JP3550576B2 - Adjustment apparatus for shake correction camera, shake correction camera, and adjustment method - Google Patents

Description

【００３７】
正弦波状の加速度をカメラに与えたときの最大値、最小値から算出された全振幅の値は常に正であるので、角度ズレの符号はわからない。これを避けるため、式（数３１）では、Ｘ軸方向に与えられた角速度が正である場合には、ヨー角速度検出回路８の出力値の最大値ｕ１ｍａｘ検出時のピッチ角速度検出回路９の出力が同じ符号となるので、これを利用して角度ズレの符号を検出している（式（数３２）も同様である。）。本実施例では、角度ズレの符号を検出するために簡易的に上述のような方法をとったが、最小値検出時の逆方向の角速度検出回路の出力の符号、又は、加振台１８で与えた角速度の符号とヨー，ピッチ角速度検出回路８，９の出力の符号とを比較することにより、角度ズレの符号を検出しても良い。
【００３８】
ここで問題になるのは、加振台１８を用いてカメラに正弦波的に変化する角速度を与えてゲイン調整、角度ズレ調整を行う場合に、加振台１８を精度良く制御しないと、上記最大値，最小値が精度良く算出されない。これは、第１に、加振台１８により与えられる角速度の周波数が、加振台１８の駆動モータの回転速度むらにより変動した場合には、その変動量に比例してヨー，ピッチ角速度検出回路８，９の出力値の全幅も変動し、これによってゲイン調整値、角度ズレ調整値も誤差を持つようになるからである。第２に、加振台１８の動作が滑らかでなく、高周波振動が乗った動きをした場合には、ヨー，ピッチ角速度検出回路８，９の出力値にその振動に応じたノイズが上乗せされてしまうため、各角速度検出回路の出力値の最大値，最小値の検出に誤差が生じてしまい、これによってゲイン調整値、角度ズレ調整値も誤差を持つようになるからである。そこで、次にこの問題を解決する方法を説明する。なお、精度の良い加振台を用いてこれらの調整を行った場合において上記問題のないときには、以上のような調整方法でも良いことは勿論である。
【００３９】
（３）角速度の積分値を使用する調整方法
上述した調整方法は、角速度のディメンジョンであったが、以下の調整方法は、角度又は位置のディメンジョンで行う。
先ず、以下の式（数３３）に示すようにヨー，ピッチ方向のゲイン調整値に初期値を設定し、式（数３４）に示すように角度ズレ調整値Δα，Δβをクリアする。
（数３３） Ａ１＝Ａ２＝Ａ０
（数３４） Δα＝Δβ＝０
これにより、図２においてゲイン調整，角度ズレ補正がされていない各検出方向の角速度Ｘ，Ｙが出力される。次に、その出力のＢ倍されたＸ，Ｙ軸方向の防振レンズ目標速度Ｖｃ（Ｘ）、Ｖｃ（Ｙ）を、以下の式（数３５）、（数３６）に示すように積分することで、防振レンズ１３のＸ軸，Ｙ軸方向の目標位置ＬＣ（Ｘ），ＬＣ（Ｙ）が算出される。
（数３５） ＬＣ（Ｘ）＝∫Ｖｃ（Ｘ）
（数３６） ＬＣ（Ｙ）＝∫Ｖｃ（Ｙ）
【００４０】
一方、防振レンズ１３の目標位置ＬＣ（Ｘ）、ＬＣ（Ｙ）の算出は、式（数３５）、（数３６）のような積分形ではなく、例えば、ＣＰＵ１でヨー，ピッチ角速度検出回路８，９の出力をＡ／Ｄ変換してその後の処理をデジタル値を用いて制御するような場合には、Ｖｃ（Ｘ），Ｖｃ（Ｙ）の値を所定時間間隔で積算して算出する方が適する場合がある。この場合には、積算によって防振レンズ１３の目標位置ＬＣ（Ｘ），ＬＣ（Ｙ）を算出しても良い。
【００４１】
ここで、カメラには防振レンズ１３のＸ軸方向に角度全振幅γ１の正弦波状の振動が加振台１８により与えられる。このときのＬＣ（Ｘ）の最大値，最小値をそれぞれＬＣｍａｘ（Ｘ），ＬＣｍｉｎ（Ｘ）、及びＬＣ（Ｙ）最大値，最小値をそれぞれＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｙ）とすると、以下の式（数３７）、（数３８）により、Ｘ軸，Ｙ軸のそれぞれの防振レンズ目標位置の全幅ａ，ｂが算出される。さらに、式（数３９）により、ＬＣｍａｘ（Ｘ）検出時のＬＣ（Ｙ）の符号によりｃが算出される。

【００４２】
次に、カメラには防振レンズ１３のＹ軸駆動方向に角度全振幅γ２の正弦波状の振動が加振台１８により与えられる。このときのＬＣ（Ｘ）の最大値，最小値をそれぞれＬＣｍａｘ（Ｘ），ＬＣｍｉｎ（Ｘ）、及びＬＣ（Ｙ）の最大値，最小値をそれぞれＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｙ）とすると、以下の式（数４０）、（数４１）により、Ｘ軸，Ｙ軸の防振レンズ目標位置の全幅ｄ，ｅが算出される。さらに、式（数４２）により、ＬＣｍａｘ（Ｙ）検出時のＬＣ（Ｘ）の符号によりｆが算出される。

【００４３】
加振台１８により与えた角度全幅γ１、γ２に対して、ゲイン調整後に得たいＸ軸，Ｙ軸方向のそれぞれの防振レンズ目標位置ＬＣ（Ｘ），ＬＣ（Ｙ）の全振幅をそれぞれＬ０１，Ｌ０２とすると、各ゲイン調整値Ａ１、Ａ２は、以下の式（数４３）、（数４４）によって算出される。ここでＬ０１、Ｌ０２は加振した角度全振幅γ１、γ２に対して比例関係にあり、加振角度全振幅に対して像を停止させるための適正な防振レンズ１３のシフトの全振幅である。この値は撮影光学系により定まり、理論値が算出されている。
（数４３） Ａ１＝Ａ０×Ｌ０１／ａ
（数４４） Ａ２＝Ａ０×Ｌ０２／ｅ
【００４４】
式（数４３），（数４４）は、式（数２７），（数２８）の角速度をその積分値である防振レンズ目標位置のディメンジョンに変換したものであり、ゲイン調整値が初期値Ａ０である場合に得たい防振レンズ振幅とゲイン調整する前の防振レンズ目標位置の振幅の比からゲイン調整値の初期値Ａ０を何倍すれば良いかを算出し、これをＡ０に掛け合わせることでゲイン調整値を算出している。
【００４５】
次に、ヨー，ピッチ角速度検出回路８，９の検出方向の角度ズレ補正量Δα，Δβは、以下の式（数４５）、（数４６）により算出される。
（数４５） Δα＝ｓｉｎ（α）＝−ｆ＊（Ｌ０１／Ｌ０２）×（ｄ／ａ）
（数４６） Δβ＝ｓｉｎ（β）＝−ｃ＊（Ｌ０２／Ｌ０１）×（ｂ／ｅ）
式（数４５），（数４６）は、式（数２９），（数３０）の角速度をその積分値である防振レンズ目標位置のディメンジョンに変換したものである。
【００４６】
以上の方法によりヨー，ピッチ角速度検出回路８，９の出力の積分値によりゲイン調整、角度ズレ調整を行うと、加振台１８の周波数が多少変動しても、加振台１８の角度振幅はほとんど変化しない。また、加振台１８の加振時に振動ノイズが多少のっていて、ヨー，ピッチ角速度検出回路８，９の出力に振動ノイズがのった場合においても、その出力の積分値から算出しているため、ノイズの影響をほとんど受けない調整を行うことができる。
【００４７】
次に、実際のカメラの調整処理の実施例を説明する。調整処理は、通信工具側で行われる通信工具調整処理と、カメラ側で行われるカメラの通信モード処理に分けられる。最初に、全体の調整処理の概略を説明する。図１に示すように、カメラのＣＰＵ１と通信工具１５とが電気的に接続され、カメラの調整処理が行われる。また、モータ４，５の制御は、ＰＷＭ（ＰＵＬＳＥ ＷＩＤＴＨ ＭＯＤＵＬＡＴＩＯＮ）制御で行った場合で説明することにする。通常、ＰＷＭ制御は、ある一定周期間の通電時間を可変する、つまり、モータ４，５がオンしているｄｕｔｙを可変することで速度制御を行う方式である。
図７は、通信工具１５が行う通信調整処理の一実施例を示すフローチャートである。また、図８は図７に続くフローチャートであり、図９は図８に続くフローチャートである。図７〜図９において、通信工具１５は、Ｓ６０２〜Ｓ６０７で防振レンズシフトメカ系の不良チェックを行い、次のＳ６０８〜６２４でヨー，ピッチ角速度検出回路８，９のゲイン調整及び検出角度ズレ調整を行う。さらに、Ｓ６２５〜Ｓ６４６で防振制御性の総合的なチェックを行う。
【００４８】
図１０は、カメラのＣＰＵ１が行う通信モード処理の一実施例を示すフローチャートである。カメラのＣＰＵ１は、通信工具１５からの指令によりカメラの通信モード処理を起動する。そして、通信工具１５からの指令に応じて、例えばＳ７０４の防振レンズリセット処理や、Ｓ７０９の防振制御開始処理を行う。
【００４９】
（１）カメラ側の処理
次に、カメラ側の通信モード処理について、図１０に基づき詳細に説明する。図７のＳ６００で通信工具処理が開始されると、通信工具１５は、次のＳ６０１でカメラのＣＰＵ１に通信モード処理を行う指令を送信する。これにより、カメラのＣＰＵ１は、図１０のＳ７００で通信モード処理を開始し、次のＳ７０１に進む。
Ｓ７０１では、式（数３３）により角速度ゲイン調整値Ａ１，Ａ２に初期値Ａ０が設定され、さらに次のＳ７０２で式（数３４）により角度ズレ調整値Δα，Δβがクリアされ、Ｓ７０３に進む。Ｓ７０３からＳ７１８までの処理は、通信工具１５からの命令の種類により各々分岐して行われる。先ずＳ７０３で防振レンズリセット命令がなされたか否かが判断され、命令があればＳ７０４で防振レンズリセット処理（図１１）が行われてＳ７０３に戻り、命令がなければＳ７０５に進む。Ｓ７０５では防振レンズセンタリング命令がなされたか否かが判断され、命令があればＳ７０６で防振レンズセンタリング処理（図１２）が行われてＳ７０３に戻り、命令がなければ次のＳ７０７に進む。
【００５０】
Ｓ７０７では防振調整開始命令がなされたか否かが判断され、命令があればＳ７０９で防振制御開始処理（図１３）が行われてＳ７０３に戻り、命令がなければＳ７０８に進む。Ｓ７０８では防振制御開始命令がなされたか否かが判断され、命令があればＳ７０９で防振制御開始処理が行われてＳ７０３に戻り、命令がなければＳ７１０に進む。
Ｓ７１０では防振調整終了命令がなされたか否かが判断され、命令があればＳ７１２で防振制御タイマ割込み処理が禁止され、防振制御が終了してＳ７０３に戻り、命令がなければＳ７１１に進む。Ｓ７１１では防振制御終了命令がなされたか否かが判断され、命令があればＳ７１２で防振制御タイマ割込み処理が禁止され、防振制御が終了してＳ７０３に戻り、命令がなければＳ７１３に進む。
【００５１】
Ｓ７１３ではデータ読み込み命令がなされたか否かが判断され、命令があればＳ７１４で通信工具１５によって指定されたデータが通信工具１５に転送されてＳ７０３に戻り、命令がなければＳ７１５に進む。Ｓ７１５ではデータ書き込み命令がなされたか否かが判断され、命令があればＳ７１６で通信工具１５により転送されたデータが通信工具１５によって指定されたデータに書き込まれてＳ７０３に戻り、命令がなければＳ７１７に進む。Ｓ７１７ではＥ２ＰＲＯＭ書き込み命令がなされたか否かが判断され、命令があればＳ７１８で通信工具１５により転送されたデータが通信工具１５によって指定されたＥ２ＰＲＯＭのデータに書き込まれてＳ７０３に戻り、命令がなければＳ７１９に進む。Ｓ７１９では通信モード解除命令がなされたか否かが判断され、命令があればＳ７２０でカメラの通信モード処理が終了し、命令がなければＳ７０３に戻る。以上のように、通信工具１５の命令によりその該当する処理をカメラが行っている。
【００５２】
図１１は、図１０のＳ７０４の防振レンズリセット処理の一実施例を示すフローチャートである。Ｓ７０４からＳ８００に進み、防振レンズリセット処理が開始される。先ず、Ｓ８０１で防振レンズリセットタイマ割込み処理（図１４）が許可され、防振レンズ１３のリセットが開始される。次に、Ｓ８０２で所定時間（例えば１０ｍｓ程度）ウエイトされ、Ｓ８０３に進む。Ｓ８０３ではＸ軸の防振レンズ速度ＶＲ（Ｘ）が所定値以下であるか否か、すなわちＸ軸の防振レンズのリセット駆動が終了したか否かが判断され、所定値以下のときにはＳ８０４に進み、所定値以下でないときにはＳ８０３に戻る。Ｓ８０４ではＹ軸の防振レンズ速度ＶＲ（Ｙ）が所定値以下であるか否か、すなわちＹ軸の防振レンズのリセット駆動が終了したか否かが判断され、所定値以下であるときにはＳ８０５に進んで防振レンズリセット処理が終了し、所定値以下でないときにはＳ８０３に戻る。
【００５３】
従って、Ｓ８０３，Ｓ８０４の処理は、Ｘ軸，Ｙ軸の両方の防振レンズリセット駆動処理が終了するまで繰り返され、両軸とも終了したらＳ８０５で処理が終了することになる。また、防振レンズリセット駆動が終了したか否かは、防振レンズ１３がその制御範囲の一方の端であるリセット端に達したときに防振レンズ１３の速度ＶＲ（Ｘ），ＶＲ（Ｙ）が略ゼロになることを利用して判断している。また、Ｓ８０２で所定時間ウエイトするのは、防振レンズ１３のリセット駆動初期において、その速度ＶＲ（Ｘ），ＶＲ（Ｙ）が略ゼロから立ち上がることによりＳ８０３，Ｓ８０４の処理で誤判定されることを避けるためである。
【００５４】
図１４は、図１１のＳ８０１の防振レンズリセットタイマ割込み処理の一実施例を示すフローチャートである。実際には、Ｘ軸，Ｙ軸用に２つの防振レンズリセットタイマ割込み処理が行われるが、両方とも同様の処理であるので、Ｘ軸側の処理のみを説明し、Ｙ軸側の処理の説明は省略する。
この処理は、所定間隔（例えば１ｍｓ間隔）で繰り返し行われる処理である。Ｓ８０１で本防振レンズリセットタイマ割り込み処理が許可されると、先ず、Ｓ１１０１では、前回の防振レンズリセットタイマ割込み処理により設定されている防振レンズ位置ＬＲ（Ｘ）がＬＲ’（Ｘ）に設定される。次にＳ１１０２で、Ｘ軸レンズ位置検出回路６により検出された防振レンズ１３のＸ軸の位置がＬＲ（Ｘ）に設定される。そして、Ｓ１１０３でＬＲ（Ｘ）からＬＲ’（Ｘ）が減算されることで、所定時間中の防振レンズ１３の位置の変化量、すなわちＸ軸方向の防振レンズ１３の速度ＶＲ（Ｘ）が算出される。次のＳ１１０４では、所定の駆動ｄｕｔｙでモータ４が駆動され防振レンズ１３がＸ軸方向のリセット位置に駆動され、Ｓ１１０５で本防振レンズリセットタイマ割込み処理が終了する。
【００５５】
図１２は、図１０のＳ７０６の防振レンズセンタリング処理の一実施例を示すフローチャートである。この防振レンズセンタリング処理は、防振レンズ１３を中央位置ＬＳに駆動する処理である。Ｓ７０６からＳ９００に進んで処理が開始されると、先ずＳ９０１で、防振レンズ停止ＦＬＧ、及び異常が検出された場合にセットされるＦＬＧ（防振レンズセンタリングタイムアップ異常ＦＬＧ、Ｘ軸，Ｙ軸防振レンズ動き具合異常ＦＬＧ、Ｘ軸，Ｙ軸防振レンズ位置検出異常ＦＬＧ）がそれぞれクリアされる。次のＳ９０２では防振レンズセンタリング処理中断タイムアップ時間が設定される。ここで、この設定時間は、センタリング制御が開始されてから、何らかの異常がない限りは必ず設定時間内で確実に中央位置に防振レンズ１３が駆動されるような時間である。
【００５６】
次に、Ｓ９０３で防振レンズセンタリングタイマ割込み処理（図１５）が許可され、防振レンズセンタリング制御が開始される。次のＳ９０４では所定時間ウエイトされる。次のＳ９０５では防振レンズ１３のＸ軸，Ｙ軸の速度のそれぞれの最大値ＶＲｍａｘ（Ｘ），ＶＲｍａｘ（Ｙ）、及びＸ軸，Ｙ軸の速度のそれぞれの最小値ＶＲｍｉｎ（Ｘ），ＶＲｍｉｎ（Ｙ）がクリアされる。
【００５７】
ここで、Ｓ９０４で所定時間ウエイトする意味を説明する。Ｘ軸，Ｙ軸レンズ位置検出回路６，７には、例えば防振レンズ１３の位置の変化をインタラプタ信号パルスのカウント数で検出するような構成のものが一般的に用いられる。上記検出方法において、インタラプタ信号が離散的な信号であるために、所定時間中に入るパルス数、又はインタラプタ信号の周期の逆数により防振レンズ速度ＶＲを検出するときがある。
しかし、防振レンズ１３のセンタリング制御の開始初期においては、防振レンズ速度の正確な値が検出されないことや、ありえない大きな値が検出される可能性がある。そこで、インタラプタを使用した場合でも、センタリング制御が開始されてから所定時間ウエイトし、正確な防振レンズ速度が算出されるようになってからＶＲｍａｘ（Ｘ），ＶＲｍａｘ（Ｙ）、及びＶＲｍｉｎ（Ｘ），ＶＲｍｉｎ（Ｙ）をクリアしている。
なお、Ｓ９０４でのウエイト時間は通常５ｍｓから１０数ｍｓ程度に設定される。また、このＶＲｍａｘ（Ｘ）、ＶＲｍａｘ（Ｙ）、ＶＲｍｉｎ（Ｘ）、ＶＲｍｉｎ（Ｙ）の検出は、防振レンズセンタリングタイマ割込み処理（図１５）により行われる。
【００５８】
次に、Ｓ９０６ではＳ９０２で設定された防振レンズセンタリング処理中断タイマがタイムアップしたか否か、すなわち防振レンズ１３のセンタリング制御が開始されてから所定の時間が経過したか否かが判断される。ここで、タイムアップしていればタイムアップ異常と判断され、Ｓ９０７に進んで防振レンズセンタリングタイムアップ異常ＦＬＧがセットされてＳ９１８に進む。一方、タイムアップしていなければ、Ｓ９０８に進んでＶＲｍａｘ（Ｘ）が所定値以下であるか否かが判断される。所定値以下のときには防振レンズ１３のＸ軸方向の動き具合が異常であると判断され、Ｓ９０９に進んでＸ軸防振レンズ動き具合異常ＦＬＧがセットされてＳ９１８に進む。一方、所定値以下でないときにはＳ９１０に進む。
【００５９】
Ｓ９１０ではＶＲｍａｘ（Ｙ）が所定値以下であるか否かが判断される。ここで、所定値以下のときには、防振レンズ１３のＹ軸方向の動き具合が異常であると判断され、Ｓ９１１に進んでＹ軸防振レンズ動き具合異常ＦＬＧがセットされてＳ９１８に進む。一方、所定値以下でないときにはＳ９１２に進む。このＳ９０８，Ｓ９１０の処理は、防振レンズ１３の動きが悪い場合に防振レンズ速度の最大値ＶＲｍａｘ（Ｘ）、ＶＲｍａｘ（Ｙ）が小さい値になることを利用して、防振レンズ１３の動き具合の異常を判断している。このＶＲｍａｘ（Ｘ），ＶＲｍａｘ（Ｙ）を、防振レンズ速度ＶＲ（Ｘ），ＶＲ（Ｙ）が所定値以下であるか否かにより判断しても良い。
【００６０】
次に、Ｓ９１２ではＶＲｍｉｎ（Ｘ）が所定値以下であるか否かが判断される。ここで所定値以下のときには、Ｘ軸レンズ位置の検出が異常であると判断されＳ９１３に進んでＸ軸防振レンズ位置検出異常ＦＬＧがセットされてＳ９１８に進む。一方、所定値以下でないときにはＳ９１４に進む。
次のＳ９１４ではＶＲｍｉｎ（Ｙ）が所定値以下であるか否かが判断される。ここで、所定値以下のときには、Ｙ軸レンズ位置の検出が異常であると判断されＳ９１５に進んでＹ軸防振レンズ位置検出異常ＦＬＧがセットされてＳ９１８に進む。一方、所定値以下でないときにはＳ９１６に進む。
このＳ９１２，Ｓ９１４の処理は、Ｘ軸，Ｙ軸レンズ位置検出回路６，７の出力による防振レンズ速度ＶＲ（Ｘ），ＶＲ（Ｙ）が異常な値であり、ありえない小さな値（例えば負の符号を持つ値）として算出された場合に、防振レンズセンタリングタイマ割込み（図１５）のなかで検出された場合にはこの異常値がＶＲｍｉｎ（Ｘ），ＶＲｍｉｎ（Ｙ）に設定されることを利用して、Ｘ軸、Ｙ軸レンズ位置検出回路６，７の出力の異常を判断している。このＶＲｍｉｎ（Ｘ），ＶＲｍｉｎ（Ｙ）を、防振レンズ速度ＶＲ（Ｘ）、ＶＲ（Ｙ）が所定値以下であるか否かにより判断しても良い。
【００６１】
次にＳ９１６では、Ｘ軸方向の防振レンズ１３の動作を停止するか否かが判断され、停止するときにはＳ９１７に進み、停止しないときにはＳ９０６に戻る。ここで、防振レンズ１３を停止するか否かは、Ｘ軸防振レンズ停止ＦＬＧにより判断される。このＸ軸防振レンズ停止ＦＬＧは、防振レンズセンタリングタイマ割込み処理のなかで設定されるＸ軸防振レンズ位置ＬＲ（Ｘ）が、中央位置ＬＳの所定値Ｌｓｔｏｐ前に到達した場合にセットされるものである。
次のＳ９１７では、Ｓ９１６と同様に、Ｙ軸方向の防振レンズ１３の動作を停止するか否かが判断され、停止するときにはＳ９１８に進み、停止しないときにはＳ９０６に戻る。ここでの防振レンズ１３を停止するか否かは、上述と同様に、Ｙ軸防振レンズ停止ＦＬＧにより判断される。Ｙ軸防振レンズ停止ＦＬＧは、防振レンズセンタリングタイマ割込み処理のなかで設定されるＹ軸防振レンズ位置ＬＲ（Ｙ）が、中央位置ＬＳの所定値Ｌｓｔｏｐ前に到達した場合にセットされるものである。
【００６２】
このＳ９１６、Ｓ９１７の処理により、Ｘ軸，Ｙ軸とも防振レンズ１３の位置が中央位置ＬＳの所定値Ｌｓｔｏｐ前に到達するまでＳ９０６〜Ｓ９１７の処理が繰り返して実行され、両軸とも所定値に到達した場合にＳ９１８に進む。
Ｓ９１８では防振レンズ１３のセンタリングタイマ割込み処理が禁止される。これにより、モータ４，５がショートブレーキ状態にされ、防振レンズ１３が両軸方向ともに停止され、Ｓ９１９に進んで防振レンズセンタリング処理が終了する。
【００６３】
図１５は、図１２のＳ９０３の防振レンズセンタリングタイマ割込み処理の一実施例を示すフローチャートである。実際にはＸ軸，Ｙ軸用に２つの防振レンズセンタリングタイマ割込み処理が行われるが、両方とも同様の処理であるので、Ｘ軸側の処理のみを説明し、Ｙ軸側の処理の説明は省略する。
この処理は、Ｓ９０３で防振レンズセンタリングタイマ割り込み処理が許可されることにより、所定間隔（例えば１ｍｓ間隔）で繰り返し行われる処理である。先ず、Ｓ１２０１で、前回の防振レンズセンタリングタイマ割込み処理によって設定されている防振レンズ位置ＬＲ（Ｘ）がＬＲ’（Ｘ）に設定される。さらに次のＳ１２０２で、Ｘ軸レンズ位置検出回路６により検出された防振レンズ１３のＸ軸の位置がＬＲ（Ｘ）に設定される。次に、Ｓ１２０３ではＬＲ（Ｘ）からＬＲ’（Ｘ）が減算され、所定時間中の防振レンズ１３の位置の変化量、すなわちＸ軸方向の防振レンズ１３の速度ＶＲ（Ｘ）が算出される。
【００６４】
次のＳ１２０４ではＸ軸方向の防振レンズ速度ＶＲ（Ｘ）がＶＲｍａｘ（Ｘ）より大きいか否かが判断され、大きいときにはＳ１２０５に進んでＶＲｍａｘ（Ｘ）にＶＲ（Ｘ）が設定されてＳ１２０６に進む。一方、大きくないときにはＳ１２０６に進む。Ｓ１２０６ではＸ軸方向の防振レンズ速度ＶＲ（Ｘ）がＶＲｍｉｎ（Ｙ）より小さいか否かが判断され、小さいときにはＳ１２０７に進んでＶＲｍｉｎ（Ｘ）にＶＲ（Ｘ）が設定されてＳ１２０８に進む。一方、小さくないときにはＳ１２０８に進む。このＳ１２０４〜Ｓ１２０７の処理により、Ｘ軸方向の防振レンズ速度ＶＲ（Ｘ）の最大値ＶＲｍａｘ（Ｘ）及び最小値ＶＲｍｉｎ（Ｘ）が検出される。
【００６５】
次のＳ１２０８では、Ｘ軸方向の防振レンズ位置ＬＲ（Ｘ）が中央位置ＬＳの所定量Ｌｓｔｏｐ前に駆動されたか否かが、ＬＲ（Ｘ）＋ＬｓｔｏｐがＬＳ以上であるか否かで判断される。その位置に駆動されたときにはＳ１２０９に進んでＸ軸防振レンズ停止ＦＬＧがセットされ、次にＳ１２１０でモータ４がショートブレーキ状態にされ、次にＳ１２１４に進んで本防振レンズセンタリングタイマ割込み処理が終了する。一方、Ｓ１２０８でまだその位置に駆動されていないときにはＳ１２１１に進む。
Ｓ１２１１ではＸ軸方向の防振レンズの目標速度ＶＣ（Ｘ）が以下の式（数４７）により算出され、さらにＳ１２１２で駆動ｄｕｔｙが以下の式（数４８）より算出される。
（数４７） ＶＣ（Ｘ）＝Ｋ１０×｛ＬＳ−ＬＲ（Ｘ）｝＋Ｖｏｆｆｓｅｔ
（数４８） センタリング駆動ｄｕｔｙ＝Ｋ１×ＶＣ（Ｘ）＋Ｋ２×｛ＶＣ（Ｘ）−ＶＲ（Ｘ）｝±Ｄｏｆｆｓｅｔ
【００６６】
ここで、式（数４７）は、Ｘ軸レンズ位置検出回路６で検出されたＸ軸方向の防振レンズ位置ＬＲ（Ｘ）と中央位置ＬＳとの差に応じた速度に、ある所定速度Ｖｏｆｆｓｅｔを加えた値をＸ軸方向の防振レンズ目標速度ＶＣ（Ｘ）としている。また、モータ４を駆動する駆動ｄｕｔｙは、Ｘ軸方向の防振レンズ位置ＬＲ（Ｘ）が中央位置ＬＳの所定値Ｌｓｔｏｐ前までは式（数４８）で算出される駆動ｄｕｔｙであり、それ以降ではモータ４はショートブレーキ状態にされる。
式（数４８）は、Ｘ軸方向の防振レンズ目標速度ＶＣ（Ｘ）に所定の係数Ｋ１を乗算したｄｕｔｙと、ＶＣ（Ｘ）とＸ軸方向の防振レンズ速度ＶＲ（Ｘ）との差に所定の係数Ｋ２をかけて算出されるｄｕｔｙとを加算し、さらにその値が正のときにはＤｏｆｆｓｅｔを加算し、負のときにはＤｏｆｆｓｅｔを減算することにより駆動ｄｕｔｙを求めている。
このことにより、防振レンズ１３はＸ軸方向に概ね設定されている防振レンズ目標速度ＶＣ（Ｘ）で速度制御される。
【００６７】
次に、Ｓ１２１３でその算出された駆動ｄｕｔｙでモータ４が駆動されることにより防振レンズ１３がＸ軸の中央位置ＬＳ方向に駆動され、Ｓ１２１４進んで本処理が終了する。
【００６８】
次に、上述の防振レンズ１３のセンタリング制御の様子を説明する。図６は、防振レンズ１３のＸ軸方向のセンタリング制御の様子を説明する図である。
図６において、先ずＤ１から防振レンズ１３のセンタリング駆動が開始され、防振レンズ１３は設定されている防振レンズの目標速度ＶＣ（Ｘ）に制御しようとする。Ｘ軸方向の防振レンズ速度ＶＲ（Ｘ）は、モータ４、防振レンズシフトメカ系等を含めた防振制御系の時定数の関係から次第に増加し、Ｄ２で最大値に達する。Ｄ２から中央位置ＬＳのＬｓｔｏｐ前であるＤ３の間は、式（数４７）で算出される直線によりＶＣ（Ｘ）が設定される。この直線に沿って防振レンズ１３が速度制御され、中央位置ＬＳに近づくに従い、防振レンズ速度ＶＲ（Ｘ）は次第に減少し、Ｄ３からはモータ４がショートブレーキ状態にされ、防振レンズ１３は最終的に中央位置ＬＳ近傍のＤ４で停止する。
【００６９】
このように防振レンズセンタリング処理が実行されることにより、防振レンズ１３は目的の中央位置ＬＳ付近に駆動されるとともに、その駆動の間のＸ軸方向の防振レンズ速度の最大値が検出されＶＲｍａｘ（Ｘ）に記憶される。この最大速度ＶＲｍａｘ（Ｘ）は、防振レンズシフトメカ系の動き安さに応じて変化するものであり、何らかの原因でメカに不具合があった場合には、最大速度ＶＲｍａｘ（Ｘ）の値は小さい値になり、同時にＸ軸防振レンズ動き具合異常ＦＬＧがセットされる。また、Ｘ軸レンズ位置検出回路６に異常があり、センタリング制御時にありえない防振レンズ速度ＶＲ（Ｘ）が算出され、それが例えば負の値であつときにはＶＲｍｉｎ（Ｘ）に記憶されるとともに、Ｘ軸防振レンズ位置検出異常ＦＬＧがセットされる。
【００７０】
なお、Ｙ軸の防振レンズセンタリングタイマ割込み処理は、上述のＸ軸方向の処理と同様に行われる。すなわち、そのときのＹ軸方向の防振レンズ速度の最大値がＶＲｍａｘ（Ｙ）に記憶され、各々の異常が検出された場合には各異常ＦＬＧ（Ｙ軸防振レンズ動き具合異常ＦＬＧ、Ｙ軸防振レンズ位置検出異常ＦＬＧ）がセットされる。また、所定時間制御を継続しても両軸が中央位置ＬＳに達しない場合には防振レンズタイムアップ異常ＦＬＧがセットされる。
【００７１】
図１３は、図１０のＳ７０９の防振制御開始処理の一実施例を示すフローチャートである。この処理は、Ｘ軸，Ｙ軸の防振レンズ目標位置の最大値，最小値、防振レンズ位置の最大値，最小値、制御誤差等を検出し、ヨー，ピッチ角速度検出回路８，９の出力に応じて防振レンズ１３を各方向に移動させることにより、像面での手振れを抑える防振制御の処理を開始する処理である。
Ｓ７０９からＳ１０００に進んで本処理が開始されると、先ずＳ１００１でＸ軸，Ｙ軸レンズ位置検出回路６，７の出力から現在の防振レンズ位置が検出され、それぞれＸ軸，Ｙ軸の防振レンズ目標位置ＬＣ（Ｘ），ＬＣ（Ｙ）に設定される。次にＳ１００２でＸ軸，Ｙ軸レンズ位置検出回路６，７の出力で検出された現在の防振レンズ位置が、それぞれＸ軸，Ｙ軸の防振レンズ目標位置の最大値，最小値ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｘ），ＬＣｍｉｎ（Ｙ）に設定される。
【００７２】
次に、Ｓ１００３ではＸ軸，Ｙ軸レンズ位置検出回路６，７の出力で検出された現在の防振レンズ位置が、それぞれＸ軸，Ｙ軸の防振レンズ位置の最大値，最小値ＬＲｍａｘ（Ｘ），ＬＲｍａｘ（Ｙ），ＬＲｍｉｎ（Ｘ），ＬＲｍｉｎ（Ｙ）に設定される。次のＳ１００４ではＸ軸，Ｙ軸の防振レンズ位置誤差の最大値，最小値ΔＬｍａｘ（Ｘ），ΔＬｍａｘ（Ｙ），ΔＬｍｉｎ（Ｘ），ΔＬｍｉｎ（Ｙ）がクリアされる。次に、Ｓ１００５で防振制御タイマ割込み処理（図１６）が許可されることにより防振制御が開始され、Ｓ１００６で本防振制御開始処理が終了する。
【００７３】
図１６は、図１３のＳ１００５の防振制御開始処理によって防振制御タイマ割り込み処理を許可されることにより、所定時間間隔でその処理が行われる防振制御タイマ割り込み処理の一実施例を示すフローチャートである。Ｓ１３００から、その処理が開始される。実際には、Ｘ軸，Ｙ軸用に２つの防振制御タイマ割込み処理が行われるが、同様の処理であるので、Ｘ軸の処理のみを説明し、Ｙ軸の処理の説明は省略する。この処理は、所定間隔（例えば１ｍｓ間隔）で繰り返し行われる処理である。先ず、Ｓ１３０１で、前回の防振制御タイマ割込み処理によって設定されている防振レンズ位置ＬＲ（Ｘ）がＬＲ’（Ｘ）に設定され、次のＳ１３０２でＸ軸レンズ位置検出回路６により検出された防振レンズ１３のＸ軸の位置がＬＲ（Ｘ）に設定される。
【００７４】
次のＳ１３０３では、防振レンズ位置ｍａｘ、ｍｉｎ値の検出処理が行われる。図１７は、この防振レンズ位置ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。Ｓ１３０３から図１７のＳ１４００に進み、先ず、Ｓ１４０１で、Ｘ軸の防振レンズ位置ＬＲ（Ｘ）がＬＲｍａｘ（Ｘ）より大きいか否かが判断される。大きいときにはＳ１４０２に進んでＬＲｍａｘ（Ｘ）にＬＲ（Ｘ）が設定され、Ｓ１４０３に進む。一方、大きくないときにはＳ１４０３に進む。
Ｓ１４０３では、Ｘ軸の防振レンズ位置ＬＲ（Ｘ）がＬＲｍｉｎ（Ｘ）より小さいか否かが判断され、小さいときにはＳ１４０４に進んでＬＲｍｉｎ（Ｘ）にＬＲ（Ｘ）が設定され、Ｓ１４０５に進む。一方、小さくないときにはＳ１４０５に進む。Ｓ１４０５で処理が終了する。以上の処理により、Ｘ軸方向の防振レンズ位置ＬＲ（Ｘ）の最大値，最小値がそれぞれＬＲｍａｘ（Ｘ），ＬＲｍｉｎ（Ｘ）に検出される。
【００７５】
Ｓ１４０５から、図１６のＳ１３０４に進む。Ｓ１３０４では、ＬＲ（Ｘ）からＬＲ’（Ｘ）が減算されることにより、所定時間中のＸ軸方向の防振レンズ１３の位置の変化量、すなわちＸ軸方向の防振レンズ１３の速度ＶＲ（Ｘ）が算出される。次に、Ｓ１３０５ではヨー角速度検出回路８の出力がＡ／Ｄ変換され、その値がｕに設定される。次のＳ１３０６ではｕにゲイン調整値Ａ１が乗算され、その値がＵに設定されることによりゲイン調整されたヨー方向の角速度が算出される。次のＳ１３０７では、式（数２３）に示すように他方のピッチ方向のゲイン調整された角速度値Ｖに角度ズレ調整値Δα（＝ｓｉｎα）が乗算され、これがＵに加算されることで角度ズレ補正された出力Ｘが算出される。
【００７６】
ここで、Ｖは、他方の軸であるＹ軸の防振制御タイマ割込み処理のなかで算出されたゲイン調整済みの角速度値である。厳密にいえば、本防振制御タイマ割込み処理のＸ軸、Ｙ軸の処理を同時に行うことは不可能であるので、ヨー角速度検出回路８とピッチ角速度検出回路９の出力のそれぞれのＡ／Ｄ変換を行うサンプリングタイミングが異なる。しかし、このタイミングのズレの間に変化するＶの量は極めて小さい量であり、無視することができる。
【００７７】
次に、Ｓ１３０８ではＳ１３０７で算出されたＸに角速度−防振レンズ目標速度変換係数Ｂが乗算されることでＸ軸の防振レンズ目標速度ＶＣ（Ｘ）が算出される。そして、次のＳ１３０９でＸ軸の防振レンズ目標位置ＬＣ（Ｘ）にＶＣ（Ｘ）が加算され、ＬＣ（Ｘ）が設定される。所定間隔でＶＣ（Ｘ）が積算されることにより、防振レンズ目標位置ＬＣ（Ｘ）を算出することが可能になる。また、ＬＣ（Ｘ）は、図１３のＳ１００１でそのタイミング時に設定されているので、そのタイミングを初期値として防振制御タイマ割込み処理が許可されている間は防振レンズ目標速度ＶＣ（Ｘ）を積算して防振レンズ目標位置ＬＣ（Ｘ）が算出され続ける。
【００７８】
次のＳ１３１０では、防振レンズ目標位置ｍａｘ、ｍｉｎ値の検出処理が行われる。図１８は、この防振レンズ目標位置ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。Ｓ１３１０から図１８のＳ１５００に進む。先ず、Ｓ１５０１でＸ軸の防振レンズ目標位置ＬＣ（Ｘ）がＬＣｍａｘ（Ｘ）より大きいか否かが判断される。大きいときにはＳ１５０２に進んでＬＣｍａｘ（Ｘ）にＬＣ（Ｘ）が設定され、次のＳ１５０３で他方の軸であるＹ軸の防振レンズ目標速度ＬＣ（Ｙ）の符号が保持され、Ｓ１５０４に進む。Ｓ１５０１で大きくないときにはＳ１５０４に進む。
【００７９】
Ｓ１５０４ではＸ軸の防振レンズ目標位置ＬＣ（Ｘ）がＬＣｍｉｎ（Ｘ）より小さいか否かが判断され、小さいときにはＳ１５０５に進んでＬＣｍｉｎ（Ｘ）にＬＣ（Ｘ）が設定されてＳ１５０６に進む。小さくないときにはＳ１５０６に進む。Ｓ１５０６でこの処理が終了する。この処理により、Ｘ軸方向の防振レンズ目標位置ＬＣ（Ｘ）の最大値、最小値が、それぞれＬＣｍａｘ（Ｘ）、ＬＣｍｉｎ（Ｘ）に検出され、最大値を検出した時の他方の軸の防振レンズ目標位置ＬＣ（Ｙ）の符号が得られる。
【００８０】
Ｓ１５０６から図１６のＳ１３１１に進む。Ｓ１３１１では、Ｘ軸の防振レンズ目標位置ＬＣ（Ｘ）から防振レンズ位置ＬＲ（Ｘ）が減算され、防振レンズ位置誤差ΔＬ（Ｘ）が算出される。次にＳ１３１２に進み、防振レンズ位置誤差ｍａｘ、ｍｉｎ値の検出処理が行われる。図１９は、この防振レンズ位置誤差ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。Ｓ１３１２から図１９のＳ１６００に進む。先ず、Ｓ１６０１でＸ軸の防振レンズ位置誤差ΔＬ（Ｘ）がΔＬｍａｘ（Ｘ）より大きいか否かが判断される。大きいときにはＳ１６０２に進んでΔＬｍａｘ（Ｘ）にΔＬ（Ｘ）が設定されてＳ１６０３に進む。大きくないときにはＳ１６０３に進む。次のＳ１６０３ではＸ軸の防振レンズ位置誤差ΔＬ（Ｘ）がΔＬｍｉｎ（Ｘ）より小さいか否かが判断され、小さいときにはＳ１６０４でΔＬｍｉｎ（Ｘ）にΔＬ（Ｘ）が設定されてＳ１６０５に進む。小さくないときにはＳ１６０５に進む。Ｓ１６０５でこの処理が終了する。これにより、Ｘ軸方向の防振レンズ位置誤差ΔＬ（Ｘ）の最大値、最小値がそれぞれΔＬｍａｘ（Ｘ）、ΔＬｍｉｎ（Ｘ）に検出される。
【００８１】
Ｓ１６０５から、図１６のＳ１３１３に進む。Ｓ１３１３では、防振制御におけるモータ４を駆動する駆動ｄｕｔｙが算出される。ここでは、例えば上述のセンタリング制御時に用いた式（数４８）で駆動ｄｕｔｙが算出される。次にＳ１３１４で防振調整であるか否かが判断され、防振調整でないときにはＳ１３１５に進んでＳ１３１３で算出された駆動ｄｕｔｙでモータ４が駆動される。防振調整のときには（モータ４が駆動されずに）Ｓ１３１６に進み、本防振制御タイマ割込み処理が終了する。
【００８２】
（２）通信工具側の処理
次に、通信工具側で行う防振レンズシフトメカ系の不良チェック、ヨー，ピッチ角速度検出回路８，９のゲイン調整及び検出角度ズレ調整、及び防振制御性の総合的なチェックについて、図７〜図９に基づき説明する。
先ず、Ｓ６０１で本処理が開始されると、Ｓ６０１で従来より公知の方法によりカメラが通信モードに設定される。この設定により、図１０に示すＣＰＵ１が行うカメラの通信モード処理が開始される。次のＳ６０２からＳ６０７までの処理により、防振レンズシフトメカ系の不良チェックが行われる。Ｓ６０２で、防振レンズリセット命令がＣＰＵ１に指示される。これにより、カメラのＣＰＵ１は、図１０のＳ７０４で防振レンズ１３を所定のリセット位置に駆動する。次のＳ６０３で防振レンズセンタリング命令が行われ、防振レンズ１３は中央位置ＬＳに駆動される。次のＳ６０４ではデータ読み込み命令を用いて、Ｓ６０３による防振レンズセンタリング時に検出した、Ｘ軸，Ｙ軸の防振レンズ速度の最大値ＶＲｍａｘ（Ｘ），ＶＲｍａｘ（Ｙ）と、センタリング異常データ（防振レンズセンタリングタイムアップ異常ＦＬＧ、Ｘ軸，Ｙ軸防振レンズ動き具合異常ＦＬＧ、Ｘ軸，Ｙ軸防振レンズ位置検出異常ＦＬＧ）がＣＰＵ１から読み込まれる。
【００８３】
次に、Ｓ６０５では、ＶＲｍａｘ（Ｘ）が所定値以上か否かが判断され、所定値以上のときにはＳ６０６に進み、所定値以上でないときにはＳ６４６（図９）に進んでメカ不良と判断され、Ｓ６４７に進む。Ｓ６０６ではＶＲｍａｘ（Ｙ）が所定値以上か否かが判断され、所定値以上のときにはＳ６０７に進み、所定値以上でないときには上述と同様にＳ６４６に進んでメカ不良と判断される。Ｓ６０７ではセンタリング異常か否かが、前記センタリング異常データにより判断される。センタリング異常でないとき、すなわちこれらの異常ＦＬＧが１つもセットされていないときにはＳ６０８に進む。前記異常ＦＬＧが１つでもセットされているときには、上述と同様にＳ６４６に進んでメカ不良と判断される。
【００８４】
以上のＳ６０３からＳ６０７、Ｓ６４６の処理により、防振レンズ１３をセンタリングさせ、センタリング制御中に防振レンズ速度の最大値や、各異常を検出することで、何らかの原因により、防振レンズ１３のＸ軸，Ｙ軸方向の動きが悪いときや、Ｘ軸，Ｙ軸レンズ位置検出回路６，７の出力が異常であるときに、防振レンズシフトメカ系が不良であることをチェックすることが可能となる。
【００８５】
次のＳ６０８からＳ６２４までの処理により、ヨー，ピッチ角速度検出回路８，９のゲイン調整，検出角度ズレ調整が行われる。
Ｓ６０８のタイミングにおけるＣＰＵ１の内部で持っているゲイン調整値Ａ１、Ａ２は、図１０のＳ７００で設定された初期値Ａ０であり、角度ズレ調整値Δα、Δβは、図１０のＳ７０２で書き込まれた初期値０である。
先ずＳ６０８でＸ軸方向の加振が開始される。これにより、加振台１８が振動される。ここでの振動は、Ｘ軸方向に所定の角度振幅を有する正弦波状の振動である。次に、Ｓ６０９で防振調整開始命令がＣＰＵ１に指令される。Ｓ６０９により、ＣＰＵ１は図１０のＳ７０９により防振制御開始処理を実行する。これにより、図１６に示す防振制御タイマ割込み処理による防振レンズ目標位置の最大，最小値ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｘ），ＬＣｍｉｎ（Ｙ）と、ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ）検出時のそれぞれのＬＣ（Ｙ），ＬＣ（Ｘ）の符号が検出され続ける。また、図１６のＳ１３１４により防振調整であると判断されるのでモータは駆動されず、防振レンズ１３は、駆動されない。
【００８６】
次に、Ｓ６１０で所定時間ウエイトされ、次のＳ６１１で防振調整終了命令がＣＰＵ１に指令される。これによりＣＰＵ１は、図１０のＳ７１２で防振制御タイマ割込み処理を禁止し、防振制御を終了する。次のＳ６１２でＸ軸方向の加振台１８による加振動作が終了される。ここで、Ｓ６１０でウエイトする時間は、Ｓ６０９からＳ６１１の間に、防振レンズ目標位置の最大値，最小値が少なくとも１回ずつは検出することができる時間である。
次のＳ６１３では、データ読み込み命令を用いて、ＣＰＵ１で検出されているＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｘ），ＬＣｍｉｎ（Ｙ）と、ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ）検出時のそれぞれのＬＣ（Ｙ），ＬＣ（Ｘ）の符号がＣＰＵ１から読み込まれる。そして次のＳ６１４で、式（数３７），（数３８），（数３９）を用いて、Ｘ軸，Ｙ軸の防振レンズ目標位置の全幅ａ，ｂ、及びｃが算出される。
【００８７】
次に図８のＳ６１５に進む。Ｓ６１５では加振台１８が振動される。ここでの振動は、Ｙ軸方向に所定の角度振幅を有する正弦波状の振動である。次のＳ６１６で防振調整開始命令がＣＰＵ１に指令される。Ｓ６１６により、ＣＰＵ１は図１０のＳ７０９により防振制御開始処理を実行する。これにより、図１６に示す防振制御タイマ割込み処理による防振レンズ目標位置の最大，最小値ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｘ），ＬＣｍｉｎ（Ｙ）と、ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ）検出時のそれぞれのＬＣ（Ｙ），ＬＣ（Ｘ）の符号が検出され続ける。また、図１６のＳ１３１４で防振調整であると判断されないのでモータは駆動はされず防振レンズ１３は駆動されない。
【００８８】
次に、Ｓ６１７で所定時間ウエイトされ、Ｓ６１８で防振調整終了命令がＣＰＵ１になされる。これによりＣＰＵ１は図１０のＳ７１２で防振制御タイマ割込み処理を禁止し、防振制御を終了する。次のＳ６１９でＹ軸方向の加振台１８による加振動作が終了される。ここで、Ｓ６１７でウエイトする時間は、Ｓ６１６からＳ６１８の間に、防振レンズ目標位置の最大値，最小値が少なくとも１回ずつは検出することができる時間である。
次のＳ６２０では、データ読み込み命令を用いて、ＣＰＵ１で検出されているＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ），ＬＣｍｉｎ（Ｘ），ＬＣｍｉｎ（Ｙ）と、ＬＣｍａｘ（Ｘ），ＬＣｍａｘ（Ｙ）検出時のそれぞれのＬＣ（Ｙ），ＬＣ（Ｘ）の符号がＣＰＵ１から読み込まれる。そして次のＳ６２１で、式（数４０），（数４１），（数４２）を用いて、Ｘ軸，Ｙ軸の防振レンズ目標位置の全幅ｄ，ｅ、及びｆが算出される。
【００８９】
次のＳ６２２では、ヨー，ピッチ角速度検出回路８，９の出力のゲイン調整値Ａ１，Ａ２が、式（数４３），（数４４）を用いて算出される。そしてＳ６２３で、ヨー，ピッチ角速度検出回路８，９の検出角度ズレ調整値Δα，Δβが式（数４５），（数４６）を用いて算出される。次にＳ６２４でＥ２ＰＲＯＭ書き込み命令がなされ、上記のゲイン調整値Ａ１，Ａ２、検出角度ズレ調整値Δα，ΔβがＥ２ＰＲＯＭに書き込まれる。
以上のＳ６０８からＳ６２４までの処理により、ヨー，ピッチ角速度検出回路８，９のゲイン調整、及び検出角度ズレ調整を行うことが可能となる。
【００９０】
次のＳ６２５以降の処理により、防振制御性の総合的なチェックが行われる。先ず、Ｓ６２５のタイミングにおけるＣＰＵ１内部で持っているゲイン調整値Ａ１，Ａ２は、図１０のＳ７００で設定された初期値Ａ０であり、角度ズレ調整値Δα、Δβは、図１０のＳ７０２で書き込まれた初期値０である。Ｓ６２５ではデータ書き込み命令がなされ、Ｓ６２２で算出されたＡ１，Ａ２の１／ｍの値がＣＰＵ１内のゲイン調整値Ａ１，Ａ２に書き込まれ、さらに、Ｓ６２３で算出されたΔα，ΔβがＣＰＵ１内の角度ズレ調整値Δα，Δβに書き込まれて、Ｓ６２６に進む。
【００９１】
次に、Ｓ６２６で加振台１８が振動される。ここでの振動は、Ｘ軸方向に所定の角度振幅を有する正弦波状の振動である。次のＳ６２７で防振制御開始命令がＣＰＵ１に指令される。Ｓ６２７の指令により、ＣＰＵ１は、図１０のＳ７０９により防振制御開始処理を実行する。さらに、図１６に示す防振制御タイマ割込み処理において、防振レンズ位置の最大，最小値ＬＲｍａｘ（Ｘ），ＬＲｍａｘ（Ｙ），ＬＲｍｉｎ（Ｘ），ＬＲｍｉｎ（Ｙ）と、防振レンズの制御誤差の最大値，最小値ΔＬｍａｘ（Ｘ），ΔＬｍａｘ（Ｙ），ΔＬｍｉｎ（Ｘ），ΔＬｍｉｎ（Ｙ）が検出され続ける。また、図１６のＳ１３１４により防振調整でないと判断され、上述のゲイン調整，角度ズレ調整時とは異なりモータが駆動されて防振レンズ１３が制御される。
【００９２】
次に、Ｓ６２８で所定時間ウエイトされ、Ｓ６２９で防振制御終了命令がなされ、ＣＰＵ１は図１０のＳ７１２で防振制御タイマ割込み処理を禁止し、防振制御を終了する。次にＳ６３０で加振台１８により加振動作が終了される。ここで、Ｓ６２８でウエイトする時間は、Ｓ６２７からＳ６２９までの間に、少なくとも加振台１８の加振周期が１周期以上となる時間である。これは、防振レンズ１３は正弦波状に制御されるが、その１周期の全てのタイミングで制御性が良いか否かをチェックするためである。Ｓ６３０から、図９のＳ６３１に進む。Ｓ６３１では、データ読み込み命令を用いてＣＰＵ１で検出されているＸ軸の防振レンズ位置の最大値，最小値ＬＲｍａｘ（Ｘ），ＬＲｍｉｎ（Ｘ）と、Ｘ軸の防振レンズ位置誤差の最大値，最小値ΔＬｍａｘ（Ｘ），ΔＬｍｉｎ（Ｘ）がＣＰＵ１から読み込まれ、Ｓ６３２で以下の式（数４９）を用いて実際に制御された防振レンズ１３のＸ軸方向の振幅ｇが算出される。
（数４９） ｇ＝ＬＲｍａｘ（Ｘ）−ＬＲｍｉｎ（Ｘ）
【００９３】
次のＳ６３３では、ゲイン調整後に得たい防振レンズ１３のＸ軸方向の全振幅Ｌ０１の１／ｍの値からＳ６３２で得られた実際の防振レンズ１３のＸ軸方向の全振幅ｇを減算した値の絶対値が、所定値以下であるか否かが判断される。所定値以下のときにはＳ６３４に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。
【００９４】
ここで、Ｓ６２５において、ヨー方向の防振ゲイン調整値Ａ１を、Ｓ６２２で求めた調整値に対して１／ｍにしているので、防振レンズ１３の実際に得られた振幅ｇがＬ０１の１／ｍになれば、ゲイン調整が精度良く行われ、かつ防振制御性が良いことになる。しかし、何らかの原因でゲイン調整が精度良く行われなかった場合、又は、防振レンズシフトメカ系の動きが良くないために実際に制御された防振レンズ１３の全振幅が理論通りに得られなかった場合には、このＳ６３３の判断により不良のチェックを行える。
【００９５】
次に、Ｓ６３４ではＸ軸方向の防振レンズ位置誤差の最大値ΔＬｍａｘ（Ｘ）の絶対値が所定値以下であるか否かが判断され、所定値以下のときにはＳ６３５に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。さらにＳ６３５ではＸ軸方向の防振レンズ位置誤差の最小値ΔＬｍｉｎ（Ｘ）の絶対値が所定値以下であるか否かが判断され、所定値以下のときにはＳ６３６に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。
【００９６】
このＳ６３４、Ｓ６３５での処理は防振レンズ１３のＸ軸方向の制御性のチェックを行っている。上述の防振制御タイマ割込み処理において、防振レンズ目標位置ＬＣ（Ｘ）と実際に制御された防振レンズ位置ＬＲ（Ｘ）との差である防振レンズ位置誤差ΔＬ（Ｘ）が算出され、この最大値ΔＬｍａｘ（Ｘ），最小値ΔＬｍｉｎ（Ｘ）が検出され、Ｓ６３４，Ｓ６３５でΔＬｍａｘ（Ｘ），ΔＬｍｉｎ（Ｘ）の絶対値が小さいときは制御性は良く、反対に大きいときは制御性が悪いと判断することができる。
【００９７】
次のＳ６３６からの処理はＹ軸方向の防振制御性のチェックを行う処理である。先ずＳ６３６で加振台１８が振動される。ここでの振動は、Ｙ軸方向に所定の角度振幅を有する正弦波状の振動である。次のＳ６３７で防振制御開始命令がＣＰＵ１に指令される。Ｓ６３７の指令により、ＣＰＵ１は、図１０のＳ７０９により防振制御開始処理を実行する。さらに、図１６に示す防振制御タイマ割込み処理において、防振レンズ位置の最大，最小値ＬＲｍａｘ（Ｘ），ＬＲｍａｘ（Ｙ），ＬＲｍｉｎ（Ｘ），ＬＲｍｉｎ（Ｙ）と、防振レンズの制御誤差の最大値，最小値ΔＬｍａｘ（Ｘ），ΔＬｍａｘ（Ｙ），ΔＬｍｉｎ（Ｘ），ΔＬｍｉｎ（Ｙ）が検出され続ける。また、図１６のＳ１３１４により防振調整でないと判断され、モータが駆動されて防振レンズ１３が制御される。
【００９８】
次に、Ｓ６３８で所定時間ウエイトされ、Ｓ６３９で防振制御終了命令がなされ、ＣＰＵ１は図１０のＳ７１２で防振制御タイマ割込み処理を禁止し、防振制御を終了する。次にＳ６４０で加振台１８により加振動作が終了される。ここで、Ｓ６３８でウエイトする時間は、Ｓ６３７からＳ６３９までの間に、少なくとも加振台１８の加振周期が１周期以上となる時間である。このようにするのは、Ｓ６２８でのウエイトする時間と同様の理由による。次のＳ６４１では、データ読み込み命令を用いてＣＰＵ１で検出されているＹ軸の防振レンズ位置の最大値，最小値ＬＲｍａｘ（Ｙ），ＬＲｍｉｎ（Ｙ）と、Ｙ軸の防振レンズ位置誤差の最大値，最小値ΔＬｍａｘ（Ｙ），ΔＬｍｉｎ（Ｙ）がＣＰＵ１から読み込まれ、Ｓ６４２で以下の式（数５０）を用いて実際に制御された防振レンズ１３のＹ軸方向の振幅ｈが算出される。
（数５０） ｈ＝ＬＲｍａｘ（Ｙ）−ＬＲｍｉｎ（Ｙ）
【００９９】
次のＳ６４３では、ゲイン調整後に得たい防振レンズ１３のＹ軸方向の全振幅Ｌ０２の１／ｍの値からＳ６４２で得られた実際の防振レンズ１３のＹ軸方向の全振幅ｈを減算してた値の絶対値が、所定値以下であるか否かが判断される。所定値以下のときにはＳ６４４に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。
ここで、Ｓ６４３において、上述のような判定を行うのは、Ｓ６３３と同様の理由による。
【０１００】
次に、Ｓ６４４ではＹ軸方向の防振レンズ位置誤差の最大値ΔＬｍａｘ（Ｙ）の絶対値が所定値以下であるか否かが判断され、所定値以下のときにはＳ６４５に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。さらにＳ６４５ではＹ軸方向の防振レンズ位置誤差の最小値ΔＬｍｉｎ（Ｙ）の絶対値が所定値以下であるか否かが判断され、所定値以下のときにはＳ６４７に進み、所定値以下でないときにはＳ６４６に進んで防振レンズシフトメカ系の不良、又は調整不良と判断されＳ６４７に進む。
【０１０１】
このＳ６４４、Ｓ６４５での処理は防振レンズ１３のＹ軸方向の制御性のチェックを行っている。上述の防振制御タイマ割込み処理において、防振レンズ目標位置ＬＣ（Ｙ）と実際に制御された防振レンズ位置ＬＲ（Ｙ）との差である防振レンズ位置誤差ΔＬ（Ｙ）が算出され、この最大値ΔＬｍａｘ（Ｙ），最小値ΔＬｍｉｎ（Ｙ）が検出され、Ｓ６４４，Ｓ６４５でΔＬｍａｘ（Ｙ），ΔＬｍｉｎ（Ｙ）の絶対値が小さいときは制御性は良く、反対に大きいときは制御性が悪いと判断することができる。
【０１０２】
次に、Ｓ６４７では防振レンズリセット命令がＣＰＵ１に指令され、ＣＰＵ１は、図１０のＳ７０４で防振レンズ１３を所定のリセット位置に駆動する。次に、Ｓ６４８で通信モード解除命令がＣＰＵ１に指令され、カメラは通信モードから解除される。そして、Ｓ６４９で通信工具調整処理が終了する。
【０１０３】
なお、Ｓ６２５でゲイン調整値Ａ１，Ａ２をそれぞれ１／ｍに設定しているのは以下の理由による。通常、ゲイン調整、角度ズレ調整時にはヨー，ピッチ角速度検出回路８，９の出力を大きくしてダイナミックレンジをかせぐことで調整精度を向上させるようにする。よって、加振台１８の加振角度も大きくなる。この場合に、この加振角度のままで上述のような防振制御性のチェックを行ったときには、防振レンズシフトメカ系の駆動能力を超えて防振レンズ１３を制御しなければならなかったり、又は、防振レンズ１３のシフト範囲を超えてしまうことがある。
【０１０４】
また、ゲイン調整、角度ズレ調整を行う角度に対して、通常のカメラを使用するユーザの手振れの角度範囲又は角速度は、これに比べて小さいものである。従って、この防振制御性のチェック時のみ、加振台１８の加振角度をこれに合わせて小さく設定しても良い。しかし、メカ的に加振台１８の加振角度を２段階に設定することは容易ではない。そこで、使用者が、通常のカメラの使用時に生じる手振れの角度範囲、又は角速度範囲になるようにｍの値を設定し、現実的な防振制御性のチェックを行うようにしている。ｍの値を可変して、このような防振制御性のチェックを行えば、より精度の良いチェックが可能ある。一方、加振台１８の加振角度を複数段階に設定する等、メカ的に行うのは容易ではない。
【０１０５】
次に、カメラが使用者により使用されるときの処理について説明する。図２０は、本発明によるカメラの半押し処理の一実施例を示すフローチャートである。図２０に示す処理は、カメラの半押しＳＷ１６がオンされたときに行われる処理である。先ずＳ１７００で処理が開始されると、次のＳ１７０１でゲイン調整値Ａ１，Ａ２がＥ２ＰＲＯＭから読み込まれる。さらにＳ１７０２では角度ズレ調整値Δα，ΔβがＥ２ＰＲＯＭから読み込まれる。
次のＳ１７０３では、全押しＳＷ１７がオンされたか否かが判断され、オンのときにはＳ１７０６に進む。一方、オフのときにはＳ１７０４に進んで半押しＳＷ１６がオンか否かが判断される。ここで、オンのときにはＳ１７０３に戻り、オフのときにはＳ１７０５に進んでこの処理が終了する。
【０１０６】
Ｓ１７０６では、上述の防振レンズセンタリング処理（図１２）が行われ、防振レンズ１３がＸ軸，Ｙ軸方向のそれぞれの中央位置に駆動される。次のＳ１７０７では防振制御開始処理（図１３）が行われる。従って、ここでは防振制御タイマ割込み処理（図１６）が許可されることで防振制御が開始される。
次のＳ１７０８では、シャッタが開閉されて露光処理が行われる。この露光処理が終了すると、Ｓ１７０９で防振制御タイマ割込みが禁止されて防振制御が終了する。また、モータ４，５が所定時間ショートブレーキにされ、防振レンズ１３が停止される。次のＳ１７１０では防振レンズリセット処理（図１１）により防振レンズ１３がリセット位置に駆動される。そしてＳ１７１１に進み、本半押し処理が終了する。
【０１０７】
Ｓ１７０７で防振制御が開始されてから、Ｓ１７０８での露光中を含めてＳ１７０９で防振制御が終了するまでの間の防振制御タイマ割込みでは、Ｓ１７０１，Ｓ１７０２でゲイン調整値Ａ１，Ａ２、角度ズレ調整値Δα，ΔβがＥ２ＰＲＯＭから読み込まれ、Ｓ１３０６においてゲインばらつきの補正が行われ、Ｓ１３０７において角度ズレが補正された出力で防振制御が行われる。これにより、精度の良い防振制御が行われる。
【０１０８】
以上、本発明の一実施例について説明したが、本発明は、上述した実施例に限定されることなく、その要旨を逸脱しない範囲内で種々の変形が可能である。
例えば、実施例では角度ずれの量を電気的に検出し、カメラのＥ２ＰＲＯＭにその調整値を書き込むことで電気的に角度ずれの補正を行ったが、角度ずれ量をこの方法により検出し、その角度ずれの調整を、角速度センサ又は角速度検出回路をメカ的に角度調整することで行うこともできる。
また、モータ４，５の速度制御は、ＰＷＭ制御について説明したが、モータ４，５の制御方法は、これに限定されるものではない。
さらにまた、実施例では撮影光学系の光軸を変化させる方法として撮影光学系の一部（防振レンズ１３）をシフトする方式で説明したが、これ以外にもバリアングルプリズム等を使用しても良く、あるいはモータの代わりにボイスコイル等の他のアクチュエータを使用することもできる。
【０１０９】
本発明の実施例では、通信工具側がカメラの振れ補正機能の検査や調整を行うようにしたが、これに限らず、例えばカメラのＣＰＵ１にこれらの検査機能や調整機能を具備すれば、カメラ自体で自己診断をすることができるようになる。
【０１１０】
【発明の効果】
本発明によれば、撮影光学系の光軸の変化方向と、角速度検出部による角速度の検出方向との角度ズレ量を演算して、両者のずれを調整するようにしたので、カメラの組立時における角速度検出部の取り付け誤差等の影響をうけることなく、より高精度な振れ補正を行うことができる。
さらに、角速度検出部の出力値の積分若しくは積算値に基づき、角度ズレを調整した場合には、この角度ズレ調整時に与える正弦波状振動の周波数変動、又はこの正弦波状振動に上乗せされた不要な高周波ノイズによって調整の精度が落ちるようなことも防止することができ、さらに精度の良い角度ズレ調整が可能となる。
【図面の簡単な説明】
【図１】本発明の実施例であるカメラ側部分，通信工具側部分，加振台部分の構成を示す図である。
【図２】ヨー，ピッチ角速度検出回路８，９のゲインのばらつきを模式的に示した図である。
【図３】角度ズレを説明するための図である。
【図４】本発明によるゲイン調整、検出角度ずれ調整の様子を示す図である。
【図５】本発明によるゲイン調整、検出角度ずれ調整の様子を示す図である。
【図６】防振レンズ１３のＸ軸方向のセンタリング制御の様子を説明する図である。
【図７】通信工具１５が行う通信調整処理の一実施例を示すフローチャートである。
【図８】図７に続くフローチャートである。
【図９】図８に続くフローチャートである。
【図１０】カメラのＣＰＵ１が行う通信モード処理の一実施例を示すフローチャートである。
【図１１】図１０のＳ７０４の防振レンズリセット処理の一実施例を示すフローチャートである。
【図１２】図１０のＳ７０６の防振レンズセンタリング処理の一実施例を示すフローチャートである。
【図１３】図１０のＳ７０９の防振制御開始処理の一実施例を示すフローチャートである。
【図１４】防振レンズリセットタイマ割込み処理の一実施例を示すフローチャートである。
【図１５】防振レンズセンタリングタイマ割込み処理の一実施例を示すフローチャートである。
【図１６】防振制御タイマ割り込み処理の一実施例を示すフローチャートである。
【図１７】防振レンズ位置ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。
【図１８】防振レンズ目標位置ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。
【図１９】防振レンズ位置誤差ｍａｘ、ｍｉｎ値の検出処理の一実施例を示すフローチャートである。
【図２０】本発明によるカメラの半押し処理の一実施例を示すフローチャートである。
【符号の説明】
１ ＣＰＵ
２，３ Ｘ軸，Ｙ軸モータ駆動回路
４，５ Ｘ軸，Ｙ軸用モータ
６，７ Ｘ軸，Ｙ軸レンズ位置検出回路
８，９ ヨー，ピッチ角速度検出回路
１０ Ｅ２ＰＲＯＭ
１１，１２，１３，１４ 撮影レンズ（１３ 防振レンズ）
１５ 通信工具
１６ 半押しＳＷ
１７ 全押しＳＷ
１８ 加振台[0001]
[Industrial applications]
The present invention relates to a shake correction camera adjustment device, a shake correction camera that can correct image shake due to camera shake or the like that occurs during shooting,as well as,It relates to an adjustment method.
[0002]
[Prior art]
Among such conventional shake correction cameras, the following shake correction cameras are known. An angular velocity detection circuit using an angular velocity sensor or the like detects angular velocity due to at least two directions of vibration on a plane perpendicular to the optical axis of the camera. The optical axis of the photographing optical system is moved by shifting a shake correction lens (anti-vibration lens), which is a part of the photographing lens, in a direction substantially the same as the detection direction according to the detected angular velocity. The photographing optical system is driven by decelerating the rotation of an actuator such as a motor by a gear or the like, and converting the rotational motion into a linear motion. As a result, image shake due to shake occurring in the camera is corrected (this control is also referred to as image stabilization control).
[0003]
Such a camera is manufactured in a manufacturing stage by being divided into several parts (assemblies), and after checking the operation of each individual assembly, a total assembly is performed. For example, a correction lens shift mechanism that shifts a shake correction lens by rotating a motor is installed in a camera body after checking whether or not it normally operates as one component. The same applies to an angular velocity detection circuit that detects an angular velocity due to camera shake.
[0004]
[Problems to be solved by the invention]
However, the above-described conventional shake correction camera has the following problems.
First, when the correction lens shift mechanism and the angular velocity detection circuit are non-defective in the operation check at the assembly stage, when the operation becomes abnormal at the stage of being incorporated in the camera body, Operation performance could not be obtained in some cases. Here, the check could not be performed in the state where the cameras are all assembled.
[0005]
Second, the output of the angular velocity sensor used in the angular velocity detection circuit has individual differences (variation between devices), and the output value of each angular velocity sensor when a predetermined angular velocity is given is not constant. Further, the amplifier of the angular velocity detection circuit also has a variation in amplification factor. Further, the output value of the angular velocity detection circuit is often converted into a digital value by an A / D converter built in a microcomputer or the like. A / D converted digital value with respect to voltage is not constant. Here, it is not so difficult to adjust the variation in the gain of the angular velocity detection circuit in the state of the component, but in this case, the error due to the variation in the A / D converter remains. When the shake correction is performed in a state where there is a variation in these gains, there is a problem that the shake correction cannot be performed with high accuracy.
[0006]
Third, the angular velocity sensor used in the angular velocity detection circuit is, as disclosed in, for example, Japanese Patent Application Laid-Open No. 2-228518, a vibrator wire-shaped support member that determines the direction of an axis for detecting the angular velocity of the rotational motion. Supported in space. The case of the angular velocity sensor to which the foot of the support member is fixed has a structure in which individual differences in the detection axis easily occur. Further, there is an error in the mounting direction between the step of attaching the angular velocity sensor to the angular velocity detection circuit and the step of incorporating the angular velocity detection circuit into the camera body. As a result, a deviation occurs between the direction in which the angular velocity detection circuit detects the angular velocity and the direction in which the optical axis is moved by actually shifting the shake correction lens (this deviation is governed by the deviation in the detection direction of the angular velocity detection circuit). It is also referred to as a detection angle deviation because it is a target.) This angle shift may be 5 ° or more. If there is an angle deviation between the direction in which the angular velocity is detected and the direction in which the optical axis is moved, there is a problem that it is not possible to accurately perform shake correction.
[0007]
The present invention has been made in order to solve the above-described problem, and checks the operation of each component such as a shake correction lens shift mechanism, an angular velocity detection circuit, and the like in a total assembly state of a camera, and It is another object of the present invention to adjust the variation in the gain of the output value between devices of each component so that the shake can be corrected with high accuracy.
[0008]
To achieve the above objectives,The invention of claim 1 isAn optical axis changing unit that changes the optical axis of the photographing optical system, an angular velocity detecting unit that detects an angular velocity generated by the shake, and an optical axis changing unit that changes the optical axis of the photographing optical system. A storage unit that stores an amount of angular deviation between the direction of change of the optical axis and the direction of detection of the angular velocity by the angular velocity detection unit; and detection of the angular velocity of the angular velocity detection unit based on the amount of angular deviation stored by the storage unit. Direction deviationCorrection unit to correctAn adjustment device that adjusts a shake correction function of a shake correction camera, comprising: an information transfer unit that sends and receives information to and from the shake correction camera; and an imaging device that includes an optical axis changing unit of the shake correction camera. A first sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in the direction of change of the optical axis, and a second sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in a direction different from the direction of the first sinusoidal vibration An output value of the angular velocity detecting unit when the first sine wave vibration and the second sine wave vibration are applied to the shake correcting camera, and a vibration imparting unit that gives a vibration, or an integrated or integrated output value. Based on the calculation value, a calculation unit that calculates a direction corresponding to a change direction of the optical axis of the imaging optical system by the optical axis change unit, and an angular deviation amount between a direction in which the angular velocity is detected by the angular velocity detection unit. The angle deviation amount calculated by the serial arithmetic unit, characterized in that it comprises a write unit for writing in the storage unit of the shake correction cameraThis is an adjustment device for the shake correction camera.
[0009]
According to a second aspect of the present invention, in the first aspect,The calculation unit calculates the angle shift amount based on an output value of the angular velocity detection unit or a maximum value and a minimum value of a calculation value obtained by integrating or integrating the output value.This is an adjustment device for the shake correction camera.
[0010]
The invention of claim 3 isAn optical axis changing unit that changes the optical axis of the photographing optical system and an angular velocity detecting unit that detects the angular velocity that acts due to the vibration are provided to correct the shake caused by the vibration.In camera shake correctionA first output of the angular velocity detector when a first sinusoidal vibration having a predetermined angular velocity amplitude is given in a direction in which the optical axis of the imaging optical system is changed by the optical axis changer of the shake correction camera; And the second output value of the angular velocity detector when a second sinusoidal vibration having a predetermined angular velocity amplitude is given in a direction different from the direction of the first sinusoidal vibration. An angle shift amount between a direction corresponding to a change direction of the optical axis of the imaging optical system by the axis changing unit and a direction in which the angular speed is detected by the angular speed detection unit is calculated, and based on the angle shift amount, the angular speed detection unit The deviation of the angular velocity detection direction is adjusted.This is a shake correction camera.
According to a fourth aspect of the present invention, in the third aspect, the first sine wave amplitude and the second sine wave amplitude are given to the shake correction camera by an external adjustment device, and the adjustment device is configured to control the first sine wave amplitude by the first adjustment device. Calculating the angle shift amount based on the output value and the second output value, wherein the shake correction camera has a storage unit that stores the angle shift amount, and the angle stored in the storage unit. A shake correction camera, further comprising: a correction unit that corrects a deviation in the angular velocity detection direction of the angular velocity detection unit based on the amount of deviation.
[0011]
According to a fifth aspect of the present invention, in the third aspect,The angle shift amount is calculated based on a maximum value and a minimum value of the first output value and the second output value, respectively.It is a shake correction camera.
[0012]
The invention of claim 6 isAn optical axis changing unit that changes the optical axis of the photographing optical system and an angular velocity detecting unit that detects the angular velocity that acts due to the vibration are provided to correct the shake caused by the vibration.In camera shake correctionA first output of the angular velocity detector when a first sinusoidal vibration having a predetermined angular amplitude is given in a direction in which the optical axis of the imaging optical system changes by the optical axis changing unit of the shake correction camera; A first operation value obtained by integrating or integrating the values, and a second operation value of the angle detection unit when a second sine wave vibration having a predetermined angle amplitude is given in a direction different from the direction of the first sine wave vibration. 2 based on a second calculated value obtained by integrating or integrating the output values of the second and third output values, the direction corresponding to the change direction of the optical axis of the photographing optical system by the optical axis changing unit and the detection direction of the angular velocity by the angular velocity detection unit. An angle shift amount is calculated, and a shift of the angular velocity detection unit in a direction in which the angular velocity is detected is adjusted based on the angle shift amount.It is a shake correction camera.
According to a seventh aspect of the present invention, in the sixth aspect, the first sine-wave amplitude and the second sine-wave amplitude are provided to the shake correction camera by an external adjustment device, and the adjustment device is provided with the first sine wave amplitude. Calculating the angle shift amount based on the calculated value and the second calculated value, wherein the shake correction camera includes a storage unit that stores the angle shift amount, and the angle stored in the storage unit. A shake correction camera, further comprising: a correction unit that corrects a deviation in the angular velocity detection direction of the angular velocity detection unit based on the amount of deviation.
[0013]
The invention according to claim 8 is based on claim 6,The angle shift amount is calculated based on a maximum value and a minimum value of the first calculation value and the second calculation value, respectively.It is a shake correction camera.
[0014]
The invention of claim 9 is the invention according to claims 3 to 8.The directions of the first sine wave vibration and the second sine wave vibration are directions substantially perpendicular to the optical axis direction.It is a shake correction camera.
[0015]
The invention of claim 10 isIn order to correct a shake caused by vibration, a shake correction function of a shake correction camera including an optical axis changing unit that changes an optical axis of a photographing optical system and an angular velocity detection unit that detects an angular velocity acting due to the shake is adjusted. An adjustment method, wherein a first sinusoidal vibration having a predetermined angular velocity amplitude or an angular amplitude in a direction in which the optical axis of the imaging optical system is changed by the optical axis changing unit of the shake correction camera; Giving a second sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in a direction different from the direction of the wave vibration, based on the output value of the angular velocity detection unit at this time, the direction of change of the optical axis of the imaging optical system and Calculating an angular deviation amount from an angular velocity detection direction by the angular velocity detection unit, and adjusting a deviation of the angular velocity detection direction of the angular velocity detection unit based on the angular deviation amount.TonalityIt is an adjustment method.
[0016]
[Action]
In the solution of the present invention, a predetermined sinusoidal vibration is given in the direction of change of the optical axis of the photographing optical system of the shake correction camera, and the output value of the angular velocity detector or the integration or integration value of this output value at this time is given. Based on this, the amount of angular deviation between the direction in which the optical axis of the imaging optical system changes and the direction in which the angular velocity is detected by the angular velocity detector is calculated, and the deviation between the two is adjusted based on the amount of angular deviation. Therefore, the mounting error of the angular velocity detecting unit at the time of assembling the camera does not affect the accuracy of the shake correction.
[0017]
【Example】
Hereinafter, an embodiment of the present invention will be described with reference to the drawings and the like.
FIG. 1 is a diagram showing a configuration of a camera-side portion, a communication tool-side portion, and a vibration table portion according to an embodiment of the present invention. First, the camera-side portion will be described.
The camera according to this embodiment includes photographing optical systems 11 to 14, a CPU 1, X and Y axis lens position detection circuits 6, 7, electrically connected to the CPU 1, X and Y axis motor drive circuits 2, 3, and It comprises yaw and pitch angular velocity detection circuits 8 and 9 and the like.
The photographing optical systems 11 to 14 are composed of four photographing lenses 11, 12, 13, and 14, of which the photographing lens 13 functions as a lens that corrects image shake due to camera shake (hereinafter, referred to as an “anti-vibration lens 13”). ").
The yaw / pitch angular velocity detection circuits 8 and 9 detect yaw and angular velocity due to camera shake in pitch directions in two axes (X and Y axes) on a plane orthogonal to the photographing optical axis. The CPU 1 is a one-chip microcomputer for controlling the sequence of the camera and the like, and has an arithmetic function for performing various calculations, a timer function for measuring time, a timer interrupt process for performing the process at regular time intervals, and an arbitrary duty. , An A / D conversion of the outputs of the yaw and pitch angular velocity detection circuits 8 and 9, a communication function with the communication tool side, a shutter function for performing exposure processing, and the like.
The X and Y axis motor driving circuits 2 and 3 are circuits for moving the anti-vibration lens 13 in the X and Y axis directions by driving the X and Y axis motors 4 and 5, respectively.
The X and Y axis lens position detection circuits 6 and 7 are circuits for detecting the position of the image stabilizing lens 13 in the X and Y axis directions.
[0018]
The CPU 1 is electrically connected to the E2PROM 10, the half-press SW16, and the full-press SW17.
The E2PROM 10 is a non-volatile memory, and a gain adjustment value for correcting a gain variation of the yaw / pitch angular velocity detection circuits 8 and 9 and a detection angle deviation for correcting a deviation in the detection direction of the angular velocity of the yaw / pitch angular velocity detection circuits 8 and 9. The adjustment value and the like are stored.
The half-press SW 16 is a switch that is turned on by half-pressing the release button.
The full-press SW 17 is a switch that is turned on by fully pressing the release button.
[0019]
Next, the operation of this camera will be described.
The yaw / pitch angular velocity detection circuits 8 and 9 detect angular velocity caused by camera shake and the like. This output value is transmitted to the CPU 1, and the CPU 1 performs A / D conversion on the output value and detects the angular velocity of camera shake. Next, the CPU 1 performs a predetermined calculation based on this value, the gain adjustment value stored in the E2PROM 10, the detected angle deviation adjustment value, and the like, and calculates an appropriate drive amount of the image stabilizing lens 13. Then, the X and Y axis motor driving circuits 2 and 3 drive the X and Y axis motors 4 and 5, respectively. The rotational driving force of the X and Y axis motors 4 and 5 is converted into linear motion by, for example, a gear train, and the image stabilizing lens 13 is moved at an appropriate speed in the X and Y axis directions so as to cancel camera shake on the image plane. Move. When the image stabilizing lens 13 is moved, the CPU 1 reads the position of the image stabilizing lens 13 in the X and Y axis directions by the X and Y axis lens position detecting circuits 6 and 7.
In the following description, a mechanism that shifts the anti-vibration lens 13 by rotating the X and Y axis motors 4 and 5 is referred to as an anti-vibration lens shift mechanism.
[0020]
The communication tool is provided with a communication tool 15 that is electrically connected to the CPU 1 of the camera. The communication tool 15 exchanges information with the CPU 1 to synchronize the operation of the camera with various operations of the camera. The adjustment of.
A vibration table 18 that is electrically connected to the communication tool 15 is provided on the vibration table side. The vibrating table 18 is for giving vibration to the camera, and has a substantially sine wave shape in the X and Y axis directions which are the shift directions of the vibration isolating lens 13 in accordance with a command from the communication tool 15 when the camera is mounted. Vibrate.
[0021]
Next, adjustment of gain variation in angular velocity detection and deviation adjustment of the angular velocity detection angle will be described.
(1) Method of gain adjustment and angle shift correction
Each of the yaw and pitch angular velocity detection circuits 8 and 9 is composed of an angular velocity sensor, an amplifier circuit for amplifying the signal, and the like. Factors of the variation of the gain include the variation of the output of the angular velocity sensor and the variation of the amplification factor of the amplifier circuit. Further, in the camera which performs the A / D conversion by the CPU 1 as in the present embodiment, the A / D converter, or a reference voltage used for A / D conversion. FIG. 2 is a diagram schematically showing a variation in gain of the yaw / pitch angular velocity detecting circuits 8 and 9. Here, in the yaw direction and the pitch direction, these gain variation factors are combined into one, and are defined as G1 and G2.
[0022]
Further, the direction of detection of the angular velocity of the yaw / pitch angular velocity detection circuits 8 and 9 does not exactly coincide with the direction of movement of the anti-vibration lens 13 based on the output of the yaw / pitch angular velocity detection circuits 8 and 9. An error occurs due to an angle shift between them. FIG. 3 is a diagram for explaining these angle shifts.
In FIG. 3, the horizontal axis and the vertical axis are the X-axis and Y-axis driving directions of the vibration-proof lens 13, respectively. Here, the X-axis drive direction and the angular velocity detection direction of the yaw angular velocity detection circuit 8 are shifted by an angle α, while the Y-axis drive direction and the angular velocity detection direction of the pitch angular velocity detection circuit 9 are shifted by an angle β. I do. In this case, when given as a vector ω (angular velocity whose magnitude is ω and inclined θ in a counterclockwise direction from the X-axis drive axis direction) due to camera shake, the outputs u and v of the yaw and pitch angular velocity detection circuits 8 and 9 respectively. Is calculated by the following equations (Equation 1) and (Equation 2).
(Equation 1) u = G1 × ω × cos (θ + α)
(Equation 2) v = G2 × ω × sin (θ−β)
However, in FIG. 3, the gain variations G1 and G2 are respectively set to G1 = G2 = 1 for easy understanding.
[0023]
When the angular velocity given to the camera is ω1 and the direction is the X-axis direction (that is, θ = 0), the outputs u1 and v1 of the yaw and pitch angular velocity detection circuits 8 and 9 are as follows. It is calculated by the equations (Equation 3) and (Equation 4).
(Equation 3) u1 = G1 × ω1 × cos (α)
(Equation 4) v1 = −G2 × ω1 × sin (β)
[0024]
Next, when the angular velocity given to the camera is ω2 and the direction is the Y-axis direction (that is, θ = 90 °), the respective outputs u2 and v2 of the yaw and pitch angular velocity detection circuits 8 and 9 are: It is calculated by the following equations (Equation 5) and (Equation 6).
(Equation 5) u2 = −G1 × ω2 × sin (α)
(Equation 6) v2 = G2 × ω2 × cos (β)
[0025]
Further, the gain variations G1 and G2 of the yaw / pitch angular velocity detection circuits 8 and 9 are calculated from the following equations (Equation 7) and (Equation 8) from the equations (Equation 3) and (Equation 6).
(Equation 7) G1 = u1 / (ω1 × cos (α))
(Equation 8) G2 = u2 / (ω2 × cos (β))
Here, since the angle deviations α and β in the detection direction with respect to the X and Y axes are as large as about 5 °, even if cos (α) = 1 and cos (β) = 1, it is approximated by an error of about 0.4%. It is possible. Therefore, the expressions (7) and (8) can be approximated as the following expressions (9) and (10), respectively.
(Equation 9) G1 = u1 / ω1
(Equation 10) G2 = v2 / ω2
[0026]
As described above, the gain variations G1 and G2 can be calculated from the output values of the yaw and pitch angular velocity detection circuits 8 and 9 when the predetermined angular velocity is given in the X-axis and Y-axis directions, respectively. In FIG. 2, G1 and G2 are calculated by the above method, and gain adjustment values A1 in the yaw direction proportional to the reciprocal of G1 and gain adjustment values A2 in the pitch direction proportional to the reciprocal of G2 are calculated by the yaw and pitch angular velocity detection circuit 8. , 9 are corrected by multiplying the output values of the gain. The output values U and V of the yaw and pitch angular velocity detection circuits 8 and 9 after the gain variation correction are calculated by the following equations (Equation 11) and (Equation 12).
(Equation 11) U = A1 × G1 × ω × cos (θ + α)
(Equation 12) V = A2 × G2 × ω × sin (θ−β)
[0027]
Further, the detected angle shifts α and β are calculated by the following equations (Equation 13) and (Equation 14) from the equations (Equation 3) and (Equation 5), and (Equation 4) and (Equation 6), respectively. You.
(Equation 13) tan (α) = − (ω1 / ω2) × (u2 / u1)
(Equation 14) tan (β) = − (ω2 / ω1) × (v1 / v2)
Here, since the detection direction deviations α and β with respect to the X and Y axes are as large as about 5 °, it is possible to approximate with an error of about 0.4% even if cos (α) = 1 and cos (β) = 1. is there. Therefore, Expressions (13) and (14) can be approximated as in the following Expressions (15) and (16).
(Equation 15) sin (α) = − (ω1 / ω2) × (u2 / u1)
(Equation 16) sin (β) = − (ω2 / ω1) × (v1 / v2)
[0028]
As described above, based on the output values of the yaw / pitch angular velocity detection circuits 8 and 9 when the predetermined angular velocity is given in the X-axis and Y-axis directions, the detection direction of the yaw / pitch angular velocity detection circuits 8 and 9 is determined. Angle shifts α and β can be detected.
[0029]
Next, a description will be given of a method of correcting an angle shift in an actual camera when the gain variations G1, G2 and the angle shifts α, β are calculated by the above method. Here, for the sake of simplicity, if the equations (Equation 11) and (Equation 12) are normalized as A1 × G1 = 1 and A2 × G2 = 1, the yaw and pitch angular velocity detection circuit 8 after the gain variation correction is performed. , 9 can be represented by the following equations (Equation 17) and (Equation 18).
(Equation 17) U = ω × cos (θ + α)
(Equation 18) V = ω × sin (θ−β)
The angular velocities X and Y in the X-axis and Y-axis directions are calculated by the following equations (Equation 19) and (Equation 20).
(Equation 19) X = ω × cos (θ)
(Equation 20) Y = ω × sin (θ)
Next, if the equations (Equation 17) and (Equation 18) are not based on θ, they can be expressed as the following equations (Equation 21) and (Equation 22).
X = (cos (β) / cos (α + β)) × U + (sin (α) / cos (α + β)) × V
(Equation 22) Y = (cos (α) / cos (α + β)) × V + (sin (β) / cos (α + β)) × U
[0030]
Here, since the detection direction deviations α and β with respect to the X and Y axes are as large as about 5 °, approximating cos (α) = 1, cos (β) = 1, and cos (α + β) = 1, the following equation is obtained. Equations (21) and (22) can be approximated as in the following equations (23) and (24), respectively.
(Equation 23) X = U + sin (α) × V
(Equation 24) Y = V + sin (β) × U
That is, if the gain variation is calculated by the formulas (9) and (10), and the sin value of the angle shift is calculated by the formulas (14) and (15), the formulas (23) and (23) 24), the gain variations G1 and G2 and the angle shifts α and β can be corrected.
[0031]
The manner of correcting the gain variations G1, G2 and the angle shifts α, β will be described with reference to FIG.
First, the outputs u and v of the yaw and pitch angular velocity detection circuits 8 and 9 having the gain variations G1 and G2 are multiplied by the gain adjustment values A1 and A2, respectively, to obtain the outputs U and V after the gain adjustment. Next, let X be the sum of the output of U and V multiplied by the angle deviation adjustment value Δα, and let Y be the sum of the output of V and U multiplied by the angle deviation adjustment value Δβ. Here, the angle shift adjustment values Δα = sin (α) and Δβ = sin (β). That is, with the configuration shown in FIG. 2, the angular velocities X and Y in the X and Y axis directions can be obtained. Thereafter, the angular velocities X and Y are each multiplied by B, and the target velocities Vc (X) and Vc (Y) at which the anti-vibration lens 13 shifts in the X-axis and Y-axis directions (hereinafter referred to as “anti-vibration lens target velocities”). Is obtained. Here, B is a coefficient indicating at what speed the anti-vibration lens 13 is shifted with respect to the predetermined angular velocity (hereinafter, referred to as “angular velocity-anti-vibration lens target speed conversion coefficient”). That is, by multiplying the calculated angular velocities X and Y in the respective drive axis directions by B, the anti-vibration lens target velocities Vc (X) and Vc (Y) in the respective directions are calculated. Once the anti-vibration lens target speeds Vc (X) and Vc (Y) have been calculated, camera shake on the image plane can be canceled by shifting the anti-vibration lens 13 at the respective speeds.
[0032]
(2) Adjustment method using a vibration table that changes its angular velocity in a sinusoidal manner
In the above description, the gain adjustment and the angle shift adjustment can be performed by continuously giving a constant angular velocity to the camera and detecting the output values of the yaw and pitch angular velocity detection circuits 8 and 9 at that time. However, it is very difficult to actually give the camera a constant angular velocity accurately. If the camera is to be given an exactly constant angular velocity, the camera must be fixed at a certain distance with a certain point as the center of rotation and rotate at a constant speed. Therefore, the gain adjustment and the angle shift adjustment are performed by giving the camera a sinusoidally changing angular velocity using the vibration table 18.
[0033]
The vibrating table 18 is fixed near one end of the vibrating portion, and an appropriately flat cam is disposed under the opposite end. The cam is rotated by a motor or the like, and the vibrating portion moves up and down in a sine wave shape. The oscillating table 18 has this mechanism in two directions, and the camera is mounted so that the driving directions of the X and Y axes of the anti-vibration lens 13 coincide with the respective oscillating directions. Here, actually, there is a slight angle deviation between the driving direction and the vibration direction of the image stabilizing lens 13, but this angle deviation is in a range that can be ignored as compared with the angle deviation which is a problem in the present invention.
[0034]
Next, an embodiment in which a sine wave-like angular velocity is given to a camera to perform gain adjustment and angle shift adjustment will be described with reference to FIG. FIG. 4 is a diagram showing a state of gain adjustment and angle shift adjustment according to the present invention.
First, an angular velocity of a sine wave having a full amplitude ω1 is given to the camera by the vibration table 18 in the X-axis driving direction of the image stabilizing lens 13. At this time, the maximum value and the minimum value of the output of the yaw angular velocity detection circuit 8 are u1max and u1min, respectively, and the maximum value and the minimum value of the output of the pitch angular velocity detection circuit 9 are v1max and v1min. Next, an angular velocity of a sine wave having a full amplitude ω2 is applied to the camera by the vibration table 18 in the Y-axis driving direction of the vibration-proof lens 13. At this time, the maximum value and the minimum value of the output of the yaw angular velocity detection circuit 8 are u2max and u2min, respectively, and the maximum value and the minimum value of the output of the pitch angular velocity detection circuit 9 are v2max and v2min.
[0035]
The gain variation at this time can be considered in the same way as when the above-described constant angular velocity is given, and when a sinusoidal angular velocity is given, as shown in the following equations (Equation 25) and (Equation 26) , And is calculated as the ratio of the full width of the given angular velocity to the full width of the output value.
(Equation 25) G1 = (u1max−u1min) / ω1
(Equation 26) G2 = (v2max−v2min) / ω2
Therefore, the gain adjustment values A1 and A2 are calculated as values proportional to the reciprocals of G1 and G2, respectively. Alternatively, it is given as a ratio of the total amplitude of the outputs of the target yaw and pitch angular velocity detection circuits 8 and 9 to be obtained after the gain adjustment with respect to the full widths ω1 and ω2 of the given angular velocity. Here, if the target total amplitudes to be obtained by the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 after the gain adjustment are U1 and V1, respectively, the gain adjustment values A1 and A2 are calculated by the following equations (Equation 27). It is calculated by (Equation 28).
(Equation 27) A1 = U1 / (u1max−u1min)
(Equation 28) A2 = V1 / (v2max−v2min)
[0036]
Next, the angular deviation in the detection directions of the yaw / pitch angular velocity detection circuits 8 and 9 can be considered in the same manner as when the above-mentioned constant angular velocity is given. When a sinusoidal angular velocity is given, the following is obtained. It is calculated by the equations (Equation 29) and (Equation 30).
(Equation 29) sin (α) = − f * (ω1 / ω2) × {(u2max−u2min) / (u1max−u1min)}
(Equation 30) sin (β) = − c * (ω2 / ω1) × {(v1max−v1min) / (v2max−v2min)}
Here, c and f are given by the following equations (Equation 31) and (Equation 32).

[0037]
Since the value of the total amplitude calculated from the maximum value and the minimum value when a sine wave acceleration is given to the camera is always positive, the sign of the angle shift is not known. To avoid this, in the equation (31), when the angular velocity given in the X-axis direction is positive, the output of the pitch angular velocity detection circuit 9 when the maximum value u1max of the output value of the yaw angular velocity detection circuit 8 is detected Are the same sign, the sign of the angle shift is detected using this (the same applies to equation (32)). In the present embodiment, the above-described method is simply used to detect the sign of the angle shift. However, the sign of the output of the angular velocity detection circuit in the reverse direction when the minimum value is detected, or The sign of the angular deviation may be detected by comparing the sign of the given angular velocity with the sign of the output of the yaw / pitch angular velocity detection circuits 8 and 9.
[0038]
The problem here is that when the camera is used to apply a sinusoidally changing angular velocity to the camera to perform gain adjustment and angle deviation adjustment, unless the excitation table 18 is accurately controlled, The maximum and minimum values are not accurately calculated. First, when the frequency of the angular velocity given by the vibration table 18 fluctuates due to unevenness in the rotational speed of the drive motor of the vibration table 18, the yaw and pitch angular velocity detection circuit is proportional to the fluctuation amount. This is because the entire width of the output values 8 and 9 also fluctuates, so that the gain adjustment value and the angle shift adjustment value also have errors. Secondly, when the operation of the excitation table 18 is not smooth and the high frequency vibration is applied, noise corresponding to the vibration is added to the output values of the yaw / pitch angular velocity detection circuits 8 and 9. For this reason, an error occurs in the detection of the maximum value and the minimum value of the output value of each angular velocity detection circuit, so that the gain adjustment value and the angle deviation adjustment value also have errors. Therefore, a method for solving this problem will be described below. In the case where these adjustments are performed using a high-precision excitation table and there is no problem, it goes without saying that the above-described adjustment method may be used.
[0039]
(3) Adjustment method using integral value of angular velocity
The adjustment method described above is a dimension of the angular velocity, but the following adjustment method is performed with the dimension of the angle or the position.
First, an initial value is set for the gain adjustment values in the yaw and pitch directions as shown in the following equation (Equation 33), and the angle shift adjustment values Δα and Δβ are cleared as shown in the equation (Equation 34).
(Equation 33) A1 = A2 = A0
(Equation 34) Δα = Δβ = 0
Thereby, the angular velocities X and Y in the respective detection directions in which the gain adjustment and the angle shift correction are not performed in FIG. 2 are output. Next, the target speeds Vc (X) and Vc (Y) of the anti-vibration lens in the X and Y axis directions, which are B times the output, are integrated as shown in the following equations (35) and (36). As a result, the target positions LC (X) and LC (Y) of the image stabilizing lens 13 in the X-axis and Y-axis directions are calculated.
(Equation 35) LC (X) = ∫Vc (X)
(Equation 36) LC (Y) = ∫Vc (Y)
[0040]
On the other hand, the calculation of the target positions LC (X) and LC (Y) of the anti-vibration lens 13 is not of the integral type as shown in the equations (35) and (36). In the case where the outputs 8 and 9 are A / D converted and the subsequent processing is controlled using digital values, the values of Vc (X) and Vc (Y) are integrated and calculated at predetermined time intervals. May be more appropriate. In this case, the target positions LC (X) and LC (Y) of the anti-vibration lens 13 may be calculated by integration.
[0041]
Here, a sine-wave-like vibration having a total angular amplitude γ1 of the anti-vibration lens 13 is given to the camera by the vibration table 18 in the X-axis direction. When the maximum and minimum values of LC (X) at this time are LCmax (X) and LCmin (X), and the maximum and minimum values of LC (Y) are LCmax (Y) and LCmin (Y), respectively, The total widths a and b of the anti-vibration lens target positions on the X axis and the Y axis are calculated by the equations (37) and (38). Further, c is calculated from the sign of LC (Y) at the time of detecting LCmax (X) according to Expression (39).

[0042]
Next, a sine wave-like vibration having a total angular amplitude γ2 is applied to the camera by the vibration table 18 in the Y-axis driving direction of the vibration-proof lens 13. If the maximum and minimum values of LC (X) at this time are LCmax (X) and LCmin (X), and the maximum and minimum values of LC (Y) are LCmax (Y) and LCmin (Y), respectively. The following formulas (Formula 40) and (Formula 41) are used to calculate the full widths d and e of the X-axis and Y-axis target positions of the anti-vibration lens. Further, f is calculated from the sign of LC (X) at the time of detecting LCmax (Y) according to the equation (Equation 42).

[0043]
The total amplitudes of the anti-vibration lens target positions LC (X) and LC (Y) in the X-axis and Y-axis directions to be obtained after the gain adjustment for the total angle widths γ1 and γ2 given by the vibration table 18 are respectively L01. , L02, the gain adjustment values A1 and A2 are calculated by the following equations (Equation 43) and (Equation 44). Here, L01 and L02 are proportional to the total amplitudes γ1 and γ2 of the vibrated angles, and are the full amplitudes of the shift of the vibration-proof lens 13 appropriate for stopping the image with respect to the full amplitude of the vibrated angles. . This value is determined by the photographing optical system, and a theoretical value is calculated.
(Equation 43) A1 = A0 × L01 / a
(Equation 44) A2 = A0 × L02 / e
[0044]
Equations (43) and (44) are obtained by converting the angular velocities of Equations (27) and (28) into dimensions of the target position of the anti-vibration lens, which is an integral value thereof. When A0, the initial value A0 of the gain adjustment value is calculated from the ratio of the amplitude of the anti-shake lens desired to be obtained and the amplitude of the target position of the anti-shake lens before gain adjustment, and multiplied by A0. The gain adjustment value is calculated by combining them.
[0045]
Next, the angle deviation correction amounts Δα and Δβ in the detection directions of the yaw / pitch angular velocity detection circuits 8 and 9 are calculated by the following equations (Equation 45) and (Equation 46).
(Equation 45) Δα = sin (α) = − f * (L01 / L02) × (d / a)
(Equation 46) Δβ = sin (β) = − c * (L02 / L01) × (b / e)
The equations (Equation 45) and (Equation 46) are obtained by converting the angular velocities of the equations (Equation 29) and (Equation 30) into the dimension of the anti-vibration lens target position which is the integral value.
[0046]
By performing the gain adjustment and the angle shift adjustment based on the integrated values of the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 according to the above-described method, the angular amplitude of the vibration table 18 can be changed even if the frequency of the vibration table 18 slightly changes. Hardly change. Further, even when the vibration noise is slightly generated when the vibration table 18 is vibrated and the vibration noise appears on the outputs of the yaw / pitch angular velocity detection circuits 8 and 9, the vibration noise is calculated from the integrated value of the output. Therefore, it is possible to perform adjustment that is hardly affected by noise.
[0047]
Next, an embodiment of an actual camera adjustment process will be described. The adjustment processing is divided into communication tool adjustment processing performed on the communication tool side and camera communication mode processing performed on the camera side. First, an outline of the entire adjustment process will be described. As shown in FIG. 1, the CPU 1 of the camera and the communication tool 15 are electrically connected, and the camera adjustment processing is performed. The control of the motors 4 and 5 will be described in the case where the control is performed by PWM (PULSE WIDTH MODULATION) control. Normally, the PWM control is a method of performing speed control by varying the energization time during a certain period, that is, by varying the duty of the motors 4 and 5 being on.
FIG. 7 is a flowchart illustrating an example of the communication adjustment process performed by the communication tool 15. FIG. 8 is a flowchart following FIG. 7, and FIG. 9 is a flowchart following FIG. 7 to 9, in step S602 to S607, the communication tool 15 performs a failure check on the anti-vibration lens shift mechanism, and then in steps S608 to 624, the gain adjustment of the yaw / pitch angular velocity detection circuits 8, 9 and the detection angle shift. Make adjustments. Further, a comprehensive check of anti-vibration control is performed in S625 to S646.
[0048]
FIG. 10 is a flowchart illustrating an example of the communication mode process performed by the CPU 1 of the camera. The CPU 1 of the camera starts communication mode processing of the camera in response to a command from the communication tool 15. Then, in response to a command from the communication tool 15, for example, the anti-shake lens reset processing in S704 and the anti-shake control start processing in S709 are performed.
[0049]
(1) Processing on the camera side
Next, the communication mode processing on the camera side will be described in detail with reference to FIG. When the communication tool processing is started in S600 of FIG. 7, the communication tool 15 transmits a command to perform communication mode processing to the CPU 1 of the camera in the next S601. Accordingly, the CPU 1 of the camera starts the communication mode processing in S700 of FIG. 10, and proceeds to the next S701.
In S701, the angular velocity gain adjustment values A1 and A2 are set to the initial value A0 by the equation (Equation 33), and the angle shift adjustment values Δα and Δβ are cleared by the equation (Equation 34) in the next S702, and the process proceeds to S703. The processing from S703 to S718 is performed by branching according to the type of command from the communication tool 15. First, it is determined in S703 whether an anti-vibration lens reset command has been issued. If there is an instruction, anti-vibration lens reset processing (FIG. 11) is performed in S704 and the process returns to S703, and if there is no command, the process proceeds to S705. In S705, it is determined whether or not an anti-vibration lens centering instruction has been issued. If there is an instruction, the anti-vibration lens centering process (FIG. 12) is performed in S706, and the process returns to S703. If there is no instruction, the process proceeds to the next S707.
[0050]
In S707, it is determined whether or not an anti-shake adjustment instruction has been issued. If there is an instruction, anti-shake control start processing (FIG. 13) is performed in S709, and the process returns to S703. If there is no instruction, the process proceeds to S708. In S708, it is determined whether or not an anti-shake control instruction has been issued. If there is an instruction, anti-shake control start processing is performed in S709 and the process returns to S703. If there is no instruction, the process proceeds to S710.
In S710, it is determined whether or not an image stabilization adjustment end command has been issued. If there is an instruction, the image stabilization control timer interrupt processing is prohibited in S712, the image stabilization control ends, and the process returns to S703. If there is no command, the process proceeds to S711. . In S711, it is determined whether or not an anti-vibration control end command has been issued. If an instruction has been issued, the anti-vibration control timer interrupt processing is prohibited in S712, the anti-vibration control ends and the process returns to S703, and if there is no command, the process proceeds to S713. .
[0051]
In S713, it is determined whether or not a data read command has been issued. If there is a command, the data specified by the communication tool 15 is transferred to the communication tool 15 in S714, and the process returns to S703. If there is no command, the process proceeds to S715. In S715, it is determined whether or not a data write command has been issued. If there is a command, the data transferred by the communication tool 15 is written in the data designated by the communication tool 15 in S716, and the process returns to S703. Proceed to. In step S717, it is determined whether an E2PROM write command has been issued. If the command has been issued, the data transferred by the communication tool 15 is written in the E2PROM data specified by the communication tool 15 in step S718, and the process returns to step S703. If so, the process proceeds to S719. In S719, it is determined whether or not a communication mode release command has been issued. If there is a command, the communication mode processing of the camera ends in S720, and if there is no command, the process returns to S703. As described above, the camera performs the corresponding processing according to the instruction of the communication tool 15.
[0052]
FIG. 11 is a flowchart showing an embodiment of the image stabilizing lens reset process in S704 of FIG. Proceeding from S704 to S800, an anti-shake lens reset process is started. First, in S801, the anti-shake lens reset timer interrupt process (FIG. 14) is permitted, and the reset of the anti-shake lens 13 is started. Next, a wait is performed for a predetermined time (for example, about 10 ms) in S802, and the process proceeds to S803. In S803, it is determined whether or not the X-axis anti-vibration lens speed VR (X) is equal to or lower than a predetermined value, that is, whether or not the reset driving of the X-axis anti-vibration lens is completed. The process proceeds, and if not less than the predetermined value, the process returns to S803. In S804, it is determined whether or not the Y-axis anti-vibration lens speed VR (Y) is equal to or lower than a predetermined value, that is, whether or not the reset driving of the Y-axis anti-vibration lens is completed. Then, the anti-vibration lens reset process ends, and if not, the process returns to S803.
[0053]
Therefore, the processing of S803 and S804 is repeated until the X-axis and Y-axis anti-vibration lens reset driving processing ends, and when both axes have ended, the processing ends in S805. Whether the anti-vibration lens reset drive has been completed is determined by determining whether the speeds VR (X), VR (Y) of the anti-vibration lens 13 when the anti-vibration lens 13 reaches the reset end which is one end of the control range. ) Is almost zero. The reason why the wait is performed for the predetermined time in step S802 is that the speeds VR (X) and VR (Y) rise from substantially zero at the initial stage of the reset driving of the image stabilizing lens 13, and thus the erroneous determination is made in the processes in steps S803 and S804. To avoid.
[0054]
FIG. 14 is a flowchart showing an embodiment of the anti-vibration lens reset timer interrupt processing of S801 in FIG. Actually, two anti-vibration lens reset timer interrupt processes are performed for the X axis and the Y axis. However, since both are the same processes, only the process on the X axis side will be described, and the process on the Y axis side will be described. Description is omitted.
This process is a process that is repeatedly performed at predetermined intervals (for example, at intervals of 1 ms). When this anti-vibration lens reset timer interrupt processing is permitted in S801, first, in S1101, the anti-vibration lens position LR (X) set by the previous anti-vibration lens reset timer interrupt processing is changed to LR ′ (X). Is set. Next, in S1102, the X-axis position of the image stabilizing lens 13 detected by the X-axis lens position detection circuit 6 is set to LR (X). Then, by subtracting LR ′ (X) from LR (X) in S1103, the amount of change in the position of the anti-vibration lens 13 during a predetermined time, that is, the speed VR (X) of the anti-vibration lens 13 in the X-axis direction Is calculated. In the next step S1104, the motor 4 is driven at a predetermined drive duty to drive the image stabilizing lens 13 to the reset position in the X-axis direction. In step S1105, the image stabilizing lens reset timer interrupt processing ends.
[0055]
FIG. 12 is a flowchart illustrating an example of the image stabilizing lens centering process in step S <b> 706 of FIG. 10. This anti-vibration lens centering process is a process of driving the anti-vibration lens 13 to the center position LS. When the processing is started from S706 to S900, first, in S901, the anti-vibration lens stop FLG and the FLG set when an abnormality is detected (the anti-vibration lens centering time-up error FLG, the X axis, the Y axis) The anti-vibration lens movement abnormality FLG and the X-axis and Y-axis anti-vibration lens position detection abnormal FLG) are cleared. In the next step S902, a time-up time for suspending the image stabilizing lens centering process is set. Here, the set time is such a time that the anti-vibration lens 13 is surely driven to the center position within the set time after the start of the centering control unless there is any abnormality.
[0056]
Next, in S903, the anti-shake lens centering timer interrupt process (FIG. 15) is permitted, and the anti-shake lens centering control is started. In the next step S904, a wait is performed for a predetermined time. In the next step S905, the maximum values VRmax (X) and VRmax (Y) of the X-axis and Y-axis velocities of the anti-vibration lens 13, and the minimum values VRmin (X) and VRmin of the X-axis and Y-axis velocities, respectively. (Y) is cleared.
[0057]
Here, the meaning of waiting for a predetermined time in S904 will be described. For the X-axis and Y-axis lens position detection circuits 6 and 7, those having a configuration for detecting, for example, a change in the position of the anti-vibration lens 13 by the number of interrupt signal pulse counts are generally used. In the above detection method, since the interrupter signal is a discrete signal, the anti-vibration lens speed VR may be detected based on the number of pulses entering a predetermined time or the reciprocal of the cycle of the interrupter signal.
However, at the beginning of the start of the centering control of the image stabilizing lens 13, there is a possibility that an accurate value of the image stabilizing lens speed is not detected or an impossible large value is detected. Therefore, even when an interrupter is used, the system waits for a predetermined time after the start of the centering control, and then VRmax (X), VRmax (Y), and VRmin (X ), VRmin (Y) are cleared.
Note that the wait time in S904 is usually set to about 5 ms to about 10 ms. The detection of VRmax (X), VRmax (Y), VRmin (X), and VRmin (Y) is performed by an anti-vibration lens centering timer interrupt process (FIG. 15).
[0058]
Next, in S906, it is determined whether or not the anti-vibration lens centering processing interruption timer set in S902 has timed out, that is, whether or not a predetermined time has elapsed since the start of the centering control of the anti-vibration lens 13. You. If the time is up, it is determined that the time is up, and the flow advances to S907 to set the anti-shake lens centering time up error FLG, and the flow advances to S918. On the other hand, if the time has not elapsed, the process proceeds to S908, where it is determined whether or not VRmax (X) is equal to or less than a predetermined value. If the value is equal to or less than the predetermined value, it is determined that the movement of the image stabilizing lens 13 in the X-axis direction is abnormal, and the process proceeds to S909, where the X-axis image stabilizing lens movement abnormality FLG is set, and the process proceeds to S918. On the other hand, if it is not less than the predetermined value, the process proceeds to S910.
[0059]
In S910, it is determined whether or not VRmax (Y) is equal to or less than a predetermined value. If the value is equal to or less than the predetermined value, it is determined that the movement of the image stabilizing lens 13 in the Y-axis direction is abnormal, and the process proceeds to S911, where the Y-axis image stabilizing lens movement abnormality FLG is set, and the process proceeds to S918. On the other hand, if it is not less than the predetermined value, the process proceeds to S912. The processing of S908 and S910 is performed by utilizing the fact that the maximum values VRmax (X) and VRmax (Y) of the anti-vibration lens speed are small when the motion of the anti-vibration lens 13 is poor. Judgment of abnormal movement. VRmax (X) and VRmax (Y) may be determined based on whether or not the anti-vibration lens speeds VR (X) and VR (Y) are equal to or less than a predetermined value.
[0060]
Next, in S912, it is determined whether or not VRmin (X) is equal to or less than a predetermined value. If the value is equal to or smaller than the predetermined value, it is determined that the detection of the X-axis lens position is abnormal, and the flow advances to S913 to set the X-axis anti-vibration lens position detection error FLG, and the flow advances to S918. On the other hand, if it is not less than the predetermined value, the process proceeds to S914.
In the next step S914, it is determined whether or not VRmin (Y) is equal to or less than a predetermined value. Here, when the value is equal to or smaller than the predetermined value, it is determined that the detection of the Y-axis lens position is abnormal, and the process proceeds to S915, where the Y-axis anti-vibration lens position detection abnormality FLG is set, and the process proceeds to S918. On the other hand, if it is not less than the predetermined value, the process proceeds to S916.
In the processing of S912 and S914, the anti-vibration lens speeds VR (X) and VR (Y) based on the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are abnormal values, and are impossible small values (for example, negative values). In the case where the value is calculated as a value having a sign) and detected in the anti-vibration lens centering timer interrupt (FIG. 15), this abnormal value is set to VRmin (X) and VRmin (Y). Utilization is used to determine an abnormality in the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7. VRmin (X) and VRmin (Y) may be determined based on whether or not the anti-vibration lens speeds VR (X) and VR (Y) are equal to or lower than a predetermined value.
[0061]
Next, in S916, it is determined whether or not the operation of the image stabilizing lens 13 in the X-axis direction is stopped. If the operation is stopped, the process proceeds to S917, and if not, the process returns to S906. Here, whether or not to stop the image stabilizing lens 13 is determined by the X-axis image stabilizing lens stop FLG. The X-axis anti-vibration lens stop FLG is set when the X-axis anti-vibration lens position LR (X) set in the anti-vibration lens centering timer interrupt processing reaches a predetermined value Lstop before the center position LS. Things.
In the next step S917, similarly to S916, it is determined whether or not to stop the operation of the anti-vibration lens 13 in the Y-axis direction. When the operation is stopped, the process proceeds to S918, and when not stopped, the process returns to S906. Whether or not to stop the anti-vibration lens 13 here is determined by the Y-axis anti-vibration lens stop FLG as described above. The Y-axis anti-vibration lens stop FLG is set when the Y-axis anti-vibration lens position LR (Y) set in the anti-vibration lens centering timer interrupt processing reaches a predetermined value Lstop before the center position LS. Things.
[0062]
By the processing of S916 and S917, the processing of S906 to S917 is repeatedly executed until the position of the anti-vibration lens 13 in both the X axis and the Y axis reaches a predetermined value Lstop before the center position LS, and both axes are set to the predetermined values. If it has arrived, the flow proceeds to S918.
In step S918, the centering timer interrupt processing of the image stabilizing lens 13 is prohibited. As a result, the motors 4 and 5 are brought into the short brake state, the anti-vibration lens 13 is stopped in both axial directions, and the process proceeds to S919 to complete the anti-vibration lens centering processing.
[0063]
FIG. 15 is a flowchart showing an embodiment of the image stabilizing lens centering timer interrupt processing of S903 in FIG. Actually, two anti-vibration lens centering timer interrupt processes are performed for the X-axis and the Y-axis. However, since both processes are the same, only the process on the X-axis side will be described, and the process on the Y-axis side will be described. Is omitted.
This process is a process that is repeatedly performed at predetermined intervals (for example, at intervals of 1 ms) when the anti-vibration lens centering timer interrupt process is permitted in S903. First, in S1201, the anti-vibration lens position LR (X) set by the previous anti-vibration lens centering timer interrupt processing is set to LR '(X). Further, in the next step S1202, the X-axis position of the image stabilizing lens 13 detected by the X-axis lens position detection circuit 6 is set to LR (X). Next, in S1203, LR '(X) is subtracted from LR (X), and the amount of change in the position of the image stabilizing lens 13 during a predetermined time, that is, the speed VR (X) of the image stabilizing lens 13 in the X-axis direction is calculated. Is done.
[0064]
In the next step S1204, it is determined whether or not the anti-vibration lens speed VR (X) in the X-axis direction is higher than VRmax (X). Proceed to. On the other hand, if not larger, the process proceeds to S1206. In S1206, it is determined whether or not the anti-vibration lens speed VR (X) in the X-axis direction is lower than VRmin (Y). If the speed is lower, the process proceeds to S1207, where VRmin (X) is set to VR (X), and the process proceeds to S1208. . On the other hand, if not smaller, the process proceeds to S1208. Through the processing in S1204 to S1207, the maximum value VRmax (X) and the minimum value VRmin (X) of the anti-vibration lens speed VR (X) in the X-axis direction are detected.
[0065]
In the next step S1208, it is determined whether or not the anti-vibration lens position LR (X) in the X-axis direction is driven a predetermined amount Lstop before the center position LS by determining whether LR (X) + Lstop is equal to or greater than LS. You. If it is driven to that position, the flow advances to S1209 to set the X-axis anti-vibration lens stop FLG, then the motor 4 is set to the short brake state in S1210, and then to S1214 to execute the main anti-vibration lens centering timer interrupt processing. finish. On the other hand, if it has not been driven to that position in S1208, the flow advances to S1211.
In S1211, the target speed VC (X) of the image stabilizing lens in the X-axis direction is calculated by the following equation (Equation 47), and in S1212, the drive duty is calculated by the following equation (Equation 48).
(Equation 47) VC (X) = K10 × {LS−LR (X)} + Voffset
(Equation 48) Centering drive duty = K1 × VC (X) + K2 × {VC (X) −VR (X)} ± Doffset
[0066]
Here, the equation (Equation 47) represents a certain speed Voffset at a speed corresponding to the difference between the anti-vibration lens position LR (X) in the X-axis direction detected by the X-axis lens position detection circuit 6 and the center position LS. Is set as the anti-vibration lens target speed VC (X) in the X-axis direction. The drive duty for driving the motor 4 is the drive duty calculated by the equation (Equation 48) until the anti-vibration lens position LR (X) in the X-axis direction is a predetermined value Lstop before the center position LS, and thereafter. Then, the motor 4 is brought into the short brake state.
The expression (48) is obtained by calculating the duty obtained by multiplying the X-axis direction anti-vibration lens target speed VC (X) by a predetermined coefficient K1, and VC (X) and the X-axis direction anti-vibration lens speed VR (X). The drive duty is obtained by adding a duty calculated by multiplying the difference by a predetermined coefficient K2, further adding Doffset when the value is positive, and subtracting Doffset when the value is negative.
As a result, the speed of the image stabilizing lens 13 is controlled at the image stabilizing lens target speed VC (X) substantially set in the X-axis direction.
[0067]
Next, in step S1213, the motor 4 is driven at the calculated drive duty to drive the image stabilizing lens 13 in the direction of the center position LS of the X axis, and the process proceeds to step S1214 to end the processing.
[0068]
Next, the state of the centering control of the above-described anti-vibration lens 13 will be described. FIG. 6 is a diagram illustrating a state of the centering control of the image stabilizing lens 13 in the X-axis direction.
In FIG. 6, first, the centering drive of the image stabilizing lens 13 is started from D1, and the image stabilizing lens 13 attempts to control the target speed VC (X) of the image stabilizing lens. The anti-vibration lens speed VR (X) in the X-axis direction gradually increases due to the time constant of the anti-vibration control system including the motor 4 and the anti-vibration lens shift mechanism, and reaches a maximum value at D2. Between D2 and D3, which is Lstop before the center position LS, VC (X) is set by a straight line calculated by Expression (47). The speed of the anti-vibration lens 13 is controlled along this straight line, and as the vehicle approaches the center position LS, the anti-vibration lens speed VR (X) gradually decreases. Finally stops at D4 near the center position LS.
[0069]
By executing the anti-vibration lens centering process in this way, the anti-vibration lens 13 is driven to the vicinity of the target center position LS, and the maximum value of the anti-vibration lens speed in the X-axis direction during the driving is detected. And stored in VRmax (X). This maximum speed VRmax (X) changes in accordance with the ease of movement of the vibration-proof lens shift mechanism, and if there is a malfunction in the mechanism for any reason, the value of the maximum speed VRmax (X) is small. Value, and at the same time, the X-axis anti-vibration lens movement abnormality FLG is set. In addition, the X-axis lens position detection circuit 6 has an abnormality, and the anti-vibration lens speed VR (X) that cannot be obtained during the centering control is calculated. When it is a negative value, for example, it is stored in VRmin (X). The axis anti-vibration lens position detection abnormality FLG is set.
[0070]
The Y-axis image stabilizing lens centering timer interrupt process is performed in the same manner as the above-described process in the X-axis direction. That is, the maximum value of the anti-vibration lens speed in the Y-axis direction at that time is stored in VRmax (Y), and when an abnormality is detected, each abnormal FLG (Y-axis anti-vibration lens movement abnormality FLG, Y The axis anti-vibration lens position detection error FLG) is set. If the two axes do not reach the center position LS even if the control is continued for a predetermined time, the anti-shake lens time-up abnormality FLG is set.
[0071]
FIG. 13 is a flowchart illustrating an example of the image stabilization control start processing in S709 of FIG. This processing detects the maximum value and the minimum value of the X-axis and Y-axis anti-vibration lens target positions, the maximum value and the minimum value of the anti-vibration lens position, a control error, and the like, and detects the yaw and pitch angular velocity detection circuits 8 and 9. By moving the image stabilizing lens 13 in each direction according to the output, the image stabilization control process for suppressing camera shake on the image plane is started.
When this processing is started by proceeding from S709 to S1000, first, in S1001, the current anti-vibration lens position is detected from the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7, and the X-axis and Y-axis protection is performed. The vibration lens target positions LC (X) and LC (Y) are set. Next, in S1002, the current anti-vibration lens positions detected by the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are the maximum and minimum values LCmax (and Xmax) of the X-axis and Y-axis anti-vibration lens target positions, respectively. X), LCmax (Y), LCmin (X), LCmin (Y).
[0072]
Next, in step S1003, the current anti-vibration lens positions detected by the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are the maximum and minimum values LRmax (LRmax (X-axis and Y-axis), respectively. X), LRmax (Y), LRmin (X), LRmin (Y). In the next step S1004, the maximum value and the minimum value ΔLmax (X), ΔLmax (Y), ΔLmin (X), ΔLmin (Y) of the X-axis and Y-axis anti-vibration lens position errors are cleared. Next, in step S1005, the image stabilization control timer interrupt process (FIG. 16) is permitted to start image stabilization control, and in step S1006, the image stabilization control start process ends.
[0073]
FIG. 16 is a flowchart showing an embodiment of an image stabilization control timer interrupt process in which the image stabilization control timer interrupt process is performed at predetermined time intervals by allowing the image stabilization control timer interrupt process to be performed by the image stabilization control start process in S1005 of FIG. It is. The process is started from S1300. Actually, two anti-shake control timer interrupt processes are performed for the X-axis and the Y-axis. However, since the processes are the same, only the process for the X-axis will be described, and the description of the process for the Y-axis will be omitted. This process is a process that is repeatedly performed at predetermined intervals (for example, at intervals of 1 ms). First, in S1301, the anti-vibration lens position LR (X) set by the previous anti-vibration control timer interrupt process is set to LR ′ (X), and is detected by the X-axis lens position detection circuit 6 in next S1302. The X-axis position of the anti-vibration lens 13 is set to LR (X).
[0074]
In the next step S1303, detection processing of the anti-vibration lens positions max and min values is performed. FIG. 17 is a flowchart illustrating an example of the detection process of the anti-vibration lens positions max and min values. The process proceeds from S1303 to S1400 in FIG. 17, and first, in S1401, it is determined whether or not the X-axis anti-vibration lens position LR (X) is larger than LRmax (X). If it is larger, the process proceeds to S1402, where LRmax (X) is set to LR (X), and the process proceeds to S1403. On the other hand, if it is not larger, the process proceeds to S1403.
In S1403, it is determined whether or not the X-axis image stabilizing lens position LR (X) is smaller than LRmin (X). If smaller, the process proceeds to S1404, where LRmin (X) is set to LR (X), and the process proceeds to S1405. . On the other hand, if not smaller, the process proceeds to S1405. The process ends in S1405. Through the above processing, the maximum value and the minimum value of the anti-vibration lens position LR (X) in the X-axis direction are detected as LRmax (X) and LRmin (X), respectively.
[0075]
The process proceeds from S1405 to S1304 in FIG. In step S1304, LR ′ (X) is subtracted from LR (X), whereby the amount of change in the position of the anti-vibration lens 13 in the X-axis direction during a predetermined time, that is, the speed VR of the anti-vibration lens 13 in the X-axis direction (X) is calculated. Next, in S1305, the output of the yaw angular velocity detection circuit 8 is A / D converted, and the value is set to u. In the next S1306, u is multiplied by the gain adjustment value A1, and the value is set to U, whereby the angular velocity in the yaw direction with the gain adjusted is calculated. In the next step S1307, the angular velocity value V for which the gain has been adjusted in the other pitch direction is multiplied by the angular deviation adjustment value Δα (= sinα) as shown in Expression (23), and this is added to U, whereby the angular deviation is calculated. A corrected output X is calculated.
[0076]
Here, V is a gain-adjusted angular velocity value calculated in the anti-vibration control timer interrupt processing for the other axis, the Y axis. Strictly speaking, the X-axis and Y-axis processes of the anti-shake control timer interrupt process cannot be performed simultaneously, so that the A / D output of each of the yaw angular velocity detection circuit 8 and the pitch angular velocity detection circuit 9 The sampling timing for performing the conversion is different. However, the amount of V changing during this timing shift is extremely small and can be ignored.
[0077]
Next, in S1308, the X calculated in S1307 is multiplied by the angular velocity-vibration-proof lens target speed conversion coefficient B to calculate the X-axis vibration-proof lens target speed VC (X). Then, in the next S1309, VC (X) is added to the X-axis anti-vibration lens target position LC (X), and LC (X) is set. By integrating VC (X) at predetermined intervals, it becomes possible to calculate the anti-vibration lens target position LC (X). Further, since LC (X) is set at that timing in S1001 of FIG. 13, the anti-vibration lens target speed VC (X) is set as long as the anti-vibration control timer interrupt processing is enabled using the timing as an initial value. Are integrated to continuously calculate the anti-vibration lens target position LC (X).
[0078]
In the next step S1310, a process of detecting the anti-vibration lens target positions max and min values is performed. FIG. 18 is a flowchart illustrating an example of the detection process of the anti-vibration lens target positions max and min values. The process proceeds from S1310 to S1500 in FIG. First, in S1501, it is determined whether the X-axis image stabilizing lens target position LC (X) is larger than LCmax (X). If it is larger, the flow advances to S1502 to set LC (X) in LCmax (X). In the next S1503, the sign of the Y-axis image stabilizing lens target speed LC (Y) is held, and the flow advances to S1504. If it is not large in S1501, the process proceeds to S1504.
[0079]
In S1504, it is determined whether or not the X-axis anti-vibration lens target position LC (X) is smaller than LCmin (X). If smaller, the process proceeds to S1505, where LC (X) is set to LCmin (X), and the process proceeds to S1506. . If not, the process proceeds to S1506. This processing ends in S1506. By this processing, the maximum value and the minimum value of the anti-vibration lens target position LC (X) in the X-axis direction are detected by LCmax (X) and LCmin (X), respectively, and the other axis when the maximum value is detected is detected. The sign of the anti-vibration lens target position LC (Y) is obtained.
[0080]
The process proceeds from S1506 to S1311 in FIG. In S1311, the image stabilizing lens position LR (X) is subtracted from the X-axis image stabilizing lens target position LC (X), and an image stabilizing lens position error ΔL (X) is calculated. Next, the process proceeds to S1312, where a process of detecting the anti-vibration lens position errors max and min values is performed. FIG. 19 is a flowchart showing an embodiment of the process of detecting the vibration-proof lens position errors max and min values. The process proceeds from S1312 to S1600 in FIG. First, in S1601, it is determined whether or not the X-axis anti-vibration lens position error ΔL (X) is greater than ΔLmax (X). If it is larger, the process proceeds to S1602, where ΔLmax (X) is set to ΔL (X), and the process proceeds to S1603. If not, the process proceeds to S1603. In the next S1603, it is determined whether or not the X-axis image stabilizing lens position error ΔL (X) is smaller than ΔLmin (X). If smaller, ΔLmin (X) is set to ΔL (X) in S1604, and the process proceeds to S1605. . If not, the process proceeds to S1605. This processing ends in S1605. As a result, the maximum value and the minimum value of the anti-vibration lens position error ΔL (X) in the X-axis direction are detected as ΔLmax (X) and ΔLmin (X), respectively.
[0081]
From S1605, the process proceeds to S1313 in FIG. In S1313, the drive duty for driving the motor 4 in the image stabilization control is calculated. Here, for example, the drive duty is calculated by the equation (Equation 48) used during the above-described centering control. Next, in S1314, it is determined whether or not an anti-vibration adjustment is performed. If the anti-vibration adjustment is not performed, the process proceeds to S1315, and the motor 4 is driven at the drive duty calculated in S1313. In the case of the image stabilization adjustment (the motor 4 is not driven), the process proceeds to S1316, and the present image stabilization control timer interrupt processing ends.
[0082]
(2) Processing on the communication tool side
Next, a failure check of the anti-vibration lens shift mechanism performed on the communication tool side, a gain adjustment and a detection angle deviation adjustment of the yaw and pitch angular velocity detection circuits 8 and 9 and a comprehensive check of anti-vibration control will be described with reference to FIG. This will be described with reference to FIG.
First, when this processing is started in S601, the camera is set to the communication mode in S601 by a conventionally known method. With this setting, the communication mode process of the camera performed by the CPU 1 shown in FIG. 10 is started. Through the following processes from S602 to S607, a failure check of the vibration-proof lens shift mechanism is performed. In step S <b> 602, the CPU 1 is instructed to reset the vibration-proof lens. Thereby, the CPU 1 of the camera drives the anti-vibration lens 13 to a predetermined reset position in S704 of FIG. In the next step S603, an image stabilizing lens centering command is issued, and the image stabilizing lens 13 is driven to the center position LS. In the next step S604, the maximum values VRmax (X) and VRmax (Y) of the X-axis and Y-axis anti-vibration lens speeds detected during the centering of the anti-vibration lens in S603 using the data read command, and the centering abnormal data (the The CPU 1 reads the shake lens centering time-up abnormality FLG, the X-axis and Y-axis vibration-proof lens movement abnormality FLG, and the X-axis and Y-axis vibration-proof lens position detection abnormality FLG.
[0083]
Next, in S605, it is determined whether or not VRmax (X) is equal to or greater than a predetermined value. If it is equal to or greater than the predetermined value, the process proceeds to S606. If not, the process proceeds to S646 (FIG. 9) to determine that a mechanical failure has occurred. Proceed to. In S606, it is determined whether or not VRmax (Y) is equal to or more than a predetermined value. If it is equal to or more than the predetermined value, the process proceeds to S607. In S607, it is determined whether or not the centering is abnormal based on the centering abnormality data. When there is no centering abnormality, that is, when none of these abnormal FLGs is set, the process proceeds to S608. If any one of the abnormal FLGs has been set, the process proceeds to S646 in the same manner as described above, and it is determined that a mechanical failure has occurred.
[0084]
By performing the processing of S603 to S607 and S646 described above, the anti-shake lens 13 is centered, and the maximum value of the anti-shake lens speed and various abnormalities are detected during the centering control. It is possible to check that the anti-vibration lens shift mechanism is defective when the movement in the axis and Y axis directions is bad or when the outputs of the X and Y axis lens position detection circuits 6 and 7 are abnormal. It becomes.
[0085]
By the following processing from S608 to S624, the gain adjustment and the detection angle deviation adjustment of the yaw / pitch angular velocity detection circuits 8 and 9 are performed.
The gain adjustment values A1 and A2 inside the CPU 1 at the timing of S608 are the initial values A0 set in S700 of FIG. 10, and the angle shift adjustment values Δα and Δβ are written in S702 of FIG. The initial value is 0.
First, the excitation in the X-axis direction is started in S608. Thus, the vibration table 18 is vibrated. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the X-axis direction. Next, an anti-shake adjustment start command is issued to the CPU 1 in S609. By S609, the CPU 1 executes the anti-shake control start process by S709 of FIG. Thereby, the maximum and minimum values LCmax (X), LCmax (Y), LCmin (X), LCmin (Y), LCmax (X), LCmax (X), LCmax (X), LCmax (X) of the anti-shake lens target position by the anti-shake control timer interrupt processing shown in FIG. The signs of the respective LC (Y) and LC (X) at the time of detecting LCmax (Y) continue to be detected. Further, since it is determined in S1314 in FIG. 16 that the adjustment is for image stabilization, the motor is not driven, and the image stabilization lens 13 is not driven.
[0086]
Next, in S610, a wait is performed for a predetermined time, and in the next S611, an image stabilization adjustment end command is issued to the CPU 1. As a result, the CPU 1 prohibits the anti-shake control timer interrupt processing in S712 of FIG. 10 and ends the anti-shake control. In the next S612, the vibration operation by the vibration table 18 in the X-axis direction is ended. Here, the waiting time in S610 is a time during which the maximum value and the minimum value of the anti-vibration lens target position can be detected at least once between S609 and S611.
In the next step S613, a data read command is used to detect LCmax (X), LCmax (Y), LCmin (X), LCmin (Y) and LCmax (X), LCmax (Y) detected by the CPU 1. Are read from the CPU 1 by the signs of LC (Y) and LC (X). Then, in the next S614, the total widths a, b, and c of the X-axis and Y-axis anti-vibration lens target positions are calculated using Expressions (37), (38), and (39).
[0087]
Next, the process proceeds to S615 of FIG. In S615, the vibration table 18 is vibrated. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the Y-axis direction. In the next step S616, an image stabilization adjustment start command is issued to the CPU 1. By S616, the CPU 1 executes the anti-shake control start process by S709 of FIG. Thereby, the maximum and minimum values LCmax (X), LCmax (Y), LCmin (X), LCmin (Y), LCmax (X), LCmax (X), LCmax (X), LCmax (X) of the anti-shake lens target position by the anti-shake control timer interrupt processing shown in FIG. The signs of the respective LC (Y) and LC (X) at the time of detecting LCmax (Y) continue to be detected. Also, since it is not determined in S1314 of FIG. 16 that the adjustment is for image stabilization, the motor is not driven and the image stabilization lens 13 is not driven.
[0088]
Next, in S617, a wait is performed for a predetermined time, and in S618, an anti-vibration adjustment end command is issued to the CPU 1. As a result, the CPU 1 inhibits the anti-shake control timer interrupt processing in S712 of FIG. 10 and ends the anti-shake control. In the next S619, the vibration operation by the vibration table 18 in the Y-axis direction is ended. Here, the wait time in S617 is a time during which the maximum value and the minimum value of the target position of the image stabilizing lens can be detected at least once between S616 and S618.
In the next step S620, using the data read command, when the LCmax (X), LCmax (Y), LCmin (X), LCmin (Y) and LCmax (X), LCmax (Y) detected by the CPU 1 are detected. Are read from the CPU 1 by the signs of LC (Y) and LC (X). Then, in the next S621, the full widths d, e, and f of the X-axis and Y-axis anti-vibration lens target positions are calculated using Expressions (40), (41), and (42).
[0089]
In the next step S622, the gain adjustment values A1 and A2 of the outputs of the yaw / pitch angular velocity detection circuits 8 and 9 are calculated using the equations (43) and (44). Then, in S623, the detected angle deviation adjustment values Δα, Δβ of the yaw / pitch angular velocity detecting circuits 8, 9 are calculated using the equations (45) and (46). Next, in step S624, an E2PROM write command is issued, and the gain adjustment values A1 and A2 and the detected angle shift adjustment values Δα and Δβ are written in the E2PROM.
Through the processing from S608 to S624, it is possible to perform the gain adjustment and the detection angle deviation adjustment of the yaw / pitch angular velocity detection circuits 8 and 9.
[0090]
A comprehensive check of the anti-shake control is performed by the processing of S625 and subsequent steps. First, the gain adjustment values A1 and A2 held inside the CPU 1 at the timing of S625 are the initial values A0 set in S700 of FIG. 10, and the angle shift adjustment values Δα and Δβ are written in S702 of FIG. The initial value is 0. In S625, a data write command is issued, the value of 1 / m of A1 and A2 calculated in S622 is written to the gain adjustment values A1 and A2 in the CPU 1, and the Δα and Δβ calculated in S623 are The values are written in the angle deviation adjustment values Δα and Δβ, and the process proceeds to S626.
[0091]
Next, the vibration table 18 is vibrated in S626. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the X-axis direction. In the next step S627, an image stabilization control start command is issued to the CPU 1. In response to the instruction in S627, the CPU 1 executes the anti-shake control start process in S709 of FIG. Further, in the anti-shake control timer interrupt processing shown in FIG. 16, the maximum and minimum values LRmax (X), LRmax (Y), LRmin (X), LRmin (Y) of the anti-shake lens position and the control error of the anti-shake lens , The maximum and minimum values ΔLmax (X), ΔLmax (Y), ΔLmin (X), and ΔLmin (Y) are continuously detected. Also, it is determined in S1314 of FIG. 16 that the image stabilization is not the image stabilization adjustment, and the motor is driven to control the image stabilization lens 13 unlike the above-described gain adjustment and angle shift adjustment.
[0092]
Next, a wait is performed for a predetermined time in S628, and an anti-vibration control end command is issued in S629. The CPU 1 prohibits the anti-vibration control timer interrupt processing in S712 in FIG. 10 and ends the anti-vibration control. Next, the vibration operation is completed by the vibration table 18 in S630. Here, the wait time in S628 is a time during which at least the vibration period of the vibration table 18 is one or more between S627 and S629. This is to check whether or not the controllability is good at all the timings of one cycle, although the vibration-proof lens 13 is controlled in a sine wave shape. The process proceeds from S630 to S631 in FIG. In step S631, the maximum value and the minimum value LRmax (X), LRmin (X) of the X-axis anti-vibration lens position detected by the CPU 1 using the data read command, and the maximum value of the X-axis anti-vibration lens position error , And the minimum values ΔLmax (X) and ΔLmin (X) are read from the CPU 1, and in step S632, the amplitude g in the X-axis direction of the vibration-proof lens 13 that is actually controlled is calculated using the following equation (Equation 49). .
(Equation 49) g = LRmax (X) −LRmin (X)
[0093]
In the next step S633, the total amplitude g in the X-axis direction of the actual anti-vibration lens 13 obtained in S632 is subtracted from the value of 1 / m of the total amplitude L01 in the X-axis direction of the anti-vibration lens 13 to be obtained after the gain adjustment. It is determined whether or not the absolute value of the value is equal to or smaller than a predetermined value. If the value is equal to or less than the predetermined value, the process proceeds to S634. If the value is not equal to or less than the predetermined value, the process proceeds to S646, where it is determined that the vibration-proof lens shift mechanism is defective or improperly adjusted and the process proceeds to S647.
[0094]
Here, in S625, since the anti-vibration gain adjustment value A1 in the yaw direction is set to 1 / m with respect to the adjustment value obtained in S622, the actually obtained amplitude g of the anti-vibration lens 13 is 1 of L01. When / m, the gain is adjusted with high accuracy and the anti-vibration controllability is good. However, when the gain adjustment is not performed with high accuracy for some reason, or because the movement of the anti-vibration lens shift mechanism is not good, the full amplitude of the actually controlled anti-vibration lens 13 cannot be obtained as theoretically. In this case, a defect can be checked based on the determination in S633.
[0095]
Next, in S634, it is determined whether or not the absolute value of the maximum value ΔLmax (X) of the anti-vibration lens position error in the X-axis direction is equal to or smaller than a predetermined value. In some cases, the flow proceeds to S646, in which it is determined that the anti-vibration lens shift mechanism is defective or the adjustment is poor, and the flow proceeds to S647. Further, in S635, it is determined whether or not the absolute value of the minimum value ΔLmin (X) of the anti-vibration lens position error in the X-axis direction is equal to or smaller than a predetermined value. When the absolute value is equal to or smaller than the predetermined value, the process proceeds to S636. Then, it is determined that the anti-vibration lens shift mechanism is defective or the adjustment is defective, and the flow advances to S647.
[0096]
The processing in S634 and S635 checks the controllability of the image stabilizing lens 13 in the X-axis direction. In the above-described anti-shake control timer interrupt processing, an anti-shake lens position error ΔL (X), which is a difference between the anti-shake lens target position LC (X) and the actually controlled anti-shake lens position LR (X), is calculated. The maximum value ΔLmax (X) and the minimum value ΔLmin (X) are detected. When the absolute values of ΔLmax (X) and ΔLmin (X) are small in S634 and S635, the controllability is good. It can be determined that the sex is bad.
[0097]
The processing from the next S636 is processing for checking the anti-vibration controllability in the Y-axis direction. First, the vibration table 18 is vibrated in S636. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the Y-axis direction. In the next step S637, an image stabilization control start command is issued to the CPU 1. In response to the instruction of S637, the CPU 1 executes the anti-shake control start process in S709 of FIG. Further, in the anti-shake control timer interrupt processing shown in FIG. 16, the maximum and minimum values LRmax (X), LRmax (Y), LRmin (X), LRmin (Y) of the anti-shake lens position and the control error of the anti-shake lens , The maximum and minimum values ΔLmax (X), ΔLmax (Y), ΔLmin (X), and ΔLmin (Y) are continuously detected. Also, it is determined in S1314 of FIG. 16 that the adjustment is not the image stabilization adjustment, and the motor is driven to control the image stabilization lens 13.
[0098]
Next, a wait is performed for a predetermined time in S638, and an anti-vibration control end command is issued in S639. The CPU 1 prohibits the anti-vibration control timer interrupt processing in S712 in FIG. 10 and ends the anti-vibration control. Next, in step S640, the vibration table 18 terminates the vibration operation. Here, the wait time in S638 is a time during which at least the vibration cycle of the vibration table 18 is one cycle or more between S637 and S639. This is done for the same reason as the wait time in S628. In the next step S641, the maximum and minimum values LRmax (Y) and LRmin (Y) of the Y-axis anti-vibration lens position detected by the CPU 1 using the data read command, and the error of the Y-axis anti-vibration lens position error. The maximum value and the minimum value ΔLmax (Y), ΔLmin (Y) are read from the CPU 1, and the amplitude h in the Y-axis direction of the anti-vibration lens 13 actually controlled is calculated in step S <b> 642 using the following equation (Equation 50). Is done.
(Equation 50) h = LRmax (Y) −LRmin (Y)
[0099]
In the next S643, the actual total amplitude h in the Y-axis direction of the anti-vibration lens 13 obtained in S642 is subtracted from the value of 1 / m of the total amplitude L02 in the Y-axis direction of the anti-vibration lens 13 desired after gain adjustment. It is determined whether or not the absolute value of the calculated value is equal to or smaller than a predetermined value. If the value is equal to or less than the predetermined value, the process proceeds to S644. If the value is not equal to or less than the predetermined value, the process proceeds to S646.
Here, the above-described determination in S643 is performed for the same reason as in S633.
[0100]
Next, in S644, it is determined whether or not the absolute value of the maximum value ΔLmax (Y) of the anti-vibration lens position error in the Y-axis direction is equal to or smaller than a predetermined value. In some cases, the flow proceeds to S646, in which it is determined that the anti-vibration lens shift mechanism is defective or the adjustment is poor, and the flow proceeds to S647. Further, in S645, it is determined whether or not the absolute value of the minimum value ΔLmin (Y) of the anti-vibration lens position error in the Y-axis direction is equal to or smaller than a predetermined value. When the absolute value is equal to or smaller than the predetermined value, the process proceeds to S647. Then, it is determined that the anti-vibration lens shift mechanism is defective or the adjustment is defective, and the flow advances to S647.
[0101]
In the processing in S644 and S645, the controllability of the image stabilizing lens 13 in the Y-axis direction is checked. In the above-described anti-shake control timer interrupt processing, an anti-shake lens position error ΔL (Y), which is a difference between the anti-shake lens target position LC (Y) and the actually controlled anti-shake lens position LR (Y), is calculated. The maximum value ΔLmax (Y) and the minimum value ΔLmin (Y) are detected. When the absolute values of ΔLmax (Y) and ΔLmin (Y) are small in S644 and S645, the controllability is good. It can be determined that the sex is bad.
[0102]
Next, in S647, an anti-vibration lens reset command is issued to the CPU 1, and the CPU 1 drives the anti-vibration lens 13 to a predetermined reset position in S704 of FIG. Next, a communication mode release command is issued to the CPU 1 in S648, and the camera is released from the communication mode. Then, the communication tool adjustment processing ends in S649.
[0103]
The gain adjustment values A1 and A2 are set to 1 / m in S625 for the following reasons. Normally, at the time of gain adjustment and angle shift adjustment, the output of the yaw / pitch angular velocity detection circuits 8 and 9 is increased to increase the dynamic range to improve the adjustment accuracy. Therefore, the vibration angle of the vibration table 18 is also increased. In this case, when the above-described vibration-proof control performance is checked with the vibration angle, the vibration-proof lens 13 must be controlled to exceed the driving capability of the vibration-proof lens shift mechanism. Or, the shift range of the image stabilizing lens 13 may be exceeded.
[0104]
Further, the angle range or angular velocity of camera shake of a user using a normal camera is smaller than the angle at which the gain adjustment and the angle shift adjustment are performed. Therefore, only at the time of checking the anti-vibration controllability, the vibration angle of the vibration table 18 may be set to be small in accordance with this. However, it is not easy to mechanically set the vibration angle of the vibration table 18 in two stages. Therefore, the user sets the value of m so as to be within the range of the angle of the camera shake or the range of the angular velocity generated when using the normal camera, and checks the realistic image stabilization controllability. If the value of m is varied and such an anti-vibration control property is checked, a more accurate check can be performed. On the other hand, it is not easy to mechanically perform such as setting the vibration angle of the vibration table 18 in a plurality of stages.
[0105]
Next, processing when the camera is used by the user will be described. FIG. 20 is a flowchart showing an embodiment of the half-pressing process of the camera according to the present invention. The process shown in FIG. 20 is a process performed when the half-press SW 16 of the camera is turned on. First, when the process is started in S1700, the gain adjustment values A1 and A2 are read from the E2PROM in the next S1701. Further, in S1702, the angle shift adjustment values Δα and Δβ are read from the E2PROM.
In the next step S1703, it is determined whether or not the full-press SW 17 has been turned on. On the other hand, when it is off, the process proceeds to S1704, where it is determined whether the half-press SW16 is on. Here, if it is on, the process returns to S1703, and if it is off, the process proceeds to S1705 and this process ends.
[0106]
In S1706, the above-described anti-vibration lens centering process (FIG. 12) is performed, and the anti-vibration lens 13 is driven to the respective center positions in the X-axis and Y-axis directions. In the next step S1707, an image stabilization control start process (FIG. 13) is performed. Therefore, here, the image stabilization control is started by permitting the image stabilization control timer interrupt process (FIG. 16).
In the next step S1708, the shutter is opened and closed to perform exposure processing. When this exposure processing ends, in S1709, the anti-shake control timer interrupt is prohibited, and the anti-shake control ends. Further, the motors 4 and 5 are short-circuited for a predetermined time, and the vibration-proof lens 13 is stopped. In the next step S1710, the image stabilizing lens 13 is driven to the reset position by the image stabilizing lens reset process (FIG. 11). Then, the process proceeds to S1711, and the full-half pressing process ends.
[0107]
In the anti-shake control timer interrupt from the start of the anti-shake control in S1707 to the end of the anti-shake control in S1709, including during the exposure in S1708, the gain adjustment values A1, A2 and the angle in S1701, S1702 The deviation adjustment values Δα and Δβ are read from the E2PROM, the gain variation is corrected in S1306, and the anti-vibration control is performed on the output in which the angle deviation has been corrected in S1307. As a result, highly accurate image stabilization control is performed.
[0108]
As described above, one embodiment of the present invention has been described. However, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.
For example, in the embodiment, the amount of the angle shift is electrically detected, and the angle shift is electrically corrected by writing the adjustment value in the E2PROM of the camera. Adjustment of the angle deviation can also be performed by mechanically adjusting the angle of the angular velocity sensor or the angular velocity detection circuit.
In addition, although the speed control of the motors 4 and 5 has been described with respect to the PWM control, the control method of the motors 4 and 5 is not limited thereto.
Furthermore, in the embodiment, as a method of changing the optical axis of the photographing optical system, a method of shifting a part of the photographing optical system (the anti-vibration lens 13) has been described, but in addition, a vari-angle prism or the like may be used. Alternatively, another actuator such as a voice coil can be used instead of the motor.
[0109]
In the embodiment of the present invention, the communication tool inspects and adjusts the camera shake correction function. However, the present invention is not limited to this. For example, if the camera CPU 1 has these inspection functions and adjustment functions, the camera itself may be used. Will be able to make a self-diagnosis.
[0110]
【The invention's effect】
According to the present invention, the amount of deviation between the direction in which the optical axis of the photographing optical system changes and the direction in which the angular velocity is detected by the angular velocity detector is calculated to adjust the deviation between the two. In this case, it is possible to perform a more accurate shake correction without being affected by an attachment error of the angular velocity detector in the above.
Further, when the angular deviation is adjusted based on the integral or integrated value of the output value of the angular velocity detecting unit, the frequency fluctuation of the sinusoidal vibration given at the time of the angular deviation adjustment, or unnecessary high frequency added to the sinusoidal vibration It is possible to prevent the accuracy of the adjustment from deteriorating due to noise, and it is possible to adjust the angle shift with higher accuracy.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a camera-side portion, a communication tool-side portion, and a vibration table portion according to an embodiment of the present invention.
FIG. 2 is a diagram schematically showing a variation in gain of yaw and pitch angular velocity detection circuits 8 and 9;
FIG. 3 is a diagram for explaining an angle shift.
FIG. 4 is a diagram showing a state of gain adjustment and detection angle deviation adjustment according to the present invention.
FIG. 5 is a diagram showing a state of gain adjustment and detection angle deviation adjustment according to the present invention.
FIG. 6 is a diagram illustrating a state of centering control of an image stabilizing lens 13 in an X-axis direction.
FIG. 7 is a flowchart illustrating an example of a communication adjustment process performed by the communication tool 15.
FIG. 8 is a flowchart following FIG. 7;
FIG. 9 is a flowchart following FIG. 8;
FIG. 10 is a flowchart illustrating an example of a communication mode process performed by the CPU 1 of the camera.
11 is a flowchart illustrating an example of an image stabilizing lens reset process in step S704 of FIG.
12 is a flowchart illustrating an example of an image stabilizing lens centering process in step S706 of FIG.
13 is a flowchart illustrating an example of an image stabilization control start process in step S709 of FIG.
FIG. 14 is a flowchart illustrating an embodiment of an anti-shake lens reset timer interrupt process.
FIG. 15 is a flowchart illustrating an embodiment of an image stabilizing lens centering timer interrupt process.
FIG. 16 is a flowchart illustrating an example of an image stabilization control timer interrupt process.
FIG. 17 is a flowchart illustrating an example of a process of detecting the positions of the image stabilizing lenses max and min.
FIG. 18 is a flowchart illustrating an example of a process of detecting the anti-vibration lens target positions max and min values.
FIG. 19 is a flowchart illustrating an example of a process of detecting an anti-vibration lens position error max and min values.
FIG. 20 is a flowchart showing one embodiment of a camera half-pressing process according to the present invention.
[Explanation of symbols]
1 CPU
2,3 X-axis, Y-axis motor drive circuit
4,5 X and Y axis motors
6,7 X-axis, Y-axis lens position detection circuit
8, 9 Yaw, pitch angular velocity detection circuit
10 E2PROM
11, 12, 13, 14 Photographing lens (13 anti-vibration lens)
15 Communication tools
16 Half-press SW
17 Full-press SW
18 Shaking table

Claims (10)

An optical axis changing unit that changes the optical axis of the photographing optical system in order to correct shake caused by vibration;
An angular velocity detection unit that detects an angular velocity generated by the shake,
A storage unit that stores an angle shift amount between a direction in which the optical axis of the imaging optical system changes by the optical axis changing unit and a direction in which the angular velocity is detected by the angular velocity detection unit.
An adjustment device that adjusts a shake correction function of a shake correction camera including: a correction unit that corrects a deviation of a detection direction of an angular velocity of the angular velocity detection unit based on the angle shift amount stored by the storage unit.
An information transfer unit for transferring information with the shake correction camera,
A first sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in a direction in which the optical axis of the imaging optical system is changed by the optical axis changing unit of the shake correction camera, and a direction different from the direction of the first sinusoidal vibration; A vibration imparting unit that imparts a second sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in the direction,
The optical axis is based on an output value of the angular velocity detection unit when the first sine wave vibration and the second sine wave vibration are given to the shake correction camera or a calculation value obtained by integrating or integrating the output value. A calculation unit that calculates a direction corresponding to a change direction of the optical axis of the imaging optical system by the change unit and an amount of angular deviation between the angular velocity detection unit and the angular velocity detection direction;
A writing unit that writes the angle shift amount calculated by the calculation unit into the storage unit of the shake correction camera. In claim 1,
An adjusting unit for a shake correction camera, wherein the calculating unit calculates the angle shift amount based on an output value of the angular velocity detecting unit or a maximum value and a minimum value of a calculated value obtained by integrating or integrating the output value. . An optical axis changing unit that changes the optical axis of the photographing optical system in order to correct shake caused by vibration;
In a shake correction camera including an angular velocity detection unit that detects an angular velocity acting due to shake ,
A first output value of the angular velocity detection unit when a first sinusoidal vibration having a predetermined angular velocity amplitude is given in a direction in which the optical axis of the imaging optical system is changed by the optical axis change unit of the shake correction camera And the second output value of the angular velocity detector when a second sinusoidal vibration having a predetermined angular velocity amplitude is given in a direction different from the direction of the first sinusoidal vibration. An angular deviation amount between a direction corresponding to a change direction of the optical axis of the imaging optical system by the changing unit and a detection direction of the angular velocity by the angular velocity detection unit is calculated, and based on the angular deviation amount, the angular velocity Wherein the shift in the detection direction is adjusted. In claim 3,
The first sine-wave amplitude and the second sine-wave amplitude are provided to the shake correction camera by an external adjustment device, and the adjustment device is configured to perform the adjustment based on the first output value and the second output value. To calculate the angle shift amount,
A storage unit that stores the angle shift amount,
A correction unit configured to correct a deviation of the angular velocity detection unit in a direction in which the angular velocity is detected, based on the angle shift amount stored in the storage unit.
A shake correction camera characterized by the following. In claim 3,
The shake correction camera is characterized in that the angle shift amount is calculated based on a maximum value and a minimum value of the first output value and the second output value, respectively. An optical axis changing unit that changes the optical axis of the photographing optical system in order to correct shake caused by vibration;
In a shake correction camera including an angular velocity detection unit that detects an angular velocity acting due to shake ,
A first output value of the angular velocity detector when a first sinusoidal vibration having a predetermined angular amplitude is given in a direction in which the optical axis of the photographing optical system is changed by the optical axis changing unit of the shake correction camera; And a second operation value of the angle detection unit when a second sine wave vibration having a predetermined angular amplitude is given in a direction different from the direction of the first sine wave vibration. An angle between a direction corresponding to a change direction of the optical axis of the photographing optical system by the optical axis changing unit and a detection direction of the angular velocity by the angular velocity detection unit based on a second operation value obtained by integrating or integrating the output values of A shake correction camera, wherein a shift amount is calculated, and a shift of an angular velocity detection direction of the angular velocity detection unit is adjusted based on the angle shift amount. In claim 6,
The first sine-wave amplitude and the second sine-wave amplitude are provided to the shake correction camera by an external adjustment device, and the adjustment device is configured to output the first sine wave amplitude based on the first calculation value and the second calculation value. To calculate the angle shift amount,
A storage unit that stores the angle shift amount,
A correction unit configured to correct a deviation of the angular velocity detection unit in a direction in which the angular velocity is detected, based on the angle shift amount stored in the storage unit.
A shake correction camera characterized by the following. In claim 6 ,
The shake correction camera is characterized in that the angle shift amount is calculated based on a maximum value and a minimum value of the first calculation value and the second calculation value, respectively. In claims 3 to 8 ,
The shake correction camera according to claim 1, wherein directions of the first sine wave vibration and the second sine wave vibration are directions substantially perpendicular to the optical axis direction. An optical axis changing unit that changes the optical axis of the photographing optical system in order to correct shake caused by vibration;
An adjustment method for adjusting a shake correction function of a shake correction camera including an angular velocity detection unit that detects an angular velocity that acts due to shake,
A first sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in a direction in which the optical axis of the imaging optical system is changed by the optical axis changing unit of the shake correction camera, and a direction different from the direction of the first sinusoidal vibration; A second sinusoidal vibration having a predetermined angular velocity amplitude or angular amplitude in the direction is given, and based on the output value of the angular velocity detection unit at this time, the change direction of the optical axis of the imaging optical system and the angular velocity detection unit It calculates the angle deviation amount of the detection direction of the angular velocity, the angle based on the deviation amount, characteristics and to that adjustment method to adjust the detection direction of the deviation of the angular velocity of the angular velocity detection unit.

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