JP5675179B2 - Anti-shake control device, imaging device, and anti-shake control method - Google Patents

Anti-shake control device, imaging device, and anti-shake control method Download PDF

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JP5675179B2
JP5675179B2 JP2010134561A JP2010134561A JP5675179B2 JP 5675179 B2 JP5675179 B2 JP 5675179B2 JP 2010134561 A JP2010134561 A JP 2010134561A JP 2010134561 A JP2010134561 A JP 2010134561A JP 5675179 B2 JP5675179 B2 JP 5675179B2
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晃一 鷲巣
晃一 鷲巣
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Canon Inc
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本発明は、振れ補正により撮影画像の劣化を防止する技術に関し、特に撮影倍率の大きな撮影条件においても良好な手振れ補正を行える防振制御技術に関するものである。   The present invention relates to a technique for preventing deterioration of a captured image by shake correction, and more particularly, to an image stabilization control technique capable of performing favorable camera shake correction even under a shooting condition with a large shooting magnification.

現在のカメラは露出決定やピント合わせ等、撮影にとって重要な作業が全て自動化されているため、カメラ操作に未熟な人でも容易に撮影できる。また、手振れによる撮影画像への影響を防ぐシステムを備えたカメラも製品化されており、撮影者の撮影ミスを誘発する要因は殆ど無くなってきている。手振れの影響を防ぐシステムでは、基本的には角速度検出手段を用いて手振れ量を検出し、その検出結果に基づいて手振れ補正を行う。そして最近では角速度検出手段に加えて加速度検出手段も使用され、それらの出力の相関を利用した手振れ補正が可能である。これにより、マクロ撮影のように像倍率の高い撮影においても手振れ補正の精度を高めることができる。
特許文献１には、加速度検出手段によって平行振れを検出して、角速度検出手段の出力と共に振れ補正装置を駆動する構成が開示されている。 With current cameras, all tasks important for shooting, such as determining exposure and focusing, are automated, so even people who are not familiar with camera operations can easily shoot. In addition, cameras equipped with a system that prevents the influence of camera shake on a photographed image have been commercialized, and there are almost no factors that cause a photographer to make a mistake in photographing. In a system that prevents the influence of camera shake, basically, the amount of camera shake is detected using angular velocity detection means, and camera shake correction is performed based on the detection result. Recently, in addition to the angular velocity detection means, acceleration detection means are also used, and hand shake correction using the correlation of their outputs is possible. As a result, the accuracy of camera shake correction can be increased even in high-magnification shooting such as macro shooting.
Patent Document 1 discloses a configuration in which a parallel shake is detected by an acceleration detection means, and a shake correction apparatus is driven together with an output of the angular velocity detection means.

特開平７−２２５４０５号公報JP 7-225405 A

しかしながら加速度検出手段を用いる場合には手振れによる重力の変動分も加速度検出信号に重畳してしまう。その為、手振れの状態によってはその誤差が逆に像面での振れを増長する可能性もある。
そこで、本発明の目的は、角速度検出手段及び加速度検出手段を用いて、精度の高い振れ補正を実現する事である。 However, when the acceleration detection means is used, the variation in gravity due to camera shake is also superimposed on the acceleration detection signal. Therefore, depending on the state of camera shake, the error may conversely increase the shake on the image plane.
Accordingly, an object of the present invention is to realize shake correction with high accuracy using an angular velocity detection means and an acceleration detection means.

上記課題を解決するために本発明に係る装置は、光学機器に加わる振動の角速度を検出する第１の振動検出手段及び前記光学機器に加わる振動の加速度を検出する第２の振動検出手段と、前記第２の振動検出手段による加速度検出信号を用いて前記光学機器の姿勢を検出し、前記第１の振動検出手段による角速度検出信号を用いて前記光学機器の姿勢変化に応じた重力加速度成分を算出し、当該姿勢変化に伴って前記加速度検出信号に重畳する重力加速度の変動成分を除去するとともに、前記角速度検出信号及び前記加速度検出信号に基づいて前記振れ補正を行う制御手段を備え、前記光学機器に加わる振動を検出して振れ補正を行う防振制御装置であって、前記制御手段は、前記加速度検出信号を取得して前記光学機器の姿勢を検出する初期姿勢算出手段と、前記初期姿勢算出手段の検出信号に対応する関数及び前記角速度検出信号を用いて前記加速度検出信号に重畳する重力加速度の変動成分を除去する重力除去手段と、前記角速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される周波数での位相を第１の値に調整する第１の位相調整手段、及び、前記重力除去手段によって前記変動成分が除去された前記加速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される前記周波数での位相を第２の値に調整する第２の位相調整手段と、前記第１の位相調整手段により位相調整された前記角速度検出信号の積分出力と前記第２の位相調整手段により位相調整された前記加速度検出信号の積分出力とを手振れの周波数帯域よりも狭い周波数帯域で比較する比較手段と、前記比較手段の出力信号と前記光学機器のズーム情報及びフォーカス情報から演算される撮影倍率情報を前記角速度検出信号の積分出力に乗ずることで前記角速度検出信号の積分出力を補正する出力補正手段と、前記光学機器に加わる振れによって生じる像ぶれを補正する振れ補正手段と、前記出力補正手段によって補正された前記角速度検出信号の積分出力を取得して前記振れ補正手段を駆動する振れ補正駆動手段を備える。
In order to solve the above problems, an apparatus according to the present invention includes a first vibration detection unit that detects an angular velocity of vibration applied to an optical device, and a second vibration detection unit that detects an acceleration of vibration applied to the optical device; A posture of the optical device is detected using an acceleration detection signal from the second vibration detection unit, and a gravitational acceleration component corresponding to a change in the posture of the optical device is detected using an angular velocity detection signal from the first vibration detection unit. Control means for calculating and removing the fluctuation component of gravitational acceleration superimposed on the acceleration detection signal in accordance with the posture change, and performing the shake correction based on the angular velocity detection signal and the acceleration detection signal; An anti-vibration control device that detects vibration applied to an apparatus and performs shake correction, wherein the control means is a first unit that acquires the acceleration detection signal and detects an attitude of the optical apparatus. Posture calculating means, gravity removing means for removing a fluctuation component of gravity acceleration superimposed on the acceleration detection signal using the function corresponding to the detection signal of the initial posture calculating means and the angular velocity detection signal, and the angular velocity detection signal With respect to the integrated output, the fluctuation component is generated by the first phase adjusting means for adjusting the phase at a frequency set in a frequency band narrower than the frequency band of camera shake to a first value, and the gravity removing means. A second phase adjusting means for adjusting a phase at the frequency set in a frequency band narrower than a frequency band of camera shake to a second value with respect to the integrated output of the acceleration detection signal removed; The integrated output of the angular velocity detection signal phase-adjusted by the first phase adjusting means and the integrated output of the acceleration detection signal phase-adjusted by the second phase adjusting means are shaken. Wherein by multiplying means for comparing a narrow frequency band than the frequency band, the shooting magnification information is calculated from the output signal and the zoom information and focus information of the optical apparatus of the comparing means to the integrated output of the angular velocity detection signal An output correction means for correcting the integrated output of the angular velocity detection signal, a shake correction means for correcting image blur caused by shake applied to the optical device, and an integrated output of the angular velocity detection signal corrected by the output correction means are obtained. And a shake correction driving means for driving the shake correction means.

本発明によれば、光学機器の角度振れに伴って加速度検出信号に重畳する重力加速度成分を除去することにより、精度の高い振れ補正を実現できる。   According to the present invention, highly accurate shake correction can be realized by removing the gravitational acceleration component superimposed on the acceleration detection signal in accordance with the angular shake of the optical device.

本発明の一実施形態に係る撮像装置を上面から見た透視図である。It is the perspective view which looked at the imaging device concerning one embodiment of the present invention from the upper surface. 図１の撮像装置を側面からみた透視図である。It is the perspective view which looked at the imaging device of Drawing 1 from the side. 図４乃至１４と併せて本発明の第１実施形態を説明するために防振制御装置の構成例を示すブロック図である。FIG. 15 is a block diagram showing a configuration example of an image stabilization control device for explaining the first embodiment of the present invention in conjunction with FIGS. 撮像装置の振れ状態を説明する図である。It is a figure explaining the shake state of an imaging device. 防振制御装置に係る周波数特性を例示した図である。It is the figure which illustrated the frequency characteristic concerning an anti-vibration control device. ＨＰＦ（高域透過フィルタ）及び積分フィルタ部の特性（Ａ）と、移相フィルタの特性（Ｂ）を例示する図である。It is a figure which illustrates the characteristic (A) of HPF (high-pass transmission filter) and an integral filter part, and the characteristic (B) of a phase shift filter. ＨＰＦ及び積分及び位相調整フィルタ３０４の構成例を示すブロック図である。3 is a block diagram illustrating a configuration example of an HPF and an integration and phase adjustment filter 304. FIG. ＨＰＦ及び２階積分フィルタ３０５の構成例を示すブロック図である。3 is a block diagram illustrating a configuration example of an HPF and a second-order integration filter 305. FIG. ＨＰＦ及び２階積分フィルタ３０５の周波数特性を例示する図である。It is a figure which illustrates the frequency characteristic of HPF and the 2nd order integration filter 305. 防振制御装置の振れ状態を説明する図である。It is a figure explaining the shake state of an image stabilization control apparatus. 重力除去部３１２の構成例を示すブロック図である。3 is a block diagram illustrating a configuration example of a gravity removing unit 312. FIG. 加速度計１０７ａに加わる角度振れによる重力加速度の変動成分の影響について算出方法を説明する図である。It is a figure explaining the calculation method about the influence of the fluctuation component of the gravitational acceleration by the angular shake applied to the accelerometer 107a. 振れの回転半径を算出する演算方法を説明する図である。It is a figure explaining the calculation method which calculates the rotation radius of a shake. 防振制御処理の流れを例示するフローチャートである。It is a flowchart which illustrates the flow of a vibration control process. 図１６と併せて本発明の第２実施形態を説明するために、防振制御装置の構成例を示すブロック図である。FIG. 17 is a block diagram illustrating a configuration example of an image stabilization control device for explaining a second embodiment of the present invention in conjunction with FIG. 16. 重力除去部２００１の構成例を示すブロック図である。3 is a block diagram illustrating a configuration example of a gravity removing unit 2001. FIG.

以下、本発明を撮像装置に適用した例について説明する。なお、本発明に係る防振制御装置を適用した光学機器は、撮像装置の本体部に取り付けて使用可能な撮影レンズ装置（いわゆる交換レンズ）等である。   Hereinafter, an example in which the present invention is applied to an imaging apparatus will be described. The optical apparatus to which the image stabilization control device according to the present invention is applied is a photographing lens device (so-called interchangeable lens) that can be used by being attached to the main body of the imaging device.

［第１実施形態］
図１は一眼レフカメラの平面から見た透視図であり、図２は側面から見た透視図である。カメラ本体に装着される交換レンズ１０１に搭載される防振制御装置は、撮影光学系に加わる振れを検出し、光軸１０２（１点鎖線参照）に対して各矢印で示す方向にて振れ補正を行う。光軸１０２に対して矢印１０３ｐで示す方向はカメラの縦角度振れの方向を示し、光軸１０２に対して矢印１０３ｙで示す方向はカメラの横角度振れの方向を示す。また矢印１０３ａで示す方向はカメラの縦平行振れの方向を示し、矢印１０３ｂで示す方向はカメラの横平行振れの方向を示す。
カメラ本体１０４は、レリーズボタン１０４ａ、モードダイアル（メインスイッチを含む）１０４ｂ、リトラクタブルストロボ１０４ｃを備える。カメラＣＰＵ（中央演算処理装置）１０４ｄはカメラの動作制御を行う。カメラＣＰＵ１０４ｄは後述するレンズＣＰＵとの間で情報を送受信する。 [First Embodiment]
FIG. 1 is a perspective view seen from the plane of a single-lens reflex camera, and FIG. 2 is a perspective view seen from the side. The image stabilization control device mounted on the interchangeable lens 101 mounted on the camera body detects a shake applied to the photographing optical system and corrects the shake in the direction indicated by each arrow with respect to the optical axis 102 (see the one-dot chain line). I do. The direction indicated by the arrow 103p with respect to the optical axis 102 indicates the direction of the vertical angle shake of the camera, and the direction indicated by the arrow 103y with respect to the optical axis 102 indicates the direction of the horizontal angle shake of the camera. The direction indicated by the arrow 103a indicates the direction of the vertical parallel shake of the camera, and the direction indicated by the arrow 103b indicates the direction of the horizontal parallel shake of the camera.
The camera body 104 includes a release button 104a, a mode dial (including a main switch) 104b, and a retractable strobe 104c. A camera CPU (central processing unit) 104d controls the operation of the camera. The camera CPU 104d transmits / receives information to / from a lens CPU described later.

図２の撮像素子１０５は受光信号を電気信号に変換する光電変換素子である。振れ補正部１０６は補正レンズ１０６ａを図１、図２の矢印１０６ｙ、１０６ｐの方向に駆動して、矢印１０３ｐ、１０３ｙ、１０３ａ、１０３ｂに示す各方向の振れ補正を行う。
角速度検出手段（以下、角速度計という）１０７ｐ、１０７ｙは第１の振動検出手段を構成し、角速度検出信号を出力する。角速度計１０７ｐは矢印１０３ｐに示す方向の角度変位（角度振れ）を検出し、角速度計１０７ｙは矢印１０３ｙに示す方向の角度振れを検出する。矢印１０７ｐａ、１０７ｙａは各々の検出感度方向を示す。また加速度検出手段（以下、加速度計という）１０７ａ、１０７ｂは第２の振動検出手段を構成し、加速度検出信号を出力する。加速度計１０７ａは矢印１０３ａに沿う位置変位（平行振れ）の時間変化を検出し、加速度計１０７ｂは矢印１０３ｂに沿う平行振れを検出する。矢印１０７ａａ、１０７ｂａは各々の検出感度方向を示す。
角速度計１０７ｐ、１０７ｙや加速度計１０７ａ、１０７ｂの出力はレンズＣＰＵ１０８が処理し、演算後に振れ補正部１０６の駆動目標値、つまり手振れ補正のために振れ補正部１０６を駆動する際の目標値に変換される。 The imaging element 105 in FIG. 2 is a photoelectric conversion element that converts a received light signal into an electrical signal. The shake correction unit 106 drives the correction lens 106a in the directions of arrows 106y and 106p in FIGS. 1 and 2, and performs shake correction in each direction indicated by arrows 103p, 103y, 103a, and 103b.
Angular velocity detection means (hereinafter referred to as angular velocity meters) 107p and 107y constitute first vibration detection means and output angular velocity detection signals. Angular velocity meter 107p detects angular displacement (angular shake) in the direction indicated by arrow 103p, and angular velocity meter 107y detects angular deflection in the direction indicated by arrow 103y. Arrows 107pa and 107ya indicate the respective detection sensitivity directions. Further, acceleration detection means (hereinafter referred to as accelerometers) 107a and 107b constitute second vibration detection means and output acceleration detection signals. The accelerometer 107a detects a temporal change in position displacement (parallel shake) along the arrow 103a, and the accelerometer 107b detects parallel shake along the arrow 103b. Arrows 107aa and 107ba indicate the respective detection sensitivity directions.
The outputs of the angular velocity meters 107p and 107y and the accelerometers 107a and 107b are processed by the lens CPU 108 and converted into a target drive value for the shake correction unit 106 after calculation, that is, a target value for driving the shake correction unit 106 for camera shake correction. Is done.

レリーズボタン１０４ａを含む操作部は、第１スイッチＳ１及び第２スイッチＳ２を備える。レリーズボタン１０４の半押し操作によって第１スイッチＳ１がオン状態となり、この時に発する信号は撮影準備の為に測光及びピント合わせを指令する操作信号となる。そしてレリーズボタン１０４の全押し状態で第２スイッチＳ２がオン状態となり、この時に発する信号は撮影動作の開始信号となる。第１スイッチＳ１のオン操作に同期して駆動目標値は、駆動ドライバである振れ補正駆動部１０９（以下、単に駆動部という）に送られ、駆動信号が振れ補正部１０６の駆動コイルに供給されて、振れ補正動作が始まる。   The operation unit including the release button 104a includes a first switch S1 and a second switch S2. The first switch S1 is turned on by half-pressing the release button 104, and a signal generated at this time is an operation signal for instructing photometry and focusing for preparation for photographing. When the release button 104 is fully pressed, the second switch S2 is turned on, and a signal generated at this time is a start signal for the photographing operation. In synchronization with the ON operation of the first switch S1, the drive target value is sent to a shake correction drive unit 109 (hereinafter simply referred to as a drive unit) that is a drive driver, and a drive signal is supplied to the drive coil of the shake correction unit 106. The shake correction operation starts.

図３は第１実施形態に係る防振制御装置の構成例を示すブロック図である。尚、このブロック図ではカメラの鉛直方向に生じる振れ（ピッチ方向の振れ）に関する構成を示しており、同様なブロックはカメラの水平方向に生じる振れ（ヨー方向の振れ）に対しても設けられる。両ブロックは基本的には同様の構成であるため、一方のブロックのみ説明する。なお、レンズＣＰＵ１０８内に示す各部は、該ＣＰＵによって解釈及び実行されるプログラムによって実現される処理を機能ブロックとして示している。
先ず図３を用いて角度振れのみの補正を説明する。角速度計１０７ｐの出力信号（ω）はレンズＣＰＵ１０８に取り込まれる。該出力信号はＨＰＦ（高域透過フィルタ）及び積分フィルタ３０１に入力される。ＨＰＦでＤＣ（直流）成分を除去された信号は積分フィルタにより積分され、角速度出力ωが角度出力θに変換される。尚、これらＨＰＦや積分処理は量子化された角速度信号をレンズＣＰＵ１０８内で演算処理することで得られ、公知の差分方程式等を用いて実現できる。また本処理についてはレンズＣＰＵ１０８への入力前にコンデンサや抵抗を用いたアナログ回路で実現する事も可能である。 FIG. 3 is a block diagram illustrating a configuration example of the image stabilization control apparatus according to the first embodiment. Note that this block diagram shows a configuration related to a shake (pitch direction shake) generated in the vertical direction of the camera, and a similar block is provided for a shake (yaw direction shake) generated in the horizontal direction of the camera. Since both blocks have basically the same configuration, only one block will be described. Note that each unit shown in the lens CPU 108 represents processing realized by a program interpreted and executed by the CPU as a functional block.
First, correction of only angular shake will be described with reference to FIG. The output signal (ω) of the angular velocity meter 107p is taken into the lens CPU. The output signal is input to an HPF (high pass filter) and an integration filter 301. The signal from which the DC (direct current) component has been removed by the HPF is integrated by an integration filter, and the angular velocity output ω is converted into an angular output θ. These HPF and integration processing are obtained by performing arithmetic processing on the quantized angular velocity signal in the lens CPU 108, and can be realized using a known difference equation or the like. Further, this processing can be realized by an analog circuit using a capacitor or a resistor before input to the lens CPU 108.

手振れの周波数帯域は１Ｈｚから１０Ｈｚの間であるため、前記ＨＰＦは手振れの周波数帯域から十分に離れた、例えば０．１Ｈｚ以下の周波数成分をカットする１次ＨＰＦ特性をもつ（０．１Ｈｚ折点１次ＨＰＦ）。ＨＰＦ及び積分フィルタ３０１の出力信号は敏感度調整部３０３に入力される。敏感度調整部３０３はズーム及びフォーカス情報３０２と撮影倍率に基づいてＨＰＦ及び積分フィルタ３０１の出力信号を増幅して角度振れ補正目標値とする。撮像倍率は、不図示のフォーカスエンコーダやズームエンコーダからレンズＣＰＵ１０８に入力されるズーム及びフォーカス情報３０２から求まる。レンズのフォーカスやズーム等の光学状態の変化により振れ補正部１０６の振れ補正ストロークに対するカメラ像面での振れ補正敏感度が変化するため、敏感度調整部３０３は振れ補正敏感度を補正する。算出された角度振れ補正目標値は駆動部１０９に出力され、振れ補正部１０６が駆動される事で振れ補正処理が行われる。
以上により角度振れ補正が行われるが、角度振れ補正目標値に対して、後述する平行振れ補正目標値が加算されて振れ補正部１０６の駆動制御が行われる。 Since the frequency band of camera shake is between 1 Hz and 10 Hz, the HPF has a primary HPF characteristic that cuts a frequency component that is sufficiently separated from the frequency band of camera shake, for example, 0.1 Hz or less (0.1 Hz break point). Primary HPF). Output signals of the HPF and the integration filter 301 are input to the sensitivity adjustment unit 303. The sensitivity adjustment unit 303 amplifies the output signal of the HPF and the integration filter 301 based on the zoom and focus information 302 and the photographing magnification to obtain an angle shake correction target value. The imaging magnification is obtained from zoom and focus information 302 input to the lens CPU 108 from a focus encoder or zoom encoder (not shown). Since the shake correction sensitivity on the camera image plane with respect to the shake correction stroke of the shake correction unit 106 changes due to changes in the optical state such as lens focus and zoom, the sensitivity adjustment unit 303 corrects the shake correction sensitivity. The calculated angular shake correction target value is output to the drive unit 109, and shake correction processing is performed by driving the shake correction unit 106.
While the angular shake correction is performed as described above, a parallel shake correction target value described later is added to the angular shake correction target value, and drive control of the shake correction unit 106 is performed.

次に平行振れ補正のブロックについて説明する。
ＨＰＦ及び積分フィルタ３０１の出力信号は、後述する出力補正部３０９により補正されることで平行振れ補正目標値とされて、前述した角度振れ補正目標値と加算される。また上記処理と並行して角速度計１０７ｐの出力信号はＨＰＦ及び積分及び位相調整フィルタ３０４に入力される。ここで角速度計１０７ｐの検出信号に重畳されたＤＣ成分がカットされると共に該信号の位相調整が行われる。この時のＨＰＦ折点と位相調整に関する詳細は後述する。ＨＰＦ及び積分及び位相調整フィルタ３０４の出力信号は、角度ＢＰＦ（帯域透過フィルタ）３０６に送られて所定帯域の周波数成分のみが抽出される。
加速度計１０７ａの出力信号はＨＰＦ及び２階積分フィルタ３０５に入力され、加速度計１０７ａの検出信号に重畳されたＤＣ成分がカットされると共に２階積分により加速度から変位量（Ｙ）への変換処理が行われる。この時のＨＰＦ及び積分折点に関する詳細は後述する。ＨＰＦ及び２階積分フィルタ３０５の出力信号は、変位ＢＰＦ（帯域透過フィルタ）３０７に送られて所定帯域の周波数成分のみが抽出される。初期姿勢算出部３１１は加速度計１０７ａ及び１０７ｂの出力信号に基づいて撮像装置の姿勢を検出する。初期姿勢算出部３１１の役割については後述する。重力除去部３１２は角度ＢＰＦ３０６からの手振れ角度の出力信号と初期姿勢算出部３１１の出力信号に基づき、現時点で加速度計１０７ａに加わっている重力加速度の変動成分を算出する。重力除去部３１２が算出した重力加速度の変動成分は変位ＢＰＦ３０７の出力信号から差し引かれ、変位成分を示す信号が比較部３０８に出力される。重力除去部３１２の役割についての詳細は後述する。 Next, the parallel shake correction block will be described.
The output signal of the HPF and the integration filter 301 is corrected by an output correction unit 309 described later to be a parallel shake correction target value, and is added to the above-described angular shake correction target value. In parallel with the above processing, the output signal of the angular velocity meter 107 p is input to the HPF and the integration and phase adjustment filter 304. Here, the DC component superimposed on the detection signal of the angular velocity meter 107p is cut and the phase of the signal is adjusted. Details of the HPF breakpoint and phase adjustment at this time will be described later. The HPF and the output signal of the integration and phase adjustment filter 304 are sent to an angle BPF (band transmission filter) 306 to extract only frequency components in a predetermined band.
The output signal of the accelerometer 107a is input to the HPF and the second-order integration filter 305, and the DC component superimposed on the detection signal of the accelerometer 107a is cut, and conversion processing from acceleration to displacement (Y) is performed by second-order integration. Is done. Details of the HPF and the integration break point at this time will be described later. The HPF and the output signal of the second order integration filter 305 are sent to a displacement BPF (band transmission filter) 307 to extract only frequency components in a predetermined band. The initial posture calculation unit 311 detects the posture of the imaging device based on output signals from the accelerometers 107a and 107b. The role of the initial posture calculation unit 311 will be described later. The gravity removing unit 312 calculates the fluctuation component of the gravitational acceleration currently applied to the accelerometer 107a based on the output signal of the hand shake angle from the angle BPF 306 and the output signal of the initial posture calculating unit 311. The gravity acceleration fluctuation component calculated by the gravity removal unit 312 is subtracted from the output signal of the displacement BPF 307, and a signal indicating the displacement component is output to the comparison unit 308. Details of the role of the gravity removing unit 312 will be described later.

角度ＢＰＦ３０６の出力信号、及び変位ＢＰＦ３０７の出力信号（重力除去部３１２を介して前記変動成分が除去された信号）は比較部３０８に送られる。比較部３０８はこれらの出力信号を比較した結果を補正値として出力補正部３０９に送出する。出力補正部３０９にはズーム及びフォーカス情報３０２も入力されており、該情報を用いて撮影倍率を演算する。出力補正部３０９は、求めた撮影倍率及び比較部３０８から入力される補正値に基づいてＨＰＦ及び積分フィルタ３０１の出力信号を補正して平行振れ補正目標値を得る。この平行振れ補正目標値は、前述した角度振れ補正目標値に加算されて駆動部１０９に出力され、振れ補正部１０６の駆動により、角度振れ及び平行振れの両者について振れ補正が行われる。
以上の構成において、先ず比較部３０８が出力する補正値について説明する。 The output signal of the angle BPF 306 and the output signal of the displacement BPF 307 (the signal from which the fluctuation component has been removed via the gravity removal unit 312) are sent to the comparison unit 308. The comparison unit 308 sends the result of comparing these output signals to the output correction unit 309 as a correction value. Zoom and focus information 302 is also input to the output correction unit 309, and the imaging magnification is calculated using this information. The output correction unit 309 corrects the output signal of the HPF and the integration filter 301 based on the obtained photographing magnification and the correction value input from the comparison unit 308 to obtain a parallel shake correction target value. This parallel shake correction target value is added to the above-described angular shake correction target value and output to the drive unit 109, and shake correction is performed for both the angular shake and the parallel shake by driving the shake correction unit 106.
In the above configuration, the correction value output from the comparison unit 308 will be described first.

図４はカメラに加わる角度振れ１０３ｐと平行振れ１０３ａを示した図である。撮影光学系の主点位置における平行振れ１０３ａの大きさをＹと記し、角度振れ１０３ｐの大きさをθと記す。回転中心Ｏ（４０２ｐ）を定めた場合の回転半径４０１ｐの長さをＬと記す。Ｌは回転中心Ｏから加速度計１０７ａまでの距離を表す。Ｙ、θ、Ｌの間には下式（１）の関係が成り立つ。

Figure 0005675179
ここで加速度計１０７ａの出力信号を２階積分することで変位Ｙが求まり、角速度計１０７ｐの出力信号を１階積分することで角度θが求まる。
撮影光学系の主点の位置における平行振れＹと撮影光学系の角度振れθ、及び撮影光学系の焦点距離ｆと撮影倍率βより撮像面に生ずる振れδについては下式（２）が成り立つ。 FIG. 4 shows the angular shake 103p and the parallel shake 103a applied to the camera. The magnitude of the parallel shake 103a at the principal point position of the photographing optical system is denoted as Y, and the magnitude of the angular shake 103p is denoted as θ. The length of the rotation radius 401p when the rotation center O (402p) is determined is denoted as L. L represents the distance from the rotation center O to the accelerometer 107a. The relationship of the following formula (1) is established among Y, θ, and L.
Figure 0005675179
 Here, the displacement Y is obtained by second-order integration of the output signal of the accelerometer 107a, and the angle θ is obtained by first-order integration of the output signal of the angular velocity meter 107p.
The following equation (2) is established for the shake δ generated on the imaging surface from the parallel shake Y at the position of the principal point of the photographing optical system and the angular shake θ of the photographing optical system, and the focal length f of the photographing optical system and the photographing magnification β.

Figure 0005675179
ここで右辺第１項のｆ、βについては、撮影光学系のズームやフォーカスの位置情報、及びそれにより得られる撮影倍率βや焦点距離ｆの情報から求まる。また角度θは角速度計１０７ｐの積分結果から求まる。これらの情報に応じて図３のブロック図にて説明したように角度振れ補正を行う事ができる。式（２）の右辺第２項に関しては、加速度計１０７ａの出力信号に係る２階積分値Ｙと、ズームやフォーカスの位置情報、及びそれにより得られる撮影倍率βにより求まる。それらの情報に応じて図３のブロック図にて説明したように平行振れ補正を行う事ができる。しかし本実施形態では式（２）を下式（３）のように書き直した式を用いて算出した振れδに対して振れ補正を行う。
Figure 0005675179
 Here, f and β in the first term on the right side can be obtained from zoom and focus position information of the photographing optical system and information of photographing magnification β and focal length f obtained thereby. Further, the angle θ is obtained from the integration result of the angular velocity meter 107p. In accordance with these pieces of information, the angular shake correction can be performed as described in the block diagram of FIG. The second term on the right side of Equation (2) is obtained from the second-order integral value Y related to the output signal of the accelerometer 107a, zoom and focus position information, and the imaging magnification β obtained thereby. According to the information, the parallel shake correction can be performed as described in the block diagram of FIG. However, in the present embodiment, the shake correction is performed on the shake δ calculated by using the equation (2) rewritten as the following equation (3).

Figure 0005675179
即ち、平行振れに関しては加速度計より直接求まる変位Ｙを用いるのではなく、上式（１）で求めた回転半径の長さＬと、Ｌ及び角速度計の積分結果θ、ズームやフォーカスの位置、及びそれにより得られる撮影倍率βを用いてδが算出される。ここで加速度計１０７ａは撮影光学系のレンズ主点位置に配置されており、回転半径４０１ｐの長さＬは回転中心４０２ｐから撮影光学系のレンズ主点位置までの距離に等しい。
加速度計１０７ａの出力を２階積分すればＹ値が求まるので、上式（２）から平行振れ補正を行えるにもかかわらず、上式（３）を用いて平行振れ補正を行う理由を以下に説明する。加速度計で問題視されるのは低周波ノイズであり、その影響をできる限り少なくすることが課題となる。
Figure 0005675179
 That is, rather than using a displacement Y which is obtained directly from the accelerometer with respect to parallel vibration, rotation and radius of length L was determined Me in the above formula (1), the integration result of the L and gyro theta, the position of the zoom and focus , And δ is calculated using the imaging magnification β obtained thereby. Here, the accelerometer 107a is disposed at the lens principal point position of the photographing optical system, and the length L of the rotation radius 401p is equal to the distance from the rotation center 402p to the lens principal point position of the photographing optical system.
The Y value is obtained by second-order integration of the output of the accelerometer 107a. Therefore, the reason why the parallel shake correction is performed using the above formula (3) even though the parallel shake correction can be performed from the above formula (2) is as follows. explain. The problem with accelerometers is low-frequency noise, and the challenge is to reduce the effect as much as possible.

平行振れを絶対変位量として正確に検出する為には、０．１Ｈｚ程度の極めて低い周波数帯域における加速度計の出力信号から２階積分する必要がある。ところが積分動作には低周波のノイズを増幅させる作用があり、それが２回重なると大きな低周波ノイズをもたらす。その為、本実施形態では上式（３）のように、加速度計１０７ａの出力と角速度計１０７ｐの出力との間の相対比較により、低い周波数帯域での信号からの２階積分を省く事で低周波ノイズの重畳を抑えている。
角度ＢＰＦ３０６及び変位ＢＰＦ３０７は、ともに５Ｈｚのみ抽出する同一特性の帯域透過フィルタであり、その特性例を図５に示す。横軸は周波数ｆをＨｚ単位で示す対数軸である。縦軸は入出力比の利得であり、デジベル表示で表している。入力信号はＨＰＦ及び積分及び位相調整フィルタ３０４又はＨＰＦ及び２階積分フィルタ３０５の出力信号である。また出力信号については、これらの入力信号に対する角度ＢＰＦ３０６又は変位ＢＰＦの出力信号である。 In order to accurately detect the parallel shake as an absolute displacement amount, it is necessary to perform second-order integration from the output signal of the accelerometer in an extremely low frequency band of about 0.1 Hz. However, the integration operation has an effect of amplifying low-frequency noise, and when it is overlapped twice, a large low-frequency noise is brought about. Therefore, in the present embodiment, as shown in the above equation (3), the second order integration from the signal in the low frequency band is omitted by relative comparison between the output of the accelerometer 107a and the output of the angular velocity meter 107p. Superposition of low frequency noise is suppressed.
The angle BPF 306 and the displacement BPF 307 are both band-pass filters having the same characteristics that extract only 5 Hz, and an example of the characteristics is shown in FIG. The horizontal axis is a logarithmic axis indicating the frequency f in Hz. The vertical axis represents the gain of the input / output ratio and is expressed in decibel display. The input signal is an output signal of the HPF and the integration and phase adjustment filter 304 or the HPF and the second order integration filter 305. The output signal is an output signal of the angle BPF 306 or the displacement BPF with respect to these input signals.

本例のフィルタ特性にて、５Ｈｚの信号は透過（ゼロデシベルであるため、入力信号がそのまま出力）する。０．５Ｈｚや５０Ｈｚの信号については減衰（−２０デシベルであり１０分の１の減衰）特性となっている。位相については、５Ｈｚにて入力に対する出力位相がゼロであり、その前後において位相は大きく変化している。しかし角度ＢＰＦ３０６と変位ＢＰＦ３０７の各出力についての比較が目的であるため、角度ＢＰＦ３０６、変位ＢＰＦ３０７ともに位相の変化が同じであれば問題は生じない。
ＨＰＦ及び積分及び位相調整フィルタ３０４と、ＨＰＦ及び２階積分フィルタ３０５の折点に関しても角速度計の出力と加速度計の出力を比較する目的だけであれば、ＨＰＦ及び積分フィルタ３０１との間で折点を揃える必要はない。ＨＰＦ折点をより高周波側（例えば１Ｈｚ）に設けてＤＣカット能力を大きくし、積分に関しても折点をより高周波側（例えば１Ｈｚ）に設定する事ができる。 With the filter characteristics of this example, a signal of 5 Hz is transmitted (since it is zero decibels, the input signal is output as it is). A 0.5 Hz or 50 Hz signal has an attenuation (−20 dB, 1/10 attenuation) characteristic. Regarding the phase, the output phase with respect to the input at 5 Hz is zero, and the phase greatly changes before and after that. However, since the purpose is to compare the outputs of the angle BPF 306 and the displacement BPF 307, there is no problem if the phase change is the same for both the angle BPF 306 and the displacement BPF 307.
For the purpose of comparing the output of the accelerometer and the output of the accelerometer with respect to the breakpoints of the HPF and integration and phase adjustment filter 304 and the HPF and second-order integration filter 305, the folding is performed between the HPF and the integration filter 301. There is no need to align the points. The HPF break point is provided on the higher frequency side (for example, 1 Hz) to increase the DC cut capability, and the break point can be set on the higher frequency side (for example, 1 Hz) for integration.

一般にＨＰＦや積分処理では、折点が低周波になる程、安定までに長い時間が必要となるが、上記のように折点を高周波側に設定する事で安定までの時間を短縮できる。ただし比較精度を向上させる為には、ＨＰＦ及び積分及び位相調整フィルタ３０４により生じる位相変化と、ＨＰＦ及び２階積分フィルタ３０５で生じる位相変化とを同一にしておくことが好ましい。更には後段の角度ＢＰＦ３０６、変位ＢＰＦ３０７の抽出周波数（５Ｈｚ）において、重力の影響による位相特性も揃えておく必要がある。即ち、ＨＰＦ及び積分及び位相調整フィルタ３０４の角度出力については、５Ｈｚにおける実際の振れ角度との間で位相を十分揃えることが重要である。これにより、その振れ角度による重力成分を高精度に求めて、加速度計１０７ａの出力信号に重畳する重力の影響を除去する事ができる。   In general, in HPF and integration processing, as the break point becomes lower in frequency, a longer time is required for stabilization. However, by setting the break point on the high frequency side as described above, the time until stabilization can be shortened. However, in order to improve the comparison accuracy, it is preferable that the phase change caused by the HPF and the integration and phase adjustment filter 304 is the same as the phase change caused by the HPF and the second order integration filter 305. Furthermore, it is necessary to align the phase characteristics due to the influence of gravity at the extraction frequency (5 Hz) of the angle BPF 306 and the displacement BPF 307 in the subsequent stage. That is, it is important for the HPF and the angle output of the integration and phase adjustment filter 304 to sufficiently align the phase with the actual deflection angle at 5 Hz. Thereby, the gravitational component due to the deflection angle can be obtained with high accuracy, and the influence of gravity superimposed on the output signal of the accelerometer 107a can be removed.

図６（Ａ）はＨＰＦ及び積分及び位相調整フィルタ３０４における、ＨＰＦ及び積分フィルタ部の特性を例示するボード線図である。ＨＰＦ及び積分フィルタ処理により、角速度計１０７ｐの角速度出力については、ＨＰＦでＤＣ成分がカットされ、積分によって角度量に変換される。横軸は周波数ｆを示す対数軸である。縦軸は角速度計１０７ｐの出力に対するＨＰＦ及び積分及び位相調整フィルタ３０４の出力比の利得（単位：デシベル）及び位相（単位：度）を示す。利得６０１を示すグラフ曲線から分かるように、１Ｈｚ以下の低い周波数帯域で信号が減衰する。また１Ｈｚ以上の高い周波数帯域では積分（周波数に比例して利得が減少する）特性となっている。
ここで、次段の角度ＢＰＦ３０６で抽出すべき５Ｈｚの周波数にのみ着目する。位相６０２を示すグラフ曲線を参照すると、５Ｈｚでは、−９０度（積分後の理想位相）に対して矢印６０３に示すように、２３度の遅れ分が足りないことが分かる。そこで５Ｈｚにおけるこの位相分を調整する為に、図６（Ｂ）に示す特性をもつ位相調整フィルタが設けられる。移相フィルタは、利得７０１を変化させずに（ゼロデジベル）、位相７０２のみを周波数が増えるごとに遅らせてゆくフィルタであり、このフィルタにおいて５Ｈｚにおける位相が２３度だけ遅れるように設定される。図６（Ｂ）に示す周波数特性をもつ移相フィルタを、図６（Ａ）の周波数特性をもつフィルタに対して直列に接続すると、５Ｈｚにて位相精度の高い周波数特性が得られる。 FIG. 6A is a Bode diagram illustrating characteristics of the HPF and the integration filter unit in the HPF and the integration and phase adjustment filter 304. With the HPF and integral filter processing, the DC component of the angular velocity output of the angular velocity meter 107p is cut by the HPF and converted into an angular amount by integration. The horizontal axis is a logarithmic axis indicating the frequency f. The vertical axis indicates the gain (unit: decibel) and phase (unit: degree) of the output ratio of the HPF and the integration and phase adjustment filter 304 with respect to the output of the angular velocity meter 107p. As can be seen from the graph curve showing the gain 601, the signal is attenuated in a low frequency band of 1 Hz or less. Further, in a high frequency band of 1 Hz or more, the characteristics are integral (gain decreases in proportion to the frequency).
Here, attention is focused only on the frequency of 5 Hz to be extracted at the angle BPF 306 in the next stage. Referring to the graph curve showing the phase 602, it can be seen that at 5 Hz, the delay of 23 degrees is insufficient as shown by the arrow 603 with respect to -90 degrees (the ideal phase after integration). Therefore, in order to adjust this phase at 5 Hz, a phase adjustment filter having the characteristics shown in FIG. 6B is provided. The phase shift filter is a filter that delays only the phase 702 as the frequency increases without changing the gain 701 (zero decibel), and is set so that the phase at 5 Hz is delayed by 23 degrees. When the phase shift filter having the frequency characteristics shown in FIG. 6B is connected in series to the filter having the frequency characteristics shown in FIG. 6A, a frequency characteristic with high phase accuracy can be obtained at 5 Hz.

図６（Ｂ）の特性をもつ移相フィルタの折れ点周波数は１２Ｈｚであり、位相７０２は５Ｈｚで約２３度の遅れとなる（矢印７０３参照）。その為、図６（Ａ）の矢印６０３に示す位相分と加味されて、理想位相との位相差はゼロとなる。勿論、５Ｈｚ以外の周波数では位相特性の精度は極めて低くなるが、ここでは５Ｈｚ成分のみに着目して当該周波数成分を抽出して角速度検出信号と加速度検出信号を比較することを目的としているので問題はない。   The breakpoint frequency of the phase shift filter having the characteristics shown in FIG. 6B is 12 Hz, and the phase 702 is delayed by about 23 degrees at 5 Hz (see arrow 703). For this reason, the phase difference from the ideal phase becomes zero in consideration of the phase indicated by the arrow 603 in FIG. Of course, the accuracy of the phase characteristic is extremely low at frequencies other than 5 Hz, but here the problem is because the purpose is to extract only the 5 Hz component and extract the frequency component and compare the angular velocity detection signal and the acceleration detection signal. There is no.

図７はＨＰＦ及び積分及び位相調整フィルタ３０４の構成を示すブロック図である。ハイパスフィルタ３０４ａ、積分フィルタ３０４ｂ、移相フィルタ３０４ｃの順に、直列接続で配置されている。よって、角度ＢＰＦ３０６の抽出周波数帯においてカメラに加わる実際の振れ角と、角速度計１０７ｐで検出してそれを積分処理した振れ角度との間で位相を揃える事ができる。ＨＰＦ及び２階積分フィルタ３０５に関しても同様であり、その構成を図８に示す。ハイパスフィルタ３０５ａ、２階積分フィルタ３０５ｂ、移相フィルタ３０５ｃの順に直列接続で配置されている。   FIG. 7 is a block diagram showing the configuration of the HPF and integration / phase adjustment filter 304. The high pass filter 304a, the integration filter 304b, and the phase shift filter 304c are arranged in series in this order. Therefore, the phase can be aligned between the actual shake angle applied to the camera in the extraction frequency band of the angle BPF 306 and the shake angle detected by the angular velocity meter 107p and integrated. The same applies to the HPF and the second order integration filter 305, and the configuration is shown in FIG. The high-pass filter 305a, the second-order integration filter 305b, and the phase shift filter 305c are arranged in series in this order.

図９（Ａ）にて横軸は周波数ｆの対数軸であり、縦軸は加速度計の出力に対するＨＰＦ及び２階積分フィルタ３０５の出力比の利得（単位：デシベル）及び位相（単位：度）を示す。利得１００１を示すグラフ曲線から分かるように、１Ｈｚ以下の低い周波数帯域で信号が減衰する。また１Ｈｚ以上の高い周波数帯域では２階積分（周波数に比例して利得が二乗で減少する）特性になっている。その為、加速度計１０７ａの出力信号は１Ｈｚ以上の周波数帯域では２階積分されて変位量に変換される。
ここで、次段の変位ＢＰＦ３０７で抽出すべき５Ｈｚの周波数のみ着目する。位相１００２を示すグラフ曲線を参照すると、５Ｈｚでは、−１８０度（積分後の理想位相）に対して矢印１００３に示すように５５度の遅れ分が足りないことが分かる。そこで５Ｈｚにおけるこの位相を調整する為に、図９（Ｂ）に示す特性をもつ移相フィルタ３０５ｃが設けられる。移相フィルタ３０５ｃは、利得を変化させずに位相のみを周波数が増えるごとに遅らせてゆくフィルタであり、５Ｈｚで位相が５５度遅れるように設定されている。この周波数特性をもつ移相フィルタを図９（Ａ）の周波数特性をもつフィルタに対して直列に加えると５Ｈｚにおいて位相精度の高い周波数特性が得られる。移相フィルタ３０５ｃの折れ点周波数は３Ｈｚであり、位相１１０２は５Ｈｚで約５５度の遅れとなる（矢印１１０３参照）。よって図９（Ａ）の矢印１００３に示す位相分と加味されて、理想位相との位相差がゼロになる。 In FIG. 9A, the horizontal axis is the logarithmic axis of the frequency f, and the vertical axis is the gain (unit: decibel) and phase (unit: degree) of the output ratio of the HPF and the second order integration filter 305 with respect to the output of the accelerometer. Indicates. As can be seen from the graph curve showing the gain 1001, the signal is attenuated in a low frequency band of 1 Hz or less. Further, in a high frequency band of 1 Hz or higher, the second-order integral (gain decreases in square in proportion to the frequency) is obtained. Therefore, the output signal of the accelerometer 107a is second-order integrated in a frequency band of 1 Hz or higher and converted into a displacement amount.
Here, only the frequency of 5 Hz to be extracted by the displacement BPF 307 at the next stage is focused. Referring to the graph curve showing the phase 1002, it can be seen that at 5 Hz, the delay of 55 degrees is insufficient as shown by the arrow 1003 with respect to -180 degrees (the ideal phase after integration). Therefore, in order to adjust this phase at 5 Hz, a phase shift filter 305c having the characteristics shown in FIG. 9B is provided. The phase shift filter 305c is a filter that delays only the phase as the frequency increases without changing the gain, and is set so that the phase is delayed by 55 degrees at 5 Hz. When a phase shift filter having this frequency characteristic is added in series to the filter having the frequency characteristic shown in FIG. 9A, a frequency characteristic with high phase accuracy can be obtained at 5 Hz. The break point frequency of the phase shift filter 305c is 3 Hz, and the phase 1102 is delayed by about 55 degrees at 5 Hz (see arrow 1103). Therefore, in addition to the phase indicated by the arrow 1003 in FIG. 9A, the phase difference from the ideal phase becomes zero.

このように本例では角度ＢＰＦ３０６及び変位ＢＰＦ３０７で抽出される５Ｈｚの周波数において、カメラの実際の振れ角度や振れ変位と、検出信号の積分結果から得られる振れ角度や振れ変位との間で位相を揃えている。振れ角度は角速度計１０７ｐの出力の積分結果で求まり、移相フィルタ３０４ｃで位相調整され、振れ変位は加速度計１０７ａの出力の２階積分結果で求まり、移相フィルタ３０５ｃで位相調整される。
以上の様に、手振れの周波数帯域よりも図５に示す狭い周波数帯域で、比較部３０８は角速度計の出力と加速度計の出力を比較する。加速度計の出力に重畳する重力成分やノイズ等の誤差を減衰させた状態で、当該出力を角速度計の出力と精度よく比較することができる。 In this way, in this example, at the frequency of 5 Hz extracted by the angle BPF 306 and the displacement BPF 307, the phase is set between the actual shake angle and shake displacement of the camera and the shake angle and shake displacement obtained from the integration result of the detection signal. Aligned. The shake angle is obtained from the integration result of the output of the angular velocity meter 107p, and the phase is adjusted by the phase shift filter 304c. The shake displacement is obtained from the second-order integration result of the output of the accelerometer 107a, and the phase is adjusted by the phase shift filter 305c.
As described above, the comparison unit 308 compares the output of the angular velocity meter and the output of the accelerometer in a narrower frequency band shown in FIG. 5 than the frequency band of camera shake. The output can be accurately compared with the output of the angular velocity meter in a state where an error such as a gravity component or noise superimposed on the output of the accelerometer is attenuated.

ところで上記方法では検出結果が以下に示す誤差を含んでいる。
図１０はレンズの主点位置を回転中心４０２ｐとして、鉛直面内にてカメラが角度振れだけを起こしている状態を例示する。加速度計１０７ａはレンズの主点位置に配置されているので、角度振れは加わるが変位振れは加わらない。その為、加速度計１０７ａの加速度出力はゼロ、つまり平行振れはないのが理想である。ところが加速度計１０７ａに加わる角度振れ（傾斜）により、加速度計１０７ａに対する相対的な重力方向が変化し、実際には加速度出力が発生する。つまり、その加速度出力分が平行振れと誤認識された場合に、誤った振れ補正が行われてしまう虞がある。そこで本実施形態では、重力成分の影響を除去する為に重力除去部３１２を設けている。 By the way, in the above method, the detection result includes the following errors.
FIG. 10 exemplifies a state in which the camera only causes angular shake in the vertical plane with the lens principal point position as the rotation center 402p. Since the accelerometer 107a is arranged at the principal point position of the lens, angular deflection is added but displacement deflection is not added. Therefore, it is ideal that the acceleration output of the accelerometer 107a is zero, that is, there is no parallel shake. However, the angular deflection (tilt) applied to the accelerometer 107a changes the direction of gravity relative to the accelerometer 107a, and in fact generates an acceleration output. That is, when the acceleration output is erroneously recognized as parallel shake, there is a risk that incorrect shake correction is performed. Therefore, in this embodiment, a gravity removing unit 312 is provided to remove the influence of the gravity component.

図１１は重力除去部３１２の構成例を示すブロック図である。重力加速度演算部３１２ａは、角度ＢＰＦ３０６からの手振れ角度情報と初期姿勢算出部３１１からの初期姿勢情報に基づいて加速度計１０７ａに加わる重力加速度を演算する。２階積分フィルタ３１２ｂは、求められた重力加速度から加速度計１０７ａの変位情報としての誤差を算出する。誤差変位除去部３１２ｃは変位ＢＰＦ３０７の出力信号から、２階積分フィルタ３１２ｂの出力する誤差信号を差し引く。これにより、変位ＢＰＦ３０７に重畳されている誤差変位が減算され、誤差の減少した変位情報が比較部３０８に出力される。
前述したように重力加速度演算部３１２ａはカメラの加速度計１０７ａに加わる角度振れによる重力加速度の変動成分の影響を演算によって算出する。その算出法を以下に説明する。 FIG. 11 is a block diagram illustrating a configuration example of the gravity removing unit 312. The gravitational acceleration calculation unit 312 a calculates the gravitational acceleration applied to the accelerometer 107 a based on the hand shake angle information from the angle BPF 306 and the initial posture information from the initial posture calculation unit 311. The second-order integration filter 312b calculates an error as displacement information of the accelerometer 107a from the obtained gravitational acceleration. The error displacement removing unit 312c subtracts the error signal output from the second-order integration filter 312b from the output signal from the displacement BPF 307. As a result, the error displacement superimposed on the displacement BPF 307 is subtracted, and displacement information with a reduced error is output to the comparison unit 308.
As described above, the gravitational acceleration calculation unit 312a calculates the influence of the fluctuation component of the gravitational acceleration due to the angular shake applied to the camera accelerometer 107a by calculation. The calculation method will be described below.

図１、図２に示したカメラの撮影位置にて、カメラは水平姿勢であるため、図１２（Ａ）に示すように、加速度計１０７ａの感度方向１０７ａａは重力の方向１４０１と同じ方向になっている。このとき、加速度計１０７ａは常に重力成分に見合う信号を出力しており、それに重畳された平行振れ１０３ａの成分（図２参照）の検出を行っている。ここで重力成分の信号出力はＤＣ成分であるため、ＨＰＦ及び２階積分フィルタ３０５のハイパスフィルタの作用で除去できる。しかしながら、撮影者がカメラを構えているときに発生する手振れの回転角度の変化により、図１２（Ａ）に破線で示す様に加速度計１０７ａの位置（姿勢）が変化する。これにより、加速度計１０７ａに対する相対的な重力方向が変わり、手振れ角度の変化に伴って加速度計１０７ａの出力は変化する。図１２（Ｃ）は加速度計１０７ａの姿勢に対する加速度計１０７ａの出力の変化を例示する。横軸は加速度計１０７ａの姿勢変化（手振れ回転角度）を示し、縦軸は加速度計１０７ａの出力を示す。実線の波形１６０１は、図１２（Ａ）に示すように１Ｇ（重力加速度）が加わっている状態での加速度計１０７ａの出力を示している。加速度計１０７ａの姿勢角度がゼロの状態から、±θの角度をもって姿勢が変化すると、加速度計１０７ａの出力は姿勢変化に伴って変化（減少）する。図１２（Ｄ）は手振れ回転角度と加速度計出力の時間的変化を例示する。横軸はカメラを構えた時点からの経過時間を示し、縦軸は手振れ回転角度及び加速度計１０７ａの出力をそれぞれ示している。全く平行振れが発生していないと仮定した場合でも、手振れ回転角度１７０１に伴う重力成分の変化の影響により、加速度計１０７ａは誤差信号１７０２を出力する。   Since the camera is in a horizontal posture at the shooting position of the camera shown in FIGS. 1 and 2, the sensitivity direction 107aa of the accelerometer 107a is the same as the direction of gravity 1401 as shown in FIG. ing. At this time, the accelerometer 107a always outputs a signal commensurate with the gravity component, and detects the component (see FIG. 2) of the parallel shake 103a superimposed thereon. Here, since the signal output of the gravity component is a DC component, it can be removed by the action of the high pass filter of the HPF and the second order integration filter 305. However, the position (posture) of the accelerometer 107a changes as shown by the broken line in FIG. 12A due to the change in the rotation angle of the camera shake that occurs when the photographer holds the camera. As a result, the direction of gravity relative to the accelerometer 107a changes, and the output of the accelerometer 107a changes as the hand shake angle changes. FIG. 12C illustrates the change in the output of the accelerometer 107a with respect to the attitude of the accelerometer 107a. The abscissa indicates the posture change (camera shake rotation angle) of the accelerometer 107a, and the ordinate indicates the output of the accelerometer 107a. A solid line waveform 1601 indicates the output of the accelerometer 107a in a state where 1 G (gravity acceleration) is applied as shown in FIG. When the posture angle of the accelerometer 107a changes from the state of zero to an angle of ± θ, the output of the accelerometer 107a changes (decreases) with the posture change. FIG. 12D illustrates the temporal change of the camera shake rotation angle and the accelerometer output. The horizontal axis indicates the elapsed time from the time when the camera is held, and the vertical axis indicates the camera shake rotation angle and the output of the accelerometer 107a. Even when it is assumed that no parallel shake has occurred, the accelerometer 107a outputs an error signal 1702 due to the influence of the change in the gravity component accompanying the hand shake rotation angle 1701.

マクロ撮影のような近接撮影の場合、撮影者はカメラのレンズを下向きにして撮影することが多い。図１２（Ｂ）に示すように、加速度計１０７ａの感度方向１０７ａａに対して重力方向１４０１は直交している。この場合、図１２（Ｃ）では加速度計の出力が破線１６０２で示すように変化し、図１２（Ｄ）における誤差信号は、破線１７０３で示すように正弦関数的に変化する。これは図１２（Ａ）の配置では手振れ角度の変化に対し「Ｇ×ｃｏｓθ」、つまり重力加速度の余弦成分による影響が生じ、図１２（Ｂ）の配置では「Ｇ×ｓｉｎθ」、つまり、重力加速度の正弦成分による影響が生ずる為である。姿勢変化の角度θの値が小さいときにはＧ×ｓｉｎθの方が、大きな変化を示す。そのため、重力の影響を知るには、先ず加速度計１０７ａの姿勢を把握すること、つまり、図１２（Ａ）と図１２（Ｂ）の違いの様に、重力に対して感度軸がどの角度であるかを知ることが必要である。これにより重力演算をサイン関数で行うかコサイン関数で行うかが決まる。重力除去部３１２は、カメラ姿勢に応じた三角関数（サイン関数又はコサイン関数）を用いて、角速度計１０７ｐで求まる手振れ角度θによる重力変化について演算する。θの変化に伴う重力成分の影響をとり除いた重力除去部３１２の出力信号と、角度ＢＰＦ３０６の出力信号は共に比較部３０８に送られる（図３参照）。比較部３０８は角度ＢＰＦ３０６の振れ角度出力θと、重力除去部３１２の振れ変位出力（これをＸと記す）とを比較し、下式（４）から回転半径の長さＬを求める。   In close-up photography such as macro photography, the photographer often takes a picture with the camera lens facing downward. As shown in FIG. 12B, the gravitational direction 1401 is orthogonal to the sensitivity direction 107aa of the accelerometer 107a. In this case, in FIG. 12C, the output of the accelerometer changes as indicated by a broken line 1602, and the error signal in FIG. 12D changes sinusoidally as indicated by a broken line 1703. In the arrangement of FIG. 12A, the influence of “G × cos θ”, that is, the cosine component of the gravitational acceleration occurs with respect to the change of the camera shake angle, and in the arrangement of FIG. 12B, “G × sin θ”, that is, gravity This is because the influence of the sine component of acceleration occurs. When the value of the angle θ of the posture change is small, G × sin θ shows a larger change. Therefore, in order to know the influence of gravity, first, grasp the attitude of the accelerometer 107a, that is, at what angle the sensitivity axis is relative to gravity, as in the difference between FIG. 12 (A) and FIG. 12 (B). It is necessary to know if there is. This determines whether the gravity calculation is performed using a sine function or a cosine function. The gravity removing unit 312 calculates a gravity change due to the camera shake angle θ obtained by the angular velocity meter 107p using a trigonometric function (sine function or cosine function) corresponding to the camera posture. The output signal of the gravity removing unit 312 and the output signal of the angle BPF 306 from which the influence of the gravity component due to the change of θ is removed are both sent to the comparing unit 308 (see FIG. 3). The comparison unit 308 compares the deflection angle output θ of the angle BPF 306 with the deflection displacement output (denoted as X) of the gravity removing unit 312 and obtains the length L of the rotation radius from the following equation (4).

Figure 0005675179
そして、求めたＬの値を用いて上式（３）からδの値が算出され、振れ補正が行われる。即ち、比較部３０８で求めた回転半径の長さＬを出力補正部３０９の出力に乗じて平行振れ補正目標値とする。なお、上式（４）を変形した「Ｌ×θ＝Ｘ」を上式（３）に代入すれば容易に分かるように、Ｌ値の算出に係る演算上の手間を省くことはできるが、本実施形態では、後述する方法でＬの平均値を算出している。これは変位出力には元来ノイズ成分が多く含まれるため、その除去が必要とされることによる。
図３に示す角度ＢＰＦ３０６、変位ＢＰＦ３０７を設ける事で、比較部３０８は前述した様に手振れの周波数帯域よりも狭い周波数域（図５参照）にて角速度計出力と加速度計出力を比較することができる。よって、加速度計の出力に重畳する重力成分やノイズ等の誤差を減衰させた状態で、当該出力を角速度計の出力と精度よく比較できる。
Figure 0005675179
 Then, using the obtained L value, the value of δ is calculated from the above equation (3), and shake correction is performed. That is, the length L of the rotation radius obtained by the comparison unit 308 is multiplied by the output of the output correction unit 309 to obtain a parallel shake correction target value. As can be easily understood by substituting “L × θ = X”, which is a modification of the above formula (4), into the above formula (3), it is possible to save the computational effort related to the calculation of the L value. In the present embodiment, the average value of L is calculated by a method described later. This is because the displacement output inherently contains a lot of noise components, and therefore it is necessary to remove them.
By providing the angle BPF 306 and the displacement BPF 307 shown in FIG. 3, the comparison unit 308 can compare the angular velocity meter output and the accelerometer output in a frequency band (see FIG. 5) narrower than the frequency band of camera shake as described above. it can. Therefore, the output can be compared with the output of the angular velocity meter with high accuracy in a state where an error such as a gravitational component or noise superimposed on the output of the accelerometer is attenuated.

次に、式（４）の結果である回転半径の長さＬの算出方法を説明する。
図１３は、角度ＢＰＦ３０６の出力波形１８０１及び重力除去部３１２の出力波形１８０２を例示する。横軸は時間ｔ（単位：秒）を示し、縦軸には角度θ（単位：度）、変位Ｘ（単位：ｍｍ）をそれぞれ示す。一定周期ごとにサンプリングした結果を角度差θi、変位の差Ｘiで表し、添え字「i」を自然数変数とする。矢印１８０３乃至１８０９に示す期間の長さは夫々サンプリング周期に相当する。これらの期間における角度差θiを、矢印１８１０乃至１８１６（θ１からθ７）で示す。同様に、変位の差Ｘiを、矢印１８１７乃至１８２３（Ｘ１からＸ７）で示す。サンプリング周期としては抽出周波数に相当する周期の半分の値が設定されており、例えば抽出周波数が５Ｈｚの場合には、０．１秒となる。そして、期間１８０３乃至１８０９で得たθi及びＸiから上式（４）を用いて回転半径の長さＬiが求まる。Ｌiの値を平均する事により、安定なＬ値を求めることができる。即ちサンプリング回数をｎとすると、下式（５）により平均値としてのＬが算出される。 Next, a method for calculating the length L of the turning radius, which is the result of Expression (4), will be described.
FIG. 13 illustrates an output waveform 1801 of the angle BPF 306 and an output waveform 1802 of the gravity removing unit 312. The horizontal axis represents time t (unit: second), and the vertical axis represents angle θ (unit: degree) and displacement X (unit: mm). The result of sampling every fixed period is represented by an angle difference θ i and a displacement difference X i , and the subscript “i” is a natural number variable. The lengths of the periods indicated by arrows 1803 to 1809 correspond to sampling periods, respectively. The angle difference θ i during these periods is indicated by arrows 1810 to 1816 (θ 1 to θ 7 ). Similarly, the displacement difference X i is indicated by arrows 1817 to 1823 (X 1 to X 7 ). As the sampling period, a value half the period corresponding to the extraction frequency is set. For example, when the extraction frequency is 5 Hz, the sampling period is 0.1 second. Then, the length L i of the rotation radius is obtained from θ i and X i obtained in the periods 1803 to 1809 using the above equation (4). By averaging the values of L i, it can be obtained stable L value. That is, when the number of samplings is n, L as an average value is calculated by the following equation (5).

Figure 0005675179
レンズＣＰＵ１０８はこうして求めたＬ値を、上式（３）に代入して、像面上での振れ量を計算し、振れ補正を行う。即ち、式（５）で求めた回転半径の長さＬの値が、図３の出力補正部３０９に補正値として出力される。
本実施形態ではサンプリング期間ごとの回転半径の長さＬｉを用いて、リアルタイムに像面振れ量を式（３）から求め、その瞬間での振れ補正を行うのではなく、各期間で求めた回転半径の長さＬの平均値を求める。その結果より上式（３）から像面での振れ量を算出する理由は、平均化により安定なＬ値が得られるからである。角度出力、変位出力には元来ノイズ成分が多く含まれるので、１周期だけで求めたＬ値の信頼性は低い。そこで回転半径を平均化する事が望ましい。
Figure 0005675179
 The lens CPU 108 substitutes the L value obtained in this way into the above equation (3), calculates the shake amount on the image plane, and performs shake correction. That is, the value of the length L of the radius of rotation obtained by Expression (5) is output as a correction value to the output correction unit 309 in FIG.
In the present embodiment by using the length L i of the radius of rotation of each sampling period, it obtains the image plane shake amount from Equation (3) in real time, instead of performing shake correction at that moment, determined in each period An average value of the length L of the turning radius is obtained. The reason for calculating the shake amount on the image plane from the above equation (3) is that a stable L value can be obtained by averaging. Since the angle output and the displacement output originally contain a lot of noise components, the reliability of the L value obtained in only one cycle is low. Therefore, it is desirable to average the turning radius.

次に図１４のフローチャートを用いて、防振制御の処理例を説明する。本処理はカメラの主電源がオン状態となった時点で開始する。尚、理解し易いように、カメラにおいて本実施形態に直接関連のない各種の制御ステップは省略している。また以下では、カメラの角度振れ１０３ｐ、平行振れ１０３ａを角速度計１０７ｐ、加速度計１０７ａでそれぞれ検出する例を説明する。カメラの角度振れ１０３ｙ、平行振れ１０３ｂを角速度計１０７ｙ、加速度計１０７ｂでそれぞれ検出する場合も同様の流れになる。本処理はカメラの主電源オフで終了する。
Ｓ１９０１でカメラＣＰＵ１０４ｄはレリーズボタン１０４ａの半押し操作によって第１スイッチＳ１がオン状態になったか否かを判定する。Ｓ１がオン状態となった場合、Ｓ１９０２に進むが、Ｓ１がオフ状態の場合にはＳ１９０１の判定処理が繰り返される。Ｓ１９０２で角速度計１０７ｐ、加速度計１０７ａが作動して振れ検出が開始する。そして加速度計１０７ａ、１０７ｂの出力信号に基づいて初期姿勢算出部３１１はカメラ本体１０４及び交換レンズ１０１の初期姿勢を求める。また不図示のＡＦ（オートフォーカス）センサが作動して焦点状態検出が始まる。ここでレリーズボタン１０４ａの半押しによってＳ１がオンした後に上記の作動を行う理由は、Ｓ１のオン操作時に撮影者はカメラを被写体に向かって構え、カメラが安定状態にある為である。 Next, a processing example of image stabilization control will be described using the flowchart of FIG. This process starts when the main power of the camera is turned on. For easy understanding, various control steps not directly related to the present embodiment in the camera are omitted. Hereinafter, an example will be described in which the angular shake 103p and the parallel shake 103a of the camera are detected by the angular velocity meter 107p and the accelerometer 107a, respectively. The same flow occurs when the angular shake 103y and the parallel shake 103b of the camera are detected by the angular velocity meter 107y and the accelerometer 107b, respectively. This process ends when the main power of the camera is turned off.
In S1901, the camera CPU 104d determines whether or not the first switch S1 is turned on by a half-press operation of the release button 104a. When S1 is turned on, the process proceeds to S1902, but when S1 is turned off, the determination process of S1901 is repeated. In S1902, the angular velocity meter 107p and the accelerometer 107a are activated to start shake detection. Based on the output signals from the accelerometers 107a and 107b, the initial posture calculation unit 311 obtains the initial postures of the camera body 104 and the interchangeable lens 101. Also, an AF (autofocus) sensor (not shown) is activated to start focus state detection. The reason why the above operation is performed after S1 is turned on by half-pressing the release button 104a is that the photographer holds the camera toward the subject when the S1 is turned on, and the camera is in a stable state.

次のＳ１９０３で角度振れの補正が可能か否かについて判断され、角速度計１０７ｐの角度振れ補正目標値が得られた場合、Ｓ１９０４に進み、該目標値が得られない場合にはＳ１９２８に進む。角速度計１０７ｐの積分出力（図３のＨＰＦ及び積分フィルタ３０１）が安定するまでに多少の時間（例えば０．５秒）が必要である為、Ｓ１９０３では、それ迄の間は角度振れ補正を行わないようする。
Ｓ１９０４でレンズＣＰＵ１０８は駆動部１０９を介して振れ補正部１０６を駆動し、角度振れのみ補正する。この場合、平行振れ補正は行わない。次のＳ１９０５ではＡＦが完了しているか否かが判定され、完了している場合、Ｓ１９０６に進み、未完了の場合にはＳ１９２８に進む。 In next S1903, it is determined whether or not the angular shake can be corrected. If the angular shake correction target value of the angular velocity meter 107p is obtained, the process proceeds to S1904. If the target value cannot be obtained, the process proceeds to S1928. Since some time (for example, 0.5 seconds) is required for the integral output of the angular velocity meter 107p (HPF and integral filter 301 in FIG. 3) to become stable, in S1903, angular shake correction is performed until then. Do not be.
In S1904, the lens CPU 108 drives the shake correction unit 106 via the drive unit 109, and corrects only the angular shake. In this case, parallel shake correction is not performed. In next S1905, it is determined whether or not AF is completed. If completed, the process proceeds to S1906, and if not completed, the process proceeds to S1928.

先ず、ＡＦが未完了の場合を説明する。Ｓ１９２８で前記した回転半径の長さＬが算出される。角速度計１０７ｐの出力信号、及び重力除去部３１２により重力の影響を除去した加速度計１０７ａの出力信号より、所望の周波数成分が抽出された後、比較部３０８は回転半径の長さＬを求める。更に比較部３０８は、定期的に求めた回転半径の長さのデータを累積してゆく。Ｓ１９２９でレンズＣＰＵ１０８はＡＦセンサが焦点状態の検出を完了したか否かについて判定する。焦点状態の検出が完了している場合、Ｓ１９３０に進み、未完了の場合にはＳ１９３４に進む。
先ず、焦点状態の検出が完了していない場合を説明すると、Ｓ１９３４でカメラＣＰＵ１０４ｄはレリーズボタン１０４ａの半押しが解除されたか否かを判定する。レリーズボタン１０４ａの半押しが解除されてＳ１がオフ状態になった場合、Ｓ１９０１に戻ってＳ１がオン状態となるまで待機する。またレリーズボタン１０４ａの半押しが解除されていない場合にはＳ１９０３に戻り、角度振れ補正が可能であるか否かについて再度判定される。ここで角度振れ補正が可能でない場合にはＳ１９２８に進み、Ｓ１９２９で再び焦点状態の検出完了が判定される。 First, a case where AF has not been completed will be described. In S1928, the length L of the turning radius is calculated. After a desired frequency component is extracted from the output signal of the angular velocity meter 107p and the output signal of the accelerometer 107a from which the influence of gravity is removed by the gravity removing unit 312, the comparing unit 308 obtains the length L of the turning radius. Further, the comparison unit 308 accumulates data on the length of the rotation radius obtained periodically. In S1929, the lens CPU 108 determines whether or not the AF sensor has completed the detection of the focus state. If the detection of the focus state is completed, the process proceeds to S1930, and if not detected, the process proceeds to S1934.
First, a case where the detection of the focus state is not completed will be described. In S1934, the camera CPU 104d determines whether or not the half-press of the release button 104a is released. When the half-press of the release button 104a is released and S1 is turned off, the process returns to S1901 and waits until S1 is turned on. If the half-press of the release button 104a has not been released, the process returns to S1903, and it is determined again whether angle shake correction is possible. If the angular shake correction is not possible, the process proceeds to S1928, and it is determined again in S1929 that the detection of the focus state is completed.

角度振れ補正の準備が整った場合にはＳ１９０３からＳ１９０４に進み、角度振れ補正を開始すると共にＳ１９０５でＡＦ完了判定が行われる。この場合にはＡＦは未完了であるため、Ｓ１９２８に進んだ後、Ｓ１９２９で再び焦点状態の検出完了判定が行われ、焦点状態の検出が完了した場合にＳ１９３０に進む。ここで比較部３０８は回転半径の検出（Ｌ値の算出）を中止する。その理由は、これ以降のステップで合焦の為にレンズ駆動が行われるので、その駆動ノイズが加速度計出力に重畳して回転半径の長さが不正確とならないように防ぐ為である。Ｓ１９３１で合焦の為に図示しない焦点調節用のフォーカスレンズが駆動される。次のＳ１９３２でレンズＣＰＵ１０８はレンズ駆動が完了したか否かを判定し、完了した場合、Ｓ１９３３に進み、未完了の場合にはＳ１９３４に進む。Ｓ１９３３でフォーカスレンズの駆動が停止した後、Ｓ１９３４に進む。   If preparation for angle shake correction is completed, the process advances from S1903 to S1904, where angle shake correction is started and AF completion determination is performed in S1905. In this case, since AF has not been completed, the process proceeds to S1928, and then the focus state detection completion determination is performed again in S1929. When the focus state detection is completed, the process proceeds to S1930. Here, the comparison unit 308 stops detecting the rotation radius (calculation of the L value). The reason is that lens driving is performed for focusing in the subsequent steps, so that the driving noise is prevented from being superimposed on the accelerometer output and the length of the rotation radius is not inaccurate. In S1931, a focus adjustment focus lens (not shown) is driven for focusing. In next S1932, the lens CPU 108 determines whether or not the lens driving is completed. If completed, the process proceeds to S1933, and if not completed, the process proceeds to S1934. After driving the focus lens is stopped in S1933, the process proceeds to S1934.

Ｓ１９３２でレンズ駆動が未完了と判定された場合にはＳ１９３４、Ｓ１９０３を経てＳ１９２８に戻るか、或いはＳ１９３４、Ｓ１９０３、Ｓ１９０４、Ｓ１９０５を経てＳ１９２８に戻り、Ｓ１９３２でレンズ駆動の完了が再度判定される。即ち、レリーズボタン１０４ａの半押しが解除されない限り、各ステップを循環してレンズ駆動が完了するまでの間、上記の処理が繰り返される。
Ｓ１９３３でレンズ駆動が停止された後でＳ１９３４からＳ１９０３に戻り、Ｓ１９０４を経てＳ１９０５ではＡＦの完了判定が行われる。このステップでは再度ＡＦセンサで焦点状態を検出しており、ＡＦの完了によって合焦状態が得られた場合にはＳ１９０６に進み、ＡＦが未完了の場合には再びＳ１９２８に戻って焦点調節が行われる。 If it is determined in S1932 that lens driving is incomplete, the process returns to S1928 via S1934 and S1903, or returns to S1928 via S1934, S1903, S1904, and S1905, and the completion of lens driving is determined again in S1932. That is, as long as the half-press of the release button 104a is not released, the above process is repeated until the lens driving is completed after circulating through each step.
After the lens driving is stopped in S1933, the process returns from S1934 to S1903, and through S1904, the completion of AF is determined in S1905. In this step, the focus state is detected again by the AF sensor. If the in-focus state is obtained by the completion of AF, the process proceeds to S1906. If the AF is not completed, the process returns to S1928 and the focus adjustment is performed. Is called.

Ｓ１９０６で比較部３０８は前記Ｓ１９２８の場合と同様、定期的に求めた回転半径の長さデータを累積していく。但し、Ｓ１９２８を経てＳ１９０６に到達した場合には、既に回転半径の検出が始っているので、本ステップでの検出処理は無用である。次のＳ１９０７でレンズＣＰＵ１０８はカメラのパン検出を行う。パンニング状態の検出方法は、例えば以下の判定条件に基づいて行われる。
・角速度計１０７ｐの出力信号が一定期間（例えば０．５秒）に亘って所定の角速度以上（例えば３度／秒）であること。
・角速度計１０７ｐの積分値（ＨＰＦ及び積分フィルタ３０１の出力）が一定期間（例えば０．２秒）に亘って所定の角度以上（例えば１．５度）であること。
いずれかの条件が満たされた場合に、カメラのパンニング状態、つまり、撮影者がカメラを一定方向に振り動かしていると判定され、Ｓ１９０８に進む。また、カメラがパンニング状態でないと判定された場合、Ｓ１９１１に進む。 In S1906, the comparison unit 308 accumulates the length data of the rotation radius obtained periodically as in the case of S1928. However, when the process reaches S1906 via S1928, the detection of the radius of rotation has already begun, so the detection process in this step is unnecessary. In next step S1907, the lens CPU 108 detects the pan of the camera. The panning state detection method is performed based on the following determination conditions, for example.
The output signal of the angular velocity meter 107p is not less than a predetermined angular velocity (for example, 3 degrees / second) over a certain period (for example, 0.5 seconds).
The integral value of the angular velocity meter 107p (HPF and the output of the integral filter 301) is not less than a predetermined angle (for example, 1.5 degrees) over a certain period (for example, 0.2 seconds).
If any of the conditions is satisfied, it is determined that the camera is in a panning state, that is, the photographer is shaking the camera in a certain direction, and the process advances to step S1908. If it is determined that the camera is not in the panning state, the process proceeds to S1911.

Ｓ１９０８で比較部３０８は回転半径の検出を中止し、図２に矢印１０３ｐで示す方向の角度振れ補正が停止する。これは、パンニング中は振れが不安定で、回転半径を精度良く検出できない事や、振れ角が大きいため角度振れ補正を行うと振れ補正レンズが端位置に行き着き、機械的な制約から矢印１０３ｙに示す方向の振れ補正精度も低下してしまう為である。
Ｓ１９０９では再びパンニング状態の如何が判定され、パンニング状態と判定された場合、１９１１に進み、パンニング動作が終了している場合にはＳ１９１０に進む。Ｓ１９１０では撮影者がカメラを安定して構えていると判断されるため、回転半径の検出が再開され、角度振れ補正も再開し、Ｓ１９１１に進む。ここでカメラＣＰＵ１０４ｄはレリーズボタン１０４ａの半押し操作が解除されたか否かを判定する。第１スイッチＳ１がオフ状態となって、半押し操作が解除された場合、Ｓ１９３５に進み、Ｓ１がオン状態の場合にはＳ１９１２に進む。 In step S1908, the comparison unit 308 stops detecting the rotation radius, and the angular shake correction in the direction indicated by the arrow 103p in FIG. 2 stops. This is because the shake is unstable during panning and the radius of rotation cannot be detected with high accuracy, or the shake angle is large and the shake correction lens reaches the end position when the shake correction is performed. This is because the shake correction accuracy in the direction shown also decreases.
In S1909, whether the panning state is determined again is determined. If the panning state is determined, the process proceeds to 1911. If the panning operation is completed, the process proceeds to S1910. In S1910, since it is determined that the photographer is holding the camera stably, the detection of the rotation radius is restarted, the angular shake correction is restarted, and the process proceeds to S1911. Here, the camera CPU 104d determines whether or not the half-press operation of the release button 104a has been released. If the first switch S1 is turned off and the half-press operation is released, the process proceeds to S1935, and if S1 is on, the process proceeds to S1912.

Ｓ１９３５では回転半径の検出が中止されると共に、今迄蓄積してきた回転半径の長さデータがリセットされた後、Ｓ１９２５に進む（丸枠内にＡを付して示すノード参照）。これは、レリーズボタン１０４ａの半押し操作を解除したことで、撮影者が新たな被写体の撮影に移るか、或いは撮影を終了させるといった、撮影条件の変更が予測される為である。但し、撮影者が再度、レリーズボタン１０４ａの半押し操作を直ちに行った場合（例えば半押し解除から１秒以内の再操作）には、回転半径の長さデータをリセットしない様にしてもよい。
Ｓ１９２５で所定時間（例えば４秒）の待機処理が行われる。この間、角度振れ補正は継続しており、角速度計１０７ｐ及び加速度計１０７ａは作動している。この様にレリーズボタン１０４ａの半押し操作の解除後も暫くの間、角度振れ補正を継続させる理由は、レリーズボタン１０４ａが再度、半押し操作された時に備える為である。所定時間の経過後、Ｓ１９２６に進み、角度振れ補正が停止する。また所定時間が経過するまでの間、Ｓ１９２５の判定処理が繰り返される。Ｓ１９２７で角速度計１０７ｐ、加速度計１０７ａ、ＡＦセンサの検出動作が停止した後、Ｓ１９０１に戻る。 In S1935, the detection of the rotation radius is stopped, and the length data of the rotation radius accumulated so far is reset, and then the process proceeds to S1925 (refer to the node indicated by A in a round frame). This is because, by releasing the half-press operation of the release button 104a, it is predicted that the photographing condition is changed such that the photographer moves to photographing a new subject or ends photographing. However, when the photographer immediately performs a half-press operation of the release button 104a again (for example, a re-operation within one second from the release of the half-press), the rotation radius length data may not be reset.
In S1925, standby processing for a predetermined time (for example, 4 seconds) is performed. During this time, the angular shake correction is continued, and the angular velocity meter 107p and the accelerometer 107a are operating. The reason why the angular shake correction is continued for a while after releasing the half-press operation of the release button 104a is to prepare for the case where the release button 104a is pressed halfway again. After the predetermined time has elapsed, the process proceeds to S1926, and the angular shake correction is stopped. Further, the determination process of S1925 is repeated until the predetermined time elapses. After the detection operations of the angular velocity meter 107p, the accelerometer 107a, and the AF sensor are stopped in S1927, the process returns to S1901.

前記Ｓ１９１１でレリーズボタン１０４ａが継続して半押し操作されている場合にはＳ１９１２に進む。ここでカメラＣＰＵ１０４ｄはレリーズボタン１０４ａの押し切り操作により、第２スイッチＳ２がオン状態になったか否かを判定する。Ｓ２がオフ状態の場合、Ｓ１９０７に戻り、Ｓ２がオン状態の場合、Ｓ１９１３に進む。Ｓ２がオン状態となって撮影動作が開始すると、Ｓ１９１３で回転半径の検出が中止される。その理由は、これ以後に予定されるクイックリターンミラー（図２の符号１１０参照）や絞り、シャッタ等、振動の発生を伴う動作により、加速度計１０７ａに外乱が加わり回転半径の検出精度が低下する虞があることによる。検出中止の後、これまでに求めてきた各期間（図１３の期間１８０３、１８０４等）における回転半径の長さＬについて平均値が算出される（前記式（５）参照）。次のＳ１９１４は補正の信頼性に係る判定処理であり、比較部３０８は、求めた回転半径の長さＬの値が妥当であるか否かを判定する。回転半径の長さが妥当であるか否かの判定は、以下の３条件に基づいて行われる。
（１）回転半径の検出期間が短いこと。
（２）算出した回転半径の長さが所定値より大きいこと。
（３）角速度が所定値以下の状態が長時間に亘って継続したこと。 If the release button 104a is continuously pressed halfway in S1911, the process proceeds to S1912. Here, the camera CPU 104d determines whether or not the second switch S2 has been turned on by pressing the release button 104a. If S2 is off, the process returns to S1907. If S2 is on, the process proceeds to S1913. When S2 is turned on and the photographing operation is started, detection of the rotation radius is stopped in S1913. The reason is that disturbances are applied to the accelerometer 107a due to operations such as a quick return mirror (see reference numeral 110 in FIG. 2), a diaphragm, a shutter, and the like that are expected to occur thereafter, and the detection accuracy of the turning radius decreases. Because there is a fear. After the detection is stopped, an average value is calculated for the length L of the rotation radius in each period obtained so far (periods 1803, 1804, etc. in FIG. 13) (see the above formula (5)). Next, S1914 is a determination process related to the reliability of correction, and the comparison unit 308 determines whether or not the obtained value of the length L of the turning radius is appropriate. Whether or not the length of the turning radius is appropriate is determined based on the following three conditions.
(1) The detection period of the rotation radius is short.
(2) The calculated length of the turning radius is larger than a predetermined value.
(3) The state where the angular velocity is not more than a predetermined value has continued for a long time.

条件（１）は、例えばＳ１９０１で第１スイッチＳ１がオン状態になった時点から、Ｓ１９１２で第２スイッチＳ２がオン状態になった時点までの期間が短く、回転半径の計算に要する時間が足りない場合である。
条件（２）は、外乱等の要因で回転半径の長さが予測し得る上限（例えば撮影レンズ主点位置から撮影者の腰相当までの距離）を超えた場合である。
条件（３）は、カメラが三脚等に固定されていて静止状態にある為に、角速度出力（或いはそれを積分した角度出力）が所定値より小さくなり、この状態が所定の判定基準時間以上に亘って継続した場合である。 Condition (1) is, for example, that the period from the time when the first switch S1 is turned on in S1901 to the time when the second switch S2 is turned on in S1912 is short, and the time required for calculating the turning radius is sufficient. This is the case.
Condition (2) is a case where the length of the rotation radius exceeds a predictable upper limit (for example, a distance from the photographing lens principal point position to the waist of the photographer) due to factors such as disturbance.
Condition (3) is that, since the camera is fixed on a tripod or the like and is in a stationary state, the angular velocity output (or an angular output obtained by integrating it) becomes smaller than a predetermined value, and this state exceeds a predetermined determination reference time. This is a case of continuing for a long time.

前記条件（１）乃至（３）のいずれかを満たす状態で、比較部３０８が前記の式（４）から回転半径の長さＬを求めると、計算誤差により極めて大きな回転半径が計算されてしまう可能性が高まる。そこで、この場合にはＬ値が正常に求められていないと判定され、Ｓ１９３６に進む。一方、前記条件（１）乃至（３）がいずれも満たされていない場合、Ｌ値が正常に算出されたと判定されてＳ１９１５に進む。
Ｓ１９３６で比較部３０８は、初期値として事前に設定されている回転半径、例えば、カメラの接眼部から撮影光学系の主点位置までの距離を用いる。初期値についてはこれに限らず、例えばＬ値をゼロとして平行振れの補正が行われないようにしてもよい。
Ｓ１９１５では前記Ｓ１９０７と同様、カメラがパンニング状態であるか否かが判定され、パンニング動作中の場合、Ｓ１９１７に進み、そうでない場合にはＳ１９１６に進む。なおＳ１９１５でパンニング状態と判定される時にはＳ１９０８で角度振れ補正が停止しているので、角度振れの補正は行われていない。
Ｓ１９１６で平行振れ補正が開始した後、次のＳ１９１７で撮像素子１０５は蓄積動作を開始する。但し、未だシャッタが開いていないので、被写体からの光束は撮像素子１０５に入射していない状態である。 When the comparison unit 308 obtains the length L of the rotation radius from the equation (4) in a state where any one of the conditions (1) to (3) is satisfied, an extremely large rotation radius is calculated due to a calculation error. The possibility increases. Therefore, in this case, it is determined that the L value is not normally obtained, and the process proceeds to S1936. On the other hand, if none of the conditions (1) to (3) is satisfied, it is determined that the L value has been calculated normally, and the process proceeds to S1915.
In S1936, the comparison unit 308 uses a rotation radius set in advance as an initial value, for example, a distance from the eyepiece of the camera to the principal point position of the photographing optical system. The initial value is not limited to this. For example, the L value may be zero and the parallel shake may not be corrected.
In S1915, as in S1907, it is determined whether or not the camera is in a panning state. If panning is in progress, the process proceeds to S1917. Otherwise, the process proceeds to S1916. Note that when the panning state is determined in S1915, the angular shake correction is stopped in S1908, and thus the angular shake correction is not performed.
After the parallel shake correction is started in S1916, the image sensor 105 starts an accumulation operation in the next S1917. However, since the shutter is not yet opened, the light beam from the subject is not incident on the image sensor 105.

Ｓ１９１８でクイックリターンミラー１１０が上昇して撮影光軸から退避し、レンズの絞りが駆動されてシャッタが開く。これにより撮像素子１０５は受光面に結像した被写体光束に係る電荷蓄積を開始する。次のＳ１９１９で露光に適した撮影期間が経過するまでの間、待機処理となる。撮像素子１０５の蓄積動作が完了した場合、Ｓ１９２０に進み、平行振れ補正が停止する。Ｓ１９２１でシャッタが閉じ、レンズの絞りが元の状態に戻ると共にクイックリターンミラー１１０が下降して撮影光軸上に位置する。   In S1918, the quick return mirror 110 is raised and retracted from the photographing optical axis, the lens diaphragm is driven, and the shutter is opened. As a result, the image sensor 105 starts accumulating the charge related to the subject light beam formed on the light receiving surface. In the next S1919, a standby process is performed until a shooting period suitable for exposure elapses. When the accumulation operation of the image sensor 105 is completed, the process proceeds to S1920, and the parallel shake correction is stopped. In S1921, the shutter is closed, the aperture of the lens returns to the original state, and the quick return mirror 110 is lowered and positioned on the photographing optical axis.

この様にＳ１９１５でカメラがパンニング状態であると判定された場合には、角度振れ補正、平行振れ補正とも行われずにカメラＣＰＵ１０４ｄが撮影動作を実行する。またＳ１９１５でカメラがパンニング状態でないと判定された場合にはＳ１９１６に進み、前記Ｓ１９１３で求まった回転半径（Ｌ値）に基づいて平行振れ補正が開始する。
以上の様に、Ｓ１９１５でカメラがパンニング状態でないと判定される場合には、Ｓ１９０４で角度振れの補正が行われているか、或いはＳ１９１０で角度振れ補正が再開されている。よって、露光中、つまり、被写体光束に係る撮像素子１０５の電荷蓄積中には、角度振れ補正と平行振れ補正の両方が行われる。 As described above, when it is determined in S1915 that the camera is in the panning state, the camera CPU 104d executes the photographing operation without performing the angular shake correction and the parallel shake correction. If it is determined in S1915 that the camera is not in a panning state, the process proceeds to S1916, and parallel shake correction is started based on the rotation radius (L value) obtained in S1913.
As described above, when it is determined in S1915 that the camera is not in the panning state, the angular shake correction is performed in S1904, or the angular shake correction is restarted in S1910. Therefore, both the angular shake correction and the parallel shake correction are performed during exposure, that is, during the charge accumulation of the image sensor 105 related to the subject light flux.

Ｓ１９２１の後、Ｓ１９２２でカメラＣＰＵ１０４ｄは、撮像素子１０５で得た画像情報をカメラ背面の液晶モニタ等の表示画面に表示させ、記録媒体に画像情報を記録するように制御を行う。そしてＳ１９２３では、レリーズボタン１０４ａの押し切り操作が解除されたか否かが判定され、第２スイッチＳ２がオフ状態になった場合、Ｓ１９２４に進むが、Ｓ２がオン状態の場合にはＳ１９２３の判定処理が繰り返される。Ｓ１９２４ではレリーズボタン１０４ａの半押し操作が解除されたか否かが判定され、第１スイッチＳ１がオフ状態になった場合、Ｓ１９２５に進む。またＳ１がオン状態の場合には、Ｓ１９０６に戻る（丸枠内にＢを付して示すノード参照）。即ちレリーズボタン１０４ａの半押し操作が解除されるまでの間、回転半径が検出される。
第１実施形態によれば、手振れによるカメラ姿勢の変動によって加速度計１０７ａに重畳される重力加速度成分の変動を除去した後で、加速度計と角速度計の各出力を比較して回転半径を算出できるので、精度の高い平行振れ補正が可能である。 After S1921, in S1922, the camera CPU 104d displays the image information obtained by the image sensor 105 on a display screen such as a liquid crystal monitor on the back of the camera, and performs control to record the image information on a recording medium. In S1923, it is determined whether or not the release button 104a has been released. If the second switch S2 is turned off, the process proceeds to S1924. If S2 is turned on, the determination process in S1923 is performed. Repeated. In S1924, it is determined whether or not the half-press operation of the release button 104a is released. If the first switch S1 is turned off, the process proceeds to S1925. If S1 is on, the process returns to S1906 (refer to the node indicated by B in the circle). That is, the radius of rotation is detected until the half-press operation of the release button 104a is released.
According to the first embodiment, after removing the variation of the gravitational acceleration component superimposed on the accelerometer 107a due to the camera posture variation due to camera shake, the rotation radius can be calculated by comparing the outputs of the accelerometer and the angular velocity meter. Therefore, high-accuracy parallel shake correction is possible.

［第２実施形態］
次に本発明の第２実施形態を説明する。第１実施形態では、加速度計の出力に重畳する重力成分の影響を重力除去部３１２が求めて変位量に変換し、これを加速度検出信号の２階積分出力（変位出力）から減算した。これに対し、第２実施形態では重力除去部がカメラの初期姿勢と振れ角度に基づいて重力成分の変化を算出し、それを加速度計の出力から減算した後に２階積分して振れ変位量に変換する。 [Second Embodiment]
Next, a second embodiment of the present invention will be described. In the first embodiment, the gravity removing unit 312 obtains the influence of the gravity component superimposed on the output of the accelerometer, converts it into a displacement amount, and subtracts this from the second-order integral output (displacement output) of the acceleration detection signal. On the other hand, in the second embodiment, the gravity removing unit calculates the change of the gravity component based on the initial posture and the shake angle of the camera, subtracts it from the output of the accelerometer, and then integrates the second order to obtain the shake displacement amount. Convert.

図１５は第２実施形態に係る防振制御装置の構成例を示すブロック図である。以下、第１実施形態で説明した構成部と異なる部分のみを説明し、第１実施形態の場合と同様の部分については既に使用した符号と同一の符号を用いることによりそれらの詳細な説明を省略する。
図１５において重力除去部２００１には角度ＢＰＦ３０６、初期姿勢算出部３１１、加速度計１０７ａからの信号が入力される。重力除去部２００１の出力信号はＨＰＦ及び２階積分フィルタ３０５に出力される。ＨＰＦ及び２階積分フィルタ３０５の出力信号は変位ＢＰＦ３０７を介して比較部３０８に送られる。 FIG. 15 is a block diagram illustrating a configuration example of the image stabilization control apparatus according to the second embodiment. Hereinafter, only different parts from the constituent parts described in the first embodiment will be described, and the same parts as those in the first embodiment will be omitted by using the same reference numerals as those already used. To do.
In FIG. 15, signals from the angle BPF 306, the initial posture calculation unit 311, and the accelerometer 107 a are input to the gravity removal unit 2001. The output signal of the gravity removing unit 2001 is output to the HPF and the second order integration filter 305. The HPF and the output signal of the second order integration filter 305 are sent to the comparison unit 308 via the displacement BPF 307.

図１６は重力除去部２００１の構成例を示しており、重力加速度演算部２００１ａと誤差加速度除去部２００１ｂを備える。重力加速度演算部２００１ａには初期姿勢算出部３１１の出力信号及び角度ＢＰＦ３０６の出力信号が入力され、算出した重力加速度信号は誤差加速度除去部２００１ｂに出力される。ここで加速度計１０７ａの出力から重力加速度成分が差し引かれた出力信号はＨＰＦ及び２階積分フィルタ３０５に送られる。
第２実施形態では、積分処理の前に予め重力加速度成分を除去する処理が行われる。これにより、２階積分フィルタ（図１１の符号３１２ｂ参照）を省略でき、レンズＣＰＵ１０８の演算負荷が軽減される。 FIG. 16 shows a configuration example of the gravity removing unit 2001, which includes a gravity acceleration calculating unit 2001a and an error acceleration removing unit 2001b. The output signal of the initial posture calculation unit 311 and the output signal of the angle BPF 306 are input to the gravity acceleration calculation unit 2001a, and the calculated gravity acceleration signal is output to the error acceleration removal unit 2001b. Here, an output signal obtained by subtracting the gravitational acceleration component from the output of the accelerometer 107 a is sent to the HPF and the second-order integration filter 305.
In the second embodiment, the process of removing the gravitational acceleration component is performed in advance before the integration process. As a result, the second order integration filter (see reference numeral 312b in FIG. 11) can be omitted, and the calculation load on the lens CPU 108 is reduced.

以上、デジタル一眼レフカメラやデジタルコンパクトカメラの防振システムを例にして平行振れ対策を説明した。本発明に係る防振制御装置は、小型で高性能なシステムにまとめることが出来るので、デジタルビデオカメラでの静止画撮影や、監視カメラ、Ｗｅｂカメラ、携帯電話等の静止画撮影にも幅広く適用できる。   In the above, the parallel shake countermeasures have been described by taking the image stabilization system of a digital single lens reflex camera or a digital compact camera as an example. Since the image stabilization control device according to the present invention can be integrated into a small and high-performance system, it can be widely applied to still image shooting with digital video cameras and still image shooting with surveillance cameras, Web cameras, mobile phones, etc. it can.

１０５ 撮像素子
１０７ｐ，１０７ｙ 角速度計（第１の振動検出手段）
１０７ａ，１０７ｂ 加速度計（第２の振動検出手段）
１０８ レンズＣＰＵ（制御手段）
３０８ 比較部
３０９ 出力補正部
３１１ 初期姿勢算出部
３１２ 重力除去部
２００１ 重力除去部 105 Image sensor 107p, 107y Angular velocity meter (first vibration detecting means)
107a, 107b Accelerometer (second vibration detecting means)
108 Lens CPU (control means)
308 Comparison unit 309 Output correction unit 311 Initial posture calculation unit 312 Gravity removal unit 2001 Gravity removal unit

Claims (10)

光学機器に加わる振動の角速度を検出する第１の振動検出手段及び前記光学機器に加わる振動の加速度を検出する第２の振動検出手段と、
前記第２の振動検出手段による加速度検出信号を用いて前記光学機器の姿勢を検出し、前記第１の振動検出手段による角速度検出信号を用いて前記光学機器の姿勢変化に応じた重力加速度成分を算出し、当該姿勢変化に伴って前記加速度検出信号に重畳する重力加速度の変動成分を除去するとともに、前記角速度検出信号及び前記加速度検出信号に基づいて前記振れ補正を行う制御手段を備え、
前記光学機器に加わる振動を検出して振れ補正を行う防振制御装置であって、
前記制御手段は、
前記加速度検出信号を取得して前記光学機器の姿勢を検出する初期姿勢算出手段と、
前記初期姿勢算出手段の検出信号に対応する関数及び前記角速度検出信号を用いて前記加速度検出信号に重畳する重力加速度の変動成分を除去する重力除去手段と、
前記角速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される周波数での位相を第１の値に調整する第１の位相調整手段、及び、前記重力除去手段によって前記変動成分が除去された前記加速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される前記周波数での位相を第２の値に調整する第２の位相調整手段と、
前記第１の位相調整手段により位相調整された前記角速度検出信号の積分出力と前記第２の位相調整手段により位相調整された前記加速度検出信号の積分出力とを手振れの周波数帯域よりも狭い周波数帯域で比較する比較手段と、
前記比較手段の出力信号と前記光学機器のズーム情報及びフォーカス情報から演算される撮影倍率情報を前記角速度検出信号の積分出力に乗ずることで前記角速度検出信号の積分出力を補正する出力補正手段と、
前記光学機器に加わる振れによって生じる像ぶれを補正する振れ補正手段と、
前記出力補正手段によって補正された前記角速度検出信号の積分出力を取得して前記振れ補正手段を駆動する振れ補正駆動手段を備えることを特徴とする防振制御装置。 First vibration detection means for detecting an angular velocity of vibration applied to the optical device, and second vibration detection means for detecting acceleration of vibration applied to the optical device;
A posture of the optical device is detected using an acceleration detection signal from the second vibration detection unit, and a gravitational acceleration component corresponding to a change in the posture of the optical device is detected using an angular velocity detection signal from the first vibration detection unit. Calculating and removing a fluctuation component of gravity acceleration superimposed on the acceleration detection signal in accordance with the posture change, and comprising a control means for performing the shake correction based on the angular velocity detection signal and the acceleration detection signal;
An anti-vibration control device that detects vibration applied to the optical device and performs shake correction,
The control means includes
Initial posture calculating means for acquiring the acceleration detection signal and detecting the posture of the optical device;
Gravity removing means for removing a fluctuation component of gravity acceleration superimposed on the acceleration detection signal using the function corresponding to the detection signal of the initial posture calculating means and the angular velocity detection signal;
A first phase adjusting unit that adjusts a phase at a frequency set in a frequency band narrower than a frequency band of camera shake to a first value with respect to the integrated output of the angular velocity detection signal, and the gravity removing unit The second phase for adjusting the phase at the frequency set in the frequency band narrower than the frequency band of camera shake to the second value with respect to the integrated output of the acceleration detection signal from which the fluctuation component has been removed by Adjustment means;
An integrated output of the angular velocity detection signal phase-adjusted by the first phase adjusting unit and an integrated output of the acceleration detection signal phase-adjusted by the second phase adjusting unit are narrower than a frequency band of camera shake. A comparison means to compare with,
Output correction means for correcting the integral output of the angular velocity detection signal by multiplying the integral output of the angular velocity detection signal by the imaging magnification information calculated from the output signal of the comparison means and zoom information and focus information of the optical device ;
Shake correction means for correcting image blur caused by shake applied to the optical device;
An anti-vibration control device comprising: a shake correction drive unit that acquires an integrated output of the angular velocity detection signal corrected by the output correction unit and drives the shake correction unit. 前記第１の振動検出手段の出力信号に対して、手振れの周波数帯域に含まれ、当該周波数帯域よりも狭い第１の周波数帯域の信号を通過させる第１のフィルタと、
前記第２の振動検出手段の出力信号に対して、手振れの周波数帯域に含まれ、当該周波数帯域よりも狭い第２の周波数帯域の信号を通過させる第２のフィルタと、を備え、
前記重力除去手段は、前記初期姿勢算出手段の検出信号及び前記第１のフィルタの出力信号を用いて前記第２の振動検出手段の出力信号に重畳する重力加速度の変動成分を算出して前記第２の振動検出手段の出力信号から除去し、
前記比較手段は、前記重力除去手段によって前記重力加速度の変動成分が除去されると共に前記第２のフィルタで処理された前記第２の振動検出手段の出力信号と、前記第１のフィルタで処理された前記第１の振動検出手段の出力信号とを比較することを特徴とする請求項１に記載の防振制御装置。 A first filter that passes a signal in a first frequency band that is included in a frequency band of camera shake and narrower than the frequency band with respect to the output signal of the first vibration detection unit;
A second filter that passes a signal in a second frequency band that is included in a frequency band of camera shake and narrower than the frequency band with respect to the output signal of the second vibration detection unit;
The gravity removing means calculates a fluctuation component of gravity acceleration superimposed on the output signal of the second vibration detecting means by using the detection signal of the initial posture calculating means and the output signal of the first filter. 2 from the output signal of the vibration detection means 2
The comparison means removes the fluctuation component of the gravitational acceleration by the gravity removal means and processes the output signal of the second vibration detection means processed by the second filter and the first filter. 2. The anti-vibration control device according to claim 1, further comprising comparing the output signal of the first vibration detecting means. 前記制御手段は、前記第１の振動検出手段による角速度検出信号を積分して角度量に変換する積分手段を備えることを特徴とする、請求項１又は２に記載の防振制御装置。   The image stabilization control apparatus according to claim 1, wherein the control unit includes an integration unit that integrates an angular velocity detection signal from the first vibration detection unit and converts the signal into an angular amount. 前記制御手段は、前記第２の振動検出手段による加速度検出信号を積分して変位量に変換する積分手段を備えることを特徴とする、請求項１から３のいずれか１項に記載の防振制御装置。   4. The anti-vibration method according to claim 1, wherein the control unit includes an integration unit that integrates an acceleration detection signal from the second vibration detection unit and converts the signal into a displacement amount. 5. Control device. 前記比較手段は、前記重力除去手段によって前記変動成分が除去された前記加速度検出信号と前記角速度検出信号とを比較することにより、前記光学機器に加わる振れの回転半径を算出し、前記出力補正手段は、算出された回転半径に基づいて前記角速度検出信号を補正して前記光学機器の主点位置における振れを算出することを特徴とする、請求項１から４のいずれか１項に記載の防振制御装置。   The comparison unit calculates a rotation radius of a shake applied to the optical apparatus by comparing the acceleration detection signal from which the fluctuation component has been removed by the gravity removal unit and the angular velocity detection signal, and the output correction unit. 5. The correction according to claim 1, wherein the shake at the principal point position of the optical device is calculated by correcting the angular velocity detection signal based on the calculated turning radius. Vibration control device. 前記重力除去手段は、
前記初期姿勢算出手段の検出信号に基づいて前記重力加速度の変動成分を算出する演算手段と、
前記演算手段の出力信号を２階積分して変位量に変換する積分手段と、
前記加速度検出信号を２階積分した信号から前記積分手段の出力信号を減算する除去手段を備えることを特徴とする、請求項１から５のいずれか１項に記載の防振制御装置。 The gravity removing means includes
Computing means for calculating a fluctuation component of the gravitational acceleration based on a detection signal of the initial posture calculating means;
Integrating means for second-order integrating the output signal of the calculating means to convert it into a displacement;
6. The image stabilization control apparatus according to claim 1, further comprising a removing unit that subtracts an output signal of the integrating unit from a signal obtained by second-order integration of the acceleration detection signal. 前記重力除去手段は、
前記初期姿勢算出手段の検出信号に基づいて前記重力加速度の変動成分を算出する演算手段と、
前記加速度検出信号から前記演算手段の出力信号を減算する除去手段を備えることを特徴とする、請求項１から５のいずれか１項に記載の防振制御装置。 The gravity removing means includes
Computing means for calculating a fluctuation component of the gravitational acceleration based on a detection signal of the initial posture calculating means;
6. The image stabilization control apparatus according to claim 1, further comprising a removing unit that subtracts an output signal of the computing unit from the acceleration detection signal. 前記角速度検出信号の１階積分出力に対して前記第１の値は−９０度であり、前記加速度検出信号の２階積分出力に対して前記第２の値は−１８０度であることを特徴とする、請求項１から７のいずれか１項に記載の防振制御装置。   The first value is −90 degrees with respect to the first-order integral output of the angular velocity detection signal, and the second value is −180 degrees with respect to the second-order integral output of the acceleration detection signal. The image stabilization control device according to any one of claims 1 to 7. 前記光学機器を通して被写体を撮像する撮像手段と、
請求項１から８のいずれか１項に記載の防振制御装置を備えることを特徴とする撮像装置。 Imaging means for imaging a subject through the optical device;
An imaging apparatus comprising the image stabilization control device according to claim 1. 光学機器に加わる振動の角速度を検出する第１の振動検出手段及び前記光学機器に加わる振動の加速度を検出する第２の振動検出手段と、
前記第２の振動検出手段による加速度検出信号を用いて前記光学機器の姿勢を検出し、前記第１の振動検出手段による角速度検出信号を用いて前記光学機器の姿勢変化に応じた重力加速度成分を算出し、当該姿勢変化に伴って前記加速度検出信号に重畳する重力加速度の変動成分を除去するとともに、前記角速度検出信号及び前記加速度検出信号に基づいて前記振れ補正を行う制御手段を備え、
前記光学機器に加わる振動を検出して振れ補正を行う防振制御装置にて実行される防振制御方法であって、
前記制御手段は、
前記加速度検出信号を取得して前記光学機器の姿勢を初期姿勢算出手段が検出する初期姿勢算出ステップと、
前記初期姿勢算出手段の検出信号に対応する関数及び前記角速度検出信号を用いて前記加速度検出信号に重畳する重力加速度の変動成分を重力除去手段が除去する重力除去ステップと、
前記角速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される周波数での位相を第１の値に第１の位相調整手段が調整するとともに、前記重力除去手段によって前記変動成分が除去された前記加速度検出信号の積分出力に対して、手振れの周波数帯域よりも狭い周波数帯域にて設定される前記周波数での位相を第２の値に第２の位相調整手段が調整する位相調整ステップと、
前記第１の位相調整手段により位相調整された前記角速度検出信号の積分出力と前記第２の位相調整手段により位相調整された前記加速度検出信号の積分出力とを手振れの周波数帯域よりも狭い周波数帯域で比較手段が比較する比較ステップと、
前記比較手段の出力信号と前記光学機器のズーム情報及びフォーカス情報から演算される撮影倍率情報を前記角速度検出信号の積分出力に乗ずることで前記角速度検出信号の積分出力を出力補正手段が補正する出力補正ステップと、
前記出力補正手段によって補正された前記角速度検出信号の積分出力を取得して振れ補正手段を振れ補正駆動手段が駆動する振れ補正駆動ステップと、
前記光学機器に加わる振れによって生じる像ぶれを前記振れ補正手段が補正する振れ補正ステップの制御を行うことを特徴とする防振制御方法。
First vibration detection means for detecting an angular velocity of vibration applied to the optical device, and second vibration detection means for detecting acceleration of vibration applied to the optical device;
A posture of the optical device is detected using an acceleration detection signal from the second vibration detection unit, and a gravitational acceleration component corresponding to a change in the posture of the optical device is detected using an angular velocity detection signal from the first vibration detection unit. Calculating and removing a fluctuation component of gravity acceleration superimposed on the acceleration detection signal in accordance with the posture change, and comprising a control means for performing the shake correction based on the angular velocity detection signal and the acceleration detection signal;
An anti-vibration control method that is executed by an anti-vibration control device that detects vibration applied to the optical device and performs shake correction,
The control means includes
An initial posture calculating step in which an initial posture calculating means detects the posture of the optical device by acquiring the acceleration detection signal;
A gravity removal step in which the gravity removal means removes a fluctuation component of gravity acceleration superimposed on the acceleration detection signal using the function corresponding to the detection signal of the initial posture calculation means and the angular velocity detection signal;
The first phase adjusting means adjusts the phase at a frequency set in a frequency band narrower than the frequency band of camera shake to a first value with respect to the integrated output of the angular velocity detection signal, and the gravity removing means The phase at the frequency set in a frequency band narrower than the frequency band of camera shake is set to a second value with respect to the integrated output of the acceleration detection signal from which the fluctuation component has been removed by the second phase adjusting means. Adjusting the phase adjustment step,
An integrated output of the angular velocity detection signal phase-adjusted by the first phase adjusting unit and an integrated output of the acceleration detection signal phase-adjusted by the second phase adjusting unit are narrower than a frequency band of camera shake. A comparison step that the comparison means compares,
The output correction means corrects the integral output of the angular velocity detection signal by multiplying the integral output of the angular velocity detection signal by the imaging magnification information calculated from the output signal of the comparison means and the zoom information and focus information of the optical device. A correction step;
A shake correction drive step in which the shake correction drive means drives the shake correction means by acquiring the integrated output of the angular velocity detection signal corrected by the output correction means;
An image stabilization control method comprising: controlling a shake correction step in which the shake correction unit corrects image blur caused by shake applied to the optical device.
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