JP6274558B2 - Shake correction device, shake correction method and program, and imaging device - Google Patents

Description

  The present invention relates to a shake prevention apparatus for captured images, and more particularly to an image shake correction apparatus and a shake correction method capable of performing appropriate shake correction even when a camera is fixed to a tripod or the like.

  Recent cameras have been commercialized with a camera equipped with a shake correction device (consisting of a shake correction unit, a drive unit, and shake detection, etc.) that prevents image shake due to camera shake, etc. Is almost gone.

  Here, a shake correction apparatus for preventing image shake will be briefly described. The camera shake of the photographer's camera is usually a vibration of 1 Hz to 10 Hz as a frequency. Then, in order to be able to take a picture without image blur even when such a camera shake occurs at the shutter release time, a camera shake is detected, and an image blur correction lens or the like is detected according to the detected value. The image sensor must be displaced.

  Therefore, in order to take a picture with no image shake even if the camera shakes, it is necessary to first detect the camera shake accurately and secondly correct the optical change caused by the camera shake. .

  2. Description of the Related Art Conventionally, in an imaging apparatus having a shake correction function, selection of a shake detection unit, a shake correction unit, and the shake detection unit in order to satisfactorily correct vibration caused by hand shake or a shake vibration having a frequency distribution similar thereto. The response frequency band is set. Therefore, when such a shake correction device is installed on a tripod or the like, the shake correction device is related to the shake of the imaging device due to the low-frequency component drift signal (fluctuation) output from the shake detection unit. Image stabilization on the image sensor is promoted.

  In order to solve this problem, based on the shake detected by the shake detection unit, the amplitude of the shake or the frequency of the shake, or both the amplitude of the shake and the frequency of the shake are measured, and if they are below a preset threshold value A technique for stopping a shake correction apparatus has been proposed (for example, Patent Document 1).

  In still cameras, a quick return mirror or shutter mechanism at the time of release causes a high-frequency, small-amplitude impact, which causes erroneous output of the shake detection unit, and the shake correction device has shake correction that is not related to camera shake. To promote image blurring.

  In order to solve this problem, a technique for changing the characteristics of the shake correction device when it is detected that the shake correction device is installed on a support member such as a tripod has been proposed (for example, Patent Document 2).

JP 2010-152330 A JP 2000-330152 A

  However, in Patent Document 1, if a disturbance (for example, a wind having a high-frequency component with a minute amplitude) is applied to the camera when the tripod is fixed, an image blurring image without image stabilization control is performed because the shake correction device is stopped. It had the problem of being photographed. Further, when a CMOS sensor is used as the image sensor, there is a problem in that if a high-frequency disturbance is applied during moving image recording, a focal plane phenomenon is recorded and the photographer is uncomfortable.

  In Patent Document 2, when the cutoff frequency of the high-pass filter is changed when the tripod is fixed, the control characteristic of the shake correction device changes, so that the shake detection calculation result changes discontinuously, causing a field angle shift. It was. In addition, when the cutoff frequency is gradually increased in order to suppress the angle of view deviation, a transition time is generated until the target cutoff frequency is set, so that the image stabilization control cannot be started immediately.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a shake correction apparatus and a correction method that can prevent field angle deviation and perform shake correction even when the camera is mounted on a tripod or the like. It is to be.

According to an aspect of the present invention, the determination unit determines whether a change in the output signal of the shake detection unit satisfies a predetermined condition, wherein the predetermined condition is an amplitude of the output signal of the shake detection unit. And determining means that at least one of the frequencies of the amplitude is in a state of less than a predetermined value in a period of a predetermined time; and a first signal that is a signal of a first frequency component of the output signal; of the second signal including the first second frequency component Ru component der low frequency than the frequency component of the first frequency component and the output signal of said output signal Either one is selected according to the result of determination by the determination means, and can be driven in a predetermined direction with respect to the optical axis in order to change the relative position between the subject image and the optical axis of the optical system forming the subject image Drive the proper shake correction means A drive signal for, and a control means for the first signal and generated based on the selected signal of said second signal, for controlling the shake correcting means in accordance with the generated driving signal, the Means for detecting the current drive position of the shake correction means, means for performing feedback control so that the detected current drive position converges to the drive position determined from the output signal, and the shake detection means There is provided a shake correction device comprising control means further comprising a dividing means for dividing the output signal into the first frequency component signal and the second frequency component signal .
According to another aspect of the present invention, a determination unit that determines whether or not a tripod is fixed using a shake signal output from the shake detection unit, and a shake signal output from the shake detection unit is a first signal. Splitting means for dividing the first shake signal of the frequency component of the first and the second shake signal of the second frequency component that is a lower frequency component than the first frequency component, and generated from the shake signal Control means for controlling the shake correction means based on the shake correction signal, and when it is determined that the tripod is fixed, the shake correction means is controlled based on the shake correction signal generated from the first shake signal. And control means for controlling the shake correction means based on the shake correction signal generated from the first shake signal and the second shake signal when it is not determined that the tripod is fixed. Characteristic runout Positive apparatus is provided.

  According to the shake correction device of the present invention, when it is determined that the camera is mounted on a tripod or the like, it is possible to prevent a change in the angle of view due to a high-frequency disturbance by performing touch correction using only the high-frequency component of the shake detection unit. It becomes.

1 is a block diagram illustrating a configuration of an imaging apparatus to which a shake correction apparatus according to an embodiment of the present invention is applied. It is a block diagram which shows the structure of the shake correction apparatus which concerns on the Example of this invention. It is a block diagram which shows the structure of the image stabilization control means of the shake correction apparatus which concerns on the Example of this invention. It is a figure for demonstrating determination of the tripod fixed state in the shake correction apparatus which concerns on the Example of this invention. It is a block diagram which shows the structure of the frequency division part of the shake correction apparatus which concerns on the Example of this invention. It is a figure which shows the flowchart of the shake correction operation | movement of the shake correction apparatus which concerns on the Example of this invention. It is a figure for demonstrating correction | amendment operation | movement of the shake correction apparatus which concerns on the Example of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a block diagram illustrating a configuration of an imaging apparatus to which a shake correction apparatus according to an embodiment of the present invention is applied.

  In FIG. 1, a zoom unit 101, an aperture / shutter unit 105, and a focus unit 107 constitute an optical system of the imaging apparatus and form a subject image to be photographed. The zoom unit 101 includes a zoom lens that performs zooming, and the zoom drive control unit 102 drives and controls the zoom unit 101 so as to have a certain focal length. The shift lens 103 can be driven in a direction (predetermined direction) substantially perpendicular to the optical axis, and is a shake correction member for correcting a change in the relative position between the subject image and the optical axis. In this embodiment, the shift lens is used as the shake correction member. However, other configurations that can achieve the same effect may be used. For example, the image pickup device is replaced with the optical axis instead of the shift lens. It may be configured to be movable in a substantially vertical direction. The shift lens drive control unit 104 generates a drive signal for the shift lens 103, which is a shake correction member, and controls its drive. Further, the shift lens drive control unit 104 stops power supply to the shift lens drive control unit 104 during power saving.

  The aperture / shutter unit 105 adjusts the brightness of the subject image that passes through the lens and appears on the image sensor, and the shutter opens only during the exposure period during shooting so that the image sensor is exposed to light only during shooting, At other times, it is a device that blocks light. The aperture / shutter drive control unit 106 controls the drive of the aperture / shutter unit 105. The focus unit 107 includes a lens that performs focus adjustment. The focus drive control unit 108 drives and controls the focus unit 107 to a position where the focus is in focus. The imaging unit 109 uses an imaging device and converts an optical image of a subject that has passed through each lens group into an electrical signal. The imaging signal processing unit 110 performs processing for converting the electrical signal output from the imaging unit 109 into a video signal.

  The video signal processing unit 111 processes the video signal output from the video signal processing unit 110 according to the use, and the display unit 112 performs image processing as necessary based on the signal output from the video signal processing unit 111. Display. The display control unit 113 controls the operation and display of the imaging unit and the display unit, and the shake detection unit 114 detects the degree of shake applied to the imaging apparatus.

  The power supply unit 115 supplies power to each part of the system according to its use. The external input / output terminal unit 116 inputs / outputs external communication signals and video signals. As will be described later, the operation unit 117 includes an operation member for giving various instructions or settings to the control unit 119 of the imaging apparatus, and the storage unit 118 stores various data such as video information. The control unit 119 controls the entire system of the imaging apparatus. The control unit 119 includes a CPU and a memory (not shown) for controlling the operation of each unit of the imaging apparatus, and the CPU loads and executes a control program stored in the memory to execute the operation of each unit of the imaging apparatus. To realize.

Next, the operation of the imaging apparatus having the above configuration will be described.
The operation unit 117 includes a shutter release button configured so that the first switch (SW1) and the second switch (SW2) are sequentially turned on according to the push-in amount as an operation member. The shutter release button has a structure in which the first switch is turned on when the shutter release button is depressed about half, and the second switch is turned on when the shutter release button is pushed down to the end.

  When the first switch of the operation unit 117 is turned on, the focus drive control unit 108 drives the focus unit 107 and performs focus adjustment under the control of the control unit 119. Further, the aperture / shutter drive control unit 106 drives the aperture / shutter unit 105 to set an appropriate exposure amount. When the second switch is further turned on, an instruction to start a photographing operation is given to the control unit 119, and an image obtained from the light image (subject image) exposed to the imaging unit 109 under the control of the control unit 119. Data is stored in the storage unit 118. At this time, if there is an instruction to turn on the shake correction function from the operation unit 117, the control unit 119 instructs the shift lens drive control unit 104 to perform the shake correction operation, and the shift lens drive control unit 104 that receives the instruction instructs the shake correction function. The shake correction operation is performed until an off instruction is given.

  In addition, when the operation unit 117 is not operated for a certain period of time, the control unit 119 issues an instruction to shut off the power source of the display for power saving. In addition, this imaging apparatus has a still image shooting mode and a moving image shooting mode, one of which can be selected from the operation unit 117, and the operating condition of each actuator control unit can be changed in each mode.

  When the zoom unit is instructed to change the magnification by the zoom lens, the zoom drive control unit 102 that has received the instruction via the control unit 119 drives the zoom unit 101 to the zoom position according to the instruction. Move the zoom lens. At the same time, based on the image information output from the imaging unit 109 and processed by the imaging signal processing unit 110 and the video signal processing unit 111, the focus drive control unit 108 drives the focus unit 107 to perform focus adjustment.

  FIG. 2 is a block diagram showing an internal configuration of the shift lens drive control unit 104. The vertical direction in FIG. 2 is the pitch direction when the optical axis of the imaging apparatus is the Z axis, and the horizontal direction is the yaw direction with the optical axis of the imaging apparatus being the Z axis.

  The pitch direction shake detection unit 114a detects the shake in the vertical direction of the imaging apparatus in the normal posture. The yaw direction shake detection unit 114b detects horizontal shake of the imaging apparatus in the normal posture. The image stabilization control unit 204a in the pitch direction and the image stabilization control unit 204b in the yaw direction determine the target position (drive position) of the shift lens 103 from the shake correction amounts in the pitch direction and the yaw direction, respectively, and shift based on the target position. The position of the lens 103 is controlled.

  The PID control unit 201a is a feedback control unit in the pitch direction, and the PID control unit 201b is a feedback control unit in the yaw direction. The control amount is obtained from the deviation between the target position and the actual position signal indicating the current driving position of the shift lens 103, and the position A command signal is output. The drive unit 202a is a pitch direction drive unit, and the drive unit 202b is a yaw direction drive unit. Based on the position command signals sent from the PID control unit 201a in the pitch direction and the PID control unit 201b in the yaw direction, the shift lens 103 is moved. To drive. The position detection unit 203a in the pitch direction and the position detection unit 203b in the yaw direction are current position detection units that detect the current position in each direction of the shift lens 103 using, for example, a hall element.

Next, position control of the shift lens 103 by the shift lens drive control unit 104 will be described.
In the position control of the shift lens 103, the shift lens 103 is driven in each direction based on signals representing the shake of the imaging device from the pitch direction shake detection unit 114a and the yaw direction shake detection unit 114b. A magnet is attached to the shift lens 103, and the magnetic field of this magnet is detected by the vertical position detector 203a and the horizontal position detector 203b. Then, a position signal indicating the actual position of the shift lens 103 is sent to the PID control unit 201a in the pitch direction and the PID control unit 201b in the yaw direction, respectively.

  The vertical PID control unit 201a performs feedback control such that the position signal from the vertical position detection unit 203a converges to a corrected position control signal sent from the vertical image stabilization control unit 204a. Similarly, the horizontal PID control unit 201b performs feedback control so that the position signal from the horizontal position detection unit 203b converges to a corrected position control signal sent from the horizontal image stabilization control unit 204b. At this time, the vertical PID control unit 201a and the horizontal PID control unit 201b perform PID control that selectively combines proportional control, integral control, and differential control. Thereby, even if a shake such as a hand shake occurs in the image pickup apparatus, it is possible to prevent the image shake.

  FIG. 3 is a block diagram of the image stabilization control unit 204 (vertical image stabilization control unit 204a, lateral image stabilization control unit 204b).

  The output of the shake detection unit 114 is converted from an analog signal to a digital signal by the A / D converter 301 (A / D conversion). When the output of the shake detection unit 114 is a digital signal, A / D conversion is not necessary. The high-pass filter 302 is a digital filter whose cutoff frequency can be changed, and removes an offset component of the output signal of the shake detection unit 114. The tripod determination unit 303 measures the amount of shake applied to the imaging apparatus based on the output signal of the shake detection unit 114 from which the DC component has been removed by the HPF 302. In this embodiment, whether or not the tripod is fixed is determined from the amplitude amount of the shake amount. However, the determination may be made from the frequency of the shake amount instead of the amplitude amount, or from both the amplitude amount and the frequency. May be.

  Here, details of the determination of the tripod fixed state will be described with reference to FIG. The condition for determining whether or not the imaging device is mounted on a tripod is that the shake amount 401, which is the output of the shake detection unit 114, is less than the tripod determination threshold value 402 from time t1 to time t2 after a predetermined time. Whether or not it is less than the tripod determination threshold 402 in the determination period 403. If it is less than the tripod determination threshold 402 (less than a predetermined value), it is determined that the tripod is fixed. The output of the tripod determination unit 303 is sent to the frequency division unit 304.

  Details of the frequency division 304 will be described with reference to FIG. The output signal of the shake detection unit 114 is A / D converted and then subtracted from the offset 501 at the first addition / subtraction point 502, and the offset component of the shake detection unit 114 is removed from the output signal. In general, a high-pass filter is used as a means for removing the offset component of the shake detection unit 114. However, there is a problem in that the phase advance of the low frequency occurs, and the effect of the shake correction function in the low frequency is weakened. Therefore, in this embodiment, without using a high-pass filter, the offset component is removed by subtracting the average value of the offset components of the shake detector 114 at the time of settling from the output of the shake detector 114. Here, as will be described later, the offset 501 is obtained by storing the offset of the low frequency component at the time of determining the tripod fixed state in the storage unit 116 such as a RAM. After the offset component is removed, the output signal of the shake detection unit is input to the low-pass filter 503, where a low-frequency component (second frequency component signal) is extracted. At the second addition / subtraction point 504, the output signal of the low-pass filter 503 is subtracted from the output signal of the shake detection unit 114. That is, since the low-frequency component signal is subtracted from the output signal of the shake detection unit 114, the high-frequency component (first frequency component signal) of the shake detection unit 114 is extracted. In the present embodiment, since a high-pass filter is not used in this way, there is no low-frequency phase advance element used in image blur correction control.

  A high-frequency component signal extracted from the output signal of the shake detection unit 114 is converted from an angular velocity signal into an angle signal by a low-pass filter 505. The low frequency component of the angular velocity signal extracted by the low-pass filter 503 is converted from the angular velocity signal to the angle signal by the low-pass filter 506. In this conversion, the integration cutoff frequency is also switched in accordance with the shake angle in the case of panning.

  At the third addition / subtraction point 507, the angle signal of the high frequency component and the angle signal of the low frequency component extracted from the angular velocity signal of the shake detection unit 114 are added. The output selection unit 508 of the shake detection unit 114 receives the result of the determination value of the tripod determination unit 303 described above, and selects an angle signal including only a high frequency component and an angle signal obtained by adding a low frequency component and a high frequency component. Do. When the tripod determination unit 303 determines that the tripod is fixed, the output selection unit 508 selects an angle signal having only a high frequency component, and otherwise selects an angle signal obtained by adding a low frequency component and a high frequency component.

  Here, the shake correction operation performed by switching the output of the output selection unit 508 in accordance with the determination result of whether or not the camera is mounted on a support member such as a tripod in the tripod determination unit 308 will be described with reference to FIG. .

  FIG. 7 shows the time change of the low frequency component of the shake detection signal in the shake correction operation before and after the determination of the tripod fixed state. When the tripod determination unit 308 determines that the tripod is in the state at time t1, the offset 702 of the low frequency component 701 at the time of determination is stored in the storage unit 116 such as a RAM. During the period when the tripod is fixed, the offset 702 of the low frequency component 701 at the time of determination is used, and the output of the output selection unit 508 is switched as described above to perform the image stabilization control based on the high frequency component. Accordingly, it is possible to perform the image stabilization operation in which the time required for shifting to the shake correction operation in the fixed tripod state can be performed, and it is possible to suppress the angle of view deviation.

  The angle signal selected by the output selection unit 508 is input to the target position calculation unit 305 and is used for calculation of the target position of the shake correction mechanism with reference to the current position data stored in the memory 306.

  The operation of the shake correction apparatus of the present embodiment configured as described above will be described with reference to the flowchart shown in FIG. This operation is achieved by the CPU of the control unit 119 executing the program stored in the control unit 119 to realize the functions of the respective units of the touch correction device of FIG.

  First, when the power of the imaging apparatus is turned on, an image stabilization control operation is started under the control of the control unit 119. The image stabilization control operation is executed with respect to the pitch direction (first direction) and the yaw altitude (second direction) by software configured by the above program as an interrupt process that occurs at regular intervals.

  In step S601, the control unit 119 performs initialization for shake correction control. Specifically, initial values such as determination values used in the tripod determination unit 303 and variables used in image blur correction control are set.

  When the above-described interrupt processing that occurs at regular intervals occurs, in step S602 after initialization in step S601, the A / D converter 301 starts an A / D conversion operation of the output signal of the shake detection unit 104. .

  In step S603, the control unit 119 determines whether the shake correction function is enabled. If the shake correction function is set to be valid, the process proceeds to step S604. If the shake correction function is set to be invalid, the process proceeds to step S605.

  In step S605, since the shake correction function is disabled, the image stabilization control unit 204 fixes the shake correction lens 103 at the optical center position and stops the shake correction operation.

  In step S604, the offset component is removed by the tripod detection high-pass filter 302 from the output signal of the shake detection unit 114 subjected to A / D conversion in step S602.

  In step S606, the tripod determination unit 303 calculates the amplitude of the output signal of the shake detection unit 114 from which the offset component has been removed and A / D converted.

  In step S607, the offset component is removed by subtracting the average value 502 of the output signal of the shake detection unit 114 at the time of stabilization from the output signal of the shake detection unit 114 after A / D conversion. The difference between the removal of the offset component here and the removal of the offset component by the high-pass filter in step S604 is that the signal in step S604 is used only for tripod detection determination, and is not used for drive control of the shift lens 103. That is.

  In step S608, a low-frequency component is extracted by the low-pass filter 503 from the output signal of the shake detection unit 114 from which the offset component has been removed in step S607, and converted from an angular velocity signal to an angle signal by the integral low-pass filter 506.

  In step S609, the low frequency component extracted in step S608 is subtracted from the output signal of the shake detection unit 114 from which the offset component has been removed at the addition / subtraction point 503 to extract the high frequency component, and the integral low pass filter 505 extracts the high frequency component from the angular velocity signal. Converted to an angle signal.

  In step S610, the angle signal of the low frequency component and the angle signal of the high frequency component are added at the addition / subtraction point 507. In this embodiment, an angle signal obtained by adding a low frequency component and a high frequency component is used to generate a target signal except when the tripod fixed state is determined.

  In step S611, the tripod determination unit determines that the tripod is fixed when the amplitude calculated in step S606 is greater than or equal to a predetermined period and less than the tripod determination threshold, and the process proceeds to step S612. If it is not determined that the tripod is fixed, the process proceeds to step S613.

  In step S613, since the tripod is not fixed, the output selection unit 508 is switched to input the addition signal of the angle signals of the low frequency component and the high frequency component to the target position calculation unit.

  In step S612, the offset of the low frequency component at the time of determination is stored in the storage unit 116 such as a RAM.

  In step S614, since the tripod is fixed, the output selection unit 508 is switched in order to input an angle signal of only a high frequency component to the target position calculation unit. In this way, by fixing the low-frequency component offset stored in step S612 and correcting only the high-frequency component, it is possible to suppress the angle-of-view deviation after the determination of the tripod fixed state. Become.

  In step S615, the tripod determination unit 308 determines whether or not the tripod fixing state has been lost. If the tripod is not fixed, the process proceeds to step S616.

  In step S616, since the tripod fixed state has been exited, the process shifts to a shake correction operation for generating a target position signal from an angle signal obtained by adding a low frequency component and a high frequency component from an angle signal having only a high frequency component. At this time, since the angle of view shift is conspicuous when shifting in a step shape, a process of gradually shifting is performed by providing a predetermined transition time. In this case, there is no problem even if it takes some time (ms) because it is considered that the imaging device has not been photographed immediately after it is removed from the tripod.

  In step S617, it is determined whether or not the shake correction function is disabled. If the shake correction function is set to invalid, the process ends. If the setting is valid, the process proceeds to step S602.

  According to the above embodiment, when the shake correction function is set to be effective, it is first determined whether or not the imaging device is in a tripod fixed state based on a signal output from the shake detection unit. If the output signal of the shake detection unit is frequency-divided into a low-frequency component and a high-frequency component and it is determined that the tripod is fixed, the offset of the low-frequency component at the time of determination is fixed and only the high-frequency component is used. Perform anti-vibration control.

  Accordingly, by fixing the offset of the low frequency component, the shake correction operation caused by the low frequency component drift signal (fluctuation) output from the shake detection unit can be suppressed, and the image shake on the image sensor can be reduced. Furthermore, when the tripod is fixed, shake correction is performed for disturbance of a minute high-frequency signal, so that it is possible to suppress the angle of view shift due to the shake when the tripod is fixed.

  The present invention can be applied not only to image blur correction apparatuses for digital single-lens reflex cameras, digital compact cameras, and digital video cameras, but also to portable terminals with cameras, surveillance cameras, web cameras, and the like. In addition, when an optical system such as a shift lens is used as the shake correction member, it can be applied to an optical device such as binoculars.

  The object of the present invention can also be achieved by supplying a storage medium storing software program codes for realizing the functions of the above-described embodiments to a system or apparatus. That is, it goes without saying that the object of the present invention can also be achieved when the computer (or CPU or MPU) of the system or apparatus reads and executes the program code stored in the storage medium.

  In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the program code itself and the storage medium storing the program code constitute the present invention.

  As a storage medium for supplying the program code, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.

  In addition, the functions of the above-described embodiment can also be realized when an OS (basic system or operating system) operating on the computer performs part or all of the actual processing based on the instruction of the program code read by the computer. Realized. Needless to say, this case is also included in the present invention.

  Furthermore, after the program code read from the storage medium is written to the memory provided in the function expansion board inserted in the computer or the function expansion unit connected to the computer, the processing based on the instruction of the program code is also performed. Included in the invention. That is, it goes without saying that the present invention also includes the case where the CPU or the like provided in the function expansion board or function expansion unit performs part or all of the actual processing based on the instruction of the program code to realize the functions of the above-described embodiment. Yes.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

Claims (14)

A determination unit that determines whether a change in an output signal of the shake detection unit satisfies a predetermined condition , wherein the predetermined condition is that at least one of an amplitude of the output signal and a frequency of the amplitude of the shake detection unit is A determination unit that is in a state of less than a predetermined value in a period of a predetermined time ;
A first signal that is a signal of a first frequency component of the output signal, a frequency that is lower than the first frequency component of the output signal and the first frequency component of the output signal. any one of the second signal including a frequency component second component der of Ru, and then selected according to the result of determination by the determination unit, the optical axis of the optical system forming the object image and the object image A drive signal for driving shake correction means that can be driven in a predetermined direction with respect to the optical axis in order to change the relative position between the first signal and the second signal. A control means for controlling the shake correction means in accordance with the generated drive signal, the means for detecting the current drive position of the shake correction means, and the detected current drive position. Is determined from the output signal Means for performing feedback control so as to converge to a moving position, and dividing means for dividing the output signal of the shake detecting means into the signal of the first frequency component and the signal of the second frequency component A shake correction apparatus comprising: a control unit .   The control unit selects the first signal when the determination unit determines that the predetermined condition is satisfied, and the determination unit determines that the predetermined condition is not satisfied. In this case, the shake correction apparatus according to claim 1, wherein the second signal is selected. The dividing unit stores the offset component of the signal of the second frequency component when the determining unit determines that the output signal of the shake detecting unit satisfies the predetermined condition, and is stored The first removal means for removing the offset component from the output signal is further included, and the output signal from which the offset component has been removed by the first removal means is used as the first frequency component signal and the second frequency signal. The shake correction apparatus according to claim 1 , wherein the shake correction apparatus divides the signal into signals of frequency components. The determination means further includes a second removal means for removing the offset component of the output signal of the shake detection means, and determines a change in the output signal from which the offset is removed by the second removal means. The shake correction apparatus according to claim 3 , wherein the second removing unit is different from the first removing unit included in the dividing unit. Before SL drive signal, the determined drive position based on the output signal of the shake detecting unit, in any one of 4 the preceding claims, characterized in that a signal for driving said shake correcting means The shake correction apparatus described. A determination step for determining whether or not a change in an output signal of a shake detection unit that detects shake satisfies a predetermined condition , wherein the predetermined condition includes an amplitude of the output signal and a frequency of the amplitude of the shake detection unit; A determination step in which at least one of the states is in a state of less than a predetermined value in a predetermined time period ; and
A first signal that is a signal of a first frequency component of the output signal, a frequency that is lower than the first frequency component of the output signal and the first frequency component of the output signal. any one of the second signal including a component der Ru second frequency component of, selected according to the result of determination in the determination step, the optical axis of the optical system forming the object image and the object image A drive signal for driving shake correction means that can be driven in a predetermined direction with respect to the optical axis in order to change the relative position between the first signal and the second signal. And a control step of controlling the shake correction unit according to the generated drive signal, the step of detecting a current drive position of the shake correction unit, and the detected current drive position Is the output signal Performing feedback control so as to converge to the determined drive position, and dividing the output signal of the shake detection means into the first frequency component signal and the second frequency component signal; A shake correction method comprising: a control step further comprising: Computer
A determination unit that determines whether a change in an output signal of a shake detection unit that detects shake satisfies a predetermined condition , wherein the predetermined condition includes an amplitude of the output signal of the shake detection unit and a frequency of the amplitude Determination means , wherein at least one of the states is in a state of less than a predetermined value during a predetermined time period ;
A first signal that is a signal of a first frequency component of the output signal, a frequency that is lower than the first frequency component of the output signal and the first frequency component of the output signal. any one of the second signal including a frequency component second component der of Ru, and then selected according to the result of determination by the determination unit, the optical axis of the optical system forming the object image and the object image A drive signal for driving shake correction means that can be driven in a predetermined direction with respect to the optical axis in order to change the relative position between the first signal and the second signal. A control means for controlling the shake correction means in accordance with the generated drive signal, the means for detecting the current drive position of the shake correction means, and the detected current drive position. Is determined from the output signal Means for performing feedback control so as to converge to a moving position, and dividing means for dividing the output signal of the shake detecting means into the signal of the first frequency component and the signal of the second frequency component A program for functioning as a control means . A computer-readable storage medium storing the program according to claim 7 . Imaging means for imaging a subject image formed by the optical system;
Shake detection means for detecting shake;
A determination unit configured to determine whether a change in an output signal of the shake detection unit satisfies a predetermined condition , wherein the predetermined condition is at least one of an amplitude of the output signal and a frequency of the amplitude of the shake detection unit; Determining means that is in a state of less than a predetermined value during a predetermined time period ;
A first signal that is a signal of a first frequency component of the output signal, a frequency that is lower than the first frequency component of the output signal and the first frequency component of the output signal. either to highlight according to the result of determination by the determination unit, the light of the optical system forming the object image and the object image of the second signal including a component der Ru second frequency component of the A driving signal for driving a shake correction unit that can be driven in a predetermined direction with respect to the optical axis to change a relative position with respect to the axis is selected from the first signal and the second signal. A control unit configured to generate the current correction position based on the selected signal and control the shake correction unit according to the generated drive signal; a unit for detecting a current drive position of the shake correction unit; and the detected current drive The position is determined from the output signal Means for performing feedback control so as to converge to a driving position, and dividing means for dividing the output signal of the shake detecting means into the signal of the first frequency component and the signal of the second frequency component An image pickup apparatus comprising: a control unit having: Determination means for determining whether or not the tripod is fixed using a shake signal output from the shake detection means;
The shake signal output from the shake detection means is converted into a first shake signal having a first frequency component and a second shake signal having a second frequency component which is a lower frequency component than the first frequency component. A dividing means for dividing;
Control means for controlling shake correction means based on the shake correction signal generated from the shake signal, and when it is determined that the tripod is fixed, the shake correction signal generated from the first shake signal And the shake correction unit is controlled based on the shake correction signal generated from the first shake signal and the second shake signal when the tripod fixed state is not determined. Control means and
A shake correction apparatus comprising: The shake correction apparatus according to claim 10,
Image sensor and
An imaging device comprising: A determination step of determining whether or not the tripod is fixed using a shake signal output from the shake detection means;
The shake signal output from the shake detection means is converted into a first shake signal having a first frequency component and a second shake signal having a second frequency component which is a lower frequency component than the first frequency component. A dividing step of dividing;
A control step for controlling shake correction means based on the shake correction signal generated from the shake signal, and when it is determined that the tripod is fixed, the shake correction signal generated from the first shake signal. And the shake correction unit is controlled based on the shake correction signal generated from the first shake signal and the second shake signal when the tripod fixed state is not determined. Control process and
A shake correction method characterized by comprising: Computer
Determination means for determining whether or not the tripod is fixed using a shake signal output from the shake detection means;
The shake signal output from the shake detection means is converted into a first shake signal having a first frequency component and a second shake signal having a second frequency component which is a lower frequency component than the first frequency component. Dividing means for dividing,
Control means for controlling shake correction means based on the shake correction signal generated from the shake signal, and when it is determined that the tripod is fixed, the shake correction signal generated from the first shake signal And the shake correction unit is controlled based on the shake correction signal generated from the first shake signal and the second shake signal when the tripod fixed state is not determined. Control means
Program to function as. A computer-readable storage medium storing the program according to claim 13.

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