JP2021196385A - Control unit, camera system, control method, and program - Google Patents

Abstract

To provide a control unit that can suppress reduction in a shake correction function even when a position of shake correction means cannot be detected.SOLUTION: A control unit is provided in a camera system having a first device being one of a camera and an interchangeable lens and a second device being the other, and is provided in one of the devices, and the control unit has calculation means that calculates a correction amount for correcting one information of first shake information from first shake detection means of the first device and second shake information from second shake detection means of the second device. The calculation means acquires fourth shake information calculated on the basis of third shake information on an amount of shake of the camera system calculated by using information on a target value of shake correction performed by shake correction means provided in the first device and information on shake based on image information acquired by the camera system, and the other information of the first shake information and the second shake information, and calculates a correction amount for correcting one information with reference to the fourth shake information.SELECTED DRAWING: Figure 3

Description

The present invention relates to control devices, camera systems, control methods, and programs.

Conventionally, an image pickup apparatus having a function of correcting image shake of an image caused by shake such as camera shake (hereinafter referred to as a shake correction function) has been proposed. In Patent Document 1, in order to accurately detect runout, it is detected by both the detector of the interchangeable lens and the camera body, and the reference value is subtracted based on the difference between the average values of both runout amounts for a predetermined period. A camera system that corrects the reference value is disclosed.

Japanese Unexamined Patent Publication No. 2016-114792

By estimating the shake that actually occurs before the shooting operation (so-called aiming) and correcting the reference value, the shake correction function can be maximized during the exposure. When performing runout correction during aiming, it is necessary to estimate the runout that is actually occurring in consideration of the runout correction during aiming. It is appropriate to use the information from the sensor that detects the position of the runout correction means as the information for the runout correction, but there are cases where such a sensor is not provided. In that case, since the actual occurrence of runout cannot be estimated appropriately, the deviation of the reference value cannot be properly corrected, and the runout correction function is deteriorated.

An object of the present invention is to provide a control device, a camera system, a control method, and a program capable of suppressing a decrease in the runout correction function even when the position of the runout correction means cannot be detected.

The control device as one aspect of the present invention is provided on one of a camera system having a camera body and a first device which is one of interchangeable lenses mounted communicably on the camera body and a second device which is the other. One of the first runout information from the first runout detecting means provided in the first device and the second runout information from the second runout detecting means provided in the second device. It has a calculation means for calculating the correction amount for correcting the information, and the calculation means is based on the information on the target value of the runout correction by the runout correction means provided in the first apparatus and the image information acquired by the camera system. The fourth runout calculated based on the information on the runout based on, the third runout information on the runout amount of the camera system calculated using, and the other information of the first runout information and the second runout information. It is characterized in that information is acquired and a correction amount for correcting one of the information is calculated with reference to the fourth runout information.

Further, the camera system as another aspect of the present invention is a camera system having an interchangeable lens that is communicably attached to the camera body and the camera body, and is provided in a first device that is one of the camera body and the interchangeable lens. From the first shake detecting means provided, the shake correcting means provided in the first device, the second shake detecting means provided in the second device which is the other side of the camera body and the interchangeable lens, and the first shake detecting means. The first calculation means for calculating the correction amount for correcting one of the first runout information and the second runout information from the second runout detection means, information on the target value of runout correction by the runout correction means, and acquisition by the camera system. It has information on runout based on the image information and a second calculation means for calculating a third runout information on the amount of runout of the camera system, and the first calculation means is the first runout information and the second. It is characterized in that the correction amount for correcting one of the information is calculated based on the other information of the runout information and the fourth runout information obtained based on the third runout information.

Further, a control method as another aspect of the present invention is performed in a camera system having a camera body and a first device which is one of interchangeable lenses mounted communicably on the camera body, and a second device which is the other. Correction for correcting one of the first runout information from the first runout detecting means provided in the first device and the second runout information from the second runout detecting means provided in the second device. It is a control method for calculating the amount, and is calculated using information on the target value of the shake correction by the shake correction means provided in the first device and information on the shake based on the image information acquired by the camera system. A process of acquiring the fourth runout information calculated based on the third runout information regarding the runout amount of the camera system, the other information of the first runout information and the second runout information, and the fourth runout information. It is characterized by having a step of calculating a correction amount for correcting one of the information with reference to.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a control device, a camera system, a control method, and a program capable of suppressing a decrease in the runout correction function even when the position of the runout correction means cannot be detected.

It is a central sectional view of the camera system which concerns on embodiment of this invention. It is a block diagram of a camera system. It is a block diagram of a lens control unit and a camera control unit. It is a block diagram of the runout signal correction means. It is a figure which shows the frequency characteristic which is determined by the closed loop system which consists of a correction controller, and the correction band limitation part. It is a flowchart which shows the process which determines whether to correct an interchangeable lens or the shake detection means of a camera body. There is a flowchart which shows the shake correction processing by a lens control unit and a camera control unit. It is a figure which shows the gain of a correction controller, or the cutoff frequency of a correction band limitation part. It is a figure which shows an example of the runout signal when the gain of a correction controller and the cutoff frequency of a correction band limitation part are the first setting, and the waveform which shows the correction amount from a correction controller. It is a figure which shows an example of the runout signal when the gain of a correction controller and the cutoff frequency of a correction band limitation part are the 2nd setting, and the waveform which shows the correction amount from a correction controller.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each figure, the same member is given the same reference number, and duplicate description is omitted.

FIG. 1 is a central sectional view of a camera system according to an embodiment of the present invention. The camera system has a camera body (imaging device) 101 and an interchangeable lens 102 communicably attached to the camera body 101. One of the camera body 101 and the interchangeable lens 102 is configured as a first device, and the other is configured as a second device. The camera body 101 and the interchangeable lens 102 are electrically connected to each other via an electric contact 107. The interchangeable lens 102 has a photographing optical system 103 including a plurality of lenses. The anti-vibration lens unit 108 is a part of the photographing optical system 103. The camera body 101 includes an image sensor 105 and a rear display device 106.

FIG. 2 is a block diagram of the camera system. The camera body 101 includes a camera control unit 201, an image processing unit 202, a memory means 203, a camera shake detecting means 204, an image sensor shake correction means 205, a display means 209, a camera side operating means 210, and an image sensor position detecting means 212. Have. The interchangeable lens 102 includes a lens control unit 206, a lens shake detecting means 207, a lens shake correcting means 208, a lens side operating means 211, and a focal length changing means 213.

The camera shake detecting means 204 and the lens shake detecting means 207 are, for example, an angular velocity sensor and can detect the rotation (shake amount) of the photographing optical system 103 added to the camera system with respect to the optical axis 104. The image sensor shake correction means 205 and the lens shake correction means 208 respectively shift or tilt drive the image pickup element 105 and the vibration isolation lens unit 108 on a plane perpendicular to the optical axis 104 to perform shake correction.

In the present embodiment, the camera system has an image pickup means, an image processing means, a recording / reproducing means, and a control means. The image pickup means includes a photographing optical system 103 and an image pickup element 105. The image processing means includes an image processing unit 202. The recording / reproducing means include the memory means 203 and the display means 209. The display means 209 includes a rear display device 106, a small display panel (not shown) for displaying shooting information provided on the upper surface of the camera body 101, and an electronic viewfinder (not shown), which is also called an EVF. The control means are camera control unit 201, camera shake detection means 204, image pickup element shake correction means 205, lens control unit 206, lens shake detection means 207, lens shake correction means 208, camera side operation means 210, lens side operation means 211. , The image pickup element position detecting means 212, and the focal length changing means 213.

The image pickup means is an optical processing system that forms an image of light from an object on the image pickup surface of the image pickup element 105 via the photographing optical system 103. Since the focus evaluation amount / appropriate exposure amount can be obtained from the image sensor 105, by adjusting the photographing optical system 103 based on this signal, an object light of an appropriate amount of light is exposed to the image pickup surface of the image sensor 105, and the image pickup surface is exposed. A subject image is formed in the vicinity of the image sensor 105.

The image processing unit 202 has an A / D converter, a white balance adjustment circuit, a gamma correction circuit, an interpolation calculation circuit, and the like, and can generate an image for recording. Further, the image processing unit 202 has a color interpolation processing means, and performs color interpolation (demosiking) processing from the signals of the bayer array to generate a color image. In addition, the image processing unit 202 compresses images, moving images, sounds, and the like. Further, the image processing unit 202 can also generate a runout signal based on a comparison between a plurality of images obtained from the image pickup device 105. Therefore, the camera shake detecting means 204 may be configured by the image sensor 105 and the image processing unit 202.

In the present embodiment, the camera control unit 201 controls the operation of each unit of the camera body 101 in response to a user operation on the camera-side operation means 210, so that still images and moving images can be captured. The rear display device 106 is a touch panel and may also serve as the camera-side operating means 210.

The camera control unit 201 generates and outputs a timing signal or the like at the time of imaging. Further, the camera control unit 201 controls the image pickup means, the image processing means, and the recording / reproducing means in response to an external operation. For example, when the camera control unit 201 detects that the shutter release button (not shown) is pressed, it controls the drive of the image sensor 105, the operation of the image processing unit 202, the compression processing, and the like. Further, the camera control unit 201 records an image or the like generated in the memory means 203, and displays an image to be presented to the user on the display means 209. Further, the camera control unit 201 controls the state of each segment of the display means 209.

Hereinafter, the adjustment operation of the photographing optical system 103 by the control means will be described. The camera control unit 201 outputs a signal from the image sensor 105 and an appropriate focal position and aperture position based on the operation of the photographer by the camera-side operating means 210 to the lens control unit 206 as command values. The lens control unit 206 appropriately controls the focal length changing means 213 and the aperture driving means (not shown).

Further, in the mode of performing the shake correction, the image sensor shake correction means 205 and the lens shake correction are corrected by using the signals from the camera shake detection means 204 and the lens shake detection means 207 and the information from the image sensor position detection means 212. Means 208 are properly controlled. The image sensor shake correction means 205 and the lens shake correction means 208 can be realized by, for example, a magnet and a flat plate coil. Further, the image pickup element position detection means 212 can be realized by, for example, a magnet and a Hall element. As a specific control method, first, the camera control unit 201 and the lens control unit 206 acquire the shake signals output from the camera shake detecting means 204 and the lens shake detecting means 207, respectively. The camera control unit 201 and the lens control unit 206 each calculate the drive amount of the image sensor 105 and the anti-vibration lens unit 108 for correcting the image shake using the acquired shake signal. After that, the camera control unit 201 and the lens control unit 206 output the calculated drive amount to the image sensor shake correction means 205 and the lens shake correction means 208 as command values, respectively. After that, in the present embodiment, the lens shake correction means 208 performs feedforward control so that the vibration-proof lens unit 108 is appropriately driven by using the acquired command value. Further, the image sensor shake correction means 205 performs feedback control so that the position detected by the image sensor position detection means 212 follows the command value.

In the present embodiment, in order to suppress the increase in cost, the interchangeable lens 102 is not equipped with a detection means for detecting the position of the lens shake correction means 208. In this case, it is necessary to tune the feedforward control described above so that appropriate runout correction can be performed.

Further, in the camera system of the present embodiment, shake correction is performed even during so-called aiming prior to shooting a recording image. The shake correction during aiming is performed by driving the lens shake correction means 208. The shake correction during exposure is performed by driving the image sensor shake correction means 205 and the lens shake correction means 208. In the runout correction during exposure, by driving the two runout correction means, it is possible to perform the runout correction with a larger amount of correction.

FIG. 3 is a block diagram of the lens control unit 206 and the camera control unit 201. The lens control unit 206 includes a shake signal correction means 301, an adder 302, a lens side aiming target generation unit 303, a lens side exposure target generation unit 304, a lens side correction ratio gain 305, a switch unit 306, and a lens side feed forward control. It has a device 307, a correction unit (correction means) 308, and a generated runout estimation unit 309. The camera control unit 201 includes a camera-side aiming target generation unit 310, a camera-side exposure target generation unit 311, a camera-side correction ratio gain 312, a switch unit 313, an adder 314, and a camera-side servo controller 315.

Hereinafter, the runout correction process will be described. In the present embodiment, the lens shake correction means 208 and the image sensor shake correction means 205 are simultaneously driven during exposure based on the shake signals (shake signals) output from the shake detection means 204 and 207. Here, when the lens shake correction means 208 and the image sensor shake correction means 205 are similarly driven by using the shake signals output from the lens shake detection means 207 and the camera shake detection means 204, respectively, the actually detected runout is performed. It will be double-corrected for the amount. As a result, the image shake is exacerbated.

Therefore, in the present embodiment, how much the lens shake correction means 208 and the image sensor shake correction means 205 shake with respect to the amount of shake actually detected by the lens side correction ratio gain 305 and the camera side correction ratio gain 312. The ratio of sharing of corrections is determined. For example, if the sharing ratio of each shake correction means is set to 50%, the lens shake correction means 208 and the image sensor shake correction means 205 share half of the detected runout amount to perform shake correction. In this case, 100% of the shake correction can be performed by driving the lens shake correction means 208 and the image sensor shake correction means 205 at the same time.

In the present embodiment, the interchangeable lens side is the slave and the camera body side is the master, and various information of both sides is exchanged by communication via the electric contact 107. The lens control unit 206 acquires a lens-side runout signal (first runout information), which is information on the lens-side runout amount, from the lens runout detecting means 207. The adder 302 subtracts the runout signal correction amount (correction amount) by the runout signal correction means 301 described later from the lens side runout signal. The lens-side aiming target generation unit 303 and the lens-side exposure target generation unit 304 integrate the angular velocity information output from the adder 302 using an integrator (not shown) provided inside to correct the lens shake. The amount of correction on the lens side with respect to 208 is calculated. It can also be said that the lens-side correction amount is information regarding the target value of the shake correction by the lens shake correction means 208. The lens-side correction amount calculated by one of the lens-side aiming target generation unit 303 and the lens-side exposure target generation unit 304 selected according to the shooting state set via the camera-side operation means 210 is It is input to the switch unit 306. The lens-side correction ratio gain 305 calculates a lens-side target value at a predetermined ratio with respect to the lens-side correction amount by multiplying the lens-side correction amount from the switch unit 306 by the gain. The lens-side target value is input to the lens-side feedforward controller 307.

In this embodiment, it is assumed that the vibration correction during aiming is performed only by the anti-vibration lens unit 108. Therefore, when the shooting state set via the camera-side operating means 210 is during aiming, the lens side is used. The gain multiplied by the correction ratio gain 305 is 100%. The lens-side feedforward controller 307 uses the lens-side target value to generate a drive signal for driving the lens shake correction means 208, and controls the drive of the lens shake correction means 208.

On the other hand, the camera control unit 201 acquires the camera side shake signal (second runout information) which is information on the camera side shake amount from the camera shake detecting means 204. The target generation unit 310 during aiming on the camera side and the target generation unit 311 during exposure on the camera side integrate the camera side shake signal using an integrator (not shown) provided inside, so that the camera with respect to the image sensor shake correction means 205 Calculate the side correction amount. It can also be said that the correction amount on the camera side is information regarding the target value of the shake correction by the image sensor shake correction means 205. The camera-side correction amount calculated by one of the camera-side aiming target generation unit 310 and the camera-side exposure target generation unit 311 selected according to the shooting state set via the camera-side operation means 210 is It is input to the switch unit 313. The camera-side correction ratio gain 312 calculates a camera-side target value at a predetermined ratio to the camera-side correction amount by multiplying the camera-side correction amount from the switch unit 313 by the gain. The camera-side target value is input to the camera-side servo controller 315.

In this embodiment, it is assumed that the vibration correction during aiming is performed only by the anti-vibration lens unit 108. Therefore, when the shooting state set via the camera-side operating means 210 is during aiming, the camera side. The gain multiplied by the correction ratio gain 312 is 0%. Therefore, the target value on the camera side after passing through the correction ratio gain 312 on the camera side during aiming becomes substantially zero. The camera-side servo controller 315 drives the image pickup element shake correction means 205 by using a signal obtained by subtracting information about the position of the image pickup element shake correction means 205 from the image pickup element position detection means 212 from the camera side target value. The drive signal of the image sensor is generated, and the drive of the image sensor shake correction means 205 is controlled. In this way, the image sensor shake correction means 205 corrects the shake of a predetermined ratio among the shakes detected by the camera shake detection means 204.

The generated runout estimation unit 309 estimates the amount of runout actually generated by using the information about the lens side shake correction amount (target value) output from the lens side aiming target generation unit 303 and corrected by the correction unit 308. do.

In order to estimate the actual amount of runout, it is preferable to use the information from the sensor that detects the position of the runout correction means. However, in the present embodiment, since the detection means for detecting the position of the lens shake correction means 208 is not provided, the generated shake estimation unit 309 uses the information from the correction unit 308 to actually generate the shake amount. Is configured to estimate.

Specifically, the generated runout estimation unit 309 estimates the amount of runout actually generated using the information from the correction unit 308 and the image vector information based on the image information of the image pickup device 105 from the image processing unit 202. do. By using both the image vector information based on the image information and the information from the correction unit 308, it is possible to estimate the amount of runout that could not be corrected on the interchangeable lens 102 side, and it is possible to add it as the amount of runout that is actually occurring. This is because. The information regarding the actually generated runout amount (third runout information) estimated in this way is input to the runout signal correction means 301.

When each of the lens shake detecting means 207 and the camera shake detecting means 204 correctly detects the shake of the camera system, it is preferable to simultaneously drive the lens shake correction means 208 and the image sensor shake correction means 205 at a predetermined ratio. Runout correction can be performed. However, in an actual camera system, there is often a difference in the detection performance between the lens shake detecting means 207 and the camera shake detecting means 204. The difference in detection performance is, for example, a difference in output (difference in sensitivity) for the same runout, a difference in detection performance for low-frequency shake, and the like. The detection performance for low-frequency fluctuations includes fluctuations in the reference value of the shake output with respect to temperature (temperature drift) and fluctuations in the reference value of the shake output in a stationary state (low-frequency output fluctuations). When the lens shake correction means 208 and the image sensor shake correction means 205 are driven at the same time when there is a difference in the detection performance between the lens shake detecting means 207 and the camera shake detecting means 204, they are not driven by a predetermined sharing ratio and are satisfactorily driven. Runout correction cannot be performed. In the present embodiment, in order to perform vibration correction satisfactorily even if there is a difference in the detection performance of the runout detecting means, the runout signal correction means 301 obtains the runout signal from the runout detecting means having poor characteristics from the runout detecting means having good characteristics. It is corrected using the runout signal of.

Hereinafter, the runout signal correction process will be described with reference to FIG. FIG. 4 is a block diagram of the runout signal correction means 301. The runout signal correction means 301 includes adders 401, 402, integrators 403, 404, correction controller 405 (calculation means), correction band limiting unit 406, and camera runout signal correction unit 407.

The runout signal correction means 301 acquires the lens side runout signal T1 from the lens runout detecting means 207. The adder 401 subtracts the correction amount calculated by the correction controller 405 described later from the lens side runout signal T1. The integrator 403 calculates the lens side runout angle signal by integrating the signal output from the adder 401.

The camera shake signal correction unit 407 acquires the camera side shake signal T2 detected by the camera shake detection means 204 from the camera control unit 201 by communication via the electric contact 107. The camera shake signal correction unit 407 uses the camera runout signal T2 as the generated runout estimation signal T3 (third runout information) output from the generated runout estimation unit 309 to refer to the camera side runout signal T2 (offset value). Is corrected so that it becomes the ideal state. The ideal state is a state in which the camera side runout signal T2 is corrected so as to output a signal (for example, zero) indicating that the camera system is stationary in a stationary state. By making corrections using the estimation result of the runout that actually occurs, it is possible to use the runout detection result with higher accuracy. The integrator 404 calculates the camera side runout angle signal by integrating the signal (fourth runout information) output from the camera runout signal correction unit 407.

The adder 402 calculates the difference between the runout angle signals by subtracting the camera side runout angle signal from the lens side runout angle signal. The correction controller 405 calculates the correction amount using the difference between the runout angle signals. The calculated correction amount is input to the adder 401. The correction controller 405 is a feedback controller that feedback-corrects the difference between the runout angle signals by negative feedback. The correction controller 405 may be composed of any controller. For example, the correction controller 405 may be configured with a feedback controller such as a PI control composed of a proportional controller and an integral controller. With such a configuration, the lens-side runout angle signal calculated using the lens-side runout signal is from the correction controller 405 so that the difference from the camera-side runout angle signal calculated from the camera-side runout signal becomes small. It is corrected by the correction amount. The adder 408 corrects the low frequency component of the correction amount from the correction controller 405 by subtracting the correction amount from the correction controller 405 band-limited by the correction band limiting unit 406 from the lens side runout signal. The correction band limiting unit 406 is composed of a low-pass filter or the like, and extracts a low frequency component of a correction amount from the correction controller 405. The correction amount (hereinafter, runout signal correction amount) T4 in which the low frequency component is corrected is input to the lens-side aiming target generation unit 303 and the lens-side exposure target generation unit 304.

Hereinafter, the frequency characteristics at the time of calculating the runout signal correction amount will be described with reference to FIG. FIG. 5 is a diagram showing transmission characteristics determined by the closed loop system configured by the correction controller 405 and the correction band limiting unit 406. The upper figure shows the gain characteristics, and the lower figure shows the phase characteristics.

In FIG. 5A, when the gain of the correction controller 405 and the cutoff frequency (cutoff frequency) of the correction band limiting unit 406 are set to the first setting, the runout signal T1 to the runout signal correction amount T4 on the lens side are set. The transmission characteristics are represented by dotted lines L2 and L3. Further, the transmission characteristics from the camera-side runout signal T2 to the runout signal correction amount T4 are represented by solid lines L1 and L4.

In FIG. 5B, when the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 are set to the second setting, the transmission characteristics from the lens side runout signal T1 to the runout signal correction amount T4 are L6. And L7 are represented by dotted lines. Further, the transmission characteristics from the camera-side runout signal T2 to the runout signal correction amount T4 are represented by solid lines L5 and L8.

In the gain characteristics of FIG. 5, the transmission characteristics from the camera-side runout signal T2 shown by the solid line to the runout signal correction amount T4 are characteristics similar to those of a low-pass filter, and pass through the low-frequency component of the camera-side runout signal. Blocks high frequency components. Further, the transmission characteristics from the lens side runout signal T1 shown by the dotted line to the runout signal correction amount T4 are characteristics similar to those of a high-pass filter, and the low frequency component of the lens side runout signal is blocked and the high frequency component is passed. .. The runout signal correction amount is a combination of signals having transmission characteristics from the lens side runout signal T1 to the runout signal correction amount T4 and the transmission characteristics from the camera side runout signal T2 to the runout signal correction amount T4. As a result, the runout signal of the entire frequency band is reproduced. That is, the characteristics of the lens-side deflection signal after correction are approximated by the following equation (1), where K is the transmission characteristic determined by the closed loop system configured by the correction controller 405 and the correction band limiting unit 406. Can be expressed as.

After correction Lens side runout signal = (1-K) x Lens side runout signal + K x Camera side runout signal (1)
By separating the high frequency component of the lens side shake signal and the low frequency component of the camera side shake signal by frequency and synthesizing them, the low frequency component of the lens side shake detection performance with low low frequency shake detection performance can be detected by the camera with high low frequency shake detection performance. It is supplemented by the low frequency component of the side shake signal. The higher the gain of the correction controller 405 and the higher the cutoff frequency of the correction band limiting unit 406, the higher the separation frequency of the high frequency component of the lens side shake signal and the low frequency component of the camera side shake signal. Therefore, the camera side shake signal is used more positively as the low frequency component of the corrected lens side shake signal. In the first setting, the gain of the correction controller 405 is higher and the cutoff frequency of the correction band limiting unit 406 is higher than that of the second setting.

According to the configuration of the present embodiment, the low frequency component of the lens side shake signal having low low frequency shake detection performance can be supplemented with the low frequency component of the camera side shake signal having high low frequency shake detection performance. Further, by changing the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406, the camera side shake signal having high low frequency shake detection performance is used instead of the lens side shake signal having low low frequency shake detection performance. The ratio can be changed.

FIG. 6 is a flowchart showing a process of determining whether to correct the shake detecting means of the interchangeable lens 102 or the camera body 101. FIG. 7 is a flowchart showing a shake correction process by the lens control unit 206 and the camera control unit 201. The processes of FIGS. 6 and 7 are repeatedly executed at regular intervals.

In step S601, it is determined whether or not the power is turned on (ON) via the camera-side operating means 210. If the power is turned on, the process proceeds to step S602, and if not, this flow ends.

In step S602, it is determined whether or not the shake correction function is turned on via the camera-side operating means 210. If the runout correction function is turned on, the process proceeds to step S603, and if not, this flow ends.

In step S603, the performance information of the lens shake detecting means 207 is acquired. As the performance information of the runout detection means, for example, information on low frequency runout detection performance such as temperature drift performance, low frequency fluctuation performance, and reference signal offset amount, or information for identifying the angular velocity sensor such as the product model number of the angular velocity sensor is used. ..

In step S604, it is determined whether the performance of the lens shake detecting means 207 is lower than the performance of the camera shake detecting means 204. If the performance of the lens shake detecting means 207 is low in the performance of the camera shake detecting means 204, the process proceeds to step S605, and if not, the process proceeds to step S606.

In step S605, the lens shake detecting means correction mode is set.

In step S606, the camera shake detecting means correction mode is set.

In this embodiment, the operation when the lens shake detecting means correction mode is set will be described. When the lens shake detecting means correction mode is set in step S605, the shake correction processing by the lens control unit 206 and the camera control unit 201 of FIG. 7 is started.

First, the shake correction process by the lens control unit 206 will be described.

In step S701, the lens control unit 206 transmits the lens information to the camera control unit 201. The lens information includes lens model information, focal length information, and information on whether or not each actuator is held. Further, the lens information includes information on whether or not a detection means for detecting the position of the lens shake correction means 208 is mounted, and information on whether the drive control of the lens shake correction means 208 is feedback control or open control. Etc. are also included.

In step S702, the lens control unit 206 acquires the lens side shake signal from the lens shake detection means 207.

In step S703, the lens control unit 206 acquires the camera side shake signal from the camera control unit 201.

In step S704, the lens control unit 206 receives the image vector information from the camera control unit 201.

In step S705, the lens control unit 206 acquires the lens side shake correction amount calculated from the correction unit 308 using the target value during the lens side aiming of the previous sampling. In the present embodiment, since the drive control of the lens runout correction means 208 (hereinafter referred to as lens side runout correction control) is open control, the correction unit 308 performs correction using information peculiar to open control. The information peculiar to open control is the drop in driving force near the end, the driving characteristics according to the driving direction, the driving frequency characteristics, the driving characteristics according to the ambient temperature, and the variation among individuals due to the actuator configuration of the runout correction means. It is information about the corresponding drive characteristics. In addition, the information peculiar to open control includes information on drive characteristics according to the direction of gravity. The correction unit 308 is tuned so that the lens-side feedforward controller 307 calculates a value close to the amount of vibration correction in which the vibration-proof lens unit 108 actually moves in consideration of these characteristics. Further, in the present embodiment, since the lens side shake correction control is open control, the information obtained by correcting the lens side shake correction amount is used, but the detection means for detecting the position of the lens side shake correction means 208 is installed. If so, information from the detection means may be used. In this case, it is not necessary to perform the correction peculiar to the open drive.

In step S706, the lens control unit 206 actually generates the shake amount estimated by using the image vector information acquired from the generated shake estimation unit 309 in step S704 and the lens side shake correction amount acquired in step S705. To get. Specifically, since the shake residue corrected by the shake correction amount on the lens side is detected as the image vector information, the value obtained by adding the lens shake correction amount and the image vector information is the shake amount. Since the image vector information cannot be acquired during exposure, the amount of runout is estimated during aiming in this embodiment.

In step S707, the lens control unit 206 acquires the runout signal correction amount from the runout signal correction means 301.

In step S708, the lens control unit 206 corrects the low frequency component of the lens side shake signal with the camera side shake signal by subtracting the shake signal correction amount acquired in step S707 from the lens side shake signal acquired in step S702. do.

In step S709, the lens control unit 206 uses the lens-side runout signal calculated from one of the lens-side aiming target generation unit 303 and the lens-side exposure target generation unit 304 to correct the low-frequency component. Get the quantity.

In step S710, the lens control unit 206 acquires the lens-side target value generated by multiplying the lens-side correction amount by the gain for determining the correction ratio of the lens shake correction means 208 from the lens-side correction ratio gain 305. do.

In step S711, the lens control unit 206 acquires the feedforward control amount generated from the lens side feedforward controller 307 using the lens side target amount calculated in step S710.

In step S712, the lens control unit 206 performs shake correction by driving the lens shake correction means 208 according to the feedforward control amount acquired in step S711.

Next, the runout correction process by the camera control unit 201 will be described. The shake correction process by the camera control unit 201 is executed in parallel with the shake correction process by the lens control unit 206.

In step S713, the camera control unit 201 acquires lens information from the lens control unit 206.

In step S714, the camera control unit 201 acquires the camera side shake signal from the camera shake detection means 204.

In step S715, the camera control unit 201 transmits a camera side shake signal to the lens control unit 206.

In step S716, the camera control unit 201 transmits image vector information to the lens control unit 206.

In step S717, the camera control unit 201 acquires the camera-side correction amount calculated by using the camera-side deflection angular velocity signal from one of the camera-side aiming target generation unit 310 and the camera-side exposure-in-time target generation unit 311.

In step S718, the camera control unit 201 calculates the camera-side target value generated by multiplying the camera-side correction amount by the gain that determines the correction ratio of the image sensor shake correction means 205 from the camera-side correction ratio gain 312. get.

In step S719, the camera control unit 201 acquires information regarding the position of the image sensor shake correction means 205 from the image sensor position detection means 212.

In step S720, the camera control unit 201 acquires the feedback control amount calculated by using the camera-side target value acquired in step S718 and the information regarding the position of the image sensor shake correction means 205 acquired in step S719.

In step S721, the camera control unit 201 performs shake correction by driving the image sensor shake correction means 205 according to the feedback control amount acquired in step S720.

As described above, the lens shake correction means 208 and the image sensor shake correction means 205 are simultaneously driven at a predetermined ratio according to the shake signals detected by the lens shake detection means 207 and the camera shake detection means 204 to correct the shake. It can be performed.

Hereinafter, the change of the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 will be described with reference to FIG. FIG. 8 is a diagram showing the gain of the correction controller 405 or the cutoff frequency of the correction band limiting unit 406.
(Relationship between the communication cycle between the camera body 101 and the interchangeable lens 102, the gain of the correction controller 405, and the cutoff frequency of the correction band limiting unit 406)
8 (a) and 8 (b) show the relationship between the communication cycle between the camera body 101 and the interchangeable lens 102, the gain of the correction controller 405, and the cutoff frequency of the correction band limiting unit 406. In the present embodiment, since the camera-side runout signal is transmitted to the lens control unit 206 by communication via the electric contact 107, a time delay with respect to the actual runout of the camera-side runout signal occurs when the communication cycle is delayed. When an angular signal is generated from the camera side shake signal and the lens side shake signal received by communication in the shake signal correction means 301, the lens side shake signal and the camera side shake signal are caused by the phase delay due to the communication of the camera side shake signal. A phase shift occurs between them. The effect of phase shift increases as the frequency of the detected runout increases. Therefore, if the lens side runout signal is corrected by the camera side runout signal in which the phase shift occurs up to a higher frequency band, it becomes a high frequency runout signal. A detection error will occur. Therefore, the longer the communication cycle between the camera body 101 and the interchangeable lens 102, the smaller the gain of the correction controller 405 and the lower the cutoff frequency of the correction band limiting unit 406.
(Relationship between the low frequency noise of the camera shake detection means 204 and the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406)
8 (c) and 8 (d) show the relationship between the low frequency noise (temperature drift, reference value offset, fluctuation amount) of the camera shake detection means 204, the gain of the correction controller 405, and the band limitation of the correction band limiting unit 406. Represents. In the present embodiment, the lens side shake information having low low frequency shake detection performance is corrected by the camera side shake information having high low frequency shake detection performance. Therefore, the low-frequency temperature drift of the camera shake detecting means 204 due to factors such as an increase in the internal temperature of the camera shake detecting means 204 and the low-frequency signal of the lens-side shake signal are erroneously corrected when the amount of fluctuation becomes large. There is a fear. Therefore, as the low frequency noise of the camera shake detecting means 204 becomes larger, the gain of the correction controller 405 is reduced and the cutoff frequency of the correction band limiting unit 406 is set lower.

As described above, the runout detection performance can be improved by changing the gain of the correction controller 405 and the cutoff frequency setting of the correction band limiting unit 406 depending on the conditions, so that the runout correction performance can be improved. Is possible.

Hereinafter, the effects of the present invention will be described. FIG. 9 is a diagram showing an example of a waveform representing a runout signal when the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 are the first settings, and a correction amount from the correction controller 405. be. When the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 are the first settings, the frequency characteristics determined by the closed loop system configured by the correction controller 405 and the correction band limiting unit 406 are shown in FIG. 5 (a). ).

In FIG. 9A, the horizontal axis represents time and the vertical axis represents the digital value of the angular velocity signal. The dotted line L9 indicates the lens side runout signal detected by the lens runout detecting means 207. The solid line L10 shows the camera side shake signal detected by the camera shake detection means 204. The one-point diagonal line L11 indicates the runout signal correction amount calculated by the runout signal correction means 301 in the first setting. The lens-side runout signal has a reference value offset (the waveform runout reference value deviates from 0 in the + direction) and a phase shift with respect to the camera-side runout signal L. The runout signal correction amount represents the offset amount of the reference value between the lens side runout signal and the camera side runout signal from time 0, and also represents the error amount of the phase shift component of the two waveforms up to a high frequency.

In FIG. 9B, the horizontal axis represents time and the vertical axis represents the digital value of the angle signal. The one-point diagonal line L12 indicates the lens-side correction amount calculated by using the lens-side run-out signal corrected by the run-out signal correction amount calculated by the run-out signal correction means 301. The solid line L13 indicates the camera-side correction amount calculated using the camera-side runout signal. The dotted line L14 shows the lens-side correction amount calculated by using the lens-side run-out signal that has not been corrected by the run-out signal correction amount calculated by the run-out signal correction means 301. The lens-side correction amount calculated without using the run-out signal correction amount is in the lens-side aiming target generation unit 303 and the lens-side exposure target generation unit 304 due to the influence of low-frequency noise contained in the lens-side run-out signal. It is drifting due to integration error. On the other hand, the lens-side correction amount calculated using the runout signal correction amount is corrected for low-frequency noise and is almost the same as the camera-side correction amount, and is appropriately calculated.

In FIG. 9C, the horizontal axis represents time and the vertical axis represents the digital value of the remaining amount of angular runout correction. The dotted line L15 shows the correction remaining signal which is the difference between the actual runout amount and the lens side correction amount calculated without using the runout signal correction amount. The solid line L16 shows the correction remaining signal which is the difference between the actual runout amount and the lens side correction amount calculated by using the runout signal correction amount. When the runout signal correction amount is not used, a large amount of correction remaining is generated due to the influence of the integrated drift error, but when the runout signal correction amount is used, almost no correction remaining is generated and the runout can be corrected satisfactorily. There is.

FIG. 10 is a diagram showing an example of a waveform representing a runout signal when the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 are set to the second setting, and a correction amount from the correction controller 405. be. When the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406 are the second settings, the frequency characteristics determined by the closed loop system configured by the correction controller 405 and the correction band limiting unit 406 are shown in FIG. 5 (b). ). The solid line, the one-sided diagonal line, and the dotted line in each figure of FIG. 10 show the same physical quantities as described with reference to FIG. In the second setting as opposed to the first setting, the gain of the correction controller 405 is lowered and the cutoff frequency of the correction band limiting unit 406 is lowered, so that the low frequency signal of the lens side runout signal is captured by the camera. The frequency band corrected by the low frequency signal of the side runout signal becomes low. Therefore, as shown by the solid line L24, the low-frequency fluctuation component of the lens-side shake signal cannot be completely removed as compared with the case of FIG. 9, and the shake correction balance is generated as compared with the first setting.

As described above, according to the configuration of the present embodiment, the low frequency component of the lens side shake signal having low low frequency shake detection performance is reduced by the shake signal correction means 301 to the low frequency component of the camera side shake signal having high low frequency shake detection performance. By supplementing with a frequency component, the runout correction performance can be improved. Further, by changing the gain of the correction controller 405 and the cutoff frequency of the correction band limiting unit 406, the camera side shake signal having high low frequency shake detection performance can be replaced with the lens side shake signal having low low frequency shake detection performance. It is possible to change the ratio used. As a result, the runout correction performance can be improved regardless of the noise condition of the runout detection means. Further, by using the estimated value of the amount of runout actually generated for the correction of the amount of runout signal correction, even if the control of the drive of the runout correction means for performing runout correction is open control, the runout correction performance is improved. It is possible to suppress the decrease.

In the present embodiment, it is assumed that the lens-side shake correction control is open control, but the present invention can also be applied when the drive control of the image sensor shake correction means 205 is open control.

Further, in the present embodiment, it is assumed that vibration correction is performed only by the vibration-proof lens unit 108 during aiming, but the present invention is not limited to this. The shake correction may be performed by driving the image pickup element 105 during aiming, or the shakeout correction may be performed by driving both the vibration isolation lens unit 108 and the image pickup element 105 during aiming. However, it is necessary to change the signal input to the generated runout estimation unit 309 depending on the drive method.

Further, in the present embodiment, the generated runout estimation unit 309 is provided in the lens control unit 206, but it may be provided in the camera control unit 201. In that case, it may be necessary to transmit the signal to be input to the generated runout estimation unit 309 from the interchangeable lens 102 to the camera body 101.

In the above-described embodiment, the case where the lens side shake correction control is open control has been described. However, when the generated shake estimation unit 309 is provided in the camera control unit 201, it may be configured to determine whether the lens side shake correction control is open control or feedback control. In this case, the generated shake estimation unit 309 estimates the actual runout amount of the camera system using the information about the target value of the shake correction by the lens shake correction means 208 and the motion vector when the lens side shake correction control is open control. do. Further, when the lens side shake correction control is feedback control, the generated shake estimation unit 309 estimates the actual runout amount of the camera system by using the position signal and the motion vector of the lens shake correction means 208. This makes it possible to estimate the actual amount of runout satisfactorily even if the lens side runout correction control in the camera system is open control, and when the lens side runout correction control is feedback control, the actual runout can be more accurately performed. It is possible to estimate the quantity.
[Modification 1]
In the above-described embodiment, an example in which the runout signal correction means 301 is configured to correct the output of the lens runout detection means has been described. However, the present invention is not limited to this. The runout signal correction means 301 may be configured to correct the output of the camera runout detection means 204. In this case, the adder 302 is provided in the camera control unit 201. At this time, the runout signal correction means 301 may be provided in the camera control unit 201. Such a configuration of this modification is particularly effective when the characteristics of the lens shake detecting means are superior to those of the camera shake detecting means 204.

In this case, the description of the shake signal correction means 301 using FIG. 4 has a configuration in which the “lens” and the “camera” are interchanged. That is, the camera shake signal correction unit 407 in the shake signal correction means 301 is a lens shake signal correction unit that corrects the lens side shake signal T1 by using the generated shake estimation signal T3 output from the generation shake estimation unit 309.

That is, the runout signal correction means 301 is "a runout signal of the camera system estimated by the generated runout estimation unit 309" and "a runout signal obtained from either the lens shake detection means 207 or the camera shake detection means 204". It may be configured to correct "the shake signal obtained from the other of the lens shake detecting means 207 and the camera shake detecting means 204" with reference to the shake signal obtained by using the above.
[Modification 2]
In the above-described embodiment, an example in which only the lens shake correction means 208 operates during aiming has been described. Therefore, in the above-described embodiment, the generated shake estimation unit 309 is configured to estimate the actual runout amount in the camera system by using the information about the target value of the shake correction by the lens shake correction means 208 and the motion vector.

However, the present invention is not limited to this. The generated shake estimation unit 309 uses information on the target value of shake correction by the one operating during aiming among the lens shake correction means 208 and the image sensor shake correction means 205, and the actual shake amount of the camera system using the motion vector. It suffices if it is configured to estimate.

That is, when only the image sensor shake correction means 205 operates during aiming, the generated shake estimation unit 309 uses information on the target value of the shake correction by the image sensor shake correction means 205. The information regarding the target value of the shake correction by the image sensor shake correction means 205 may be the information obtained by correcting the output of the target generation unit 310 during aiming on the camera side by the correction unit 308.

When both the image sensor shake correction means 205 and the lens shake correction means 208 operate during aiming, the generated shake estimation unit 309 sets the target value of the shake correction by the image sensor shake correction means 205 and the lens shake correction means. Both of the target values of the runout correction by 208 are used.

That is, when the shake correction means provided in the first device, which is one of the camera body and the interchangeable lens, operates during aiming, the generated shake estimation unit 309 corrects the runout by the shake correction means provided in the first device. It suffices to be configured to estimate the actual runout of the camera system using information about the target value and motion vectors. The information regarding the target value of the runout correction by the runout correction means provided in the first device is the information calculated by using the runout signal output from the runout detection means provided in the first device.
[Other Examples]
The present invention supplies a program that realizes one or more functions of the above-described embodiment to a system or device via a network or storage medium, and one or more processors in the computer of the system or device reads and executes the program. It can also be realized by the processing to be performed. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and modifications can be made within the scope of the gist thereof.

101 Camera body 102 Interchangeable lens 201 Camera control unit (control device)
204 Camera runout detection means (shake detection means)
205 Image sensor shake correction means (shake correction means)
206 Lens control unit (control device)
405 Correction controller (calculation means)

Claims (14)

A control device provided on one side of a camera system having a first device, which is one of a camera body and an interchangeable lens communicably attached to the camera body, and a second device, which is the other.
To correct one of the information of the first runout information from the first runout detecting means provided in the first device and the second runout information from the second runout detecting means provided in the second device. Has a calculation means to calculate the correction amount of
The calculation means is
Regarding the amount of runout of the camera system calculated by using the information about the target value of the runout correction by the runout correction means provided in the first device and the information about the runout based on the image information acquired by the camera system. Third runout information and
The other information of the first runout information and the second runout information,
Obtain the 4th runout information calculated based on
A control device for calculating the correction amount for correcting one of the information with reference to the fourth runout information. The control device according to claim 1, wherein the first device controls the runout correction means by open control. The information regarding the amount of runout of the camera system is information calculated during aiming prior to shooting the image for recording.
The control device according to claim 1 or 2, wherein the shake correction of the camera system during the aiming is performed by at least the shake correction means of the first device. The control device is provided in the first device, and the control device is provided in the first device.
The control device according to any one of claims 1 to 3, wherein the calculation means calculates the correction amount for correcting the first runout information. Further having a correction means for correcting the information regarding the information regarding the target value,
The third runout information is any of claims 1 to 4, wherein the third runout information is information about the target value corrected by the correction means and information calculated by using information about runout based on the image information. The control device according to one item. The control device according to claim 5, wherein the correction means corrects information regarding the target value by using information regarding a decrease in driving force due to the actuator configuration of the runout correction means. The control device according to claim 5 or 6, wherein the correction means corrects the information regarding the target value by using the information regarding the drive characteristics according to the drive direction caused by the actuator configuration of the runout correction means. .. The correction means according to any one of claims 5 to 7, wherein the correction means corrects the information regarding the target value by using the information regarding the characteristics of the drive frequency caused by the actuator configuration of the runout correction means. Control device. The control device according to any one of claims 5 to 8, wherein the correction means corrects the information regarding the target value by using the information regarding the drive characteristics according to the gravity direction of the runout correction means. .. One of claims 5 to 9, wherein the correction means corrects the information regarding the target value by using the information regarding the drive characteristics according to the environmental temperature caused by the actuator configuration of the runout correction means. The control device described in. Any of claims 5 to 10, wherein the correction means corrects the information regarding the target value by using the information regarding the drive characteristics according to the variation for each individual due to the actuator configuration of the runout correction means. The control device according to paragraph 1. A camera system having an interchangeable lens that is communicably attached to the camera body and the camera body.
The first runout detecting means provided in the first device, which is one of the camera body and the interchangeable lens,
The runout correction means provided in the first device and
A second runout detecting means provided in the second device, which is the other of the camera body and the interchangeable lens,
A first calculation means for calculating a correction amount for correcting one of the first runout information from the first runout detection means and the second runout information from the second runout detection means.
The second calculation for calculating the third runout information regarding the runout amount of the camera system using the information regarding the target value of the runout correction by the runout correction means and the information regarding the runout based on the image information acquired by the camera system. Means and
Have,
The first calculation means is based on the information of the other of the first runout information, the second runout information, and the fourth runout information obtained based on the third runout information. A camera system characterized by calculating the correction amount for correcting the above. In a camera system having a camera body and a first device which is one of interchangeable lenses mounted communicably on the camera body and a second device which is the other, the first runout detecting means provided in the first device. This is a control method for calculating a correction amount for correcting one of the first runout information from the camera and the second runout information from the second runout detecting means provided in the second apparatus.
Regarding the amount of runout of the camera system calculated by using the information about the target value of the runout correction by the runout correction means provided in the first device and the information about the runout based on the image information acquired by the camera system. Third runout information and
The other information of the first runout information and the second runout information,
The process of acquiring the fourth runout information calculated based on
A control method comprising: a step of calculating the correction amount for correcting one of the information with reference to the fourth runout information. A program for causing a computer of a camera body or an interchangeable lens to execute the control method according to claim 13.

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