によらず、重力方向を精度良く検出することを実現できる。 According to the image blur correction device of the present invention, it is possible to detect the direction of gravity with high accuracy regardless of the environmental temperature.
図１は、本実施形態の構成例を示す図である。
まず、本明細書において使用する言葉の定義について説明する。撮像装置に加えられる振動を「振れ」とし、撮像装置に加えられる振れによって発生する撮像画像のフレーム間の被写体位置ずれ、もしくは被写体像のボケを「ブレ」とする。
FIG. 1 is a diagram illustrating a configuration example of the present embodiment.
First, terms used in this specification will be described. The vibration applied to the imaging device is referred to as “shake”, and the subject position deviation between frames of the captured image caused by the shake applied to the imaging device or the blur of the subject image is referred to as “blur”.
図１に示す撮像装置１００は、本実施形態の像ブレ補正装置を備える光学機器の一例である。以下、撮像装置１００の各構成部とその一例の動作について具体的に説明する。撮像装置１００は、ブレ補正手段として機能するブレ補正機構１１０を制御することで、像ブレを補正する。像ブレ補正処理は、少なくともヨー方向とピッチ方向の振れに対して行われる。ただし、基本的な処理内容はヨー方向とピッチ方向とで共通であるため、いずれか一方向の処理に関しての説明のみに省略する。ヨー方向あるいはピッチ方向とで処理に差異がある場合は明記する。 An imaging apparatus 100 illustrated in FIG. 1 is an example of an optical apparatus that includes the image blur correction apparatus according to the present embodiment. Hereinafter, each component of the imaging apparatus 100 and an example operation thereof will be described in detail. The imaging apparatus 100 corrects image blur by controlling a blur correction mechanism 110 that functions as a blur correction unit. The image blur correction process is performed at least for shakes in the yaw direction and the pitch direction. However, since the basic processing contents are common to the yaw direction and the pitch direction, they are omitted only for the description of processing in one direction. If there is a difference in processing in the yaw direction or pitch direction, specify it.
振れ検出センサ（振れ検出部）１０１は、撮像装置１００に加わる振れを検出する。振れ検出部１０１の一例としては撮像装置１００の振れを角速度とし、振れ検出信号として出力する角速度センサである。Ａ／Ｄ変換器１０３は、振れ検出部１０１から出力される振れ検出信号をデジタルデータに変換する。マイクロコンピュータ（μＣＯＭ）１０２は、デジタル化された振れ量データに基づき、像ブレ補正の信号処理を実行する。μＣＯＭ１０２の機能によって、本実施形態の像ブレ補正装置が実現される。 A shake detection sensor (a shake detection unit) 101 detects a shake applied to the imaging apparatus 100. An example of the shake detection unit 101 is an angular velocity sensor that outputs the shake of the imaging device 100 as an angular velocity and outputs it as a shake detection signal. The A / D converter 103 converts the shake detection signal output from the shake detection unit 101 into digital data. The microcomputer (μCOM) 102 executes image blur correction signal processing based on the digitized shake amount data. The image blur correction apparatus according to this embodiment is realized by the function of the μCOM 102.
ブレ補正量演算部１０４は、Ａ／Ｄ変換器１０３の出力に基づいて、ブレ補正量を演算する。ブレ補正量とは、撮像画像のブレを打ち消すためのブレ補正機構１１０の駆動量である。具体的には、ブレ補正量演算部１０４は積分器を備えており、振れ検出部１０１が出力する角速度信号を角度換算して出力する。 The shake correction amount calculation unit 104 calculates a shake correction amount based on the output of the A / D converter 103. The blur correction amount is a drive amount of the blur correction mechanism 110 for canceling the blur of the captured image. Specifically, the shake correction amount calculation unit 104 includes an integrator, and converts the angular velocity signal output from the shake detection unit 101 into an angle and outputs it.
減算器１０５は、ブレ補正量演算部１０４の出力からブレ補正機構１１０の位置データを減算して偏差データを算出する。減算器１０５は、偏差データを制御フィルタ１０６に出力する。減算器１０５から供給された偏差データは、制御フィルタ１０６において増幅器及び位相補償フィルタによる信号処理が行われた後、パルス幅変調部１０７に出力される。以下では、制御フィルタ１０６の出力をモータ制御量と表現する。 The subtractor 105 subtracts the position data of the shake correction mechanism 110 from the output of the shake correction amount calculation unit 104 to calculate deviation data. The subtractor 105 outputs the deviation data to the control filter 106. The deviation data supplied from the subtractor 105 is subjected to signal processing by the amplifier and the phase compensation filter in the control filter 106 and then output to the pulse width modulation unit 107. Hereinafter, the output of the control filter 106 is expressed as a motor control amount.
パルス幅変調部１０７は、モータ制御量を、パルス波のデューティー比を変化させる波形（即ちＰＷＭ波形）に変調して、モータ駆動部１０８に供給する。モータ１０９は、ブレ補正機構１１０の駆動用のボイス・コイル型モータであり、モータ駆動部１０８に駆動されることにより、ブレ補正機構１１０が光軸と異なる方向に移動される。ブレ補正機構１１０は、例えば、光軸と異なる方向に移動可能なレンズユニットである。図１では、ブレ補正機構１１０と撮像素子１１４とを別に記載したが、ブレ補正機構１１０は撮像素子１１４が、可動ユニット上にあって、光軸と異なる方向に移動可能な構造であってもよい。 The pulse width modulation unit 107 modulates the motor control amount into a waveform that changes the duty ratio of the pulse wave (that is, a PWM waveform), and supplies the modulated waveform to the motor driving unit 108. The motor 109 is a voice coil type motor for driving the shake correction mechanism 110, and is driven by the motor drive unit 108 to move the shake correction mechanism 110 in a direction different from the optical axis. The blur correction mechanism 110 is, for example, a lens unit that can move in a direction different from the optical axis. In FIG. 1, the shake correction mechanism 110 and the image sensor 114 are described separately, but the shake correction mechanism 110 may be configured so that the image sensor 114 is on a movable unit and can move in a direction different from the optical axis. Good.
位置検出センサ１１１は、磁石と、磁石に対向する位置に備えられたホール・センサとを有する。位置検出センサ１１１は、ブレ補正機構１１０の光軸と垂直な方向への移動量を検出し、その検出結果をＡ／Ｄ変換器１１２に出力する。Ａ／Ｄ変換器１１２は、位置検出センサ１１１の検出信号をデジタルデータであるレンズ位置データに変換し、減算器１０５に供給する。これによって、ブレ補正量演算部１０４の出力に対して、ブレ補正機構１１０の光軸と異なる方向への移動量を追従させる、フィードバック制御系が構成される。ブレ補正量に基づいてブレ補正機構１１０の移動が行われた結果、撮像装置１００の振れによって生じる撮像面上の被写体の縦あるいは横方向のブレが補正された像が、撮像素子１１４に結像される。 The position detection sensor 111 includes a magnet and a hall sensor provided at a position facing the magnet. The position detection sensor 111 detects the amount of movement of the blur correction mechanism 110 in the direction perpendicular to the optical axis, and outputs the detection result to the A / D converter 112. The A / D converter 112 converts the detection signal of the position detection sensor 111 into lens position data that is digital data, and supplies the lens position data to the subtractor 105. As a result, a feedback control system is configured in which the amount of movement in a direction different from the optical axis of the shake correction mechanism 110 follows the output of the shake correction amount calculation unit 104. As a result of the movement of the shake correction mechanism 110 based on the shake correction amount, an image in which the vertical or horizontal shake of the subject on the imaging surface caused by the shake of the imaging device 100 is corrected is formed on the imaging element 114. Is done.
撮像素子１１４は、ブレ補正機構１１０を含む撮像光学系によって結像された被写体像を撮像画像信号としての電気信号に変換し、信号処理部１１５に供給する。信号処理部１１５は、撮像素子１１４により得られた信号から、例えばＮＴＳＣフォーマットに準拠したビデオ信号（映像信号）を生成して、画像メモリ１１６に供給する。 The imaging element 114 converts the subject image formed by the imaging optical system including the blur correction mechanism 110 into an electrical signal as a captured image signal, and supplies the electrical signal to the signal processing unit 115. The signal processing unit 115 generates a video signal (video signal) compliant with, for example, the NTSC format from the signal obtained by the image sensor 114 and supplies the video signal to the image memory 116.
画像メモリ１１６から出力されるビデオ信号は、記録制御部１１７に供給される。記録制御部１１７は、記録開始や終了の指示に用いる操作部（不図示）によって映像信号の記録が指示された場合、画像メモリ１１６から供給されたビデオ信号を記録媒体１１８に出力し、記録させる。記録媒体１１８は、例えば、半導体メモリ等の情報記録媒体やハードディスク等の磁気記録媒体である。 The video signal output from the image memory 116 is supplied to the recording control unit 117. The recording control unit 117 outputs and records the video signal supplied from the image memory 116 to the recording medium 118 when recording of a video signal is instructed by an operation unit (not shown) used for instructing recording start or end. . The recording medium 118 is, for example, an information recording medium such as a semiconductor memory or a magnetic recording medium such as a hard disk.
ブレ補正量演算部１０４の出力と制御フィルタ１０６の出力、Ａ／Ｄ変換器１１２の出力は、姿勢検出部１１３にも供給される。ただし、ブレ補正量演算部１０４の出力とＡ／Ｄ変換器１１２の出力いずれか１つが姿勢検出部１１３に供給される構成であってもよい。 The output of the shake correction amount calculation unit 104, the output of the control filter 106, and the output of the A / D converter 112 are also supplied to the attitude detection unit 113. However, a configuration in which any one of the output of the shake correction amount calculation unit 104 and the output of the A / D converter 112 is supplied to the posture detection unit 113 may be employed.
姿勢検出部１１３は、像ブレ補正中のモータ制御量からブレ補正機構１１０を中心位置に保持するために必要な制御量（保持制御量）を抽出し、撮像装置１００にかかる重力の方向（重力方向）を演算する。姿勢検出部１１３は、演算した重力方向に基づいて、撮像装置が正姿勢、縦姿勢（９０°、２７０°）、逆さ姿勢のいずれの姿勢であるかを検出する。姿勢検出部１１３で検出した姿勢情報は、例えば記録制御部１１７によって動画像、静止画像に付加され、記録媒体１１８に記録される。不図示の再生装置は、付加された姿勢情報に基づいて表示方向を変える。 The posture detection unit 113 extracts a control amount (holding control amount) necessary to hold the blur correction mechanism 110 at the center position from the motor control amount during image blur correction, and the direction of gravity applied to the imaging device 100 (gravity). Direction). The posture detection unit 113 detects whether the imaging device is in a normal posture, a vertical posture (90 °, 270 °), or an inverted posture based on the calculated gravity direction. The posture information detected by the posture detection unit 113 is added to the moving image and the still image by the recording control unit 117, for example, and recorded on the recording medium 118. A playback device (not shown) changes the display direction based on the added posture information.
図２は、姿勢検出部によるカメラ姿勢の検出処理を説明するフローチャートである。
撮像装置１００は、手ブレ補正処理が行われている状態で、撮像装置１００は正姿勢から９０°、１８０°、２７０°と変えられているものとする。
ステップＳ１００において、姿勢検出部１１３が、モータ制御量を取得する。
FIG. 2 is a flowchart for explaining camera posture detection processing by the posture detection unit.
The imaging apparatus 100 is assumed to be changed from 90 °, 180 °, and 270 ° from the normal posture while the camera shake correction process is being performed.
In step S100, the posture detection unit 113 acquires a motor control amount.
図３は、モータ制御量から保持制御量を抽出する処理を説明する図である。
図３（Ａ）中のθは、カメラ姿勢を示す。図３（Ｂ）は、モータ制御量を示す。モータ制御量は、移動制御量と、保持制御量と、オフセットとが重畳した波形となる。保持制御量は、ブレ補正機構１１０を重力に逆らって保持するための制御量（第１の制御量）である。移動制御量は、像ブレ補正用にブレ補正機構１１０を移動させるための制御量（第２の制御量）である。例えば、撮像装置が正姿勢で静止状態のとき、横方向におけるモータ１０９が出力する力は必ずしも０とはならず、このときの保持制御量をオフセットと定義する。
FIG. 3 is a diagram for explaining processing for extracting the holding control amount from the motor control amount.
In FIG. 3A, θ represents the camera posture. FIG. 3B shows the motor control amount. The motor control amount has a waveform in which the movement control amount, the holding control amount, and the offset are superimposed. The holding control amount is a control amount (first control amount) for holding the shake correction mechanism 110 against gravity. The movement control amount is a control amount (second control amount) for moving the blur correction mechanism 110 for image blur correction. For example, when the imaging apparatus is in a stationary state in a normal posture, the force output by the motor 109 in the lateral direction is not necessarily zero, and the holding control amount at this time is defined as an offset.
以下の処理は、取得したモータ制御量から、移動制御量とオフセットを取り除き、保持制御量のみを抽出することを目的とする。また、以下では移動制御量はレンズ位置データに基づいて算出しているが、ブレ補正量に基づいて算出する方法であってもよい。 The following processing is intended to remove the movement control amount and the offset from the acquired motor control amount and extract only the holding control amount. In the following, the movement control amount is calculated based on the lens position data, but may be calculated based on the blur correction amount.
図２の説明に戻る。ステップＳ１０１において、姿勢検出部１１３が、レンズ位置データを取得する。ステップＳ１０２において、姿勢検出部１１３が、レンズ位置データをモータ制御量と同じ単位に換算する。換算方法の一例として、予めブレ補正機構１１０を所定の駆動をさせたときのレンズ位置データとモータ制御量との相関関係から換算係数を求めておき、この換算係数をレンズ位置データにかけ合わせることで換算を行う。換算後のデータを図３（Ｃ）に示す。 Returning to the description of FIG. In step S101, the attitude detection unit 113 acquires lens position data. In step S102, the posture detection unit 113 converts the lens position data into the same unit as the motor control amount. As an example of the conversion method, a conversion coefficient is obtained in advance from the correlation between the lens position data and the motor control amount when the shake correction mechanism 110 is driven in a predetermined manner, and the conversion coefficient is multiplied by the lens position data. Perform conversion. The data after conversion is shown in FIG.
ステップＳ１０３において、姿勢検出部１１３が、Ｓ１０２での演算結果にオフセット調整値を足し合わせて、移動制御量を算出する。図３（Ｄ）は、算出された移動制御量を示す。オフセット調整値とは、撮像装置１００を正姿勢にした状態でのヨー方向、９０°姿勢にした状態でのピッチ方向における重力方向と逆方向の保持力である。撮像装置１００の組み立て工程の中で、オフセット調整値は、個々の撮像装置に調整データとして記録されている。 In step S103, the attitude detection unit 113 calculates the movement control amount by adding the offset adjustment value to the calculation result in S102. FIG. 3D shows the calculated movement control amount. The offset adjustment value is a holding force in a direction opposite to the gravitational direction in the yaw direction when the imaging apparatus 100 is in the normal posture and the pitch direction when the imaging device 100 is in the 90 ° posture. In the assembly process of the imaging device 100, the offset adjustment value is recorded as adjustment data in each imaging device.
ステップＳ１０４において、姿勢検出部１１３が、移動制御量を温度補正係数Ｃ２（第２の補正係数）で逆温度補正する。温度補正係数Ｃ２は、移動制御量に関する温度特性を補正する補正係数である。移動制御量に関する温度特性とは、モータ１０９を構成するアクチュエータすなわち少なくともコイル、マグネットの温度特性と、ブレ補正機構１１０の可動部材を固定部材に支持する部材の温度特性である。ブレ補正機構１１０の可動部材を固定部材に支持する部材は、少なくともバネ、ゲル、グリスなどである。温度補正係数Ｃ２は、ブレ補正機構１１０を所定位置に移動させたときのモータ制御量を任意の複数温度下で測定した結果から予め算出される。後述の温度補正係数Ｃ１（第１の補正係数）は、保持制御量に関する温度特性を補正する補正係数である。保持制御量に関する温度特性とは、モータ１０９を構成する少なくともコイル、マグネットとからなるアクチュエータの温度特性である。 In step S104, the posture detection unit 113 performs reverse temperature correction on the movement control amount with the temperature correction coefficient C2 (second correction coefficient). The temperature correction coefficient C2 is a correction coefficient for correcting the temperature characteristic related to the movement control amount. The temperature characteristics related to the movement control amount are the temperature characteristics of the actuators constituting the motor 109, that is, at least the coils and magnets, and the temperature characteristics of the member that supports the movable member of the shake correction mechanism 110 on the fixed member. The member that supports the movable member of the shake correction mechanism 110 on the fixed member is at least a spring, gel, grease, or the like. The temperature correction coefficient C2 is calculated in advance from the result of measuring the motor control amount when the shake correction mechanism 110 is moved to a predetermined position under any plural temperatures. A temperature correction coefficient C1 (first correction coefficient), which will be described later, is a correction coefficient for correcting a temperature characteristic related to the holding control amount. The temperature characteristic related to the holding control amount is a temperature characteristic of an actuator including at least a coil and a magnet constituting the motor 109.
温度補正係数Ｃ１は、例えば、ブレ補正機構１１０を中心保持した状態でのモータ制御量を任意の複数温度下で測定した結果から予め算出される。現在の環境温度における値を基準温度（例えば２５℃程度）における値に補正することを温度補正、基準温度における値を現在の環境温度における値に補正することを逆温度補正と表記する。 The temperature correction coefficient C1 is calculated in advance from, for example, a result of measuring a motor control amount in a state where the shake correction mechanism 110 is held at the center under arbitrary plural temperatures. Correcting a value at the current environmental temperature to a value at a reference temperature (for example, about 25 ° C.) is referred to as temperature correction, and correcting a value at the reference temperature to a value at the current environmental temperature is referred to as inverse temperature correction.
ステップＳ１０５において、姿勢検出部１１３が、モータ制御量からＳ１０４で逆温度補正した移動制御量を減算することにより、ブレ補正機構１１０を中心保持するために必要な保持制御量を抽出する。抽出された保持制御量を図３（Ｅ）に示す。 In step S <b> 105, the posture detection unit 113 extracts a holding control amount necessary to hold the shake correction mechanism 110 at the center by subtracting the movement control amount corrected in reverse temperature in S <b> 104 from the motor control amount. The extracted holding control amount is shown in FIG.
ここで、モータ制御量は、現在の環境温度における値であるが、Ｓ１０３で算出した移動制御量は、レンズ位置データを基に算出した理論値であるので、基準温度下での値となる。したがって、Ｓ１０４の逆温度補正の処理が必要となる。 Here, the motor control amount is a value at the current environmental temperature, but the movement control amount calculated in S103 is a theoretical value calculated based on the lens position data, and thus is a value under the reference temperature. Therefore, the reverse temperature correction process of S104 is required.
次に、ステップＳ１０６において、姿勢検出部１１３が、Ｓ１０５で算出した保持制御量を温度補正係数Ｃ１で温度補正する。重力方向の検出は保持制御量が姿勢判定用閾値を超えるか否かで判定されるが、保持制御量が温度によって値が変化すると正確な姿勢検出が困難となる場合がある。したがって、姿勢検出部１１３は、後述の重力方向判定処理のために、基準温度下の値に保持制御量を温度補正する。ヨー方向の保持制御量とピッチ方向の保持制御量を図３（Ｆ）に示す。ヨー方向は、ブレ補正機構１１０を制御する第１の方向であり、ピッチ方向は、ブレ補正機構を制御する第２の方向である。 Next, in step S106, the posture detection unit 113 corrects the temperature of the holding control amount calculated in S105 with the temperature correction coefficient C1. The detection of the gravitational direction is determined by whether or not the holding control amount exceeds the posture determination threshold value. However, when the holding control amount changes depending on the temperature, accurate posture detection may be difficult. Therefore, the posture detection unit 113 corrects the holding control amount to a value below the reference temperature for the gravity direction determination process described later. The hold control amount in the yaw direction and the hold control amount in the pitch direction are shown in FIG. The yaw direction is a first direction for controlling the shake correction mechanism 110, and the pitch direction is a second direction for controlling the shake correction mechanism.
次に、ステップＳ１０７において、姿勢検出部１１３が、ヨー方向、ピッチ方向それぞれについての温度補正した保持制御量に基づいて、合成制御量（第３の制御量）を算出する。姿勢検出部１１３は、以下の式１にしたがって、合成制御量を算出する。
合成制御量＝√（ヨー方向の保持制御量２＋ピッチ方向の保持制御量２）・・・式１
Next, in step S <b> 107, the posture detection unit 113 calculates a combined control amount (third control amount) based on the holding control amount whose temperature is corrected in each of the yaw direction and the pitch direction. The posture detection unit 113 calculates a composite control amount according to the following Equation 1.
Combined control amount = √ (yaw direction of the holding control amount 2 + pitch direction of the holding control amount 2) Equation 1
図４は、合成制御量の算出と、合成制御量と傾きとの関係を説明する図である。
図４（Ａ）は、合成制御量の算出を示す。ただし、図中ではヨー方向の保持制御量を保持制御量Ｙ、ピッチ方向の保持制御量を保持制御量Ｐと記載している。
FIG. 4 is a diagram for explaining the calculation of the synthesis control amount and the relationship between the synthesis control amount and the inclination.
FIG. 4A shows calculation of the synthesis control amount. However, in the figure, the holding control amount in the yaw direction is described as holding control amount Y, and the holding control amount in the pitch direction is described as holding control amount P.
ステップＳ１０８において、姿勢検出部１１３が、合成制御量が閾値より大きいかを判断する。合成制御量が閾値より大きくない場合は、処理がステップＳ１１１に進む。合成制御量が閾値より大きい場合は、処理がＳ１０９に進む。 In step S108, the posture detection unit 113 determines whether the combined control amount is larger than the threshold value. If the synthesis control amount is not greater than the threshold value, the process proceeds to step S111. If the synthesis control amount is greater than the threshold, the process proceeds to S109.
ステップＳ１０８における判断処理は、撮像装置１００の光軸方向に対する傾きを判定することを意味する。傾きが大きくなるにつれてヨー方向、ピッチ方向どちらの保持制御量も小さくなり、重力方向の検出が正しくできなくなる。合成制御量と傾きとの関係を図４（Ｂ）に示す。 The determination process in step S108 means determining the inclination of the imaging device 100 with respect to the optical axis direction. As the inclination increases, the holding control amount in both the yaw direction and the pitch direction decreases, and the gravity direction cannot be detected correctly. FIG. 4B shows the relationship between the synthesis control amount and the inclination.
重力方向の検出が正しくできなくなることを防ぐため、所定値以上の傾きか否かを合成制御量から判定している。なお、姿勢検出可能な傾きにおける合成制御量を予め算出し、閾値として使用する。 In order to prevent the gravity direction from being detected correctly, it is determined from the composite control amount whether the inclination is equal to or greater than a predetermined value. Note that a combined control amount at a tilt capable of detecting the posture is calculated in advance and used as a threshold value.
ステップＳ１１１は、姿勢検出が正しく行えない場合の処理である。この処理の一例として、姿勢検出部１１３は、重力方向を検出せず、最後に検出した姿勢情報を更新しない。ステップＳ１０９においては、姿勢検出部１１３が、ステップＳ１０６で温度補正した保持制御量を、合成制御量を用いて傾き補正する。撮像装置１００の光軸に対する傾きによって保持制御量が小さくなるため、重力方向を正しく判定するためには、傾きによって小さくなった分を補正する必要があるからである。 Step S111 is processing when posture detection cannot be performed correctly. As an example of this process, the posture detection unit 113 does not detect the direction of gravity and does not update the posture information detected last. In step S109, the posture detection unit 113 corrects the inclination of the holding control amount whose temperature has been corrected in step S106 by using the combined control amount. This is because the holding control amount is reduced by the inclination of the imaging apparatus 100 with respect to the optical axis, and in order to correctly determine the direction of gravity, it is necessary to correct the amount reduced by the inclination.
次に、ステップＳ１１０において、姿勢検出部１１３が、ステップＳ１０９での処理後の保持制御量から重力方向を検出する。例えば、図３（Ｆ）に示すように、姿勢検出部１１３は、正の姿勢判定用閾値をヨー方向、ピッチ方向いずれの保持制御量が超えるかを判定して重力方向を検出する。負の姿勢判定用閾値をヨー方向、ピッチ方向いずれの保持制御量が下回るかで重力方向を検出してもよい。姿勢判定用閾値は、基準温度下での各姿勢における保持制御量から予め算出される。姿勢検出部１１３は、検出した重力方向に基づいて、装置の姿勢を判定する。 Next, in step S110, the posture detection unit 113 detects the direction of gravity from the holding control amount after the processing in step S109. For example, as shown in FIG. 3F, the posture detection unit 113 detects the gravitational direction by determining whether the holding control amount in the yaw direction or the pitch direction exceeds the positive posture determination threshold. The gravitational direction may be detected based on whether the holding control amount in the yaw direction or the pitch direction falls below the negative attitude determination threshold. The posture determination threshold value is calculated in advance from the holding control amount in each posture under the reference temperature. The posture detection unit 113 determines the posture of the device based on the detected gravity direction.
以上説明してきたように、本実施形態の像ブレ補正装置は、モータ制御量から重力方向判定用に保持制御量を抽出する際に、保持制御量用の温度補正係数Ｃ１と移動制御量用の温度補正係数Ｃ２のそれぞれについて温度補正をする。これにより、精度のよい重力方向の判定が可能となる。 As described above, the image blur correction apparatus according to the present embodiment extracts the holding control amount for the gravitational direction determination from the motor control amount and uses the temperature correction coefficient C1 for the holding control amount and the movement control amount. Temperature correction is performed for each of the temperature correction coefficients C2. This makes it possible to accurately determine the direction of gravity.
なお、撮像装置１００は、種々の変形が可能である。例えば、振れ検出部１０１に加速度センサを用いてもよい。この場合、加速度センサだけでも重力方向の検出が可能である。したがって、例えば、本実施形態で検出した重力方向と加速度センサで検出した重力方向とが一致しているかを判断し、その判断結果に基づいて精度の良い重力方向の判定をすることができる。さらに、複数の姿勢判定閾値によって重力方向を判定すれば、９０°刻みよりもさらに分解能の高い姿勢の検出も可能である。また、移動制御量は、レンズ位置データから演算するものでなくともよく、例えばブレ補正量から同様に演算することも可能である。ただし、この場合は、換算係数はブレ補正量用のものを算出しておく必要がある。また、ブレ補正機構１１０は光軸と異なる方向への移動可能なシフトレンズや移動可能な撮像素子１１４以外でも、光軸と異なる方向に移動可能な構造ならば、種々のブレ補正手段を用いることができる。 Note that the imaging apparatus 100 can be variously modified. For example, an acceleration sensor may be used for the shake detection unit 101. In this case, the direction of gravity can be detected only with the acceleration sensor. Therefore, for example, it is possible to determine whether the gravity direction detected in the present embodiment matches the gravity direction detected by the acceleration sensor, and to determine the gravity direction with high accuracy based on the determination result. Furthermore, if the direction of gravity is determined by a plurality of posture determination thresholds, it is possible to detect postures with higher resolution than 90 ° increments. Further, the movement control amount does not have to be calculated from the lens position data, and can be calculated similarly from, for example, the blur correction amount. However, in this case, it is necessary to calculate the conversion coefficient for the blur correction amount. In addition to the shift lens or the movable image sensor 114 that can move in a direction different from the optical axis, the shake correction mechanism 110 can use various types of shake correction means as long as it can move in a direction different from the optical axis. Can do.
以上、本発明をその好適な実施形態に基づいて詳述してきたが、本発明はこれら特定の実施形態に限られるものではなく、この発明の要旨を逸脱しない範囲の様々な形態も本発明に含まれる。上述の実施形態の一部を適宜組み合わせてもよい。すなわち、撮像装置１００は必ずしも１台のメカで構成されていなくともよい。例えば、撮像装置１００はレンズ交換式のカメラであって、μＣＯＭ１０２、撮像素子１１４はカメラ本体に含み、ブレ補正機構１１０を交換式のレンズ内に含む構成も本発明に含まれる。 Although the present invention has been described in detail based on preferred embodiments thereof, the present invention is not limited to these specific embodiments, and various forms within the scope of the present invention are also included in the present invention. included. A part of the above-described embodiments may be appropriately combined. That is, the imaging device 100 does not necessarily have to be configured by a single mechanism. For example, the imaging apparatus 100 is an interchangeable lens camera, and the configuration in which the μCOM 102 and the imaging element 114 are included in the camera body and the shake correction mechanism 110 is included in the interchangeable lens is also included in the present invention.
１０２ μＣＯＭ
１１３ 姿勢検出部
102 μCOM
113 Attitude detection unit
Claims (12)
像ブレ補正中の前記ブレ補正手段の制御量を取得する取得手段と、
前記取得された制御量のうち、前記ブレ補正手段を中心位置に保持するために用いられる第１の制御量を第１の補正係数で温度補正し、前記像ブレ補正用に前記ブレ補正手段を移動させるための第２の制御量を第２の補正係数で温度補正する制御手段を備える
ことを特徴とする像ブレ補正装置。 An image blur correction apparatus that controls blur correction means to correct image blur of a captured image,
An acquisition unit for acquiring a control amount of the blur correction unit during image blur correction;
Of the acquired control amounts, the first control amount used to hold the blur correction unit at the center position is temperature-corrected with a first correction coefficient, and the blur correction unit is used for the image blur correction. An image blur correction apparatus comprising: control means for correcting a temperature of a second control amount for movement by a second correction coefficient.
像ブレ補正中の前記ブレ補正手段の制御量と前記温度補正された第２の制御量とに基づいて、前記第１の制御量を算出し、前記算出された第１の制御量を前記第１の補正係数で温度補正する
ことを特徴とする請求項１に記載の像ブレ補正装置。 The control means includes
The first control amount is calculated based on the control amount of the blur correction unit during the image blur correction and the temperature-corrected second control amount, and the calculated first control amount is used as the first control amount. The image blur correction apparatus according to claim 1, wherein the temperature correction is performed with a correction coefficient of one.
ことを特徴とする請求項１または請求項２に記載の像ブレ補正装置。 The image blur correction apparatus according to claim 1, further comprising a determination unit that detects a gravitational direction and determines an attitude of the apparatus based on the temperature-corrected first control amount.
前記ブレ補正手段を制御する第１の方向と第２の方向のそれぞれについての前記温度補正された第１の制御量を合成して、第３の制御量を算出し、
前記第３の制御量が閾値より大きい場合に、前記重力方向を検出し、前記第３の制御量が閾値より大きくない場合は、前記重力方向を検出しない
ことを特徴とする請求項３に記載の像ブレ補正装置。 The determination means includes
Combining the temperature-corrected first control amount for each of the first direction and the second direction for controlling the blur correction means, and calculating a third control amount,
The gravity direction is detected when the third control amount is larger than a threshold value, and the gravity direction is not detected when the third control amount is not larger than the threshold value. Image blur correction device.
前記第３の制御量が閾値より大きい場合に、前記温度補正された第１の制御量を前記第３の制御量で補正して、前記重力方向を検出する
ことを特徴とする請求項４に記載の像ブレ補正装置。 The determination means includes
5. The gravitational direction is detected by correcting the temperature-corrected first control amount with the third control amount when the third control amount is larger than a threshold value. The image blur correction apparatus described.
ことを特徴とする請求項１乃至５のいずれか１項に記載の像ブレ補正装置。 The image blur correction apparatus according to claim 1, wherein the first correction coefficient is calculated in advance based on a temperature characteristic related to an actuator constituting the blur correction unit.
ことを特徴とする請求項６に記載の像ブレ補正装置。 The image blur correction apparatus according to claim 6, wherein the first correction coefficient is calculated in advance based on at least a temperature characteristic related to a coil or a magnet constituting the blur correction unit.
ことを特徴とする請求項１乃至７のいずれか１項に記載の像ブレ補正装置。 The second correction coefficient is calculated in advance based on a temperature characteristic related to an actuator of the shake correction unit and a temperature characteristic related to a member that supports a movable part of the shake correction unit on a fixed part. The image blur correction device according to claim 1.
ことを特徴とする請求項８に記載の像ブレ補正装置。 The image blur correction apparatus according to claim 8, wherein the member that supports the movable part of the blur correction unit on the fixed part includes at least one of a spring, a gel, and grease.
像ブレ補正中の前記ブレ補正手段の制御量を取得する取得工程と、
前記取得された制御量のうち、前記ブレ補正手段を中心位置に保持するために用いられる第１の制御量を第１の補正係数で温度補正し、前記像ブレ補正用に前記ブレ補正手段を移動させるための第２の制御量を第２の補正係数で温度補正する制御工程とを有する
ことを特徴とする制御方法。 A control method of an image blur correction apparatus for controlling image blur correction means to correct image blur of a captured image,
An acquisition step of acquiring a control amount of the blur correction means during image blur correction;
Of the acquired control amounts, the first control amount used to hold the blur correction unit at the center position is temperature-corrected with a first correction coefficient, and the blur correction unit is used for the image blur correction. And a control step of correcting the temperature of the second control amount for movement with a second correction coefficient.
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