JP5529552B2 - Anti-vibration control device and method - Google Patents

Description

  The present invention relates to a technique for detecting shaking applied to an imaging apparatus such as a camera and reducing image deterioration due to camera shake based on the result.

  In recent imaging apparatuses such as cameras, research on a technique for correcting camera shake is in progress.

  For example, Patent Document 1 discloses a technique for changing frequency characteristics so that the phase shift of a signal is small when a blur at a specific frequency is large, thereby improving the blur correction accuracy of the frequency.

Japanese Patent Laid-Open No. 04-349432

  The conventional phase compensation filter disclosed in the above-mentioned patent documents and the like has a problem that it is possible to increase the correction accuracy with respect to blurring of a specific frequency, but it is not possible to increase the blur correction accuracy in a wider band. .

  The present invention has been made in view of the above problems, and compensates for a phase shift that occurs when a shake signal indicating a shake of an imaging apparatus is processed into a shake correction signal in the frequency band of the shake. Therefore, it is an object to enable highly accurate camera shake correction.

In order to achieve the above object, the image stabilization control device of the present invention that detects and corrects a shake in a preset frequency band applied to the imaging device includes a shake detection unit that detects the shake applied to the imaging device, Processing means for attenuating a shake signal having a frequency lower than a predetermined first break frequency with respect to the shake signal output from the shake detection means, and the shake signal processed by the processing means A phase compensation unit that compensates for a phase shift with respect to the shake signal before being processed by the processing unit, and a correction unit that corrects the shake of the imaging device based on the shake signal that has been compensated for the phase shift. has the door, said phase compensation means so as to cancel the phase shift caused by said processing means to change the phase to the sway signal processed by the processing means, prior A second breakpoint for initiating a phase change for the shaking signal processed by the processing means between a first breakpoint frequency and the lowest frequency of the preset frequency band. At least one frequency is set .

  By compensating for a phase shift that occurs when a shake signal indicating a shake of the imaging apparatus is processed into a camera shake correction signal, the camera shake can be corrected with high accuracy.

1 is a block diagram of an image stabilization control device according to a first embodiment. The figure explaining the frequency characteristic of the gain in a 1st embodiment. The figure explaining the frequency characteristic of the phase change in 1st Embodiment. The wave form diagram explaining the effect of the phase compensation filter in a 1st embodiment. The block diagram of the vibration proof control apparatus in 2nd Embodiment. The figure explaining the frequency characteristic of the gain in a 2nd embodiment. The figure explaining the frequency characteristic of the phase change in 2nd Embodiment. The wave form diagram explaining the effect of the phase compensation filter in a 2nd embodiment. The block diagram of the vibration proof control apparatus in 3rd Embodiment. The figure explaining the phase compensation breakpoint change at the time of the breakpoint change of the high pass filter and integral filter in 3rd Embodiment. The flowchart of the break point change process at the time of panning in 3rd Embodiment.

  The best mode for carrying out the present invention will be described below in detail with reference to the accompanying drawings.

<First Embodiment>
FIG. 1 is a block diagram of an image stabilization control apparatus according to the first embodiment of the present invention. In FIG. 1, an angular velocity meter 11 is a vibration gyro that detects shaking applied to the imaging apparatus. The high-pass filter 12 (processing means) performs high-pass processing for attenuating DC components and extremely low frequency noise superimposed on the angular velocity signal (swing signal) output from the angular velocity meter 11. The phase compensation filter 13 compensates for the phase shift of the angular velocity signal caused by the processing by the high-pass filter 12, and details thereof will be described later. The integration filter 14 (integration means) integrates the angular velocity signal output from the high-pass filter 12 and converts it into an angle signal (integrated signal). The blur correction unit 15 is driven so as to cancel the blur based on the angle signal from the integration filter.

  Note that the blur correction unit 15 is housed in an optical system (not shown) and is driven to drive a blur correction optical mechanism that deflects the optical axis of the optical system, or an imaging surface drive that changes the imaging position by being driven. There are mechanisms. Since any blur correction unit can be applied in the present invention, detailed description thereof is omitted. In practice, a sensitivity adjustment unit that adjusts the gain of the angle signal according to the state of the optical system, a drive circuit that drives the blur correction unit 15, and the like are provided between the integration filter 14 and the blur correction unit 15. However, since these configurations are not directly related to the present invention, detailed description thereof is omitted.

  Next, the configuration of the high-pass filter 12 and the phase compensation filter 13 will be described with reference to FIG. FIG. 2 is a Bode diagram schematically showing the frequency characteristics of the gain of the high-pass filter 12 and the phase compensation filter 13. The horizontal axis represents frequency (logarithmic notation), and the vertical axis represents gain (decibel notation).

  In the first embodiment, the frequency characteristic 21 of the high-pass filter 12 is provided with a break point 21a so that the break frequency is 0.2 Hz. The frequency of the break point 21 a of the high pass filter 12 (first break point frequency) may be a frequency lower than the lowest frequency 34 a in the camera shake frequency band 34. Thus, by multiplying the input angular velocity signal by the gain corresponding to the frequency of the input angular velocity signal, the angular velocity signal having a frequency lower than 0.2 Hz is attenuated. Due to the frequency characteristics of the high-pass filter 12 as shown in FIG. 2, deterioration of blur correction accuracy due to a DC component superimposed on the angular velocity signal or an extremely low frequency component of 0.2 Hz or less is prevented.

  On the other hand, the frequency characteristic 22 of the phase compensation filter 13 has at least two break points in the first embodiment. In this embodiment, the break point 22a has a break frequency of 0.2 Hz. Has a break point 22b at a frequency at which the break frequency is 0.4 Hz. Incidentally, although details will be described later, 22a is a break point at which gain reduction starts so as to delay the phase, and 22b is a break point at which gain reduction ends so as to eliminate the phase delay.

  In the first embodiment, the frequency band of camera shake applied to the imaging apparatus is about 1 Hz to 10 Hz. In FIG. 2 and FIG. 3, among the predetermined frequency bands of camera shake, 1 Hz, which is the lowest frequency, is represented by 34a, and 10Hz, which is the highest frequency, is represented by 34b. In FIG. 2, the higher frequency side than 34a is the camera shake frequency band. Further, the break point 22 a of the frequency characteristic 22 of the phase compensation filter 13 is provided between the break point 21 a of the high pass filter 12 and the lowest frequency 34 a in the camera shake frequency band 34. As will be described in detail later, the bending point 22b of the frequency characteristic 22 of the phase compensation filter 13 is larger than the frequency of the bending point 21a of the high-pass filter 12, and is 1.5 to 3 times the frequency of the bending point 22a. Provided.

  The effect of providing the phase compensation filter 13 having the frequency characteristics shown in FIG. 2 will be described with reference to FIG. 3 shows the frequency characteristics of the phases of the high-pass filter 12 and the phase compensation filter 13 having the frequency characteristics of the gain shown in the Bode diagram of FIG. 2. The horizontal axis represents frequency (logarithmic notation), and the vertical axis represents It is a phase change (angle notation).

  In the frequency band in which the gain changes (in this embodiment, the frequency band lower than the break frequency 0.2 Hz of the break point 21a), the phase of the high pass filter 12 is shifted. However, when the break frequency of the break 21a is higher than the break frequency of 0.2 Hz, and the gain becomes constant with respect to the change in frequency, the phase shift gradually converges to 0 degrees. In FIG. 3, 31 is the phase characteristic of the high-pass filter 12, and the phase at the break point 21a (break point frequency is 0.2 Hz) advances 45 degrees. In the camera shake frequency band (here, the range from 1 Hz to 10 Hz indicated by the arrow 34), for example, the phase is advanced by about 11 degrees at 1 Hz. Deterioration in the accuracy of camera shake correction due to such a phase change will be described with reference to FIG.

  FIG. 4 is a diagram schematically showing a camera shake with a 1 Hz sine wave. The horizontal axis represents elapsed time, and the vertical axis represents the amount of shake (angular velocity).

  A waveform 41 is a signal waveform of an actual angular velocity applied to the angular velocity meter 11. A waveform 42 is a waveform obtained by processing the angular velocity signal from the angular velocity meter 11 with the high-pass filter 12 and removing DC components and extremely low frequency noise. Here, when the waveform 41 and the waveform 42 are compared, a time shift 43 occurs in the waveform. This is the deviation due to the phase of 11 degrees shown in FIG.

  A waveform 44 is a difference between the waveform 41 and the waveform 42, and this is an error due to a residual correction. Therefore, in order to reduce the error due to the remaining correction, it is necessary to reduce the phase shift before and after the processing by the high-pass filter 12.

  Returning to FIG. 3, reference numeral 32 denotes the phase characteristic of the phase compensation filter 13, and the maximum phase delay is about 19 degrees between the corner frequency of the corner 22 a and the corner frequency of the corner 22 b. ing. Then, the delay is about 10 degrees at 1 Hz, which is the lowest frequency in a predetermined frequency range of camera shake. Focusing on the 1 Hz camera shake, the phase advance by the high-pass filter 12 is about 11 degrees, and the phase delay by the phase compensation filter is about 10 degrees.

  Further, of the phase characteristics 31 of the high-pass filter 12 and the phase characteristics 32 of the phase compensation filter 13 in the camera shake frequency band 34, the phase in the frequency band higher than the lowest frequency 34a among the predetermined frequency bands of camera shake. Consider the characteristics. The phase characteristic 31 of the high-pass filter 12 and the phase characteristic 32 of the phase compensation filter 13 are substantially opposite to each other in the phase characteristic near 32a and the phase characteristic near 31a. Therefore, the phase characteristic 33 obtained by combining the phase characteristic 31 of the high-pass filter 12 and the phase characteristic 32 of the phase compensation filter 13 can extremely reduce the phase shift in the camera shake frequency band 34 as indicated by 33a.

  Here, the reason why the phase characteristic of the high-pass filter 12 near 31a and the phase characteristic of the phase compensation filter 13 near 32a are opposite to each other will be described. The phase characteristic is based on the ratio between the filter corner frequency and the frequency at which the phase amount is measured. For example, when the break frequency of the high-pass filter 12 is 0.2 Hz and the frequency for which the amount of phase is desired is 1 Hz, the phase amount is calculated based on the ratio.

  Here, if the break frequency at which the phase delay of the phase compensation filter 13 is started is set to 0.2 Hz, the change in the phase characteristics combined with the high pass filter 12 is the sum of the phases because the break frequency is 0.2 Hz. Has been doubled.

  On the other hand, if the break frequency for terminating the phase lag of the phase compensation filter 13 is set to 0.4 Hz, the ratio of 1 Hz and 0.4 Hz with respect to the phase lag of the break frequency 0.2 Hz at 1 Hz, Double phase change is obtained. For this reason, two phase delays at the break frequency 0.2 Hz and one phase advance at the break frequency 0.4 Hz cancel each other.

  The most effective cancellation of the phase error is to make the break point 22a (on the low frequency side) for starting the phase delay of the phase compensation filter 13 coincide with the break point of the high-pass filter 12 as described above. . Then, the break point 22b for ending the phase delay (on the high frequency side) is set to a frequency twice the frequency of the break point for starting the phase delay. However, there are cases where the setting cannot be made to deal with vibrations other than panning and camera shake, and mechanical friction during shake correction.

  Therefore, the two bend points 22a and 22b of the phase compensation filter 13 were changed in various ways, and the phase cancellation effect with the high-pass filter 12 was confirmed. Then, even if the break frequency of the break point 22a for starting the phase delay of the phase compensation filter 13 is deviated from the break frequency of the break point 21a of the high-pass filter 12 by about double or half, it is effective. For example, when the break frequency of the break point 21a of the high pass filter 12 is 0.2 Hz, the break frequency of the delay side break point 22a of the phase compensation filter 13 can be set between 0.1 Hz and 0.4 Hz.

  Similarly, the break point frequency of the break point 22b for ending the phase delay of the phase compensation filter 13 is set to 1.5 to 3 times the break point frequency of the break point 22a for starting the phase delay. Even if it is effective. That is, when the break frequency of the break point 22a for starting the phase delay of the phase compensation filter 13 is set to 0.2 Hz, the break point frequency of the break point 22b for ending the phase delay is from 0.3 Hz to 0. It can be set between 6 Hz.

As described above, in the first embodiment, the break point of the phase compensation filter 13 is provided between the break frequency of the break point 21 a of the high-pass filter 12 and the lowest frequency in the camera shake frequency band 34. Then set the break point 22 a (low frequency side) for starting the phase delay of the phase compensation filter at substantially the same frequency as the break frequency of the break point 21a of the high-pass filter 12, a phase delay in frequency of the Ryakubai It has set break point 22 b of the (high frequency side) to terminate the.

  More specifically, a break point 22a for starting the phase delay of the phase compensation filter is set to a break point 21a of the high-pass filter 12 between a frequency that is half of the break point frequency of the break point 21a and a frequency that is twice the break frequency. To do. A break point 22b for terminating the phase delay is set between 1.5 and 3 times the break point frequency of the break point 21a.

  As described above, according to the first embodiment, since the phase error due to the high-pass filter can be canceled by the phase compensation filter, it is possible to perform blur correction with high accuracy.

<Second Embodiment>
Next, a second embodiment of the present invention will be described. FIG. 5 is a block diagram of an image stabilization control apparatus according to the second embodiment of the present invention. In addition, the same reference number is attached | subjected to the structure similar to FIG. 1, and description is abbreviate | omitted here. In FIG. 5, reference numeral 51 denotes a phase compensation filter (phase compensation means, second phase compensation means) that compensates for a phase shift of an angle signal (fluctuation integral signal) resulting from integration processing by the integration filter 14 (integration means). . The phase compensation filter 51 cancels the phase shift with the integration filter 14 (integration means, second processing means).

  Next, the configuration of the phase compensation filter 51 will be described with reference to FIG. FIG. 6 is a Bode diagram schematically showing gain frequency characteristics of the integration filter 14 and the phase compensation filter 51, where the horizontal axis indicates frequency (logarithmic notation) and the vertical axis indicates gain (decibel notation). Reference numeral 61 represents the frequency characteristic of the integration filter 14, and in the second embodiment, a filter provided with a break point 61a so that the break frequency is 0.2 Hz is used. It should be noted that the frequency of the break point 61 a (second break point frequency) of the integration filter 14 may be a frequency lower than the lowest frequency 34 a in the camera shake frequency band 34. Accordingly, an angular velocity signal having a frequency higher than 0.2 Hz is integrated. Here, the attenuation of the signal in proportion to the frequency is called an integral characteristic.

  In the second embodiment, the frequency characteristic 62 of the phase compensation filter 51 has at least two break points, the break point 62a for starting the phase delay at the break point frequency of 0.2 Hz, and the break point frequency. There is a break point 62b for ending the phase delay at 0.4 Hz.

  In the second embodiment as well, as in the first embodiment described above, the frequency band of camera shake applied to the imaging apparatus is about 1 Hz to 10 Hz. In FIG. 5 and FIG. 6, among the predetermined frequency bands of camera shake, 1 Hz, which is the lowest frequency, is represented by 34a, and 10 Hz, which is the highest frequency, is represented by 34b. In FIG. 6, the camera shake frequency band is higher than 34a. Further, the break point 62 a of the frequency characteristic 62 of the phase compensation filter 51 is provided between the break point 61 a of the integration filter 14 and the lowest frequency 34 a in the camera shake frequency band 34. The break point 62b of the frequency characteristic 62 of the phase compensation filter 51 will be described in detail later, but is the same as or larger than the break point frequency of the break point 61a of the integration filter 14, and from 1.5 times the break point frequency of the break point 62a. It is provided at 3 times the frequency.

  Next, the effect of providing the phase compensation filter 51 having the frequency characteristics shown in FIG. 6 will be described with reference to FIG. FIG. 7 shows the frequency characteristics of the phases of the integrating filter 14 and the phase compensation filter 13 having the frequency characteristics of the gain shown in the Bode diagram of FIG. 6, where the horizontal axis is frequency (logarithmic notation), and the vertical axis is It is a phase change (angle notation).

  In FIG. 7, reference numeral 71 denotes a phase characteristic of the integration filter 14. The theoretical integration characteristic of the integrating filter 14 is delayed by 90 degrees with respect to the original signal (assumed to be a sine wave), but the phase at the break point 61a (break point frequency is 0.2 Hz) is 45 as shown in FIG. Not enough late. Further, in the camera shake frequency band (here, the range from 1 Hz to 10 Hz indicated by the arrow 34), for example, the phase is not delayed by about 11 degrees at 1 Hz. Deterioration in the accuracy of camera shake correction due to this will be described with reference to FIG.

  FIG. 8 is a diagram schematically showing camera shake as a sine wave of 1 Hz. The horizontal axis represents the result time, and the vertical axis represents the amount of shake (angular velocity).

  A waveform 81 is a signal waveform of an actual angular velocity applied to the angular velocity meter 11. A waveform 82 is a waveform obtained by integrating the angular velocity signal from the angular velocity meter 11 with the integration filter 14 and converting the angular velocity signal into an angle. Since the angular velocity is integrated into the angle, the phase should theoretically be delayed by 90 degrees, but is actually delayed by about 79 degrees. A waveform 83 is a waveform obtained by theoretically integrating the angular velocity applied to the angular velocity meter 11, and a temporal deviation 85 is generated as compared with the waveform 82. This is the deviation due to the phase of 11 degrees shown in FIG.

  A waveform 84 is a difference between the waveform 82 and the waveform 83, and this is an error remaining after correction. Therefore, in order to reduce the error due to the remaining correction, it is necessary to reduce the phase shift between the actual integration result by the integration filter 14 and the theoretical integration result by the integration filter 14.

  Returning to FIG. 7, reference numeral 72 denotes the phase characteristic of the phase compensation filter 51. The phase delay is about 19 degrees at the maximum between the corner frequency of the corner 62a and the corner frequency of the corner 62b. ing. Then, the delay is about 10 degrees at 1 Hz, which is the lowest frequency in a predetermined frequency range of camera shake. Focusing on the 1 Hz camera shake, the phase of the integral filter 14 with insufficient delay is about 11 degrees, and the phase delay of the phase compensation filter 51 is about 10 degrees.

  Further, the phase in the frequency band higher than the lowest frequency 34a among the predetermined frequency bands of camera shake among the phase characteristics 71 of the integration filter 14 and the phase characteristics 72 of the phase compensation filter 51 in the camera shake frequency band 34. Consider the characteristics. The phase characteristic 71 of the integration filter 14 and the phase characteristic 72 of the phase compensation filter 51 are substantially opposite to each other in the phase characteristic near 72a and the phase characteristic near 71a. Therefore, the phase characteristic 73 obtained by combining the phase characteristic 71 of the integrating filter 14 and the phase characteristic 72 of the phase compensation filter 51 can extremely reduce the phase delay shortage as indicated by 73a in the camera shake frequency band 34. .

  Note that the reason why the phase characteristic of the integrating filter 14 near 71a and the phase characteristic of the phase compensation filter 51 near 72a are opposite to each other is the same as that described in the first embodiment.

  The most effective cancellation of the phase error is to match the break point 62a (on the low frequency side) for starting the phase delay of the phase compensation filter 51 with the break point of the integration filter 14 as described above. . Then, the break frequency of the break point 62b for ending the phase delay (high frequency side) is set to be twice the break frequency of the break point 62a for starting the phase delay. However, there is a possibility that low frequency noise superimposed on the angular velocity meter may be increased, and the above setting may not be possible.

  Therefore, the two bend points 62a and 62b of the phase compensation filter 51 were changed in various ways, and the phase cancellation effect with the integration filter 14 was confirmed. Then, there is an effect even if the corner frequency of the corner 62a for starting the phase delay of the phase compensation filter 51 is deviated by about half or half of the corner frequency of the corner 61a of the integrating filter 14. For example, when the break frequency of the break point 61a of the integration filter 14 is 0.2 Hz, the break frequency of the break point 62a for starting the phase delay of the phase compensation filter 51 is between 0.1 Hz and 0.4 Hz. Can be set.

  Similarly, the break point 62b for ending the phase delay of the phase compensation filter 51 can be effectively set to 1.5 to 3 times the break frequency of the break point 62a for starting the phase delay. . That is, when the break frequency of the break point 62a for starting the phase delay of the phase compensation filter 51 is set to 0.2 Hz, the break point frequency of the break point 62b for ending the phase delay is from 0.3 Hz to 0. It can be set between 6 Hz.

  As described above, in the second embodiment, the break point of the phase compensation filter 51 is provided between the break point frequency of the break point 61 a of the integration filter 14 and the lowest frequency 34 a in the camera shake frequency band 34. Then, a break point 62a (on the low frequency side) for starting the phase delay of the phase compensation filter is set to a frequency substantially the same as the break frequency of the break point 61a of the integration filter 14, and the frequency is approximately double the break frequency. A break point 62b for terminating the phase delay (on the high frequency side) is set.

  More specifically, a break point 62a for starting the phase delay of the phase compensation filter between the half-fold frequency and the double frequency of the break-point frequency of the break point 61a with respect to the break-point frequency 61a of the integration filter 14 is provided. Set. A break point 62b for terminating the phase delay is set between 1.5 and 3 times the break frequency of the break point 61a.

  As described above, according to the second embodiment, since the phase error due to the integration filter can be canceled out by the phase compensation filter, blur correction with high accuracy can be performed.

<Third Embodiment>
Next, a third embodiment of the present invention will be described. FIG. 9 is a block diagram of an image stabilization control apparatus according to the third embodiment of the present invention. In the image stabilization control device shown in FIG. 9, the phase compensation filter 13 (first phase compensation means) for the high-pass filter 12 described in the first embodiment and the integration filter 14 described in the second embodiment are used. The phase compensation filter 51 (second phase compensation means) is combined.

  When the high-pass filter 12 and the integration filter 14 are used, the break frequency of the break point 21a shown in FIG. 2 and the break point 61a shown in FIG. 6 is changed according to the state of camera shake. For example, when the composition is changed or when shooting is performed following a moving subject (panning), the break frequency of the high-pass filter 12 is changed from 0.2 Hz to 2 Hz. Similarly, the break frequency of the integration filter 14 is also changed from 0.2 Hz. Change to 2Hz.

  As described above, when the corner frequency is set to the high frequency side, high performance can be achieved. However, increasing the corner frequency increases the amount of phase shift in the frequency band of camera shake, and thus the camera shake correction performance deteriorates.

  Therefore, in the third embodiment, when the break points of the high pass filter 12 and the integration filter 14 are changed, the break points of the phase compensation filters corresponding to the respective break points of the high pass filter 12 and the integration filter 14 are also related. Change while keeping.

  10A shows a state after the break point of the high-pass filter 12 and FIG. 10B have been changed, respectively, and the break frequency of the high-pass filter 12 and the integration filter 14 is normal. From 0.2 Hz to 2 Hz. At this time, the characteristics of the phase compensation filter 13 and the phase compensation filter 51 are also set such that the corner frequency (low frequency side) for starting the phase delay is 2 Hz, and the corner frequency (high frequency side) for ending the phase delay is 4 Hz. Change to compensate for phase.

  FIG. 11 is a flowchart showing a procedure for changing the breakpoint of each filter in the third embodiment, and this process starts when the main power of an imaging apparatus such as a camera is turned on.

  First, in step S11, the process waits until a shooting preparation instruction is issued by pressing the release button of the camera halfway. When the preparation for photographing is instructed, the operation of the angular velocity meter 11 is started in S12, and the blur correction drive by the blur correction unit 15 is started in S13.

  In S14, it is determined whether panning has been performed. For example, when the output of the angular velocity meter 11 or the integrated output thereof exceeds a predetermined value for a predetermined period, it is determined that panning is being performed. If it is determined in S14 that panning is being performed, the process proceeds to S15, and if not, the process proceeds to S17.

  In S15, the break point of the high-pass filter 12 and the integration filter 14 is changed from 0.2 Hz, which is a break frequency before panning is performed, to 2 Hz, which is a break frequency during panning, for example. In subsequent S16, the break point for starting the phase delay of each of the phase compensation filters 13 and 51 for the high-pass filter 12 and the integral filter 14 is panned, for example, from 0.2 Hz that is the break point frequency before panning is performed. Change to the break frequency 2 Hz. Further, the break point for ending the phase delay is changed from 0.4 Hz, which is the break point frequency before panning, to 4 Hz, which is the break point frequency during panning.

  On the other hand, in S17, since panning is not performed, the break frequency of the high-pass filter 12 and the integration filter 14 is set to 0.2 Hz (break frequency before panning is performed), for example. That is, when the corner frequency during panning is set to 2 Hz, the corner frequency after panning is returned to 0.2 Hz, which is the corner frequency after panning, from the corner frequency during panning to 2 Hz. If the frequency is 0.2 Hz, leave it as it is. In subsequent S18, the corner frequency for starting the phase delay of each phase compensation filter 13 and phase compensation filter 51 for the high-pass filter 12 and the integration filter 14 is set to 0.2 Hz, for example. That is, when the corner frequency is set to 2 Hz during panning, the corner frequency is returned from 0.2 Hz, which is the corner frequency during panning, to 0.2 Hz, which is the corner frequency after the panning is completed. Leave at 2 Hz. Further, the break frequency of the break point for terminating the phase delay is set to 0.4 Hz. That is, when the break frequency is set to 4 Hz during panning, the break frequency is returned to 0.4 Hz after the end of panning from 4 Hz that is the panning frequency. If the frequency is 0.4 Hz, leave it as it is.

  In S19, it is determined whether or not the shooting preparation instruction has been canceled. If not cancelled, the process returns to the panning determination in S14 and the blur correction is continued.

  On the other hand, if the shooting preparation instruction is cancelled, the process proceeds to S20 to stop the blur correction, and the operation of the angular velocity meter is also stopped, and the process returns to S11.

  As described above, according to the third embodiment, the lowest frequency 34a among the corner frequencies of the corner points 21a and 61a of the camera shake signal processing filters such as the high-pass filter 12 and the integral filter 14 and the camera frequency band 34. Are provided with break points of the phase compensation filters 13 and 51. Then, the break points 22a and 62a (on the low frequency side) for starting the phase delay of the phase compensation filter are set to substantially the same frequency as the break points of the break signal processing filter 21a and 61a. Furthermore, the break points 22b and 62b for ending the phase delay (frequency side) are set to a frequency approximately double the break point frequency.

  More specifically, a phase delay of the phase compensation filter is started between a frequency half the frequency of the corner frequencies 21a and 61a of the high-pass filter 12 and the integration filter 14 and a frequency twice the frequency (low). The frequency side break points 22a and 62a are set. Further, the break points 22b and 62b for terminating the phase delay (high frequency side) are set between the 1.5 times and 3 times the frequencies.

  When changing the break points of the high-pass filter 12 and the integration filter 14, the break points of the phase compensation filter are also changed while maintaining the above-described relationship. As a result, the phase error due to the high-pass filter 12 and the integration filter 14 can be canceled out by the phase compensation filter, so that highly accurate blur correction can be performed. Note that FIG. 11 illustrates the case where the frequency of the break point of the high-pass filter 12 and the integration filter 14 is changed when panning is performed, but the present invention is not limited to this. Depending on other shooting control, it may be changed.

  In the first to third embodiments, the image stabilization control device has been described as being used for an imaging device such as a digital camera. However, the present invention is not limited to this. For example, the present invention can be widely applied to movie shooting, digital video cameras, surveillance cameras, Web cameras, mobile phones, and the like.

Claims (13)

An anti-vibration control device that detects and corrects a shake in a preset frequency band applied to the imaging device,
Shake detecting means for detecting shake applied to the imaging device;
Processing means for performing processing for attenuating a shaking signal having a frequency lower than a predetermined first break frequency with respect to the shaking signal output from the shaking detection means;
Phase compensation means for compensating for a phase shift between the shaking signal processed by the processing means and the shaking signal before being processed by the processing means;
Correction means for correcting shaking of the imaging device based on the shaking signal in which the phase shift is compensated,
The phase compensation means changes a phase with respect to the fluctuation signal processed by the processing means so as to cancel out the phase shift caused by the processing means, and sets the first break frequency and the preset value. At least one second corner frequency for starting a phase change for the shaking signal processed by the processing means is set between the lowest frequency of the processed frequency bands. An anti-vibration control device. The phase compensation means sets one second corner frequency between half and twice the first corner frequency, and 1.5 second of the set second corner frequency. to three times the frequency doubler, separate from the break frequency of the second vibration damping according to claim 1, characterized in that setting the third corner frequency for terminating the change of phase Control device. The phase compensation means sets the one second corner frequency to the first corner frequency, and sets the third corner frequency to twice the set second corner frequency. The anti-vibration control device according to claim 2 , wherein a point frequency is set. An anti-vibration control device that detects and corrects a shake in a preset frequency band applied to the imaging device,
Shake detecting means for detecting shake applied to the imaging device;
Integrating means for integrating a shaking signal having a frequency higher than a predetermined first break frequency with respect to the shaking signal output from the shaking detecting means;
Phase compensation means for compensating for a phase shift between the phase of the shaking signal integrated by the integrating means and the theoretical phase of the shaking signal processed by the integrating means;
Correction means for correcting shaking of the imaging device based on the shaking signal in which the phase shift is compensated,
The phase compensation means changes the phase of the fluctuation signal integrated by the integration means so as to cancel the phase shift caused by the integration means , and the first break frequency and the pre- At least one second corner frequency for starting a phase change for the fluctuation signal integrated by the integration means is set between the lowest frequency of the set frequency bands. image stabilization control apparatus characterized by there. The phase compensation means sets one second corner frequency between half and twice the first corner frequency, and 1.5 second of the set second corner frequency. 5. The anti-vibration method according to claim 4 , wherein a third break frequency for ending the phase change, which is different from the second break frequency, is set to a frequency that is double to 3 times. Control device. The phase compensation means sets the one second corner frequency to the first corner frequency, and sets the third corner frequency to twice the set second corner frequency. The anti-vibration control device according to claim 5 , wherein a point frequency is set. An anti-vibration control device that detects and corrects a shake in a preset frequency band applied to the imaging device,
Shake detecting means for detecting shake applied to the imaging device;
Processing means for performing processing for attenuating a shaking signal having a frequency lower than a predetermined first break frequency with respect to the shaking signal output from the shaking detection means;
First phase compensation means for compensating for a phase shift between the shake signal processed by the processing means and the shake signal before being processed by the processing means;
Integrating means for integrating a fluctuation signal having a frequency higher than a predetermined second break frequency with respect to the fluctuation signal whose phase shift has been compensated by the first phase compensation means;
Second phase compensation means for compensating for a phase shift between the phase of the shaking signal integrated by the integrating means and the theoretical phase of the shaking signal processed by the integrating means;
Correction means for correcting the shake of the imaging device based on the shake signal that has been subjected to the integration process in which the phase shift has been compensated by the second phase compensation means,
The first corner frequency and the second corner frequency are set to frequencies lower than the lowest frequency among the preset frequency bands,
The first phase compensation means changes the phase with respect to the fluctuation signal processed by the processing means so as to cancel out the phase shift caused by the processing means, and the first break frequency and At least one third break frequency for starting a phase change for the signal processed by the processing means is set between the lowest frequency of the preset frequency bands,
The second phase compensation means changes the phase with respect to the fluctuation signal processed by the integration means so as to cancel out the phase shift caused by the integration means , and the second break frequency and At least one fourth break frequency for starting a phase change for the signal integrated by the integration means is set between the lowest frequency of the preset frequency bands. image stabilization control apparatus characterized by there. The first phase compensation means sets one third corner frequency between half and twice the frequency of the first corner frequency, and also sets the third corner frequency of the set third corner frequency. A fifth break frequency different from the third break frequency is set from 1.5 times to 3 times the frequency,
The second phase compensation means sets one fourth corner frequency between half and twice the frequency of the first corner frequency, and sets the fourth corner frequency of the set fourth corner frequency. The anti-vibration control device according to claim 7 , wherein a sixth break frequency different from the fourth break frequency is set to a frequency 1.5 to 3 times. The first corner frequency, and sets the previous SL one third break frequency, double the frequency of the third corner frequency, which is the set, setting the corner frequency of the fifth And
And it sets the one fourth break frequency before Symbol first corner frequency, double the frequency of the fourth corner frequency, which is the setting, sets the corner frequency of the sixth The anti-vibration control device according to claim 8 . Imaging apparatus characterized by comprising a vibration damping control device according to any one of claims 1 to 9. An anti-vibration control method for detecting and correcting shaking in a preset frequency band applied to the imaging device,
A shaking detection step for detecting shaking applied to the imaging device;
A processing step for performing a process of attenuating a shaking signal having a frequency lower than a predetermined first break frequency with respect to the shaking signal output in the shaking detection step;
A phase compensation step for compensating for a phase shift between the shaking signal processed in the processing step and the shaking signal before being processed in the processing step;
A correction step of correcting the shaking of the imaging device based on the shaking signal in which the phase shift is compensated,
In the phase compensation step, the phase is changed with respect to the fluctuation signal processed in the processing step so as to cancel the phase shift generated in the processing step, and the first break point frequency and the preset value are set. At least one second corner frequency for starting a phase change for the shaking signal processed in the processing step is set between the lowest frequency of the processed frequency bands. An anti-vibration control method. An anti-vibration control method for detecting and correcting shaking in a preset frequency band applied to the imaging device,
A shaking detection step for detecting shaking applied to the imaging device;
An integration step of integrating a shake signal having a frequency higher than a predetermined first break frequency with respect to the shake signal output in the shake detection step;
A phase compensation step for compensating for a phase shift between the phase of the shake signal integrated in the integration step and the theoretical phase of the shake signal processed in the integration step;
A correction step of correcting the shaking of the imaging device based on the shaking signal in which the phase shift is compensated,
In the phase compensation step, the phase is changed with respect to the fluctuation signal processed in the integration step so as to cancel the phase shift generated in the integration step, and the first break point frequency and the preset value are set. At least one second corner frequency for starting a phase change for the fluctuation signal integrated in the integration step is set between the lowest frequency of the frequency bands thus determined. An anti-vibration control method. An anti-vibration control method for detecting and correcting shaking in a preset frequency band applied to the imaging device,
A shaking detection step for detecting shaking applied to the imaging device;
A processing step for performing a process of attenuating a shaking signal having a frequency lower than a predetermined first break frequency with respect to the shaking signal output in the shaking detection step;
A first phase compensation step for compensating for a phase shift between the shaking signal processed in the processing step and the shaking signal before being processed in the processing step;
An integration step of integrating a fluctuation signal having a frequency higher than a predetermined second break frequency with respect to the fluctuation signal whose phase shift has been compensated in the first phase compensation step;
A second phase compensation step for compensating for a phase shift between the phase of the shake signal integrated in the integration step and the theoretical phase of the shake signal processed in the integration step;
A correction step of correcting a shake of the imaging device based on the shake signal subjected to the integration process in which the phase shift is compensated in the second phase compensation step;
The first corner frequency and the second corner frequency are set to frequencies lower than the lowest frequency among the preset frequency bands,
In the first phase compensation step, the phase is changed with respect to the fluctuation signal processed in the processing step so as to cancel the phase shift generated in the processing step, and the first breakpoint frequency and At least one third break frequency for starting a phase change for the signal processed in the processing step is set between the lowest frequency of the preset frequency bands,
In the second phase compensation step, the phase is changed with respect to the fluctuation signal integrated in the integration step so as to cancel the phase shift generated in the integration step, and the second break frequency And at least one fourth corner frequency for starting the phase change for the signal integrated in the integration step is set between the predetermined frequency band and the lowest frequency in the preset frequency band. image stabilization control method, characterized by that.

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