JP3513181B2 - Image stabilizer - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shake correction device suitable for a camera or the like.

[0002]

2. Description of the Related Art Conventionally, in the field of a shake correction photographing device such as a camera, automation in all aspects such as exposure setting and focus adjustment,
It has multiple functions, and good shooting can be done easily.

However, it is often the camera shake that actually deteriorates the quality of the shot image, and in recent years, various shake correction shooting apparatuses for correcting this camera shake have been proposed and are attracting attention. .

FIG. 21 shows an example of the configuration of a conventional shake correction photographing apparatus.

In FIG. 1, reference numeral 1 denotes an angular velocity detector including an angular velocity sensor such as a vibration gyro, which is attached to a shake correction photographing device such as a camera. Reference numeral 2 is a DC cut filter that blocks the DC component of the velocity signal output from the angular velocity detector 1 and passes only the AC component, that is, the vibration component. As the DC cut filter, a high pass filter (hereinafter referred to as HPF) that cuts off a signal in an arbitrary band may be used. An amplifier 3 amplifies the angular velocity signal output from the DC cut filter to an appropriate sensitivity.

Reference numeral 4 is an A / D converter for converting the angular velocity signal output from the amplifier 3 into a digital signal, and 5 is an integrator for integrating the output of the A / D converter 4 and outputting an angular displacement signal, 6
Is a pan / tilt determination circuit that determines the panning / tilting from the integrated signal of the angular velocity signals output from the integrator circuit 5, that is, the angular displacement signal, and 7 is the output of the pan / tilt determination circuit that is an analog signal or a pulse such as PWM. It is a D / A converter that converts to an output and outputs. And A / D
Converter 4, integrator 5, pan / tilt determination circuit 6, D / A
The converter 7 is composed of, for example, a microcomputer (hereinafter referred to as a microcomputer) COM1. Reference numeral 8 is a drive circuit for driving the image correcting means in the subsequent stage so as to suppress the shake based on the displacement signal output from the microcomputer, and 9 is an image correcting means, for example, displacing the optical optical axis to cancel the shake. An optical correction unit or an electronic correction unit that electronically shifts an image reading position from a memory storing an image to offset the shake is used.

[0007]

However, the above-described shake correction photographing apparatus has the following problems.

That is, the sensor actually senses vibrations of other mechanisms in the apparatus (video recorder, focus lens, motor for driving zoom lens, etc.), erroneous signals due to electrical noise, sensor characteristics, etc. Although it is stationary, the image may move arbitrarily by operating the optical or electrical correction means due to the above factors, and the image stabilization apparatus is extremely unreliable. It was a serious problem.

The present invention has been made in view of the above circumstances, and in a shake correction device for correcting the movement of an image due to the vibration of the image capturing device, it is possible to improve the reliability when the image capturing device is in a stationary state. Is what you are trying to do.

[0010]

In order to achieve the above-mentioned object, the present invention provides a shake correction apparatus for correcting the movement of an image due to the vibration in accordance with the detection of the vibration of the image reading apparatus. The output signal of the vibration detection means for detecting the vibration of the high-pass filter circuit, the output of which is connected to the shake correction device, the correction device is in a stationary state when the signal level of the output signal is below a predetermined level. If the determination means determines that the vibration is still, the cutoff frequency of the high-pass filter circuit is switched to a high-frequency characteristic in order to prevent malfunction of the shake correction apparatus due to noise of the vibration detection means. A switching circuit, or detecting the vibration of the image reading device, In the shake correction device for correcting the movement of the image reading device, the output signal of the vibration detection means for detecting the vibration of the image reading device is input, and the output is a high-pass filter circuit connected to the shake correction device, and the frequency of the output signal is changed. In order to prevent malfunction of the shake correction device due to noise of the vibration detection means when the correction device determines that the correction device is in a stationary state, the determination device determines that the high-pass filter circuit And a switching circuit for switching the cutoff frequency of 1 to a high frequency characteristic.

[0011]

Embodiments of the present invention will be described in detail below with reference to the drawings.

<< First Embodiment >> FIG. 1 is a block diagram showing the arrangement of a first embodiment of a shake correction photographing apparatus according to the present invention.

In the figure, the same components as those of the preceding example shown in FIG. 21 are designated by the same reference numerals, and detailed description thereof will be omitted.

In FIG. 1, an angular velocity detecting means 1 including an angular velocity sensor such as a vibration gyro attached to a shake correction photographing device such as a camera, and a DC cut filter for cutting off a DC component of a velocity signal output from the angular velocity detecting means 1. (Or HPF), the amplifier 3 for amplifying the angular velocity signal to a predetermined sensitivity, the drive circuit 8, and the image correction means 9 can have the same configurations as those of the preceding example shown in FIG. The difference in the invention is the internal configuration of the microcomputer COM2 that controls the entire apparatus.

In this embodiment, the image correction means 9
For example, a variable apex prism (VAP), which will be described later, or a memory control system that corrects a blur by shifting an image on a memory is used.

Looking at the configuration inside the microcomputer COM2, A /
The D converter 4 converts the angular velocity signal output from the amplifier 3 into a digital signal, the high-pass filter HPF 10 has a function of being variable in an arbitrary band, and the integrating circuit 5 has the HPF 1
The signal of the predetermined frequency component extracted by 0 is integrated to obtain the angular displacement signal in the frequency component, and the phase and gain correction circuit 11 outputs the integrated signal output from the integration circuit 5, that is, the phase and the gain of the angular displacement signal. The shooting state determination circuit 12 determines the shooting state such as pan / tilt from the angular velocity signal and the angular displacement signal, controls the characteristics of the HPF 10 and the phase / gain correction circuit 11 according to the shooting state, and determines the stillness. Reference numeral 13 determines whether or not the photographing state is still, and the D / A converter 7 converts the output signal of the phase and gain correction circuit 11 into an analog signal or a pulse output such as PWM and outputs it.

The specific operation of the pan / tilt determination circuit in the photographing state determination means is to input the presence / absence of vibration of the angular velocity signal output from the A / D converter 4 and the angular displacement signal output from the integration circuit 5, When the angular velocity is constant and the angular displacement signal obtained by integrating the angular velocity signal shows a monotonic increase, it is determined to be panning or tilting, and in such a case, the low frequency cutoff frequency of the HPF 10 is shifted to a higher frequency, The characteristics are changed so that the shake correction system does not respond to low-frequency frequencies.

When panning / tilting is detected, the VAP is gradually centered on the center of the moving range. During this time, the angular velocity signal and the angular displacement signal are detected, and when the panning / tilting is completed, the cutoff frequency in the low frequency range is lowered again to expand the shake correction range.

Here, the drive circuit 8 and the image correction means 9 for actually correcting the shake of the image in accordance with the control signal output from the microcomputer COM2 will be described with examples.
For example, the ones shown in FIGS .

FIG . 7 shows a variable apex angle prism (hereinafter referred to as VAP:
(Variable angle prism)
306 is used and a voice coil is used as a drive system, and the control system constitutes a closed loop in which the angular displacement is detected by an encoder and the drive system is feedback-controlled to control the drive amount.

First, the VAP will be described in detail .
As shown in FIG. 7 , the variable apex angle prism 306 has a shape in which a transparent elastic body having a high refractive index (refractive index n) or an inert liquid 342 is sandwiched between two opposing transparent parallel plates 340a and 340b. And the outer periphery of the transparent parallel plate 340 is elastically sealed with a sealing material 341 such as a resin film.
a and 340b are swingable, and the optical axes are displaced by swinging the transparent parallel plates 340a and 340b to correct shake.

FIG . 8 shows the passing state of the incident light beam 344 when one transparent parallel plate 340a of the variable apex angle prism 306 of FIG. 7 is rotated by an angle σ around the swing axis 301 (311). The optical axis 34 is shown in FIG.
The light flux 344 that has entered along 3 is deflected by the angle φ = (n−1) σ and emitted according to the same principle as the wedge prism. That is, the optical axis 343 is decentered (deflected) by the angle φ.

Returning to the description of FIG . 3 , the VAP described above is explained.
306 is fixed to the lens barrel 302 via a holding frame 307 so as to be rotatable around 301 and 311.

313 is a yoke, 315 is a magnet, 3
Reference numeral 12 denotes a coil, which constitutes a voice coil type actuator capable of varying the apex angle of VAP around 311 by passing a current through the coil 312. 31
Reference numeral 0 is a slit for detecting the displacement of the VAP, which is a rotary shaft 31.
The position is displaced by rotating together with the holding frame 307, that is, the VAP 306 coaxially with 1. 308 is a slit 310
Is a light emitting diode that detects the position of the
sition Sensing Detector) and light emitting diode 3
By detecting the displacement of the slit 310 together with 08, an encoder for detecting the angular displacement of the VAP apex angle is configured.

Then, the light beam whose incident angle is changed by the VAP 306 is CC by the photographing lens unit 303.
An image is formed on the image pickup surface of the image pickup element 304 such as D.

Reference numeral 305 indicates the center of the other rotation axis orthogonal to the rotation axis composed of the shafts 301 and 311 of the holding frame 307.

[0027] Next, the basic configuration and operation of the control circuit for driving and controlling the VAP will be described with reference to the block diagram of FIG.

In the figure, 306 is a VAP, 322 is an amplifier, 323 is a driver for driving an actuator, 324 is a voice coil type actuator for driving the VAP 306 described above, 326 is an encoder for detecting a vertical displacement of VAP, 325. Is a micro computer CO
A shake correction control signal 320 output from M2 and an output signal of the angular displacement encoder 326 are added with opposite polarities, and the shake correction control signal 320 output from the micro computer COM2 and the angular displacement encoder. Three
Since the control system operates so as to be equal to the output signal of the V.26, the VAP 306 is driven so that the control signal 320 is equal to the output of the encoder 326 as a result, and the VAP is moved to the position designated by the microcomputer COM2. Is controlled.

FIG . 5 shows another example of the image correction means, which is constructed so that the VAP described above is driven not by a voice coil type actuator but by a stepping motor.

This is about the rotary shaft 301 as the center of rotation.
The stepping motor 401 drives the VAP via the holding frame 307. That is, a stepping motor 401 having a lead screw 401a arranged on its rotation axis is attached to a support frame 403 attached to the lens barrel 302, and the guide frame 405 of the support frame 403 allows the stepping motor 401 to move in the optical axis direction. The guided motor 404 is constantly meshed with the lead screw 401a, and the carrier 404 is rotatably connected to the connecting rod 407 fixed to the support frame 307 by the rotating shaft 406. Is rotated to move the carrier 404 in the optical axis direction, and the holding frame is rotated about the rotating shafts 301 and 311 via the connecting rod 407.
It drives P. Reference numeral 402 is a reset sensor for detecting the VAP reference position. A VAP drive mechanism similar to this is also provided for the shaft 305, but description thereof will be omitted.

[0031] Then, the circuit configuration for driving and controlling the system of FIG 5 is as block diagram shown in FIG.

In FIG. 7, the micro computer CO
The drive arithmetic circuit 4 outputs the control signal 320 output from M2.
Drive calculation is performed in 10 to convert into a drive signal of VAP,
It outputs to the driver / IC411. Then, the stepping motor 401 is driven by the driver IC to change the apex angle of VAP.

FIG . 9 shows a third example of the image blur correction means, which stores image information in the memory and sets the cut-out range of the image from the memory to be smaller than the stored image. Memory control configured to correct the shake by shifting the image cutout position from the memory in a direction that cancels the movement of the image, and further expands the cutout image signal to correct the screen size before outputting. 3 illustrates a method of image shake correction means.
This system is characterized in that shake correction can be performed electronically without using an optical correction mechanism such as VAP.

In the figure, 100 is a zoom lens, and 1
01 is an image pickup device (CCD image sensor or the like) for converting an optical image into an electric signal, 102 is an A / D converter, and 103 is
Control signal (runout signal) input from the microcomputer COM2
Based on 110, a shake correction process for correcting the shake of the image by shifting the cut-out position of the predetermined image information from the field memory 106 so as to reduce the shake component in the image pickup signal, and enlarging the read image from the field memory 106. This is an image processing circuit that constitutes a view angle correction processing unit that performs processing to perform so-called electronic zooming and converts it into a normal screen size, and is realized by a microcomputer.

Reference numeral 104 denotes an interpolation process for interpolating one pixel signal from image information of two or more adjacent pixels by zoom information when performing electronic zoom for correcting an image read from the field memory to a normal angle of view. It is a means.
For this interpolation method, well-known means may be used,
For example, the average value between adjacent pixels may be used to interpolate between pixels. Further, 105 is a D / A converter, and 107 is an encoder for detecting the zoom magnification ratio of the zoom lens 100.

Next, the operation will be described. Zoom lens 10
The optical image that has passed 0 is converted into an electrical signal by the image sensor 101 and output as an image signal. The image pickup signal is converted into a digital signal by the A / D converter 102, and the image information for one field is written in the memory 106 via the memory control unit 103. Here, the cut-out position of the image signal from the field memory 106, that is, the read range and its read position are determined by the shake signal input from the microcomputer COM2 and the zoom information from the encoder 107.

Next, in order to convert the signal read from the field memory 106 into the original size of the scanning width of the output image, that is, the angle of view, according to the cutout size, the number of pixels in the normal one pixel output period is increased. Whether or not to output is determined, and the interpolation processing circuit 104 performs the interpolation processing on the pixel having no pixel information. Then, this signal is converted into an analog signal by the D / A converter 105 and output.

The specific examples of the image correcting means for correcting the shake have been described above.

Next, the processing operation of the microcomputer COM2 in this embodiment shown in FIG. 1 will be described with reference to the flowchart of FIG. In the figure, when control is started, in step S201, the DC signal is removed via the DC cut filter 2 and the amplifier 3, and the angular velocity signal from the angular velocity detecting means 1 amplified to a predetermined level is A / D converted. It is converted into a digital signal by the device 4 and taken into the microcomputer COM2.

Subsequently, in step S202, the panning / tilting and photographing state is performed by the angular displacement signal and the angular displacement signal obtained by integrating the predetermined high frequency component extracted from the angular velocity signal by the HPF 10 by the integrating circuit 5. Make a decision.

In step S203, the coefficient for setting the characteristic of the HPF 10 is read out from a table (not shown) prepared in advance in the microcomputer COM2 according to the result of the determination. That is, if the HPF 10 is configured by a digital filter, the characteristics of the HPF 10 can be freely changed by reading and setting a predetermined coefficient from a table storing the coefficient. The coefficients according to these panning / tilting and shooting conditions are empirically determined.

In step S204, the HPF 10 is calculated by the coefficient for setting the characteristic and the characteristic is set. In step S205, the signal output from the HPF 10 is integrated by the integrating circuit 5, and the angular displacement signal ( Shake signal).

In step S206, the correction coefficient of the phase and gain correction circuit 11 is read from a table (not shown) prepared in the microcomputer COM2 in advance.

The phase and gain correction circuit 11 is for compensating the deterioration of the shake correction characteristic due to the phase delay of the shake correction system, has a phase lead element, and is composed of, for example, a digital filter as described later. The correction coefficient is read out from the digital filter, and the phase and gain correction characteristics corresponding to the shake frequency are set.

In step S207, step S206
A correction operation is performed using the coefficient obtained in step S208, and the operation result obtained in step S208, that is, the corrected angular displacement signal is converted into an analog signal by the D / A converter 7,
Alternatively, as a pulse output such as PWM, the microcomputer COM2
Output more.

Since the HPF 10, the integrator circuit 5, and the phase / gain correction circuit 11 use digital filters and the like, the sampling time must be relatively high (for example, about 1 kHz), but panning / tilting and photographing are performed. The determination circuit 12 that determines the state and the frequency detection unit 13 may perform processing at a relatively slow cycle (for example, 100 Hz). In other words, it can be changed according to the situation.

Here, the stillness judging means 13 in the present embodiment.
An example of the operation will be described with reference to the flowchart shown in FIG.

In S1001, the angular velocity output and angular displacement output for detecting shake are read, and in S1002, if the sensor output is smaller than a certain level, it is determined to be in a stationary state, and in S1003, the operation of the counter is started to increment its contents. If a certain counter value is reached in S1004, the control characteristic of the control means for controlling the optical or electronic correction means is switched to the characteristic in the stationary state in S1005.

For example, when the stationary state is determined, the cutoff frequency of the HPF 10 is switched to a high frequency characteristic to cut low frequency signal components, or the phase and the phase of the gain correction circuit 11 are advanced to reduce the gain and improve the frequency characteristic of the system. By shifting to the low side, the control characteristics of the correction means can be changed so as not to respond to the low frequency side, or the vibration isolation range can be narrowed, thereby causing vibrations and electrical noise of other mechanisms in the device. Alternatively, change the system settings so that it does not respond to fluctuations due to sensor characteristics.

Other mechanisms in the device,
For example, when the noise of the drive system of the video recorder mechanism, zoom lens, and focus lens is a problem,
Since the vibration frequency band can be known in advance, the cutoff frequency of the HPF 10 is switched so that the frequency band is out of the vibration isolation range, and the phase and gain of the phase and gain correction circuit 11 are changed. The stability of the system can be secured.

As a result, the optical or electronic correction means is caused to operate by a factor different from the original operation for canceling the actual shake, and the shake correction photographing device is actually stationary. Despite this, it is possible to greatly suppress malfunctions such as moving the image, and it is possible to realize a stable and highly accurate shake correction photographing apparatus without malfunctions.

<Second Embodiment> FIG. 11 shows a second embodiment of the shake correction photographing apparatus of the present invention.

The present embodiment is the same as that shown in the first embodiment in the contents intended by the invention, and shows a concrete example having a different circuit structure, and is the same as the structure shown in FIG. Portions of the parts are given the same reference numerals and the description thereof will be omitted.

The difference from the first embodiment in FIG. 1 is that
The analog switches 28 and 27 are used to change the means for changing the characteristics for phase correction and gain correction (the resistance value for setting the time constant of the HPF and the resistance value for setting the gain of the variable gain amplifier, respectively). , The duty ratio for turning on / off the resistor R10 arranged from the angular velocity sensor 1 to the output of the amplifier 3 and the resistor R9 inserted into the feedback loop of the OP amplifier 26 arranged on the output side of the integrator 5 is P.
By performing PWM control by the WM generating circuit 29,
It is configured so as to obtain the same function as that of controlling the amount of current flowing in the circuit and substantially changing the resistance value.

As a result, the resistance R10 is determined at the time of stationary determination.
By switching the cutoff frequency of the HPF 10 to a high frequency characteristic, the low frequency signal component is cut,
By advancing the phase of the OP amplifier 26 and the phase of the gain correction circuit 11 and lowering the gain, the control characteristic of the correction means is changed so as not to respond to the low frequency side, or the image stabilization range is narrowed, so that Change the system settings so that it does not respond to vibrations and electrical noise of other mechanisms or fluctuations due to sensor characteristics.

Therefore, the system itself is the same as that of the first embodiment of FIG. 1, and the analog switch 28 is used when the stationary state is determined.
The phase characteristic is changed by the operation of, and the gain of the variable gain amplifier is changed by the operation of the analog switch 27, so that the control at the stationary time is performed.

In the above-mentioned structure, the PWM generating circuit 29 is controlled according to the output of the photographing state judging means, and the analog switches 27 and 28 are ON / OF controlled. However, the control itself is the analog switch 27. , 28 ON / O
Since the amount of current is controlled by F, it is equivalent to changing the resistance value of the circuit as a result.

Since the signal processing itself inside the PWM control is not the subject of the present invention, its explanation is omitted, but it is described in detail in Japanese Patent Application No. 4-243485 filed by the present applicant. ing.

<< Third Embodiment >> FIG. 12 shows a third embodiment of the present invention.

The invention in this embodiment is the first embodiment shown in FIG.
In the block diagram of the first embodiment, when the stillness determination means 13 makes the stillness determination, the photographing state determination means is provided with the amplitude determination means 14 and the time measurement means 15, thereby making It is a more concrete and practical example of the above-described stillness determination.

The contents of this embodiment are shown in the flow chart of FIG. The angular velocity output and the angular displacement output for detecting shake are read in S1301, and if the amplitude is smaller than a certain level in S1302, it is determined to be a stationary level, and S1
If the timer is started in 303 and a predetermined time has elapsed in S1304, the process proceeds to S1305, and the control characteristic of the control means for controlling the optical correction means using the VAP or the electronic correction means using the memory is set to the stationary state. Switch to the characteristics of time.

The amplitude measuring means 14 sets, for example, a threshold level within the amplitude of the signal when it is determined to be stationary, and determines whether the amplitude is within that level. If it is within the level, it is determined to be the stationary level. Is a means to do.

The time measuring means is means for measuring the time from when the amplitude determining means outputs the static level determination to when the static determination is output to the photographing state determining means and the characteristic switching command is output. For example, when the threshold level of the amplitude determination means 14 is not only fixed when the photographing device is fixed to a desk, the ground, a tripod, etc. By outputting the stillness determination according to the passage of time, it becomes possible to determine the shooting state of the handheld device.

As the characteristics in the stationary state, for example, the low-frequency signal component is cut by switching the cutoff frequency of the HPF 10 to the high-frequency characteristics when the stationary state is determined,
By advancing the phase of the phase and gain correction circuit 11, reducing the gain, and shifting the frequency band of the system to the high side, the control characteristic of the correction means can be changed so as not to respond to the low frequency side, and the vibration isolation range can be changed. By narrowing it, the system settings are changed so that it does not respond to vibrations of other mechanisms in the device, electrical noise, or fluctuations due to sensor characteristics.

As a result, the optical or electronic correction means is operated by a factor different from the original operation for canceling the actual shake, and the shake correction photographing apparatus is actually stationary. Despite this, it is possible to greatly suppress malfunctions such as moving the image, and it is possible to realize a stable and highly accurate shake correction photographing apparatus without malfunctions.

<< Fourth Embodiment >> FIG. 14 shows a fourth embodiment of the present invention.

In the invention of this embodiment, the stillness determination is performed based on the output of the frequency determination means 16 for detecting the shake frequency.

Frequency determining means 1 in this embodiment
An example of the method and operation of No. 6 will be described with reference to the flowchart shown in FIG. It should be noted that this process is repeatedly performed once every fixed time.

In step S1501, the frequency detection time T is read (loaded). In step S1502, the clock function counter t is read out, that is, the counting operation of the counter is started. In step S1503, the frequency detection time T and the clock counter t are read. Is compared to determine whether the count value t of the clock counter has reached a predetermined time T,
If the clock counter t has reached T, step S15
19. If not reached, the process proceeds to step S1504.

In step S1504, "1" is added to the clock counter. Therefore, this "1" count-up coincides with the processing time when the processing shown in the flow chart of FIG. 15 is executed once.

In step S1505, the increase flag 1 for confirming whether the increase of the angular velocity signal has occurred up to the previous time is loaded. The increase flag is set to "H" when the increase has occurred up to the previous time, and is set to "L" when the increase has not occurred in the past.

In step S1506, it is determined by the flag 1 whether or not the increase in the angular velocity signal has occurred up to the previous time. If flag 1 = "H", it is determined that the increase has occurred in the past and step S1507. Go to, flag 1 =
If "L", it is determined that the increase has not occurred in the past, and the process proceeds to step S1512.

In step S1506, if the increase in the angular velocity signal has occurred up to the previous time, step S1
At 507, decrease flag 2 is loaded to see if the decrease has occurred by the previous time. Decrease flag 2
Indicates that "H" has been set if the decrease has occurred up to the previous time, and "L" has been set if the decrease has not occurred in the past.

In step S1508, it is determined whether or not the decrease has occurred up to the previous time by the flag 2, and the flag 2
= “H”, that is, if the decrease has occurred in the past, the process proceeds to step S1509, and if flag 2 = “L”, that is, the decrease has not occurred in the past, the process proceeds to step S1512.

In step S1509, a shake number counter N1 for counting the number of shakes (vibrations) is loaded,
In step S1510, the shake counter N1 is set to "1".
After adding, the process proceeds to step S1511 to reset the increase flag 1 and the decrease flag 2 and terminate the processing.

On the other hand, in step S1506, the increase flag 1
Is not "H" and step S150
If it is determined in 8 that the decrease flag 1 is not "H", that is, if neither increase nor decrease has occurred in the past, the process proceeds to step S1512 and the angular velocity data ω before one sampling (previous processing) -1 is loaded, and then the process proceeds to step S1513 to load the current angular velocity data ω detected by the angular velocity detecting means 1.

In step S1514, the threshold level a for the change that determines that the angular velocity data has increased or decreased within one sampling period is loaded. With the threshold level a and the sampling time, it is possible to set the value according to the frequency and the amplitude.

In step S1515, the absolute value of the amount of change in the angular velocity data within one sampling period is compared with the threshold level a, and if it has not reached it, step S1
If the absolute value of the amount of change has reached the threshold (if the absolute value of the amount of change is greater than or equal to the threshold level a), the process proceeds to step S1516, and the amount of change in angular velocity in one sampling period is positive ( Whether it is an increase or a negative (decrease) is determined. If it is positive, the process proceeds to step S1517 to set the increase flag 1 to “H”, and if it is not positive (if it is decreasing), the process proceeds to step S1518. After shifting to the process and setting the decrease flag 2 to "H", the flow shifts to step S1524 to end the process.

By the way, in the above-mentioned step S1503, the count value of the clock counter t is the frequency detection time T.
If it has reached step S1519, the flow shifts to step S1519, the shake counter N1 is loaded, and step S15
At 20, the shake count N1 is divided by the detection time T to obtain the shake count (shake frequency F) per unit time (one second).

Subsequently, the shake counter N1 is cleared in step S1521, the clock counter t is cleared in step S1522, the shake frequency F is stored in a predetermined storage area in step S1523, and the process proceeds to step S1504. The subsequent operation is as described above.

With respect to the frequency thus obtained, the photographing condition judging means 12 can change the control characteristic of the correcting means by correcting the phase and the gain.

The contents of this embodiment are shown in the flow chart of FIG. In the figure, the frequency is read in S1601, the frequency is determined in S1602,
In the above cases, stillness determination is not performed, and in the case of less than nHz, S
In 1603, the stillness determination is performed.

In this way, by performing the stillness determination based on the output of the frequency determining means 16, when the imaging device such as a desk, the ground, or a tripod is fixed and is in a stationary state, the shake frequency of the imaging device is fixed. Is equal to or very low than 0, whereas most of the time when holding a handheld image, it has a certain frequency, so that the stationary state can be determined more reliably.

<< Fifth Embodiment >> FIG. 17 shows a fifth embodiment of the present invention.

In the present embodiment, in the configuration of the first embodiment of FIG. 1, for example, a sensor for detecting shake in the horizontal (hereinafter YAW) direction and a vertical (hereinafter PITCH) are arranged on a plane orthogonal to the optical axis. A sensor for detecting the shake of the direction is arranged respectively.

Those sensors and their signal processing systems basically operate independently of each other, and when each sensor and signal processing system controls the correction means in the same direction as the shake detection direction, the stationary state determination and the stationary state determination at that time are performed. The control will be described below.

For example, FIG. 18 shows a concrete process of the signal processing system of those sensors.

When control is started in the figure, first, Y
Looking at the AW direction, the processing of S1801 results in Y
The amplitude of the shake signal output from the AW side sensor is S1
A determination is made by comparing with a predetermined threshold level in the processing of 802, and if the amplitude is below the predetermined threshold level, it is determined to be stationary and a timer is started in the processing of S1803. When n hours have elapsed in the stationary state in S1804, the blur correction control system on the PITCH side is shifted to have the control characteristics in the stationary state.

Looking at the PITCH direction, S1
It is determined by comparing the amplitude of the shake signal output from the PITCH side sensor by the processing of 811 with the predetermined threshold level in the processing of S1812, and the amplitude is equal to or lower than the predetermined threshold level. If so, it is determined to be stationary, and the timer is started in the processing of S1813. When n hours have elapsed in the stationary state in the process of S1814, the shake correction control system on the YAW side is shifted to have the control characteristics in the stationary state.

Alternatively, not limited to this, YAW, PITC
H When the outputs of both sensors simultaneously determine the stationary state, control the characteristics of both blur correction systems when stationary, or YAW on the YAW side and PITCH on the PIT.
The CH side may be controlled independently.

<< Sixth Embodiment >> FIG. 19 shows a sixth embodiment of the present invention.

In the invention of this embodiment, by providing the shake correction photographing device with the rewritable storage means 17, the threshold level of the amplitude determination means 14 and the predetermined elapsed time of the time measurement means 15 in the stillness determination can be rewritten. The threshold level or a predetermined elapsed time (threshold value) can be changed by some external operation.

The operation means from the outside at this time may be any operation such as serial communication, parallel communication, port operation, and the like.

By rewriting the threshold level in this way, it is possible to change the determination condition for the stillness determination, and to respond to various conditions such as variations in sensors and mechanisms, setting of a shake correction system, and the environment of the device. Therefore, the stillness determination function can be operated more practically and reliably.

<< Seventh Embodiment >> FIG. 20 shows a seventh embodiment of the present invention.

In the invention of this embodiment, by providing the shake correction photographing device with the rewritable storage means 17, the threshold level of the frequency determination means 16 in the stillness determination is stored in the rewritable storage means 17 in advance. ,
Further, the threshold level can be changed by some operation from the outside.

The operation means from the outside at this time may be any operation such as serial communication, parallel communication, port operation, and the like.

For example, when the threshold level is rewritten, the frequency detection characteristic changes. Specifically, when the threshold level is widened, frequencies with a small amplitude cannot be picked up, and when the threshold level is narrowed, it becomes small. By picking up the frequency even in the amplitude, it becomes easy to have some frequency even in the state of being relatively stationary, and the stationary determination condition by the output of the frequency detecting means changes. In other words, it can be used in all shooting environments, as well as handheld shooting, tripod shooting,
It is possible to determine the shooting on the vehicle, optimize the shake correction control, and optimize the static characteristics.

Therefore, it is extremely effective to be able to store the threshold level of the frequency determination means 16 in the rewritable storage means 17 when the stillness determination function is carried out more practically and reliably.

[0100]

As described above, according to the present invention,
In a shake correction device that corrects the movement of an image due to the vibration of the image capturing device, it is possible to improve the reliability when the image capturing device is in a stationary state.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a shake correction photographing apparatus according to the present invention.

FIG. 2 is a flow chart for explaining the operation of the first embodiment of the shake correction photographing apparatus of the present invention.

FIG. 3 is a diagram showing a configuration of a lens unit provided with an optical shake correcting means using a variable apex angle prism.

FIG. 4 is a block diagram of a drive system of a variable apex angle prism.

FIG. 5 is a diagram showing another example of a lens unit provided with an optical shake correcting means using a variable apex angle prism.

6 is a block diagram of a drive system that drives the optical shake correction unit shown in FIG.

FIG. 7 is a diagram for explaining the configuration and operation of a variable apex angle prism.

FIG. 8 is a diagram for explaining the configuration and operation of the variable apex angle prism.

FIG. 9 is a block diagram showing a configuration of an electronic shake correction unit by image processing.

FIG. 10 is a flow chart for explaining the operation of the first embodiment of the shake correction photographing apparatus of the present invention.

FIG. 11 is a block diagram showing a second embodiment of the shake correction photographing apparatus of the present invention.

FIG. 12 is a block diagram showing a third embodiment of the shake correction photographing apparatus of the present invention.

FIG. 13 is a flow chart for explaining the operation of the third embodiment of the shake correction photographing apparatus of the present invention.

FIG. 14 is a block diagram showing a fourth embodiment of the shake correction photographing apparatus of the present invention.

FIG. 15 is a flow chart for explaining the operation of the fourth embodiment of the shake compensation image pickup apparatus of the present invention.

FIG. 16 is a flow chart for explaining the operation of the fourth embodiment of the shake compensation image pickup apparatus of the present invention.

FIG. 17 is a block diagram showing a fifth embodiment of the shake correction photographing apparatus of the present invention.

FIG. 18 is a diagram for explaining the progress of the process of the fifth embodiment of the shake-correction image pickup apparatus of the present invention.

FIG. 19 is a block diagram showing a sixth embodiment of the shake correction photographing apparatus of the present invention.

FIG. 20 is a block diagram showing a seventh embodiment of the shake correction photographing apparatus of the present invention.

FIG. 21 is a block diagram showing an example of a shake correction photographing apparatus before the application of the present application.

Claims (3)

(57) [Claims] 1. A shake correction device for correcting the movement of an image due to the vibration in response to detection of the vibration of the image reading device, wherein an output signal of a vibration detection means for detecting the vibration of the image reading device is input. The output is
High-pass filter circuit connected to the
When the signal level of the force signal is below a predetermined level, the correction device
Determination means for determining that the apparatus is in a stationary state, the determination means
If it is determined by the
Prevents malfunction of the shake correction device due to step noise
For the cutoff frequency of the high pass filter circuit
It has a switching circuit that switches the
Shake correction device to collect. 2. The determination means further comprises:
The correction means when the level is lower than the predetermined level for a predetermined time.
2. It is determined that is a stationary state.
Shake correction device according to. 3. Detecting vibration of an image reading device
Shake correction that corrects the movement of the image due to the vibration according to
The vibration of the image reading device in the device
The output signal of the vibration detection means is input and the output is
High-pass filter circuit connected to the
When the frequency of the force signal is obtained and the correction device is in a stationary state,
Judgment means for judging, in the stationary state by the judgment means
If it is determined that the noise due to the noise of the vibration detection means
In order to prevent malfunction of the shake correction device,
Switching the cutoff frequency of the filter circuit to a high frequency characteristic
A shake correction device having a switching circuit
Place