JP5106015B2 - Angular velocity detector - Google Patents

Description

  The present invention relates to an angular velocity detection device in an image blur correction device and the like, and more particularly to an angular velocity detection device that corrects an output error based on the inclination of an attachment angle of an angular velocity sensor.

  Conventionally, an image blur correction lens or an image sensor that forms part of the imaging optical system is placed on a plane perpendicular to the optical axis of the imaging optical system according to the amount of camera shake that occurs during imaging in an imaging apparatus such as a camera There has been proposed an apparatus that performs image blur correction processing that suppresses image blur on the imaging plane by moving the lens.

Patent Document 1 discloses an image blur correction apparatus in which a circuit for amplifying a signal from an angular velocity sensor and the angular velocity sensor are mounted on the same substrate, and the distance is shortened to reduce noise components and improve blur detection accuracy. Is disclosed.
JP 09-80552 A

  However, in the apparatus of Patent Document 1, an output error based on the inclination of the mounting angle of the angular velocity sensor is not considered.

  Accordingly, an object of the present invention is to provide an angular velocity detection device or an image blur correction device based on angular velocity detection that corrects an output error based on the inclination of the mounting angle of the angular velocity sensor in angular velocity detection.

  An image blur correction apparatus according to the present invention detects a vibration around an axis parallel to a second direction perpendicular to an optical axis of an imaging optical system and a first direction perpendicular to the optical axis of the imaging optical system. Based on the signals output from the first and second angular velocity sensors, the first angular velocity sensor, the second angular velocity sensor that detects vibration around the axis parallel to the first direction, and the first and second angular velocity sensors. A control unit that performs image blur correction processing, and the control unit outputs the amplitude output from the second angular velocity sensor and the output from the first angular velocity sensor when yawing is given without pitching in the image blur correction processing. The second angle error correction process for correcting the output error based on the inclination of the mounting angle of the second angular velocity sensor is performed using the first correction coefficient that is a ratio to the amplitude to be applied, and pitching is given without giving yawing. 1st angular velocity when A first angle error correction that corrects an output error based on the inclination of the mounting angle of the first angular velocity sensor, using a second correction coefficient that is a ratio between the amplitude output from the sensor and the amplitude output from the second angular velocity sensor. Process.

  Preferably, the amount of inclination of the attachment angle of the first angular velocity sensor is an angle formed by the detection axis of the first angular velocity sensor and the second direction, and the amount of inclination of the attachment angle of the second angular velocity sensor is the second amount. The angle formed by the detection axis of the angular velocity sensor and the first direction.

  Preferably, in the first angle error correction process, a value obtained by multiplying the output signal from the second angular velocity sensor by the second correction coefficient is subtracted from the output signal from the first angular velocity sensor to obtain a second angle error correction process. Subtracts a value obtained by multiplying the output signal from the first angular velocity sensor by the first correction coefficient from the output signal from the second angular velocity sensor.

  The image blur correction apparatus according to the present invention is used for detecting vibration around an axis parallel to a second direction perpendicular to the optical axis of the imaging optical system and the first direction perpendicular to the optical axis. An angular velocity sensor, a second angular velocity sensor used to detect vibration around an axis parallel to the first direction, and the first and second angular velocity sensors are controlled and output from the first and second angular velocity sensors. A control unit that performs image blur correction processing based on the signal, and the control unit includes an axis parallel to the second direction in the image blur correction processing without applying a second vibration around an axis parallel to the first direction. When the first vibration around is applied, the first correction coefficient, which is the ratio between the amplitude output from the second angular velocity sensor and the amplitude output from the first angular velocity sensor, is used to determine the mounting angle of the second angular velocity sensor. Perform a second angle error correction process to correct the output error based on the tilt, Using the second correction coefficient, which is the ratio between the amplitude output from the first angular velocity sensor and the amplitude output from the second angular velocity sensor when the second vibration is applied without applying one vibration, the first angular velocity is used. A first angle error correction process for correcting an output error based on the inclination of the sensor mounting angle is performed.

  An angular velocity detection device according to the present invention includes a first angular velocity sensor used for detecting vibration around an axis parallel to a second direction perpendicular to the first direction, and vibration around an axis parallel to the first direction. A second angular velocity sensor used to detect the first angular velocity sensor, and a controller that controls the first and second angular velocity sensors, and the controller does not apply a second vibration around an axis parallel to the first direction. When a first vibration around an axis parallel to the second direction is applied, a first correction coefficient that is a ratio of an amplitude output from the second angular velocity sensor and an amplitude output from the first angular velocity sensor is used. Amplitude output from the first angular velocity sensor when second angular error correction processing for correcting an output error based on the inclination of the mounting angle of the second angular velocity sensor is performed and the second vibration is applied without applying the first vibration. And the ratio of the amplitude output from the second angular velocity sensor Second using a correction factor, the first angular error correction process for correcting the output error based on the inclination of the mounting angle of the first angular velocity sensor performs that.

  As described above, according to the present invention, it is possible to provide an angular velocity detection device or an image blur correction device based on angular velocity detection that corrects an output error based on the inclination of the angular velocity sensor mounting angle in angular velocity detection.

  Hereinafter, the present embodiment will be described with reference to the drawings. The imaging device 1 will be described as a digital camera. In order to describe the direction, the horizontal direction orthogonal to the optical axis LX of the imaging optical system (such as the photographing lens 67) that forms an optical image incident on the imaging surface of the imaging device in the imaging device 1 is the first direction. In the following description, x, the vertical direction orthogonal to the optical axis LX is the second direction y, and the horizontal direction parallel to the optical axis LX is the third direction z.

  The parts related to the imaging of the imaging apparatus 1 are a Pon button 11 for switching on / off the main power source, a release button 13, an image blur correction button 14, an LCD monitor 17, a mirror aperture shutter unit 18, a DSP 19, a CPU 21, an AE unit 23, and an AF unit. 24, the imaging unit 39a of the image blur correction unit 30, and the photographing lens 67 (see FIGS. 1 to 3). The on / off state of the Pon switch 11a is switched in response to the pressing of the Pon button 11, and thereby the on / off state of the main power supply of the imaging device 1 is switched. The subject image is picked up as an optical image through the photographing lens 67 by the image pickup unit 39a, and the image picked up by the LCD monitor 17 is displayed. The subject image can also be optically observed with an optical viewfinder (not shown).

  When the release button 13 is half-pressed, the photometry switch 12a is turned on, and photometry, distance measurement, and focusing are performed. When the release button 13 is fully pressed, the release switch 13a is turned on and the imaging unit 39a (imaging means). Imaging (imaging operation) is performed, and the captured image is stored. In the present embodiment, image blur correction processing is performed after the release switch 13a is turned on until the release sequence operation is completed. However, the image blur correction process may be performed during another period (during photometry, distance measurement, and focusing operation).

  The mirror aperture shutter unit 18 is connected to the port P7 of the CPU 21 and performs UP / DOWN of the mirror 18a, opening / closing of the aperture (closing / opening), and opening / closing operation of the shutter 18b in conjunction with the ON state of the release switch 13a. While the mirror up operation of the mirror 18a is performed, the front curtain movement signal (not shown) is turned on while the front curtain movement of the shutter 18b in which the mirror up switch (not shown) is turned on. The

  The DSP 19 is connected to the port P9 of the CPU 21 and the imaging unit 39a, and performs arithmetic processing such as image processing on an image signal obtained by imaging in the imaging unit 39a based on an instruction from the CPU 21.

  The CPU 21 is a control unit that controls each unit related to imaging and controls each unit related to image blur correction described later. Further, the CPU 21 stores a value of an image blur correction parameter IS for determining whether or not a correction mode to be described later and a value of a release state management parameter RP.

  The value of the release state management parameter RP is switched in conjunction with the release sequence operation, the value is set to 1 during the release sequence operation (see steps S21 to S29 in FIG. 4), and the value is 0 when the release sequence operation ends. (See steps S13 and S29 in FIG. 4).

  The CPU 21 executes a series of release sequence operations to be described later after the release switch 13a is turned on.

Further, the CPU 21 performs first and second digital angular velocity signals BVx _n and BVy _n before first angular error correction, first and second digital angular velocity signals Vx _n and Vy _n , and first and second digital angular velocity VVx _n and VVy described later. _n, first, second digital angle _Bx n, By a _n, the first direction x component Sx _n position _{S n,} second direction y Sy _n, first driving force Dx _n, second driving force _Dy n, a First direction x component pdx _n , second direction y component pdy _n , first and second subtraction values ex _n , ey _n , first and second proportional coefficients Kx, Ky, image of position P _n after / D conversion Sampling period θ of blur correction processing, first and second integration coefficients Tix, Tyy, first and second differential coefficients Tdx, Tdy, first and second pre-correction values TMPX, TMPY, and first and second correction coefficients CX and CY are stored in memory.

The first and second digital angular velocity signals BVx _n and BVy _n , the second pre-correction value TMPY, and the second correction coefficient CY correct the output error based on the inclination of the mounting angle of the first angular velocity sensor 26a. performing a first angular error correction process, it is used to determine the first digital angular velocity signal _{Vx n (Vx n = BVx n} -BVy n × CY, see step S72 in FIG. 7). The amount of inclination of the mounting angle of the first angular velocity sensor 26a is an angle formed by the detection axis GSXO of the first angular velocity sensor 26a and the second direction y.

The first and second digital angular velocity signals BVx _n and BVy _n , the first pre-correction value TMPX, and the first correction coefficient CX correct the output error based on the inclination of the mounting angle of the second angular velocity sensor 26b. performing second angular error correction process, it is used to determine the second digital angular velocity signal _{Vy n (Vy n = BVy n} -BVx n × CX, see step S72 in FIG. 7). The amount of inclination of the mounting angle of the second angular velocity sensor 26b is an angle formed by the detection axis GSYO of the second angular velocity sensor 26b and the first direction x.

  The first correction coefficient CX is the first vibration (yawing) around the axis parallel to the second direction y in a state where the imaging apparatus 1 is not given the second vibration (pitching) around the axis parallel to the first direction x. , The ratio of the amplitude Y1 output from the second angular velocity sensor 26b and the amplitude X1 output from the first angular velocity sensor 26a (CX = Y1 / X1) is obtained in advance through experiments or the like.

  The second correction coefficient CY is the second vibration (pitching) around the axis parallel to the first direction x in a state where the first vibration (yawing) around the axis parallel to the second direction y is not given to the imaging device 1. , The ratio of the amplitude X2 output from the first angular velocity sensor 26a and the amplitude Y2 output from the second angular velocity sensor 26b (CY = X2 / Y2) is obtained in advance through experiments or the like.

  The first and second angular velocity sensors 26a and 26b are ideally mounted such that their detection axes GSXO and GSYO are perpendicular to the detection direction (first direction x and second direction y), that is, the first angular velocity sensor. Ideally, the angle formed between the detection axis GSXO 26a and the second direction y is zero, and the angle formed between the detection axis GSYO of the second angular velocity sensor 26b and the first direction x is zero. In this case, if yawing is applied to the imaging device 1 without applying pitching, the output from the second angular velocity sensor 26b becomes zero. Further, if pitching is applied to the image pickup apparatus 1 without yawing, the output from the first angular velocity sensor 26a becomes zero.

  However, the inclination of the detection elements of the first and second angular velocity sensors 26a and 26b, the inclination when the first and second angular velocity sensors 26a and 26b are mounted, and the substrate on which the first and second angular velocity sensors 26a and 26b are mounted. Positional relationship in which the inclination is strictly zero (the angle between the detection axis GSXO and the second direction y, or the angle between the detection axis GXYO and the first direction x is zero) due to the inclination when attached to the main board. It is difficult to realize (see FIG. 8). For this reason, when yawing is applied to the imaging apparatus 1 without pitching, the error output from the second angular velocity sensor 26b cannot be removed. In addition, when pitching is applied to the imaging apparatus 1 without yawing, the error output from the first angular velocity sensor 26a cannot be removed.

In the present embodiment, an error output based on the inclination is obtained for the signals output from the first and second angular velocity sensors 26a and 26b (BVy _n × CY, BVx _n × CX), and correction is performed in consideration of the inclination. Therefore, it is possible to detect the amount of image blur in a highly accurate state even if the image is attached with an inclination.

  The AE unit 23 performs a photometric operation of the subject to calculate an exposure value, and calculates an aperture value and an exposure time necessary for photographing based on the exposure value. The AF unit 24 performs distance measurement, and performs focus adjustment by displacing the photographing lens 67 in the optical axis direction based on the distance measurement result.

  The image blur correction device, that is, the portion related to the image blur correction of the imaging device 1 includes the image blur correction button 14, the LCD monitor 17, the CPU 21, the angular velocity detection unit 25, the driver circuit 29 for driving, the image blur correction unit 30, and the magnetic field change detection element. It comprises a Hall element signal processing circuit 45 as a signal processing circuit and a photographic lens 67.

  When the image blur correction button 14 is pressed, the image blur correction switch 14a is turned on, and the angular velocity detection unit 25 and the image blur correction unit 30 are driven at regular intervals independently of other operations such as photometry. Then, image blur correction processing is performed. The image blur correction parameter IS is set to 1 when the image blur correction switch 14a is in the on state, and the image blur correction parameter IS is 0 when the image blur correction switch 14a is not in the correction mode where the image blur correction switch 14a is off. Set to. In the present embodiment, this fixed time will be described as 1 ms.

  Various outputs corresponding to the input signals of these switches are controlled by the CPU 21. On / off information of the photometry switch 12a, release switch 13a, and image blur correction switch 14a is input to P12, P13, and P14 of the CPU 21 as 1-bit digital signals, respectively. The AE unit 23, the AF unit 24, and the LCD monitor 17 perform input / output of signals at ports P4, P5, and P6, respectively.

  Next, the details of the angular velocity detection unit 25, the driver circuit 29 for driving, the image blur correction unit 30, the Hall element signal processing circuit 45, and the input / output relationship with the CPU 21 will be described.

  The angular velocity detection unit 25 includes first and second angular velocity sensors 26a and 26b, first and second high-pass filter circuits 27a and 27b, and first and second amplifiers 28a and 28b. The first and second angular velocity sensors 26a and 26b are configured to pitch the first direction x (yaw about an axis parallel to the second direction y) and the second direction y (about an axis parallel to the first direction x) of the imaging device 1. ) Is used to detect the angular velocity. The first angular velocity sensor 26a is a gyro sensor used to detect an angular velocity (yawing angular velocity) in the first direction x, and the second angular velocity sensor 26b is an angular velocity (pitching angular velocity) in the second direction y. The first and second high-pass filter circuits 27a and 27b cut a low-frequency component that is a null voltage or panning output from the first and second angular velocity sensors 26a and 26b (analog high-pass filter processing). The first and second amplifiers 28a and 28b amplify signals related to angular velocities from which low-frequency components have been cut, and input analog signals to the A / D0 and A / D1 of the CPU 21 as the first and second angular velocities vx and vy. .

  The cut of the low frequency component is performed by analog high pass filter processing in the first and second high pass filter circuits 27a and 27b and digital high pass filter processing in the CPU 21. In the subsequent digital high-pass filter processing, a cutoff frequency equal to or higher than the cutoff frequency in the analog high-pass filter processing is set. The subsequent digital high-pass filter processing has an advantage that the value of the time constant (first and second high-pass filter time constants hx, hy) can be easily changed.

  The power supply to each part of the CPU 21 and the angular velocity detection unit 25 is started after the Pon switch 11a is turned on (the main power source is turned on). The shake amount detection calculation in the angular velocity detection unit 25 is started after the Pon switch 11a is turned on (the main power source is turned on).

The CPU 21 performs A / D conversion on the first and second angular velocities vx and vy inputted to A / D0 and A / D1 (first and second digital angular velocity signals BVx _n and BVy _n before angular error correction), and 1. Perform first and second angle error correction processes for correcting output errors based on the inclination of the mounting angle of the second angular velocity sensors 26a and 26b (first and second digital angular velocity signals Vx _n and Vy _n ), and a null voltage And low-frequency components that are panning (digital high-pass filter processing, first and second digital angular velocities VVx _n , VVy _n ) and integration calculation are performed to obtain an image blur amount (image blur angle) (first, image blur angle) Second digital angle Bx _n , By _n ). Therefore, the angular velocity detection unit 25 and the CPU 21 have an image blur amount calculation function.

  n is an integer greater than or equal to 0, and indicates the time (ms) from the timer interrupt process (t = 1, see step S12 in FIG. 4) to the time point (t = n) when the latest timer interrupt process is performed.

Digital high-pass filtering the first direction x, the first digital angular _{VVx 1 ~VVx n-1} of the sum ShigumaVVx _n that the first digital angular velocity signals Vx _n, determined by the timer interrupt processing to a predetermined time (1 ms) before _-1 was subtracted divided by the first high-pass filter time constant hx, carried out by determining the first digital angular _{VVx n (VVx n = Vx n} - (ΣVVx n-1) / hx, 6 (See (1)). Digital high-pass filtering the second direction y, the second digital angular _{VVy 1 ~VVy n-1} of the sum ShigumaVVy _n that the second digital angular velocity signal Vy _n, determined by the timer interrupt processing to a predetermined time (1 ms) before _-1 was subtracted divided by the second high-pass filter time constant hy, it is performed by obtaining the second digital angular _{VVy n (VVy n = Vy n} - (ΣVVy n-1) / hy).

  In the present embodiment, the angular velocity detection processing in the timer interruption processing refers to processing in the angular velocity detection unit 25 and input processing of the first and second angular velocities vx and vy from the angular velocity detection unit 25 to the CPU 21.

In the integral calculation process for the first direction x, the sum of the first digital angular velocities VVx _{1 to} VVx _{n at} the latest time point (t = n) is obtained from the start of the timer interrupt process (t = 1, see step S12 in FIG. 4). (Bx _n = ΣVVx _n , see (3) in FIG. 6). Integration processing operation regarding the second direction y is conducted by after the start of the timer interrupt processing the sum of the latest second digital angular _{VVy 1 ~VVy n (By n =} ΣVVy n).

CPU21 is image blur amount obtained by the calculation (image blur angle: first, second digital angle _{Bx n,} By n) the position _{S n} to be movement of the imaging unit 39a in accordance with and in consideration of the focal length Based on the position conversion coefficient zz, calculation and setting are performed for each of the first direction x and the second direction y. The first direction x component of the position _{S n} Sx _n, the second direction y is defined as Sy _n. Movement of the movable part 30a including the imaging part 39a is performed by an electromagnetic force described later. The first direction x component first driving force of the driving force _{D n} for driving the first driving coil 31a via a driver circuit 29 in order to move the movable unit 30a to the position _{S n Dx n} (D / after a conversion first 1PWM duty dx), the second direction y component second driving force _Dy n (D / a converted to drive the second drive coil 32a is the second 2PWM duty dy).

Positioning operation processing in the first direction x, the first direction x component of the sought (position _{S n} by multiplying the first position conversion coefficient zx the latest first digital angle _{Bx n Sx n = zx × Bx} n FIG. 6 (3)). Positioning processing operation regarding the second direction y, the second direction y of the sought (position _{S n} by multiplying the second position conversion coefficient zy the latest second digital angle _{By n Sy n = zy × By} n ).

Image blur correction unit 30, During the exposure time when (IS = 1) to perform image blur correction by moving the imaging unit 39a to the position S _n should move the CPU21 has operational, by blurring This is a device that performs image blur correction processing that corrects image blur by eliminating the deviation of the generated subject image on the imaging plane, keeping the subject image and the imaging plane position constant, and moves on the xy plane including the imaging unit 39a. A movable portion 30a having a possible area and a fixed portion 30b are provided. When the image blur correction process is not performed within the exposure time (IS = 0), the movable unit 30a is fixed at a specific position (in the present embodiment, the movement range center).

  The image blur correction unit 30 does not have a mechanism for fixing the movable unit 30a in the drive-off state.

Driving of the movable part 30a of the image blur correcting part 30 (including fixing to a specific position) is performed via a driver circuit 29 for driving which receives the output of the first PWM duty dx from the PWM0 and the second PWM duty dy from the PWM1 of the CPU 21. This is performed by an electromagnetic force generated by a driving coil unit and a driving magnet unit included in the driving unit (see (5) in FIG. 6). The position P _n before or after the movement of the movable part 30a is detected by the Hall element part 44a and the Hall element signal processing circuit 45. Information on the detected position _Pn is input to the A / D2 and A / D3 of the CPU 21 as the first detection position signal px as the first direction x component and the second detection position signal py as the second direction y component, respectively. (See (2) in FIG. 6). The first and second detection position signals px and py are A / D converted via A / D2 and A / D3. The first direction x component and the second direction y component of the position _Pn after A / D conversion with respect to the first and second detection position signals px and py are set to pdx _n and pdy _n , respectively. Detected position _{P n (pdx n, pdy n} ) position _{S n (Sx n, Sy n} ) to be moved with the data of the data by the PID control (the first, second driving force _Dx n, the calculation of Dy _n) Is done.

The first driving force Dx _n, the position _S to the first direction x component Sx _n of _n, the first subtraction value obtained by subtracting the first direction x component pdx _n position _{P n} after A / D conversion ex _n, first Calculated based on the proportional coefficient Kx, sampling period θ, first integration coefficient Tix, and first differential coefficient Tdx (Dx _n = Kx × {ex _n + θ ÷ Tix × Σex _n + Tdx ÷ θ × (ex _n −ex _{n -1} )}, see (4) of FIG.

The second driving force Dy _n, the position _S of the second direction y Sy _n of _n, second subtraction value obtained by subtracting the second direction y pdy _n position _{P n} after A / D conversion ey _n, second proportional coefficient Ky, the sampling cycle theta, second integral coefficient Tiy, is calculated based on the second derivative _{Tdy (Dy n = Ky × {} ey n + θ ÷ Tiy × Σey n + Tdy ÷ θ × (ey n -ey n _-1 )}).

  The value of the sampling period θ is set to a certain time: 1 ms.

Position _{S n (Sx n, Sy n} ) to be moved corresponding to the image blur correction by the image shake correcting process i.e. PID control driving of the movable portion 30a to the correction mode anti-shake switch 14a is set to the ON state ( Performed when IS = 1). When the image blur correction parameter IS is 0, the movable portion 30a is moved to the movement center position by performing PID control to a specific position not corresponding to the image blur correction process.

  The movable part 30a has two first and second driving coils 31a and 32a as driving coil parts, an imaging part 39a having an imaging element, and a Hall element part 44a as a magnetic field change detection element part. In the present embodiment, the image sensor is described as a CCD, but another image sensor such as a CMOS may be used.

  The fixed portion 30b has two first and second position detection and drive magnets 411b and 412b, and first and second position detection and drive yokes 431b and 432b as drive magnet portions.

  The fixed portion 30b supports the movable portion 30a so as to be movable in the first direction x and the second direction y.

  In order to perform image blur correction by making the best use of the imaging range of the image sensor, both the first direction x and the second direction y are performed when the optical axis LX of the photographic lens 67 is in a positional relationship passing near the center of the image sensor. The positional relationship between the movable part 30a and the fixed part 30b is set so that the movable part 30a is located at the center of the movement range (at the movement center position). The center of the image sensor refers to the intersection of two diagonal lines of a rectangle that forms the imaging surface of the image sensor.

  First and second driving coils 31a and 32a, and a hall element portion 44a on which a sheet-like and spiral coil pattern is formed, are attached to the movable portion 30a. The coil pattern of the first drive coil 31a includes a movable part including the first drive coil 31a by the electromagnetic force generated from the direction of the current of the first drive coil 31a and the direction of the magnetic field of the first position detection and drive magnet 411b. In order to move 30a in the first direction x, it has a line segment parallel to the second direction y. The coil pattern of the second driving coil 32a includes a movable part including the second driving coil 32a by an electromagnetic force generated from the direction of the current of the second driving coil 32a and the direction of the magnetic field of the second position detection and driving magnet 412b. In order to move 30a in the second direction y, it has a line segment parallel to the first direction x. The Hall element portion 44a will be described later.

  The first and second driving coils 31a and 32a are connected to a driving driver circuit 29 for driving them via a flexible substrate (not shown). The driving driver circuit 29 receives the first and second PWM duties dx and dy from the PWM0 and PWM1 of the CPU 21, respectively. The drive driver circuit 29 supplies power to the first and second drive coils 31a and 32a according to the input first and second PWM duties dx and dy, and drives the movable portion 30a.

  The first position detection and drive magnet 411b is attached to the movable portion 30a side of the fixed portion 30b so as to face the first drive coil 31a and the horizontal hall element hh10. The second position detection and drive magnet 412b is attached to the movable portion 30a side of the fixed portion 30b so as to face the second drive coil 32a and the vertical hall element hv10.

  The first position detection and drive magnet 411b is on the fixed portion 30b and on the movable portion 30a side in the third direction z, and on the first position detection and drive yoke 431b in the first direction x. N pole and S pole are mounted side by side.

  The second position detection and drive magnet 412b is on the fixed portion 30b in the third direction z and on the second position detection and drive yoke 432b attached to the movable portion 30a side, and in the second direction y. N pole and S pole are mounted side by side.

  The first position detection and drive yoke 431b is made of a soft magnetic material and is mounted on the fixed portion 30b. The first position detection and drive yoke 431b serves to prevent the magnetic field of the first position detection and drive magnet 411b from leaking to the surroundings, and the first position detection and drive magnet 411b and the first drive coil 31a, Also, it plays a role of increasing the magnetic flux density between the first position detecting and driving magnet 411b and the horizontal hall element hh10.

  The second position detection and drive yoke 432b is made of a soft magnetic material and is mounted on the fixed portion 30b. The second position detection and drive yoke 432b serves to prevent the magnetic field of the second position detection and drive magnet 412b from leaking to the surroundings, and the second position detection and drive magnet 412b and the second drive coil 32a. The second position detection and driving magnet 412b serves to increase the magnetic flux density between the vertical hall element hv10.

The Hall element unit 44a includes two Hall elements that are magnetoelectric conversion elements utilizing the Hall effect, and a current position P _n (first detection position signal px, first direction x, second direction y) of the movable unit 30a. This is a uniaxial Hall element that detects the second detection position signal py). Of the two hall elements, a hall element for position detection in the first direction x is a horizontal hall element hh10, and a hall element for position detection in the second direction y is a vertical hall element hv10.

  The horizontal hall element hh10 is mounted on the movable portion 30a as viewed from the third direction z and at a position facing the first position detecting and driving magnet 411b of the fixed portion 30b. The vertical hall element hv10 is mounted on the movable part 30a as viewed from the third direction z and at a position facing the second position detecting and driving magnet 412b of the fixed part 30b.

  In order to perform position detection by making full use of a range in which position detection with high accuracy can be performed using a linear change amount, the position of the horizontal hall element hh10 in the first direction x is near the center of the image sensor. When in a positional relationship passing through LX, it is desirable that the first position detection and driving magnet 411b be near the same distance as the north and south poles. Similarly, the position of the vertical hall element hv10 in the second direction y corresponds to the N pole and S pole of the second position detection and driving magnet 412b when the vicinity of the center of the imaging element passes through the optical axis LX. It is desirable to be in the vicinity of an equal distance.

  The hall element signal processing circuit 45 detects a horizontal potential difference x10 between the output terminals of the horizontal hall element hh10 from the output signal of the horizontal hall element hh10, and from this, a first detection position signal for specifying the position in the first direction x is detected. A vertical potential difference y10 between the output terminals of the vertical hall element hv10 is detected from the first hall element signal processing circuit 450 that outputs px to the A / D2 of the CPU 21 and the output signal of the vertical hall element hv10. A second Hall element signal processing circuit 460 for outputting a second detection position signal py for specifying the position in the two directions y to the A / D 3 of the CPU 21.

  Next, the main operation of the imaging apparatus 1 will be described with reference to the flowchart of FIG.

  When the power of the imaging apparatus 1 is turned on, power is supplied to the angular velocity detection unit 25 in step S11, and the power is turned on. In step S12, timer interrupt processing is started at regular time intervals (1 ms). In step S13, the value of the release state management parameter RP is set to zero. Details of the timer interrupt processing will be described later with reference to the flowchart of FIG.

  In step S14, it is determined whether or not the photometric switch 12a is turned on. If it is not turned on, step S14 is repeated, and if it is turned on, the process proceeds to step S15.

  In step S15, it is determined whether or not the image blur correction switch 14a is turned on. If the image blur correction switch 14a is not turned on, the value of the image blur correction parameter IS is set to 0 in step S16. If the image blur correction switch 14a is on, the value of the image blur correction parameter IS is set to 1 in step S17.

  In step S18, photometry is performed by driving the AE sensor of the AE unit 23, and the aperture value and exposure time are calculated. In step S19, the AF sensor of the AF unit 24 is driven to perform distance measurement, and the focusing operation is performed by driving the lens control circuit of the AF unit 24.

  In step S20, it is determined whether or not the release switch 13a is turned on. If the release switch 13a is not turned on, the process returns to step S14 (steps S14 to S19 are repeated). If the release switch 13a is on, the process proceeds to step S21, and the release sequence operation is started.

  In step S21, the value of the release state management parameter RP is set to 1. In step S22, the mirror stop shutter unit 18 performs a mirror up operation and an aperture stop operation. After the mirror up operation is completed, in step S23, the mirror aperture shutter unit 18 performs a shutter opening operation (front curtain moving operation).

  In step S24, CCD charge accumulation, that is, exposure is performed. After the exposure time ends, in step S25, the mirror aperture shutter unit 18 performs a shutter closing operation (rear curtain movement operation), a mirror down operation, and an aperture opening operation.

  In step S26, the charges accumulated in the CCD during the CCD input, that is, the exposure time, are moved. In step S <b> 27, communication is performed between the CPU 21 and the DSP 19, image processing is performed based on the moved charge, and the image-processed image is stored in the video memory in the imaging apparatus 1. In step S28, the stored image signal is displayed on the LCD monitor 17. In step S29, the value of the release state management parameter RP is set to 0, and the release sequence operation is completed. Thereafter, the process returns to step S14 (a state in which the next imaging operation can be performed).

Next, timer interrupt processing started in step S12 in FIG. 4 and performed at regular time intervals (1 ms) will be described with reference to the flowchart in FIG. When the timer interrupt process is started, the first and second angular velocities vx and vy output from the angular velocity detector 25 are A / D converted and input via the A / D0 and A / D1 of the CPU 21 in step S51. (First and second digital angular velocity signals BVx _n and BVy _n before angular error correction, angular velocity detection processing). In step S52, first, second angular error uncorrected digital angular velocity signal _{BVx n,} BVy n is first angular velocity sensor 26a, is angular error correction process for correcting the output error based on the inclination of the mounting angle of 26b (First and second digital angular velocity signals Vx _n and Vy _n ). First, second digital angular velocity signals _Vx n, Vy _n represents the low-frequency component is a null voltage and panning is cut (first, second digital angular velocities _VVx n, VVy _n, a digital high-pass filtering). Details of the angle error correction calculation processing in step S52 will be described later with reference to the flowchart of FIG.

  In step S53, it is determined whether or not the value of the release state management parameter RP is set to 1. If it is not set to 1, in step S54, the drive of the movable part 30a is turned off, that is, the drive control to the movable part 30a using the coil is not performed. If it is set to 1, the process proceeds to step S55.

In step S55, the first and second detected position signals px and py detected by the Hall element unit 44a and calculated by the Hall element signal processing circuit 45 are A / D converted via the A / D2 and A / D3 of the CPU 21. The current position P _n (pdx _n , pdy _n ) is obtained.

In step S56, it is determined whether or not the value of the image blur correction parameter IS is zero. IS = 0 ie if not corrected mode, in step S57, the position _{S n (Sx n, Sy n} ) to be the movement of the movable portion 30a is set to be the same as the movement center position of the movable portion 30a. IS = 1 that is, when the correction mode, in step S58, the first determined in step S51, the second angular velocity vx, position to movement of the movable portion 30a from _{vy S n (Sx n, Sy} n) is calculated and set Is done.

In step S59, the step S57 the position _{S n (Sx n, Sy n} ) to the current position _{P n (pdx n, pdy n} ) driving force required to move the movable portion 30a than _{D n} ie first to or set in S58, The first driving force Dx _n (first PWM duty dx) and the second driving force Dy _n (second PWM duty dy) necessary for driving the second driving coils 31a and 32a are calculated. In step S60, the first and second drive coils 31a and 32a are driven by the first and second PWM duties dx and dy via the drive driver circuit 29, and the movable portion 30a is moved. The operations in steps S59 and S60 are automatic control calculations used in PID automatic control for performing general proportional, integral, and differential calculations.

Next, details of the angle error correction processing calculation in step S52 of FIG. 5 will be described using the flowchart of FIG. If the angle error correcting operation is started, in step S71, first, second angular error uncorrected digital angular velocity signal _BVx n, the value of BVy _n, first, second pre-correction value TMPX, is set to TMPY The In step S72, the first and second digital angular velocity signals Vx _n and Vy _n are obtained based on the first and second pre-correction values TMPX and TMPY and the first and second correction coefficients CX and CY (Vx _{n = TMPX-TMPY × CY, Vy} n = TMPY-TMPX × CX).

  In addition, the mode in which the image pickup unit 39a including the image pickup element is arranged and moved on the movable unit 30a has been described. However, the image pickup unit 39a is fixed and the image blur correction lens is arranged on the movable unit 30a and moved. An effect is obtained.

  Further, although the position detection by the Hall element unit 44a using the Hall element as the magnetic field change detection element has been described, another detection element may be used as the magnetic field change detection element. Specifically, an MI sensor (high frequency carrier type magnetic field sensor) capable of obtaining the position detection information of the movable part by detecting a change in the magnetic field, a magnetic resonance type magnetic field detection element, an MR element (magnetoresistance effect element) The same effect as that of the present embodiment using the Hall element can be obtained.

  Further, the application of the angular velocity detection device is not limited to the image blur correction device of the imaging device. For example, you may use in the own vehicle position detection apparatus in a car navigation system.

It is the perspective view seen from the back which shows the appearance of the imaging device in this embodiment. It is a front view of an imaging device. It is a circuit block diagram of an imaging device. It is a flowchart which shows the main operation | movement process of an imaging device. It is a flowchart which shows an interruption process. It is a figure which shows the computing equation of each procedure in an image blurring correction process. It is a flowchart which shows the detail of the angle error correction process calculation in an interruption process. It is a perspective view which shows the 1st, 2nd angular velocity sensor attached to the imaging device, and each detection axis.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Imaging device 11 Pon button 12a Metering switch 13 Release button 13a Release switch 14 Image blur correction button 14a Image blur correction switch 17 LCD monitor 18 Mirror aperture shutter part 18a Mirror 18b Shutter 19 DSP
21 CPU
23 AE unit 24 AF unit 25 Angular velocity detection unit 26a, 26b First and second angular velocity sensors 27a, 27b First and second high-pass filter circuits 28a, 28b First and second amplifier circuits 29 Driver driver circuit 30 Image blur correction Unit 30a movable unit 30b fixed unit 31a, 32a first and second driving coils 39a imaging unit 411b, 412b first and second position detecting and driving magnets 431b and 432b first and second position detecting and driving yoke 44a Hall element unit 45 Hall element signal processing circuit 67 Shooting lens BVx _n , BVy _n first and second digital angular velocity signals Bx _n , By _n first, second digital angular position CX, CY first, second correction factors dx, dy first and 2PWM duty dx _n, Dy _n first, second driving force ex _n, ey _n first Second subtraction value hh10 horizontal hall element hv10 vertical hall sensor hx, hy first, second high-pass filter time constant GSXO, GSYO first, the detection axis LX photographing lens in the second angular velocity sensor optical axis pdx _n A / D second direction y px in the first direction x component pdy _n a / D conversion position _{P n} after the position _{P n} after conversion, py first, second detection position signal RP release state parameter Sx _n S _n the second direction y Tdx the first direction x component Sy _n S _n of, Tdy first, second derivative Tix, Tiy first, second integral coefficient TMPX, TMPY first, second pre-correction value vx, vy First and second angular velocities Vx _n and Vy _n First and second digital angular velocity signals VVx _n and VVy _n First and second digital angular velocities θ Sampling period

Claims (5)

A first angular velocity sensor for detecting vibration about an axis parallel to a second direction perpendicular to the optical axis of the imaging optical system and a first direction perpendicular to the optical axis;
A second angular velocity sensor for detecting vibration around an axis parallel to the first direction;
A control unit that controls the first and second angular velocity sensors and performs image blur correction processing based on signals output from the first and second angular velocity sensors;
In the image blur correction process, the control unit is based on only a ratio between an amplitude output from the second angular velocity sensor and an amplitude output from the first angular velocity sensor when yawing is applied without pitching. When the second angle error correction process for correcting the output error based on the inclination of the mounting angle of the second angular velocity sensor is performed using the first correction coefficient, and the pitching is given without giving yawing, the first A second correction coefficient comprising only the ratio of the amplitude output from the angular velocity sensor and the amplitude output from the second angular velocity sensor is used to correct an output error based on the inclination of the mounting angle of the first angular velocity sensor. An image blur correction apparatus that performs one-angle error correction processing. The amount of inclination of the mounting angle of the first angular velocity sensor is an angle formed by the detection axis of the first angular velocity sensor and the second direction,
2. The image blur correction device according to claim 1, wherein an amount of inclination of the mounting angle of the second angular velocity sensor is an angle formed by a detection axis of the second angular velocity sensor and the first direction. The first angular error correction process subtracts a value obtained by multiplying the output signal from the second angular velocity sensor by the second correction coefficient from the output signal from the first angular velocity sensor,
2. The second angle error correction process subtracts a value obtained by multiplying an output signal from the first angular velocity sensor by the first correction coefficient from an output signal from the second angular velocity sensor. The image blur correction device according to 1. A first angular velocity sensor used to detect vibration about an axis parallel to a second direction perpendicular to an optical axis of the imaging optical system and a first direction perpendicular to the optical axis;
A second angular velocity sensor used to detect vibration about an axis parallel to the first direction;
A control unit that controls the first and second angular velocity sensors and performs image blur correction processing based on signals output from the first and second angular velocity sensors;
In the image blur correction process, the control unit applies the first vibration around the axis parallel to the second direction without applying the second vibration around the axis parallel to the first direction. An output error based on the inclination of the mounting angle of the second angular velocity sensor is corrected using a first correction coefficient that is composed only of the ratio of the amplitude output from the two angular velocity sensor and the amplitude output from the first angular velocity sensor. A second angle error correction process is performed, and the amplitude output from the first angular velocity sensor and the amplitude output from the second angular velocity sensor when the second vibration is applied without applying the first vibration. An image blur correction apparatus for performing a first angle error correction process for correcting an output error based on an inclination of a mounting angle of the first angular velocity sensor using a second correction coefficient including only a ratio. A first angular velocity sensor used to detect vibration about an axis parallel to a second direction perpendicular to the first direction;
A second angular velocity sensor used to detect vibration about an axis parallel to the first direction;
A controller for controlling the first and second angular velocity sensors,
The control unit outputs from the second angular velocity sensor when the first vibration around the axis parallel to the second direction is given without the second vibration around the axis parallel to the first direction. A second angle error correction process for correcting an output error based on the inclination of the mounting angle of the second angular velocity sensor using a first correction coefficient consisting only of a ratio between the amplitude and the amplitude output from the first angular velocity sensor. A second correction comprising only a ratio between an amplitude output from the first angular velocity sensor and an amplitude output from the second angular velocity sensor when the second vibration is applied without applying the first vibration. An angular velocity detection apparatus that performs a first angle error correction process that corrects an output error based on an inclination of a mounting angle of the first angular velocity sensor using a coefficient.

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