JP2541924B2 - Imaging optical device - Google Patents

Imaging optical device

Info

Publication number
JP2541924B2
JP2541924B2 JP60111472A JP11147285A JP2541924B2 JP 2541924 B2 JP2541924 B2 JP 2541924B2 JP 60111472 A JP60111472 A JP 60111472A JP 11147285 A JP11147285 A JP 11147285A JP 2541924 B2 JP2541924 B2 JP 2541924B2
Authority
JP
Japan
Prior art keywords
image
signal
image pickup
optical
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP60111472A
Other languages
Japanese (ja)
Other versions
JPS61269572A (en
Inventor
泰男 荻野
繁幸 須田
実 吉井
英悟 川上
光俊 大和田
雄吉 丹羽
Original Assignee
キヤノン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by キヤノン株式会社 filed Critical キヤノン株式会社
Priority to JP60111472A priority Critical patent/JP2541924B2/en
Priority claimed from US06/855,732 external-priority patent/US4788596A/en
Publication of JPS61269572A publication Critical patent/JPS61269572A/en
Application granted granted Critical
Publication of JP2541924B2 publication Critical patent/JP2541924B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23248Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor for stable pick-up of the scene in spite of camera body vibration
    • H04N5/23251Motion detection
    • H04N5/23254Motion detection based on the image signal
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23212Focusing based on image signals provided by the electronic image sensor
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23248Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor for stable pick-up of the scene in spite of camera body vibration
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/232Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor
    • H04N5/23248Devices for controlling television cameras, e.g. remote control ; Control of cameras comprising an electronic image sensor for stable pick-up of the scene in spite of camera body vibration
    • H04N5/23264Vibration or motion blur correction
    • H04N5/2328Vibration or motion blur correction performed by mechanical compensation
    • H04N5/23287Vibration or motion blur correction performed by mechanical compensation by shifting the lens/sensor position

Description

【発明の詳細な説明】 (1)技術分野 本発明は、TVカメラ、電子カメラ、ビデオカメラ、及
び工業用画像計測機器等の撮像光学装置、特に防振や追
尾等の機能を有する撮像光学装置に関する。
Description: (1) Technical Field The present invention relates to an imaging optical device such as a TV camera, an electronic camera, a video camera, and an industrial image measuring instrument, particularly an imaging optical device having functions such as image stabilization and tracking. Regarding
(2)従来技術 従来、防振や追尾等の機能を有する撮像光学装置に関
して、TV中継用のサーボ式カメラ防振装置や特公昭59−
25509に示される如き画像追尾装置等が提案されてい
る。
(2) Prior art Conventionally, regarding an imaging optical device having functions such as image stabilization and tracking, a servo-type camera image stabilization device for TV relay and Japanese Patent Publication No. 59-
An image tracking device as shown in 25509 has been proposed.
前者の装置は車両の振動に伴う装置の振動を空気ダン
パにより機械的に防振を行なう事により吸収、緩和し、
且つカメラの絶対位置を検出する為に、1対の加速度
計、レートジヤイロ、フリージヤイロ等で各々カメラレ
ンズ系に加わるチルト空間での絶対角加速度、絶対角速
度、絶対角度を計測してTVカメラ全体を駆動するモータ
にフイードバツクし、TVカメラ全体の姿勢を制御して防
振を行なうものである。
The former device absorbs and reduces the vibration of the device due to the vibration of the vehicle by mechanically isolating with an air damper.
In addition, to detect the absolute position of the camera, a pair of accelerometer, rate gyro, free gyro, etc. measure the absolute angular acceleration, absolute angular velocity, and absolute angle in the tilt space applied to the camera lens system, and drive the entire TV camera. The vibration is controlled by controlling the attitude of the TV camera as a whole by feeding back the motor that operates.
又、後者の装置はTVカメラで追尾目標を撮像し、時間
差のある画像をスキヤンコンバージヨンメモリに記憶し
た後、記憶した各々の画像の追尾目標の中心位置を検出
し、両追尾目標の中心位置のずれを制御信号としてTVカ
メラの本体を雲台を介し駆動して追尾を行なうものであ
る。
Also, the latter device captures the tracking target with a TV camera, stores the images with a time difference in the scan conversion memory, then detects the center position of the tracking target of each stored image, and detects the center position of both tracking targets. The deviation is used as a control signal to drive the main body of the TV camera via the platform to perform tracking.
この種の装置はTVカメラ全体を駆動制御する為に大型
の大パワーアクチユエータが必要であり、装置の大型化
や消費電力の増大などが問題となつていた。
This type of device requires a large, large-power actuator to drive and control the entire TV camera, and there has been a problem with the device becoming larger and power consumption increasing.
一方、NHK技研月報Vol17,No4(昭49−4)に記憶され
た「移動撮像車用TVカメラ防振装置」の如く、例えば特
公昭41−11906等で公知の液体プリズム、即ち互いに傾
斜可能な2枚の平行平板ガラスとゴムベローズで構成さ
れた空間に液体を封入したプリズムを有し、振動による
TVカメラ装置の上下左右の動きの角度を上下及び左右各
々2個のジヤイロで検出し、同時にジヤイロモーメント
を利用して前記平行平板ガラスの角度を変化させて画像
ぶれ補正に必要なプリズム頂角を形成する装置もある
が、この種の装置は2個のジヤイロ,ジヤイロモーメン
ト及び液体プリズム等の装置や各装置間の伝達機構を有
する為に、装置が大型化して重量も重くなる。更にジヤ
イロの慣性を利用する為にパンニング操作等をスムーズ
に行なう事が困難で操作性に問題があつた。
On the other hand, as described in "TV camera anti-vibration device for mobile imaging vehicle" stored in NHK STRL Vol. 17, No. 4 (Sho 49-4), liquid prisms known in Japanese Patent Publication No. 41-11906, that is, tiltable with respect to each other It has a prism filled with liquid in a space composed of two parallel flat glass plates and a rubber bellows.
The angle of the vertical and horizontal movement of the TV camera device is detected by two gyros for each of the vertical and horizontal directions, and at the same time, the angle of the parallel flat glass is changed by using the gyro moment to adjust the prism vertical angle required for image blur correction. However, since this type of device has devices such as two gyros, a gyro moment and a liquid prism and a transmission mechanism between the devices, the device becomes large and heavy. Further, since the inertia of the gyro is used, it is difficult to smoothly perform the panning operation, which causes a problem in operability.
(3)発明の概要 本発明の目的は、従来の欠点を除去し、小型軽量で、
低消費電力、且つオートフォーカス信号、ズーム信号、
被写体距離信号等の撮影に係る情報を考慮に入れたきめ
細やかな防振、あるいは追尾機能を備えた撮影光学装置
を提供することにある。
(3) Summary of the Invention The purpose of the present invention is to eliminate the drawbacks of the prior art, to be small and lightweight,
Low power consumption, auto focus signal, zoom signal,
It is an object of the present invention to provide a photographic optical device having a detailed anti-vibration or tracking function that takes into account information related to photographing such as an object distance signal.
そして本発明の光学装置は、撮像光学系と撮像センサ
を内蔵するカメラ筐体、前記撮像センサから得られる画
像信号にもとづいて画像の移動方向及び移動量を検知す
る検知手段、撮影に係るフォーカス情報やズーム情報等
の外部情報と前記検知手段で得られる各情報から前記撮
影光学系あるいは前記撮像センサの少なくとも一方を前
記カメラ筐体に対して駆動させる駆動手段を具備した事
で上記目的を達成せんとするものである。
The optical device of the present invention includes a camera housing that incorporates an imaging optical system and an imaging sensor, a detection unit that detects a moving direction and a moving amount of an image based on an image signal obtained from the imaging sensor, and focus information related to shooting. The above-described object cannot be achieved by providing a driving unit that drives at least one of the photographing optical system and the image sensor with respect to the camera housing from external information such as zoom information and zoom information and each information obtained by the detection unit. It is what
前記撮像光学系は前記撮像センサへ被写体像を結像さ
せる為の光学系であるが、該光学系が防振及び追尾を行
なう手段としての補正部材を有し補正光学系を形成す
る。該補正部材には、例えば、画像の偏向を行なう移動
レンズ及びプリズム、回転プリズム、可変頂角プリズ
ム、画像を回転させる回転プリズムや組合わせミラー等
が有り、少なくとも前記検知手段で得られる情報により
所定の部材を駆動する事で防振や追尾を行なう事が出来
る。又、前記画像入力手段全体を制御信号に応じてアク
チユエータ等を用いて二次元的に駆動する方法もある。
更に前記画像入力手段と、これに組み込まれた補正部材
とを連動して防振や追尾を行なう事も出来る。例えば、
可変頂角プリズム等の補正部材を駆動して防振を行ない
つつ、前記画像入力手段全体を駆動して追尾を行なう事
も可能である。
The image pickup optical system is an optical system for forming a subject image on the image pickup sensor, and the optical system has a correction member as a means for performing image stabilization and tracking to form a correction optical system. The correcting member includes, for example, a moving lens and a prism for deflecting an image, a rotating prism, a variable apex angle prism, a rotating prism for rotating an image, a combination mirror, and the like, and at least predetermined by information obtained by the detecting means. It is possible to perform anti-vibration and tracking by driving the member. There is also a method of driving the entire image input means two-dimensionally by using an actuator or the like according to a control signal.
Further, the image inputting means and the correction member incorporated therein can be interlocked to perform image stabilization and tracking. For example,
It is also possible to drive the entire image input means for tracking while driving a correction member such as a variable apex angle prism to perform image stabilization.
前記画像入力手段で得られた画像信号から画像の移動
方向や移動量を検知する検知手段は、通常、目標とする
被写体の時間差のある少なくとも2つの画像を、後述す
る方法等により比較し該被写体の画面上での変化を検出
するものである。即ち、該2つの画像を波形整形し各画
像の中心位置を比較したり、該2つの画像をパターン化
して任意の特徴点分布を得た後、2つの画像に於る特徴
点分布の相関を取り、画像の変化の具合を検出する等の
方法がある。
The detection means for detecting the moving direction and the moving amount of the image from the image signal obtained by the image input means usually compares at least two images having a time difference of a target subject by a method described later or the like, and Is to detect changes on the screen. That is, the two images are waveform-shaped to compare the center positions of the images, or the two images are patterned to obtain an arbitrary feature point distribution, and then the correlation of the feature point distributions in the two images is calculated. There are methods such as taking and detecting the degree of change in the image.
本撮像光学装置では、前記画像入力手段を介し前記検
知手段で得られた情報、もしくは該情報と他の外部情報
とにより前記画像入力手段の少なくとも一部を駆動し、
防振や追尾を行なう事が出来る。ここで他の外部情報と
は、例えば、オートフオーカス信号,ズーム比,被写体
距離(撮影距離),撮像光学系の焦点距離,被写体輝
度,画像入力手段もしくは該手段が有する補正部材のカ
メラ筺体に対する位置、等の情報を言う。従つて、オー
トフオーカス信号により合焦状態でない事が入力された
場合は駆動を禁止したり、或いは、ズーミングや被写体
の移動による画面上の被写体像の大きさの変化に対応さ
せて駆動アクチユエーターを制御する駆動信号のゲイン
を変化させる等の各種制御方法を用いる事が出来る。例
えばズーミングに於るワイド端では防振を停止する等防
振の可動範囲を制限する事も可能である。
In the present imaging optical device, at least a part of the image input means is driven by the information obtained by the detection means via the image input means, or the information and other external information,
It is possible to perform anti-vibration and tracking. Here, other external information includes, for example, an autofocus signal, a zoom ratio, a subject distance (shooting distance), a focal length of an image pickup optical system, a subject brightness, an image input unit, or a camera casing of a correction member included in the unit. Says information such as location. Therefore, if it is input by the autofocus signal that the subject is out of focus, the drive is prohibited, or the drive actuator is activated in response to a change in the size of the subject image on the screen due to zooming or movement of the subject. Various control methods such as changing the gain of the drive signal for controlling the ator can be used. For example, it is possible to limit the movable range of image stabilization such as stopping image stabilization at the wide end during zooming.
(4)実施例 第1図は本発明に係る撮像光学装置の構成例を示す。
1は撮像光学系、2は撮像光学系1を構成する光学部材
の鏡筒、3は撮像センサで画像信号aを出力する。4は
画像信号aを入力し、画像の移動方向及び移動量を検知
する検知手段、5は検知手段4からの信号6及びその他
の信号cに応じて駆動アクチユエータへ制御信号を送る
駆動制御手段、6は鏡筒2に保持された撮像光学系1と
撮像センサ3を、可動機構を介して駆動する駆動アクチ
ユエータ、7はカメラ筺体に対し撮像光学系1と撮像セ
ンサ3から成る画像入力手段を可動自在にする可動機
構、8はカメラ筺体である。
(4) Examples FIG. 1 shows a configuration example of an image pickup optical device according to the present invention.
Reference numeral 1 is an image pickup optical system, 2 is a lens barrel of an optical member constituting the image pickup optical system 1, and 3 is an image pickup sensor which outputs an image signal a. Reference numeral 4 is a detection means for inputting the image signal a, and detecting means for detecting the moving direction and movement amount of the image, 5 is drive control means for sending a control signal to the drive actuator in response to the signal 6 from the detection means 4 and other signals c, Reference numeral 6 is a drive actuator for driving the image pickup optical system 1 and the image pickup sensor 3 held by the lens barrel 2 through a movable mechanism, and 7 is an image input means composed of the image pickup optical system 1 and the image pickup sensor 3 with respect to the camera housing. A movable mechanism that can be freely used, and 8 is a camera housing.
撮像光学系1を介して撮像センサ3から得られる画像
信号aは検知手段4に入力される。検知手段4では目標
とする画像の撮像センサ3上での移動方向及び移動量を
検知し、移動方向及び移動量に関する信号6を駆動制御
手段5に出力する。この信号6とその他の信号cから駆
動制御手段5を介して駆動アクチユエータへ制御信号を
送り、撮像光学系1と撮像センサ3から成る画像入力手
段をカメラ筺体8に対し駆動する事により、カメラ筺体
8の振動に対する防振、もしくは特定の被写体の追尾を
行なう。
The image signal a obtained from the image pickup sensor 3 via the image pickup optical system 1 is input to the detection means 4. The detection unit 4 detects the moving direction and the moving amount of the target image on the image sensor 3, and outputs a signal 6 regarding the moving direction and the moving amount to the drive control unit 5. A control signal is sent from this signal 6 and other signals c to the drive actuator via the drive control means 5 to drive the image input means including the image pickup optical system 1 and the image pickup sensor 3 with respect to the camera case 8 to thereby obtain the camera case. Vibration prevention for 8 vibration or tracking of a specific subject is performed.
以下、第2図〜第5図を用いて本撮光学装置に関して
更に詳述する。
Hereinafter, the present taking optical device will be described in more detail with reference to FIGS. 2 to 5.
第2図及び第3図は本撮像光学装置に於る検知手段4
の一例を示す図で、第2図(A),(B)に於て、9は
撮像画面、10は撮像画面9中の目標画像を囲む任意の領
域、11は目標画像の画像パターン、12は撮像画面9とは
異なる時刻の先像画面、13は撮像画面9中の領域10に対
応する領域、14は領域13及び撮像画面12中の目標画像を
囲む任意の領域、15は撮像画面9に於る画像パターン11
と同一被写体の画像パターンを示し、撮像画面内で位置
が変化している。又、図中に示されるグラフは、領域10
及び領域14に於る各々の画像パターン11,15に対し、水
平及び垂直走査方向の特徴点の数、例えばエツジ数を計
数してその分布を示したものである。
2 and 3 show the detecting means 4 in the present imaging optical device.
2A and 2B, 9 is an image pickup screen, 10 is an arbitrary region surrounding the target image in the image pickup screen 9, 11 is an image pattern of the target image, 12 Is a prior image screen at a time different from that of the imaging screen 9, 13 is an area corresponding to the area 10 in the imaging screen 9, 14 is an arbitrary area surrounding the area 13 and the target image in the imaging screen 12, and 15 is the imaging screen 9 Image pattern 11
Shows the image pattern of the same subject, and the position has changed in the imaging screen. In addition, the graph shown in the figure
The number of feature points in the horizontal and vertical scanning directions, eg, the number of edges, is counted for each of the image patterns 11 and 15 in the area 14 and the distribution thereof is shown.
又、第3図は検知手段4のブロツク図で、16は画像信
号aを2値化する量子化部、17は水平走査方向のエツジ
数分布を計測し記憶する分布計測部、18は異なる時刻に
於る同一被写体の画像パターンの水平走査方向でのエツ
ジ数分布の相関を取る相関部、19は垂直走査方向のエツ
ジ数分布を計測し記憶する分布計測部、20は異なる時刻
に於る同一被写体の画像パターンの垂直走査方向でのエ
ツジ数分布の相関を取る相関部、21は撮像光学系の焦点
距離、ズーム比,撮影距離,オートフオーカス信号等の
外部情報fを入力し、相関部18,19から入力される画像
の移動方向及び移動量に補正加工を施す補正加工部を示
す。又、信号dは少なくとも画像の水平移動に関する信
号を含む信号、信号eは少なくとも画像の垂直移動に関
する信号を含む信号である。
3 is a block diagram of the detecting means 4, 16 is a quantizer for binarizing the image signal a, 17 is a distribution measuring unit for measuring and storing the edge number distribution in the horizontal scanning direction, and 18 is a different time. , A correlating section for correlating the edge number distribution in the horizontal scanning direction of the image pattern of the same subject, 19 is a distribution measuring section for measuring and storing the edge number distribution in the vertical scanning direction, and 20 is the same at different times. A correlating unit for correlating the edge number distribution of the image pattern of the subject in the vertical scanning direction, 21 is a correlating unit for inputting external information f such as the focal length of the image pickup optical system, the zoom ratio, the photographing distance, and the autofocus signal. The correction processing unit that performs correction processing on the moving direction and the moving amount of an image input from 18, 19 is shown. The signal d is a signal including at least a signal related to horizontal movement of the image, and the signal e is a signal including at least a signal related to vertical movement of the image.
第4図は駆動制御手段5の一例を示すブロツク図で、
22は補正加工部21の出力信号d,e、もしくはそれ以外の
外部信号g,hを選択するスイツチ部、23はスイツチ部22
で選択された信号、及び可動機構部7の位置検知信号i,
jを入力し、可動機構部7の位置制御、及び駆動中のス
ピード制御を行なうコントローラ、24及び25はコントロ
ーラ23からの出力信号に従い、撮影画像の移動方向や移
動量を制御する水平及び垂直方向のアクチユエータ駆動
回路である。又、信号k及びlは各々アクチユエータ駆
動回路24,25から出力される駆動信号を示す。第5図は
駆動アクチユエータ6の一例を示し、第5図(A)は斜
視図、第5図(B)は上面図、第5図(C)は可動機構
7の原理図である。ここで、26,29はカメラ筺体8に固
定される支持棒、27,30は支持棒26,29に各々取り付けら
れた摺動球面、28,31は鏡筒2に設けられた摺動球面、3
2は鏡筒2の一部に固定されたギア、33はモータ、34は
モータ33と連動するギア、35は固定バンド、36は固定用
部材、37はカメラ筺体8に固定されるモータ、38はモー
タ37と連動するギアを示す。
FIG. 4 is a block diagram showing an example of the drive control means 5,
22 is a switch unit for selecting the output signals d, e of the correction processing unit 21 or other external signals g, h, and 23 is a switch unit 22.
, The position detection signal i of the movable mechanism 7,
A controller for inputting j to control the position of the movable mechanism section 7 and speed control during driving, and 24 and 25 are horizontal and vertical directions for controlling the moving direction and moving amount of the captured image according to the output signal from the controller 23. It is an actuator drive circuit of. Further, the signals k and l indicate drive signals output from the actuator drive circuits 24 and 25, respectively. FIG. 5 shows an example of the drive actuator 6, FIG. 5 (A) is a perspective view, FIG. 5 (B) is a top view, and FIG. 5 (C) is a principle diagram of the movable mechanism 7. Here, 26 and 29 are supporting rods fixed to the camera housing 8, 27 and 30 are sliding spherical surfaces attached to the supporting rods 26 and 29, 28 and 31 are sliding spherical surfaces provided on the lens barrel 2, and 3
2 is a gear fixed to a part of the lens barrel 2, 33 is a motor, 34 is a gear interlocking with the motor 33, 35 is a fixing band, 36 is a fixing member, 37 is a motor fixed to the camera housing 8, 38 Indicates a gear that works with the motor 37.
凹状の摺動球面27,30は支持棒26,29を介してカメラ筺
体8に固定され、図中補助線Iで示す位置から補助線II
で示す位置へ鏡筒2とカメラ筺体8の相対位置が変化し
ても自在支持軸を構成する支持棒と摺動球面26,27,及び
29,30は相対位置を保つ。従つて、カメラ筺体8に対し
て鏡筒2を可動自在に保持し、鏡筒2内の撮像光学系1
と撮像光学系1と相対的位置が固定された撮像センサ3
から成る画像入力手段がカメラ筺体8に対し可動自在と
なる。
The concave sliding spherical surfaces 27 and 30 are fixed to the camera housing 8 through the support rods 26 and 29, and are extended from the position indicated by the auxiliary line I in the figure to the auxiliary line II.
Even if the relative position of the lens barrel 2 and the camera housing 8 changes to the position shown by, the support rods and the sliding spherical surfaces 26, 27, which constitute the universal support shaft, and
29 and 30 keep relative position. Therefore, the lens barrel 2 is movably held with respect to the camera housing 8, and the image pickup optical system 1 in the lens barrel 2 is held.
And the imaging sensor 3 whose relative position is fixed to the imaging optical system 1.
The image input means consisting of is movable with respect to the camera housing 8.
鏡筒2の一部に固定されたギア32は、ギア部が支持棒
26,29を結ぶ回転軸を中心とする円もしくは円弧で構成
され、前述の駆動信号kによつて駆動されるモータ33と
連動して回転するギア34と噛み合い、カメラ筺体8に対
して鏡筒2を水平方向に駆動する。一方、モータ33を固
定保持する固定用部材36のギア部は、第5図(C)に示
す垂直方向の回転中心Qを中心とする円又は円弧で形成
され、前述の駆動信号1によつて駆動されるモータ37と
連動するギア38と噛み合い、カメラ筺体8に対して鏡筒
2を垂直方向に駆動する。
The gear 32 fixed to a part of the lens barrel 2 has a gear portion as a support rod.
It is composed of a circle or an arc centered on a rotation axis connecting 26 and 29, meshes with a gear 34 that rotates in conjunction with the motor 33 driven by the above-mentioned drive signal k, and the lens barrel with respect to the camera housing 8. 2 is driven horizontally. On the other hand, the gear portion of the fixing member 36 for fixing and holding the motor 33 is formed by a circle or an arc centered on the vertical rotation center Q shown in FIG. 5 (C). It meshes with a gear 38 that is interlocked with a driven motor 37, and drives the lens barrel 2 in a vertical direction with respect to the camera housing 8.
以下、本撮像光学装置の動作原理を第1図〜第5図を
用いて詳述する。
Hereinafter, the operation principle of the present imaging optical device will be described in detail with reference to FIGS.
本撮像光学装置が目標とする被写体は、時刻t1に於て
撮像光学系1を介し撮像センサ3に結像され、撮像セン
サ3から画像信号aが出力されてTV等の画像となる。同
時に画像信号aは検知手段2へ入力されて量子化部16に
より所定閾値で二値化される。更に画像画面9内に領域
10を設定し、分布計測部17で水平走査と共に画像パター
ン11との交差回転を計数する。即ち1回の水平走査終了
時毎に交差回数を順次計数し、水平走査線毎に対応した
メモリアドレスに交差回数即ちエツジ数を記憶して第2
図(A)に示す如き水平走査線方向のエツジ数分布を形
成する。一方、第2図(B)に示す如き垂直走査方向の
エツジ数分布は、分布計測部19で水平同期信号に同期し
て水平走査期間を任意の時間間隔で分割するタイミング
毎に水平走査線と画像パターン11との交差回数を順次検
出し且つ前回の水平走査による記憶をインクリメント
し、領域10の走査終了後、水平走査期間を任意の時間間
隔に分割したタイミングに対応するメモリアドレスにエ
ツジ数を記憶する事により得られる。
The subject targeted by the present imaging optical device is imaged on the imaging sensor 3 via the imaging optical system 1 at time t 1 , and the image signal a is output from the imaging sensor 3 to become an image of a TV or the like. At the same time, the image signal a is input to the detection means 2 and binarized by the quantizer 16 with a predetermined threshold value. Furthermore, the area within the image screen 9
10 is set, and the distribution measuring unit 17 counts the horizontal rotation and the cross rotation with the image pattern 11. That is, the number of crossings is sequentially counted at the end of each horizontal scanning, and the number of crossings, that is, the number of edges is stored in the memory address corresponding to each horizontal scanning line, and the second number is stored.
An edge number distribution in the horizontal scanning line direction is formed as shown in FIG. On the other hand, the edge number distribution in the vertical scanning direction as shown in FIG. 2 (B) shows that the horizontal scanning line is distributed at every timing when the distribution measuring unit 19 synchronizes with the horizontal synchronizing signal and divides the horizontal scanning period at arbitrary time intervals. The number of intersections with the image pattern 11 is sequentially detected and the storage by the previous horizontal scanning is incremented, and after the scanning of the area 10, the number of edges is set to the memory address corresponding to the timing when the horizontal scanning period is divided into arbitrary time intervals. Obtained by remembering.
次に、時刻t1と異なる時刻t2で撮像される撮像画面12
に於て、画像パターン15は被写体と本撮像光学装置との
相対的移動により撮像画面12に対する位置が変化してい
る。この時、撮像画面12の形成と共に検知手段2の量子
化部16により画像信号aを所定閾値で2値化し、更に、
分布計測部17及び19で、前述の様に領域14に於る水平走
査方向及び垂直走査方向のエツジ数分布を計測し記憶す
る。続いて、相関部18で時刻t1及びt2に於る水平走査方
向のエツジ数分布の相関を取り、画像パターン11及び15
の水平方向での相対的移動量と移動方向を求め、同時に
相関部20で時間t1及びt2に於る垂直走査方向のエツジ数
分布の相関を取り、画像パターン11及び15の垂直方向で
の相対的移動量と移動方向を求める。更に補正加工部21
へこの移動量と移動方向を入力し、撮像光学系1の焦点
距離、ズーム比、撮影距離、オートフオーカス信号等の
外部情報fを加味し、画像入力手段を駆動するか否か、
或いは駆動する場合駆動部材の選択及び駆動量等を判断
し、画像の移動方向及び移動量を加工処理して画像を水
平方向に移動する制御信号d、及び画像を垂直方向に移
動する制御信号eを出力する。この制御信号d,eは駆動
制御手段5に入力され駆動アクチユエータ6を駆動する
駆動信号を発生する。即ち、駆動制御手段5のスイツチ
部22では制御信号d,eとマニュアル制御用等の外部制御
信号g,hが入力され、制御信号d,eもしくは外部制御信号
g,hを選択する。次にコントローラ23でスイツチ22で選
択された制御用の信号d,eもしくはg,hと可動機構部7の
位置検知信号i,jが処理され、例えば、被写体距離が所
定距離以上であれば高速駆動、被写体距離が所定距離以
下であれば低速駆動する等の駆動制御を行ない、駆動回
路24,25を介して駆動アクチユエータ6へ駆動信号k,lを
入力する。この駆動信号k,lに応じて前述の様に駆動ア
クチユエータ6により撮像光学系2,撮像センサ3から成
る画像入力手段の駆動を行なう。
Next, the imaging screen 12 captured at a time t 2 different from the time t 1
In this case, the position of the image pattern 15 with respect to the image pickup screen 12 is changed by the relative movement of the subject and the present image pickup optical device. At this time, the image signal a is binarized by a predetermined threshold value by the quantizing unit 16 of the detecting means 2 together with the formation of the imaging screen 12, and further,
The distribution measuring units 17 and 19 measure and store the edge number distributions in the horizontal scanning direction and the vertical scanning direction in the area 14 as described above. Then, the correlation unit 18 correlates the edge number distribution in the horizontal scanning direction at the times t 1 and t 2 to obtain the image patterns 11 and 15
The relative movement amount and the movement direction in the horizontal direction are obtained, and at the same time, the correlation of the edge number distribution in the vertical scanning direction at times t 1 and t 2 is obtained in the correlation unit 20, and the vertical direction of the image patterns 11 and 15 is obtained. Calculate the relative movement amount and movement direction of. Further correction processing unit 21
Whether or not the image input means is driven by inputting the movement amount and movement direction of the helix and adding external information f such as the focal length of the image pickup optical system 1, the zoom ratio, the photographing distance, and the autofocus signal.
Alternatively, when driving, the control signal d for moving the image in the horizontal direction and the control signal e for moving the image by processing the moving direction and the moving amount of the image by judging the selection of the driving member and the driving amount are processed. Is output. The control signals d and e are input to the drive control means 5 to generate drive signals for driving the drive actuator 6. That is, in the switch section 22 of the drive control means 5, the control signals d, e and the external control signals g, h for manual control or the like are input, and the control signals d, e or the external control signals are input.
Select g and h. Next, the controller 23 processes the control signal d, e or g, h selected by the switch 22 and the position detection signal i, j of the movable mechanism section 7. For example, if the object distance is a predetermined distance or more, high speed When the driving and subject distances are equal to or less than a predetermined distance, driving control such as low speed driving is performed, and driving signals k and l are input to the driving actuator 6 via the driving circuits 24 and 25. In response to the drive signals k and l, the drive actuator 6 drives the image input means including the image pickup optical system 2 and the image pickup sensor 3 as described above.
以上の如く本撮像光学装置は、画像入力手段で得られ
る画像信号から画像の移動方向及び移動量を検知し、駆
動制御手段にフイードバツクする事によりカメラ筺体に
内蔵された前記画像入力手段を駆動させるものであり、
装置全体を駆動する必要が無く、画像入力手段の少なく
とも一部を駆動すれば良い為に駆動アクチユエータの負
荷が小さく、消費電力も小さくなる。
As described above, the present imaging optical device detects the moving direction and the moving amount of the image from the image signal obtained by the image input means, and drives the image input means incorporated in the camera housing by feeding back to the drive control means. Is something
It is not necessary to drive the entire apparatus, and at least a part of the image input means may be driven, so that the load on the drive actuator is small and the power consumption is small.
更に、駆動アクチユエータが小型になる為に電源の小
型化及び長寿命化が可能で、装置全体の小型軽量化も図
れる。又、画像入力手段をカメラ筺体に対して可動自在
に保持する機構が簡便且つコンパクトであり、装置外部
に付加する部材が殆ど無い為に操作性に富む。従つて、
手持ち撮影が可能な撮像光学装置を具現化出来る。
Further, since the drive actuator is downsized, the power supply can be downsized and the life can be extended, and the overall size and weight of the device can be reduced. In addition, the mechanism for movably holding the image input means with respect to the camera housing is simple and compact, and since there are almost no additional members outside the apparatus, the operability is excellent. Therefore,
It is possible to realize an imaging optical device capable of handheld shooting.
尚、前記実施例では画像入力手段を駆動する為に回転
運動を利用しているが、直線運動を利用した機構にして
も良い。又、画像の鮮鋭度を劣化させない為に可動機構
周辺もしくはカメラ筺体内に遮光部材を設けて遮光等の
侵入を防いでも良い。
In the above embodiment, the rotary motion is used to drive the image input means, but a mechanism using linear motion may be used. Further, in order to prevent the sharpness of the image from deteriorating, a light shielding member may be provided around the movable mechanism or inside the camera housing to prevent the invasion of light shielding or the like.
第6図は第1図に於る可動機構7の別の構成例を示
す。第1図と同じ部材には同番号を符しており、39は着
脱機構を示す。本可動機構7は撮像光学系1の着脱を可
能にしたものであり、用途に応じて撮像光学系1の交換
が出来る。ここでは、鏡筒2のカメラ筺体8への接続部
に対応して、前述した第5図に於る可動機構同様の自在
支持軸により可動自在にカメラ筺体8へ着脱機構39を設
け、凸状の摺動球面が着脱機構39に固定されており、着
脱機構39を直接駆動アクチユエータ、例えばモータ等に
より二次元的に駆動する。
FIG. 6 shows another structural example of the movable mechanism 7 shown in FIG. The same members as those in FIG. 1 are designated by the same reference numerals, and 39 indicates a detaching mechanism. The movable mechanism 7 allows the image pickup optical system 1 to be attached and detached, and the image pickup optical system 1 can be replaced according to the application. Here, in correspondence with the connecting portion of the lens barrel 2 to the camera housing 8, an attaching / detaching mechanism 39 is movably provided on the camera housing 8 by a free support shaft similar to the moving mechanism in FIG. The sliding spherical surface of is attached to the attachment / detachment mechanism 39, and the attachment / detachment mechanism 39 is two-dimensionally driven by a direct drive actuator such as a motor.
第7図は駆動アクチユエータ及び可動機構の別の構成
例を示す。ここで、40は鏡筒を保持する環状部材、41は
ギア、42はギア41と環状部材40に固定された回転軸、43
はギア41にモータの回転を伝達するウオームギア、44は
モータ、45はカメラ筺体に対して回転自在に保持された
環状部材、46、47は環状部材45の回転軸、48は回転軸47
に固定されたギア、49はモータ、50はモータ49の回転を
ギア48に伝達するウオームギアを示す。
FIG. 7 shows another configuration example of the drive actuator and the movable mechanism. Here, 40 is an annular member holding the lens barrel, 41 is a gear, 42 is a rotation shaft fixed to the gear 41 and the annular member 40, 43
Is a worm gear that transmits the rotation of the motor to the gear 41, 44 is a motor, 45 is an annular member rotatably held with respect to the camera housing, 46 and 47 are the rotating shafts of the annular member 45, and 48 is the rotating shaft 47.
A gear fixed to the motor 49, a motor 49, and a worm gear 50 transmitting the rotation of the motor 49 to the gear 48.
この装置では、水平方向の駆動信号によりギア47、ウ
オームギア50に回転を伝達するモータ49を駆動し、環状
部材45を水平方向に回転させる事が出来、又、垂直方向
の駆動信号によりギア41、ウオームギア43に回転を伝達
するモータ44を駆動する事が出来る為、鏡筒、もしくは
着脱機構を介して環状部材40に固定された鏡筒をカメラ
筺体に対して水平及び垂直方向へ自在に移動出来る。
In this device, it is possible to drive the motor 47 that transmits rotation to the gear 47 and the worm gear 50 by the horizontal drive signal to rotate the annular member 45 in the horizontal direction, and the vertical drive signal allows the gear 41, Since the motor 44 that transmits the rotation to the worm gear 43 can be driven, the lens barrel or the lens barrel fixed to the annular member 40 via the attachment / detachment mechanism can be freely moved in the horizontal and vertical directions with respect to the camera housing. .
第8図は鏡筒で保持された撮像光学系と撮像センサと
を一体化する一例を示す図で、第1図と同じ部材には同
番号を符す。又、51は鏡筒2に固定され撮像センサを取
り付けた部材を示す。図示する様な構成にすれば、駆動
アクチユエータ6により撮像光学系1及び撮像センサ3
から成る画像入力手段全体を二次元に駆動する事が可能
である。
FIG. 8 is a diagram showing an example in which the image pickup optical system held by the lens barrel and the image pickup sensor are integrated, and the same members as those in FIG. 1 are denoted by the same reference numerals. Reference numeral 51 denotes a member fixed to the lens barrel 2 and attached with an image sensor. With the configuration shown in the figure, the drive actuator 6 allows the imaging optical system 1 and the imaging sensor 3
It is possible to drive the entire image input means consisting of 2D in two dimensions.
第9図(A),(B)は可動機構7に於る自在支持軸
の別の構成例を示す図で、第5図と同様の部材には同番
号を符す。第5図(A)は支持棒26,29が摺動球面を備
えたもの、第5図(B)はカメラ筺体8が摺動球面を備
えたものを示している。
9 (A) and 9 (B) are views showing another configuration example of the free support shaft in the movable mechanism 7, and the same members as those in FIG. 5 are denoted by the same reference numerals. FIG. 5 (A) shows the support rods 26 and 29 provided with sliding spherical surfaces, and FIG. 5 (B) shows the camera housing 8 provided with sliding spherical surfaces.
以上の如く画像入力手段を駆動するメカニカルな機構
は多種多様であり、装置の性能、仕様等により適当な機
構を選択出来る。又、上述の機構は主として画像入力手
段全体を駆動する為のものであるが、当然一部もしくは
複数部を駆動させる事も出来る。
As described above, there are various kinds of mechanical mechanisms for driving the image input means, and an appropriate mechanism can be selected according to the performance and specifications of the device. Further, although the above-mentioned mechanism is mainly for driving the entire image input means, it is of course possible to drive a part or a plurality of parts.
又、画像入力手段を介して得られる画像信号はNTSC信
号等各種信号形態があるが、信号形態は如何なるもので
あつても良く、各種信号形態に応じたフイードバツク回
路や信号処理回路を用いたり、プログラミングによりマ
イコンで制御したりする事が出来る。
Further, the image signal obtained through the image input means has various signal forms such as an NTSC signal, but any signal form may be used, and a feed back circuit or a signal processing circuit according to various signal forms may be used, It can be controlled with a microcomputer by programming.
従つて、本撮像光学装置はアナログ及びデジタルのテ
レビカメラ、ビデオカメラ、及び写真カメラ、工業用カ
メラ、電子カメラ等各種装置に応用が可能であり、本発
明の思想を逸脱しない限り各種形態の撮像光学装置を提
供出来る。
Therefore, the present imaging optical device can be applied to various devices such as analog and digital television cameras, video cameras, photographic cameras, industrial cameras, electronic cameras, etc., and various forms of imaging can be performed without departing from the concept of the present invention. An optical device can be provided.
(5)発明の効果 以上説明した様に、本発明に係る撮像光学装置は、撮
像光学系を介し撮像センサで得られる画像信号を用い、
カメラ筺体は固定のままで撮像光学系と撮像センサから
成る画像入力手段を駆動して目標画像の追尾や防振を行
ない得る為、装置の小型軽量化が可能で、しかも低消費
電力で駆動出来操作性に優れた新規な撮像光学装置であ
る。
(5) Effects of the Invention As described above, the imaging optical device according to the present invention uses the image signal obtained by the imaging sensor via the imaging optical system,
Since the camera housing can be fixed and the image input unit consisting of the image pickup optical system and the image sensor can be driven to track and stabilize the target image, the device can be made smaller and lighter and can be driven with low power consumption. It is a novel imaging optical device with excellent operability.
【図面の簡単な説明】[Brief description of drawings]
第1図は本発明に係る撮像光学装置の構成例を示す図。
第2図は検知手段の一例を示す説明図。第3図は検知手
段の一例を示すブロツク図。第4図は駆動制御手段の一
例を示すブロツク図。第5図は駆動アクチユエータの一
例を示す図。第6図は可動機構の構成例を示す図。第7
図は駆動アクチユエータ及び可動機構の別の構成例を示
す図。第8図は撮像光学系と撮像センサを一体化する一
例を示す図。第9図は可動機構に於る自在支持軸の別の
構成例を示す図。 1……撮像光学系 2……鏡筒 3……撮像センサ 4……検知手段 5……駆動制御手段 6……駆動アクチユエータ 7……可動機構 8……カメラ筺体 9,12……撮像画面 10,13,14……目標画像を囲む領域 11,15……画像パターン 16……量子化部 17,19……分布計測部 18,20……相関部 21……補正加工部 22……スイツチ部 23……コントローラ 24,25……アクチユエータ駆動回路 26,29……支持棒 27,28,30,31……摺動球面 32,34,38,41,43,48,50……ギア 33,37,44,49……モータ 35……固定バンド 36,51……固定用部材 39……着脱機構 40,45……環状部材 42,46,47……回転軸
FIG. 1 is a diagram showing a configuration example of an image pickup optical device according to the present invention.
FIG. 2 is an explanatory view showing an example of the detection means. FIG. 3 is a block diagram showing an example of the detection means. FIG. 4 is a block diagram showing an example of drive control means. FIG. 5 is a diagram showing an example of a drive actuator. FIG. 6 is a diagram showing a configuration example of a movable mechanism. Seventh
The figure is a figure which shows another structural example of a drive actuator and a movable mechanism. FIG. 8 is a diagram showing an example in which an image pickup optical system and an image pickup sensor are integrated. FIG. 9 is a diagram showing another example of the structure of the universal support shaft in the movable mechanism. 1 ... Imaging optical system 2 ... Lens barrel 3 ... Imaging sensor 4 ... Detection means 5 ... Drive control means 6 ... Drive actuator 7 ... Movable mechanism 8 ... Camera housing 9, 12 ... Imaging screen 10 , 13,14 …… Area surrounding the target image 11,15 …… Image pattern 16 …… Quantization part 17,19 …… Distribution measurement part 18,20 …… Correlation part 21 …… Correction processing part 22 …… Switch part 23 …… Controller 24,25 …… Actuator drive circuit 26,29 …… Support rod 27,28,30,31 …… Sliding spherical surface 32,34,38,41,43,48,50 …… Gear 33,37 , 44,49 …… Motor 35 …… Fixing band 36,51 …… Fixing member 39 …… Removing mechanism 40,45 …… Ring member 42,46,47 …… Rotating shaft
フロントページの続き (72)発明者 吉井 実 東京都大田区下丸子3丁目30番2号 キ ヤノン株式会社内 (72)発明者 川上 英悟 東京都大田区下丸子3丁目30番2号 キ ヤノン株式会社内 (72)発明者 大和田 光俊 東京都大田区下丸子3丁目30番2号 キ ヤノン株式会社内 (72)発明者 丹羽 雄吉 東京都大田区下丸子3丁目30番2号 キ ヤノン株式会社内 (56)参考文献 特開 昭59−163575(JP,A) 実開 昭53−8938(JP,U)(72) Inventor Minoru Yoshii 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Eigo Kawakami 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Mitsutoshi Owada 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Yukichi Niwa 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (56) Reference References: JP-A-59-163575 (JP, A), JP-A-53-8938 (JP, U)

Claims (3)

    (57)【特許請求の範囲】(57) [Claims]
  1. 【請求項1】撮像光学系と撮像センサを内蔵するカメラ
    筐体、前記撮像センサから得られる画像信号にもとづい
    て画像の移動方向及び移動量を検知する検知手段、撮影
    に係る外部情報と前記検知手段で得られる各情報とにも
    とづいて前記撮影光学系あるいは前記撮像センサの少な
    くとも一方を前記カメラ筐体に対して駆動させる駆動手
    段、を具備することを特徴とする撮像光学装置。
    1. A camera housing having an image pickup optical system and an image pickup sensor built-in, detection means for detecting a moving direction and a moving amount of an image based on an image signal obtained from the image pickup sensor, external information relating to photographing and the detection. An image pickup optical apparatus comprising: a drive unit that drives at least one of the image pickup optical system and the image pickup sensor with respect to the camera housing based on each piece of information obtained by the unit.
  2. 【請求項2】前記外部情報とはオートフォーカス信号で
    あり該オートフォーカス信号が合焦状態でない信号を示
    す場合には、前記駆動手段による駆動を禁止することを
    特徴とする特許請求の範囲第1項記載の撮像光学装置。
    2. The external information is an autofocus signal, and when the autofocus signal indicates a signal out of focus, driving by the driving means is prohibited. The imaging optical device according to the paragraph.
  3. 【請求項3】前記外部情報とは、前記撮像光学系のズー
    ム情報であることを特徴とする特許請求の範囲第1項記
    載の撮像光学装置。
    3. The image pickup optical apparatus according to claim 1, wherein the external information is zoom information of the image pickup optical system.
JP60111472A 1985-05-24 1985-05-24 Imaging optical device Expired - Fee Related JP2541924B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP60111472A JP2541924B2 (en) 1985-05-24 1985-05-24 Imaging optical device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60111472A JP2541924B2 (en) 1985-05-24 1985-05-24 Imaging optical device
US06/855,732 US4788596A (en) 1985-04-26 1986-04-25 Image stabilizing device

Publications (2)

Publication Number Publication Date
JPS61269572A JPS61269572A (en) 1986-11-28
JP2541924B2 true JP2541924B2 (en) 1996-10-09

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JP2817043B2 (en) * 1987-03-19 1998-10-27 キヤノン株式会社 Image blur prevention device
JP2558772B2 (en) * 1988-01-11 1996-11-27 株式会社東芝 Moving object identification device
JP2752073B2 (en) * 1988-01-20 1998-05-18 キヤノン株式会社 Image stabilizer
JPH01142282U (en) * 1988-03-22 1989-09-29
US5107293A (en) * 1988-09-09 1992-04-21 Canon Kabushiki Kaisha Automatic image stabilization device
JPH02256039A (en) * 1988-12-28 1990-10-16 Konica Corp Camera
JP2835624B2 (en) * 1989-10-16 1998-12-14 コニカ株式会社 camera
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US5446276A (en) * 1993-02-12 1995-08-29 Fuji Xerox Co., Ltd. Image reader and image reading method
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US9070189B2 (en) 2011-11-10 2015-06-30 Panasonic Intellectual Property Management Co., Ltd. Image blurring correction device

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