JP6529430B2 - Imaging device, control method, control program, and storage medium - Google Patents

Description

  The present invention relates to a technique for reducing image blurring in so-called panning.

  In the follow-up shooting for expressing the sense of speed of a moving subject, the photographer pans the imaging device (camera) in accordance with the movement of the subject to obtain an image in which the subject is stationary and the background is flowing. It is a shooting technique. However, if the panning speed of the camera by the photographer is too fast or too slow relative to the speed of the movement of the subject during panning, the image of the subject is blurred.

  In Patent Document 1, a part of an optical system or an imaging element is moved during photographing based on the angular velocity of the subject relative to the camera calculated before photographing (exposure) and the angular velocity of the camera during photographing obtained from the angular velocity sensor. Discloses a camera for correcting blurring of a subject image. In this camera, the relative angular velocity (hereinafter referred to as relative object angular velocity) of the object with respect to the camera is used with the displacement amount on the image plane of the object image detected from the temporally continuous image and the output from the angular velocity sensor Calculate.

Japanese Patent Application Laid-Open No. 04-163535

  In the camera disclosed in Patent Document 1, it is premised that the relative object angular velocity is maintained constant during photographing for performing blur correction. However, even for an object (for example, a train) which is moving at a constant velocity and linear motion, the relative object angular velocity measured from the camera positioned in the direction orthogonal to the traveling direction changes (acceleration or deceleration). Then, when there is a time lag between the time of measurement of the relative object angular velocity and the time of actual photographing, if the change of the relative object angular velocity during the time lag is ignored, the camera shake correction can not be correctly performed at the time of photographing.

    The present invention provides an imaging apparatus capable of performing good follow-up with less blurring of a subject image even when the movement speed of the subject measured from the camera changes.

An imaging apparatus and a control method thereof according to one aspect of the present invention include: angular velocity information and an imaging element obtained from an angular velocity detection unit that detects the movement of the imaging apparatus such that the movement of the imaging apparatus follows the movement of a main subject in respect to the optical axis of the photographing optical system using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected The angular acceleration information of the main subject image before the exposure period is calculated using the motion vector information detected at a plurality of different timings by controlling the optical element in the orthogonal direction and before the exposure period for recording for recording. Based on the prediction information on angular velocity information of the main subject image during the exposure period is calculated. Then, in the follow shot mode in which the main subject is stationary and the photographed image with the background flowing is acquired, the exposure control is performed using the prediction information during the exposure period, and the exposure is performed in the shooting mode different from the follow shot mode. During the period, the optical element is controlled without using the prediction information.

  According to the present invention, it is possible to control the drive of the shift element so that good follow-up with less blurring of the subject image can be performed even when the movement of the subject changes.

The flowchart which shows the angular velocity determination process in the camera which is Example 1 of this invention. 6 is a flowchart showing a follow shot process in the camera of the first embodiment. FIG. 1 is a block diagram showing a configuration of a camera of Embodiment 1. FIG. 2 is a block diagram showing the configuration of a vibration control system in the camera of Embodiment 1. 6 is a flowchart showing panning control in the camera of the first embodiment. FIG. 2 is a block diagram showing the configuration of a shift drive control system in a follow shot assist mode in the camera of the first embodiment. FIG. 6 is a diagram for explaining a panning determination threshold in the camera of the first embodiment. 6 is a graph showing relative object angular velocity and its change (angular acceleration) in Embodiment 1. FIG. 6 is a diagram for explaining relative object angular velocity in the first embodiment. FIG. 6 is a diagram for explaining singular points in Example 1; FIG. 8 is a diagram for explaining the determination of the 0 degree singular point in the first embodiment. The flowchart which shows the angular velocity determination process in the camera of Example 2 of this invention. FIG. 8 is a diagram for explaining the distance and angle between two points in the second embodiment. 10 is a flowchart showing a follow shot assist process in the camera of Embodiment 3 of the present invention. The block diagram which shows the structure of the lens interchangeable type camera system of Example 4 of this invention. FIG. 14 is a block diagram showing the configuration of a follow shot assist control system in the interchangeable lens of Example 4. 15 is a flowchart showing a follow shot assist process on the camera side according to the fourth embodiment. 15 is a flowchart showing a follow shot assist process on the interchangeable lens side in Embodiment 4. The flowchart which shows the follow shot assistance processing by the camera side of the interchangeable-lens type camera system which is Example 5 of this invention. 18 is a flowchart showing a follow shot assist process on the interchangeable lens side in Embodiment 5. 15 is a flowchart illustrating a follow shot assist process on the camera side according to a modification of the fifth embodiment. 10 is a flowchart showing a follow shot assist process on the interchangeable lens side in the modified example.

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

  FIG. 3 shows the configuration of a lens-integrated camera (hereinafter simply referred to as a camera) 100 as an optical apparatus according to a first embodiment of the present invention.

  The camera 100 includes a photographing lens unit 101 which is a photographing optical system for forming light from a subject. The photographing lens unit 101 includes a main lens system 102, a zoom lens 103 which moves in the direction of the optical axis along which the optical axis of the photographing lens unit 101 extends to change the focal length, and And the illustrated focus lens. Furthermore, the photographing lens unit 101 includes a shift lens 104 as an optical element that constitutes a part thereof. The shift lens 104 moves (shifts) in a direction perpendicular to the optical axis for a follow shot assist for reducing blurring of the subject image in a follow shot where the user shoots a moving subject while changing the direction by panning the camera 100. B) possible shift elements. The shift lens 104 also has an anti-vibration function that optically corrects the shake of the subject image caused by the shake of the camera 100 due to the hand shake in the direction orthogonal to the optical axis.

  The camera 100 further includes a zoom encoder 105, a shift position sensor 106, an angular velocity sensor 107, an angular velocity amplifier 108, a camera control microcomputer 130, a shift driver 109, and a shift position amplifier 110.

  The zoom encoder 105 detects the position of the zoom lens 103 in the optical axis direction. The shift position sensor 106 detects the position of the shift lens 104 in the shift direction. The angular velocity sensor 107 detects an angular velocity (angular velocity information), which is a velocity of movement of the camera 100 in a direction orthogonal to the optical axis, as a first motion detection unit. The angular velocity amplifier 108 amplifies the output from the angular velocity sensor 107.

  A camera control microcomputer (hereinafter referred to as a camera microcomputer) 130 controls the overall operation of the camera 100. The shift driver 109 includes a shift actuator such as a voice coil motor and its drive circuit, and shifts the shift lens 104 by driving the shift actuator. The shift position amplifier 110 amplifies the output from the shift position sensor 106.

Furthermore, the camera 100 includes a shutter 111, an imaging device 112, an analog signal processing circuit 113, a camera signal processing circuit 114, a timing generator 115, an operation switch group 116, a shutter motor 117, and a shutter driver 118. Have.

    The imaging element 112 is formed of a photoelectric conversion element such as a CMOS sensor or a CCD sensor, photoelectrically converts an object image formed by the photographing lens unit 101, and outputs an analog electric signal. The shutter 111 controls the exposure period of the image sensor 112.

  The analog signal processing circuit (AFE) 113 amplifies the analog signal output from the imaging element 112, converts the amplified analog signal into an imaging signal as a digital signal, and outputs the image signal to the camera signal processing circuit 114.

  The camera signal processing circuit 114 generates a video signal (captured video) by performing various image processing on the imaging signal. The photographed image (or the still image taken out from here) is recorded on a memory card 119 which can be attached to and detached from the camera 100, or displayed on a monitor (hereinafter referred to as an LCD) 120 constituted by display elements such as a liquid crystal panel. Be done.

  The timing generator 115 sets the operation timing of the image sensor 112 and the analog signal processing circuit 113. The operation switch group 116 includes various switches such as a power switch, a release switch, a mode selection switch, and a dial. In the camera 100 of the present embodiment, switching between the follow shot assist mode and the normal shooting mode is possible through the operation of the mode selection switch. The shutter motor 117 is driven by the shutter driver 118 to cause the shutter 111 to perform a charging operation (closing operation).

  The camera signal processing circuit 114 includes a motion vector detection unit 135 which detects a motion vector between frame images constituting a video signal.

  The camera microcomputer 130 also includes an image stabilization control unit 131, a panning control unit 132, a shutter control unit 133, and an object angular velocity calculation unit 134. The object angular velocity calculation unit 134 corresponds to a calculation unit, and the follow shot control unit 132 corresponds to a control unit.

  The image stabilization control unit 131 performs camera shake correction control (image stabilization control) that controls shift driving of the shift lens 104 in order to correct (reduce) the shake of the subject image caused by camera shake.

  The follow shot control unit 132 controls shift drive of the shift lens 104 for the follow shot assist.

  The shutter control unit 133 releases the power supply to the release electromagnetic magnet (not shown) through the shutter driver 118 to open the shutter 111 in the charged state, and controls the shutter motor 117 to perform the charging operation of the shutter 111.

  The object angular velocity calculation unit 134 calculates a relative object angular velocity as an angular velocity (measurement velocity) obtained by measuring the object to be photographed with respect to the camera 100. The camera microcomputer 130 also performs focus lens control, aperture control, and the like.

  When the power switch of the operation switch group 116 is turned on and the power of the camera 100 is turned on, the camera microcomputer 130 starts the power supply to the above-mentioned respective parts in the camera 100 and performs necessary initialization.

  In the normal shooting mode other than the follow shot assist mode, the camera shake is detected by the angular velocity sensor 107, and the image stabilization control unit 131 shifts the shift lens 104 according to the detection result to correct the image shake due to camera shake. .

  FIG. 4 shows the configuration of the image stabilization system in the camera 100. In FIG. 4, the same components as those shown in FIG. 3 are denoted by the same reference numerals as those in FIG. 3 and the description thereof will be omitted. In addition, although the actual image stabilization system is provided with two systems for shifting the shift lens 104 in the lateral direction (yaw direction) and the longitudinal direction (pitch direction), these configurations are the same. Only the configuration of one system is shown.

  The angular velocity A / D converter 401 converts an angular velocity signal (analog signal) output from the angular velocity sensor 107 (angular velocity amplifier 108) into angular velocity data as a digital signal, and outputs the data to the filter operation unit 402. Sampling for angular velocity data is performed at a frequency of about 1 to 10 kHz corresponding to the frequency of camera shake.

  The filter operation unit 402 is configured by a high pass filter (HPF), and removes an offset component included in angular velocity data, and changes the cutoff frequency of the HPF in accordance with a command from a panning control unit 407 described later. The first integrator 403 converts angular velocity data into angular displacement data in order to generate target position data which is data of a target shift position of the shift lens 104.

  The shift position A / D converter 406 converts the shift position signal (analog signal) output from the shift position sensor 106 (shift position amplifier 110) into shift position data as a digital signal. The first adder 404 calculates drive amount data of the shift lens 104 by subtracting the current shift position data from the target position data of the shift lens 104.

      The PWM output unit 405 outputs the calculated drive amount data to the shift driver 109. The shift driver 109 drives the shift actuator based on the drive amount data to shift the shift lens 104 to the target shift position.

  The panning control unit 407 determines whether the camera 100 has been panned from angular velocity data obtained from the angular velocity sensor 107 (angular velocity A / D converter 401). When it is determined that the camera 100 is panned, the panning control unit 407 changes the cutoff frequency of the filter operation unit 402 and adjusts the output of the first integrator 403.

  FIG. 5 illustrates an example of panning control performed by the panning control unit 407. The panning control unit 407 (that is, the camera microcomputer 130) performs the panning control in accordance with a panning control program which is a computer program.

  In step S501, the panning control unit 407 determines that the average value of angular velocity data read from the angular velocity A / D converter 401 (which is an average value for a predetermined number of samplings, hereinafter referred to as an angular velocity average value) is larger than a predetermined value α. It is determined whether or not. When the angular velocity average value is equal to or less than the predetermined value α, the panning control unit 407 determines that panning is not performed, and proceeds to step S507. On the other hand, if the angular velocity average value is larger than the predetermined value α, the process proceeds to step S502, and it is determined whether the angular velocity average value is larger than the predetermined value β (> α). Then, if the angular velocity average value is equal to or less than the predetermined value β, the panning control unit 407 determines that panning at a low speed is performed, and proceeds to step S506. If the angular velocity average value is larger than the predetermined value β, the panning control unit 407 determines that panning at high speed is being performed, and proceeds to step S503.

  In step S503, the panning control unit 407 sets the cutoff frequency of the HPF of the filter operation unit 402 to the maximum value. Further, in step S504, the image stabilization control is forcibly turned OFF (non-execution state). When anti-vibration control is turned off during high-speed panning, if high-speed panning is treated as a large hand shake and shift lens 104 is shifted, the shot image moves significantly when shift lens 104 reaches the shift end and the photographer is notified It is to give a sense of discomfort. In addition, when high-speed panning is performed, the movement of the captured image due to panning is large, and even if an image blur due to a camera shake appears, the photographer hardly feels a sense of discomfort. Then, by setting the cutoff frequency of the HPF to the maximum value and then stopping the shift lens 104 gradually in the next step, an image blur due to camera shake appears suddenly with the anti-vibration control OFF, and the photographer is uncomfortable Can be avoided.

  In step S505, the panning control unit 407, which has turned off the vibration control, gradually changes the current angular displacement data from the current angular displacement data to the initial position data. Thereby, the shift lens 104 is gradually returned to the initial position (a position where the optical axis of the shift lens 104 coincides with the optical axis of the photographing lens unit 101).

  In step S506, the panning control unit 407 that has determined low-speed panning sets the HPF cutoff frequency of the filter operation unit 402 according to the magnitude of the angular velocity data. This is because image blurring due to camera shake is noticeable during low speed panning, and it is necessary to correct this. The cutoff frequency is set so as to be able to correct the image blur due to camera shake while keeping the followability of the captured image to panning unnaturally. After that, the panning control unit 407 proceeds to step S508, and turns on the anti-shake control (execution state).

  The panning control unit 407 that has determined that the angular velocity average value is equal to or less than the predetermined value α (panning is not performed) and proceeds to step S507 sets the HPF cutoff frequency of the filter computing unit 402 to a normal value. Do. Then, the panning control unit 407 proceeds to step S508 and turns on the image stabilization control.

  FIG. 7 shows the relationship between angular velocity data in the lateral direction at the time of panning and the predetermined values α and β. 701 in the figure is angular velocity data sampled. When the camera 100 is panned to the right, angular velocity data in the positive direction is obtained, and when panned to the left, angular velocity data in the negative direction is obtained. In the example of FIG. 7, high-speed (steep) panning in the right direction and low-speed panning in the left and right direction are detected.

  As can be seen from FIG. 7, the angular velocity data largely deviates from the initial value (0) during panning. Therefore, when the target position data of the shift lens 104 is calculated by integrating this data, the output of the first integrator 403 becomes a very large value due to the DC offset component, and the control becomes uncontrollable. Therefore, when panning is detected, it is necessary to cut the DC component by setting the HPF cutoff frequency high. When high speed panning is performed, such a condition is particularly noticeable. Therefore, the output of the first integrator 403 is not increased by increasing the cutoff frequency.

  By performing the panning control as described above, it is possible to generate a photographed image with less discomfort even during panning.

  In FIG. 3, when the follow shot assist mode is set by the operation of the mode selection switch of the operation switch group 116, the motion vector detection unit 135 in the camera signal processing circuit 114 detects an object image between the front and back frame images in the captured video. Detect motion vectors. The detected motion vector is input to the follow shot control unit 132 in the camera microcomputer 130. At the same time, the panning control unit 132 receives an angular velocity signal (first motion information) from the angular velocity sensor 107 (angular velocity amplifier 108).

  The motion vectors output from the motion vector detection unit 135 during panning include a motion vector of a main subject image to be captured and a motion vector of a flowing background image. Among these motion vectors, a motion vector indicating a smaller amount of motion is a motion vector of the main subject image, and this motion vector (second motion information) is on the image plane of the main subject image in one frame period, that is, imaging The displacement (movement) on the element is shown.

  On the other hand, angular velocity data output from the angular velocity sensor 107 corresponds to the panning velocity (following velocity) of the camera 100. Therefore, when the difference between this angular velocity data and the angular velocity calculated from the displacement amount of the main subject image on the image plane in one frame period and the focal length of the photographing lens unit 101 is calculated, An angular velocity (hereinafter referred to as a relative object angular velocity) is obtained.

  The object angular velocity calculation unit 134 calculates (acquires) the relative object angular velocity at each timing to generate a frame image, that is, in a frame cycle. Further, the subject angular velocity calculation unit 134 sends, to the panning control unit 132, information on a set of the calculated relative subject angular velocity and the calculation time (acquisition time) at which the calculated relative object angular velocity is calculated.

  FIG. 6 shows the configuration of a shift drive control system that performs shift drive control of the shift lens 104 in the follow shot assist mode. 6, the components common to the components shown in FIG. 3 and FIG. 4 are assigned the same reference numerals as in FIG. 3 and FIG. 4 and the description thereof is omitted.

  The panning control unit 132 includes a camera information acquisition unit 601, an angular velocity data output unit 602, an object angular velocity determination unit 603, a second adder 604, and a second integrator 605.

  The camera information acquisition unit 601 receives, from the operation switch group 116, a follow shot setting information indicating that the follow shot assist mode has been set by operating the mode selection switch, and a release indicating that shooting is instructed by the operation of the release switch. Get information and. The angular velocity data output unit 602 samples angular velocity data at a predetermined timing and outputs the sampled data to the object angular velocity calculation unit 134.

  The subject angular velocity determination unit 603 acquires information on a set of relative subject angular velocity and its calculation time calculated by the subject angular velocity calculation unit 134 before recording for recording (before exposure of the image sensor 112 for recording a still image). Is stored (accumulated) as an angular velocity history. In the following description, exposure means photographing for recording. Then, the subject angular velocity determination unit 603 uses the angular velocity history before the exposure (before the exposure period) to determine a relative object angular velocity that is the estimated angular velocity (prediction information) of the subject relative to the camera 100 during the exposure period (during shooting). Is obtained by calculation etc. In this way, the subject angular velocity determination unit 603 determines the relative subject angular velocity in the obtained exposure period as the relative subject angular velocity used for control of the shift drive of the shift lens 104 in the exposure period in the follow shot assist.

  The second adder 604 calculates the difference between the angular velocity data from the angular velocity sensor 107 and the relative object angular velocity in the exposure period determined by the object angular velocity determination unit 603. The second integrator 605 performs the integration operation only during the exposure period. The setting change unit 606 changes the setting of the panning control unit 407 according to the notification of the setting information of the follow shot assist mode from the camera information acquisition unit 601.

  When the follow shot assist mode is set by the operation of the mode selection switch of the operation switch group 116, the camera information acquisition unit 601 notifies the setting change unit 606 of the follow shot setting information. The setting change unit 606 changes the predetermined values α and β in the panning control unit 407 in order to make it easy for the photographer to perform high-speed panning according to the notification of the follow shot setting information.

  The second adder 604 calculates the difference between the angular velocity data from the angular velocity sensor 107 and the relative object angular velocity from the object angular velocity determination unit 603, and sends the result to the second integrator 605.

  The second integrator 605 starts the integration operation of the difference during the exposure period in accordance with the release information from the camera information acquisition unit 601. The second integrator 605 outputs a value such that the position of the shift lens 104 is the initial position during a period other than the exposure period. There is no problem even if the shift lens 104 shifts from the position at that time to the initial position in a short time at the end of the exposure period. That is, since it is the readout time of the analog signal from the image sensor 112 immediately after the end of the exposure period, the display of the photographed image is not performed on the LCD 120, so the movement of the photographed image by the shift of the shift lens 104 does not matter.

  The output of the second integrator 605 is added to the output of the first integrator 403 in the first adder 404, and the shift position sensor 106 (shift position A / D converter 406) is added to the added value. The shift position data of the shift lens 104 from is subtracted. Thus, drive amount data of the shift lens 104 is calculated.

  The panning control section 407 immediately starts panning control when the photographer actually shoots by high-speed panning while setting the panning assist mode, and the image stabilization control as described in step S 504 in FIG. 5. Turn off. Under panning control, the shift lens 104 shifts on the image plane of the subject image corresponding to the difference between the angular velocity due to the panning of the camera 100 and the relative subject angular velocity which is the angular velocity of the main subject (hereinafter simply referred to as the subject). Correct the amount. For this reason, the difference between the panning speed of the camera 100 and the movement speed of the subject during the exposure period which causes the failure in the follow shot is offset by the shift driving of the shift lens 104, and as a result, the follow shot succeeds.

  Here, the object angular velocity determination unit 603 determines the relative object angular velocity during the exposure period using the angular velocity history acquired and accumulated from the object angular velocity calculation unit 134 before exposure, but at that time the exposure time lag time and exposure Consider the period.

  For example, in the case where a subject performing uniform linear motion is followed by a camera 100 positioned in a direction orthogonal to the traveling direction, the angular velocity of the subject measured from the camera 100 changes continuously. For this reason, the angular velocity of the subject is not the same during detection and during the exposure period. Therefore, if the change in the angular velocity (that is, the acceleration) is not taken into consideration, the correction by the shift drive of the shift lens 104 can not be satisfactorily performed.

  FIG. 8 shows changes in angular velocity when measuring the angular velocity of the subject (train) performing constant-speed linear motion as shown in FIG. 9 from the camera 100 positioned in the direction orthogonal to the traveling direction of the subject. ing. In FIG. 9, the subject is in uniform linear motion at a velocity v from left to right. Point A is a position at which the distance from the camera 100 is shortest (hereinafter referred to as the origin) on the movement locus of the object at constant linear motion, and L is the distance from the camera 100 to the origin A (shortest distance to the movement locus ). θ is an angle formed by the direction from the camera 100 to the subject with respect to the direction from the camera 100 toward the origin A, that is, the direction orthogonal to the traveling direction of the subject (that is, the orientation of the camera 100: hereinafter referred to as a panning angle) The right side of the origin A is positive and the left side is negative.

  The horizontal axis in FIG. 8 indicates the panning angle θ that is 0 degrees when the subject in FIG. 9 is located at the origin A, and the vertical axis in the middle indicates the angular velocity of the subject. The solid line graph shows the change in angular velocity. Also, the vertical axis on the right side indicates angular acceleration, and the broken line graph indicates changes in angular acceleration. The change in angular acceleration referred to here is a change in angular acceleration of the subject corresponding to the position of the subject based on the position of the camera. FIG. 8 shows the angular velocity and the angular acceleration when the shortest distance from the camera 100 to the origin point A is 20 m and the subject is in uniform linear motion at a velocity of 60 km / h.

  In FIG. 8, when the object passes through the origin A (θ = 0 degrees), the angular velocity is at a maximum and the angular acceleration is zero. The angular acceleration is maximized at θ = + 30 degrees, and is minimized at θ = −30 degrees. The relationship between the panning angle θ and the angular acceleration and the angular acceleration does not depend on the shortest distance or the speed of the object described above.

  The flowchart of FIG. 2 shows a follow shot assist process performed by the camera microcomputer 130 in the follow shot assist mode. This process is executed by the camera microcomputer 130 in accordance with a follow shot assist control program which is a computer program. The user follows a moving subject while panning the camera 100.

  In step S201, the camera microcomputer 130 determines whether the release switch has been half-pressed (SW1 ON). If the switch SW1 is ON, the camera microcomputer 130 proceeds to step S202, increments the time measurement counter, and proceeds to step S204. If the switch SW1 is not ON, the camera microcomputer 130 proceeds to step S203, resets the time measurement counter, and returns to step S201.

  In step S204, the camera microcomputer 130 confirms whether or not the relative object angular velocity (simply referred to as the object angular velocity in the drawing) has already been calculated by the object angular velocity calculation unit 134. If it has been calculated, the camera microcomputer 130 proceeds to step S205 and confirms whether the time measurement counter has reached a predetermined time T or not. If the relative object angular velocity has not been calculated yet, and if the relative object angular velocity has already been calculated, and if the time measurement counter has reached the predetermined time T (the exposure period is longer than the predetermined time T), the camera microcomputer 130 steps It progresses to S206.

  In step S206, the camera microcomputer 130 causes the subject angular velocity calculation unit 134 to calculate the relative subject angular velocity (first process). Thereby, the subject angular velocity calculation unit 134 is caused to calculate the relative object angular velocity before exposure which is started according to SW 2 ON described later, and the object angular velocity determination unit 603 is caused to acquire an angular velocity history.

  The reason why the relative object angular velocity is recalculated when the time measurement counter has reached the predetermined time T is to consider the possibility of the speed of the object changing within the predetermined time T. The relative object angular velocity calculated by the object angular velocity calculation unit 134 is sent to the object angular velocity determination unit 603 of the follow shot control unit 132 for each calculation. If the time measurement counter has not yet reached the predetermined time T in step S205, the camera microcomputer 130 proceeds to step S208.

  In step S207 after step S206, the camera microcomputer 130 causes the subject angular velocity determination unit 603 to determine the relative subject angular velocity during the exposure period. Details of the processing (angular velocity determination processing as the second processing) will be described later. Then, the process proceeds to step S208.

  In step S208, the camera microcomputer 130 determines whether the release switch has been full-pressed (SW2 ON). If the SW2 is not ON, the camera microcomputer 130 returns to step S201. On the other hand, if the switch SW2 is ON, the camera microcomputer 130 proceeds to step S209 and opens the shutter 111 via the shutter control unit 133 to start exposure.

  Further, in step S210, the camera microcomputer 130 causes the follow shot control unit 132 to control shift driving of the shift lens 104 according to the relative object angular velocity determined in step S207. In this way, a follow shot assist is performed to correct the amount of displacement of the object image on the image plane. At this time, if it is determined in step S502 in FIG. 5 that panning is high-speed panning, the camera microcomputer 130 shifts and drives the shift lens 104 through the image stabilization control unit 131 to correct image blurring due to camera shake.

  Subsequently, in step S211, the camera microcomputer 130 determines whether the exposure is completed. If completed, the process proceeds to step S212, and if it is not completed, the process returns to step S210.

  In step S212, the camera microcomputer 130 determines again whether or not SW2 is ON, and in the case of SW2 ON, the process returns to step S209 to perform the next exposure (shooting of the next frame of continuous shooting). On the other hand, if the switch SW2 is not ON, the process returns to step S201.

  The flowchart of FIG. 1 shows details of the angular velocity determination processing performed by the subject angular velocity determination unit 603 in step S207 of FIG. The subject angular velocity determination unit 603 (that is, the camera microcomputer 130) executes this process in accordance with a part of the follow shot assist control program.

  In step S101, the subject angular velocity determination unit 603 instructed by the camera microcomputer 130 to determine the relative subject angular velocity reads the angular velocity history before exposure acquired and accumulated from the subject angular velocity calculation unit 134 by then.

  Then, in step S102, the subject angular velocity determination unit 603 detects a singular point of the angular velocity from a combination of a plurality of relative subject angular velocities included in the read angular velocity history and the calculation time. At the singular point of the angular velocity in the present embodiment, three types of specific changes such as panning angle θ = 0 degrees, +30 degrees and -30 degrees occur in the angular acceleration which is a time change rate of the angular velocity.

    The object angular velocity determining unit 603 calculates an angular acceleration (angular acceleration information) by dividing the difference between the relative object angular velocity at two adjacent calculation times in the angular velocity history by the time between the two calculation times. The subject angular velocity determination unit 603 calculates the angular acceleration with respect to a plurality of adjacent calculation times to obtain a time change of the angular acceleration. Then, the subject angular velocity determination unit 603 increases the positive maximum value (the change from increase to decrease at θ = + 30 degrees) and the negative maximum value (the decrease at θ = −30 degrees to increase) in the time-varying angular acceleration. Process to detect the change in Further, the subject angular velocity determination unit 603 also detects a change from positive to negative (change from one of positive and negative at θ = 0 degrees to the other) in angular acceleration.

  In step S103, the subject angular velocity determination unit 603 determines whether the number of singular points detected by the singular point detection process is two or more. That is, as a singular point, it corresponds to "0 degree, +30 degrees and -30 degrees", "30 degrees and 0 degrees", or "0 degrees-30 degrees" among theta = 0 degrees, +30 degrees and -30 degrees. It is determined whether a singular point is detected. If two or more singular points are detected, the object angular velocity determining unit 603 proceeds to step S104, otherwise proceeds to step S105.

  In step S104, the subject angular velocity determination unit 603 calculates (determines) the relative subject angular velocity ω during the exposure period using the following equation (1).

In equation (1), t ₃₀ is the time required for the object to move from the position corresponding to the detected singular point of θ = + 30 degrees to θ = −30 degrees to the position of θ = 0 degrees. Further, t _c is the time from when the subject passes the position of θ = 0 degrees to when the relative object angular velocity before exposure is finally detected (immediately before release information is input). t _lag is the time from when the relative object angular velocity before exposure is finally detected to the midpoint of the exposure period. In the following description, although the middle point of the exposure period is described as a half of the exposure period, it may not be half of the exposure period.

Figure 10 _{is, t 30} indicates the _t 30, _{t c} and _{t lag} in the case where the time required for moving to the position of theta = + 30 degrees from the position of the object theta = 0 degrees.

  The derivation of equation (1) will be described with reference to FIG. v is the subject speed, L is the shortest distance between the moving path of the subject and the camera, and t is the time taken to move to the shortest distance point between the moving path of the subject and the camera. Since the angular velocity ω of the subject is a time derivative of θ, the following is obtained.

From Figure 9,

It becomes. here,

As, if you differentiate arctan (u) with u and expand with u again,

It becomes. Where u's t derivative

If this is applied to the chain law of differentiation,

It becomes.
If L in FIG. 10 is obtained,

If this L and t = t _c + t _lag are applied to ω, then equation (1) is obtained.

  In step S105, the subject angular velocity determination unit 603 determines whether a singular point of θ = + 30 degrees is known, and if it is known, the process proceeds to step S106, and if it is not determined, the process proceeds to step S107.

In step S106, the subject angular velocity determination unit 603 calculates the relative subject angular velocity ω during the exposure period using Equation (2). That is, the subject angular velocity determination unit 603 first obtains the difference (ω _n −ω _n−1 ) of the relative object angular velocity calculated at the latest two calculated times in the angular velocity history. Next, the subject angular velocity determining unit 603 obtains the relative subject angular velocity (ω _n −ω _n−1 ) t _lag / t _f using the time t _lag required for the subject to move to the position at the middle point of the exposure period. . Further, the subject angular velocity determination unit 603 weights the relative subject velocity thus determined with a weight w of 1 or less to calculate (determine) the relative subject angular velocity ω during the final exposure period.

In Formula (2), (omega) _n is an angular velocity calculated at the newest calculation time, and (omega) _n-1 is an angular velocity calculated at the calculation time immediately before the newest. Further, t _f is a time between the calculated time at which ω _n-1 is calculated and the calculated time at which ω _n is calculated.

  In step S107, the subject angular velocity determination unit 603 determines whether or not the singular point at θ = 0 degrees is determined. If it is determined, the process proceeds to step S108. If it is not determined, the process proceeds to step S111.

  In step S108, as the angular velocity history, the subject angular velocity determining unit 603 sets relative angle velocity relative to the relative object angular velocity at the midpoint of the exposure period with θ = 0 degrees as the symmetry point (central point of symmetry) It is determined whether or not there is a symmetrical history angular velocity). If the symmetrical history angular velocity exists, the subject angular velocity determining unit 603 proceeds to step S109, and if the symmetrical history angular velocity does not exist, the procedure proceeds to step S110.

FIG. 11 shows a symmetrical hysteresis angular velocity. Here, a period in which the angular velocity history is accumulated is referred to as a history accumulation period. Since the history accumulation period 1 shown in the figure is shorter than t _lag + t _c on the right side of the origin point A of θ = 0 degrees, there is no symmetrical history angular velocity. On the other hand, since the history accumulation period 2 is longer than t _lag + t _c on the right side of the origin point A, a symmetrical history angular velocity exists.

  In step S109, the subject angular velocity determining unit 603 determines the symmetrical history angular velocity as the relative subject angular velocity during the exposure period.

  In step S110, the subject angular velocity determination unit 603 determines the relative subject angular velocity ω during the exposure period using Equation (2) in which the weight w is 1 or more.

  In step S111, the subject angular velocity determination unit 603 determines whether or not a singular point of θ = −30 degrees is known. If it is known, the process proceeds to step S112. If not, the process proceeds to step S113.

  In step S112, the subject angular velocity determination unit 603 determines the relative subject angular velocity ω during the exposure period using Formula (2) in which the weight w is 1 or less.

  In step S113, the subject angular velocity determination unit 603 determines the relative subject angular velocity ω during the exposure period using the equation (2) in which the weight w is 1.

  According to this embodiment, it is possible to realize a follow shot assist that enables good follow-up with less blurring of the subject image even when the angular velocity of the subject measured from the camera 100 changes.

  Next, a camera as an optical apparatus according to a second embodiment of the present invention will be described. The configuration of the camera of this embodiment is the same as that of the camera 100 of the first embodiment. Therefore, in the present embodiment, the same components as those of the first embodiment are given to the components of the camera.

  In the first embodiment, the relative object angular velocity and the calculated time at which the relative angular velocity is calculated are sent from the object angular velocity calculation unit 134 to the follow shot control unit 132, and the follow shot control unit 132 stores these pairs as angular velocity history. . In the second embodiment, in addition to the relative object angular velocity and the calculated time, the amount of change in the angle θ shown in FIG. 9 from the previous calculated time of the relative object angular velocity from the object distance (distance information) at the calculated time It is sent to the unit 132, and the follow shot control unit 132 accumulates these sets as an angular velocity history. The subject distance can be calculated from information such as the positions of the zoom lens 103 and the focus lens (not shown) in the photographing lens unit 101. The variation of the angle θ can be calculated by integrating the angular velocity data. In this embodiment, an autofocus operation is performed to obtain a subject distance, the in-focus state of the photographing lens unit 101 is maintained with respect to a moving subject, and the subject distance is accurately calculated even if the subject moves. Also, the subject distance may be acquired by equipping both the subject and the camera with GPS and acquiring position information.

  The flowchart of FIG. 12 illustrates an angular velocity determination process (second process) performed by the subject angular velocity determination unit 603 in the present embodiment. The subject angular velocity determination unit 603 (that is, the camera microcomputer 130) executes this process according to a part of the follow shot assist control program described in the first embodiment.

  In step S601, the subject angular velocity determination unit 603 instructed by the camera microcomputer 130 to determine the relative subject angular velocity reads the angular velocity history before exposure acquired and accumulated from the subject angular velocity calculation unit 134 by then.

  In step S602, the subject angular velocity determination unit 603 obtains angular acceleration, which is a temporal change rate of the subject's angular velocity, from a combination of a plurality of relative subject angular velocities included in the read angular velocity history and calculation time, and the subject performs constant velocity linear motion. Determine if you are going. Specifically, it is determined whether or not the angular acceleration shows a time change equivalent to the graph of the angular acceleration shown in FIG. If the subject is performing uniform linear motion, the subject angular velocity determination unit 603 proceeds to step S603, and if the subject is not performing uniform linear motion, the process proceeds to step S604.

  In step S603, the subject angular velocity determination unit 603 uses the subject distances at the latest two calculated times in the angular velocity history and the variation of the angle θ between the calculated times, and the following equations (3) to (3) The relative object angular velocity ω during the exposure period is calculated by 8).

The symbols in the formulas (3) to (8) will be described with reference to FIG. L and v are respectively the shortest distance from the camera 100 'of the present embodiment to the movement locus of the constant velocity linear movement of the subject (distance to the origin A) and the constant velocity linear movement of the object as shown in FIG. Speed. t is the time from when the subject passes the origin A to the midpoint of the exposure period. m is the subject distance at a certain point (the relative subject angular velocity calculation time), and n is the subject distance at the point before m (the previous relative subject angular velocity calculation time). Δθ is the amount of change from the angle θ at a point when the subject distance is n (hereinafter referred to as the first point) to the angle θ when the subject distance is m (hereinafter referred to as the second point). D is the moving distance of the subject from the first time point to the second time point, and t _f is the time from the first time point to the second time point. t _lag is the time from the second time point to the midpoint of the exposure period.
In FIG. 13A, in the equation (7),

In the case of equation (7), FIG.

Shows the case. Further, FIG. 13 (c) shows the case of m ≦ n in the equation (8), and FIG. 13 (d) shows the case of m> n.

  Here, how to obtain equation (4) will be described with reference to FIG. In all of (a) to (d), it can be determined by the similarity relation (msin θ: D = L: n) of a triangle consisting of a side msin θ and a side D and a triangle consisting of a side L and a side n. Further, how to obtain equation (6) will be described with reference to FIG. In all of (a) to (d), it can be obtained by the theorem of the square of the triangle consisting of the side msin θ and the side D. Regarding (a) to (c),

Can be derived from Regarding (d),

Can be derived from

  In step S604, the object angular velocity determining unit 603 determines the relative object angular velocity ω during the exposure period with a weight w of 1 using Equation (2) described in the first embodiment.

  According to this embodiment, the relative object angular velocity ω during the exposure period can be determined by acquiring the subject distance at any two points and the change amount Δθ of the angle θ therebetween. As a result, it is possible to realize a follow shot assist that enables good follow-up with less blurring of the subject image even when the angular velocity of the subject measured from the camera 100 'changes.

  Next, a camera as an optical apparatus according to a third embodiment of the present invention will be described. The configuration of the camera of this embodiment is the same as that of the camera 100 of the first embodiment. Therefore, in the present embodiment, the same components as those of the first embodiment are given to the components of the camera.

  In the first and second embodiments, the relative object angular velocity during the exposure period is calculated only once before the exposure, and the follow shot assist is performed based on the calculation result. In this case, there is no problem if the exposure period is short, but if the exposure period is long, a good follow-up assistance can not be performed due to a change in relative object angular velocity within the exposure period. In this embodiment, the relative object angular velocity during the exposure period is sequentially calculated (sequentially updated) even during the exposure period, and the shift drive of the shift lens 104 is controlled according to the change of the latest calculation result. Even if the period is long, good follow-up assistance is possible.

  The flowchart of FIG. 14 shows the follow shot assist processing performed by the camera microcomputer 130 in the step shooting assist mode in the present embodiment. This processing is executed by the camera microcomputer 130 in accordance with a follow shot assist processing program which is a computer program. In FIG. 14, the same steps as the steps included in the flowchart shown in FIG. 2 in the first embodiment are assigned the same step numbers as those in FIG.

  In the present embodiment, as in the first embodiment, the camera microcomputer 130 causes the subject angular velocity calculation unit 134 to calculate the relative object angular velocity in step S206 (first process). Then, in the next step S701, the subject angular velocity determination unit 603 holds information on a pair of the relative subject angle calculated in step S206 and the calculated time as an angular velocity history. When the relative object angle calculation method according to the second embodiment is used, information on the amount of change in the angle θ from the time of calculation of the object distance and the previous relative object angular velocity is also transmitted to the object angular velocity determination unit 603 together with the above information. Keep as history.

  The camera microcomputer 130 also causes the subject angular velocity determination unit 603 to calculate (determine) the relative subject angular velocity during the exposure period in step S702 during the exposure period (during recording for recording), which is after the exposure is started in step S209. (Second process). The camera microcomputer 130 periodically repeats the process of step S702 until the exposure is completed in step S211 to sequentially update the relative object angular velocity. Then, in step S210, the camera microcomputer 130 causes the follow shot control unit 132 to control shift driving of the shift lens 104 according to the relative object angular velocity each time the relative object angular velocity is determined in step S702.

  In this embodiment, the relative object angular velocity is repeatedly calculated also during the exposure period, and the follow shot assist is performed based on these. That is, when the exposure period is longer than the predetermined time, the number of relative object angular velocities (prediction information) to be calculated is increased. Therefore, even when the exposure period is long, it is possible to perform good follow shot assistance with less blurring of the subject image.

  Next, an interchangeable-lens type camera system according to a fourth embodiment of the present invention will be described with reference to FIG. The interchangeable lens 140 is removably attached to the interchangeable lens camera 141. 15, the same components as those of the camera 100 according to the first embodiment shown in FIG. 3 are given the same reference numerals as the first embodiment, and the description thereof will be omitted.

  In this embodiment, the camera microcomputer 144 in the camera 141 and the lens microcomputer 142 in the interchangeable lens 140 share the plurality of processes performed by one camera microcomputer 130 in the first embodiment. The lens microcomputer 142 and the camera microcomputer 144 perform serial communication for information transmission through the mount contact portion 146 provided on the interchangeable lens 140 and the mount contact portion 147 provided on the camera 141. The camera microcomputer 144 has a shutter control unit 133 and an object angular velocity calculation unit 134, and the lens microcomputer 142 has an image stabilization control unit 131 and a panning control unit 132 '. The follow shot control unit 132 ′ differs from the follow shot control unit 132 of the first embodiment in that it receives information from the camera microcomputer 144 (subject angular velocity calculation unit 134) by serial communication. In the present embodiment, the lens microcomputer 142 provided in the interchangeable lens 140 corresponds to control means, and the subject angular velocity calculation unit 134 as calculation means is included in the camera microcomputer 144.

  FIG. 16 shows a configuration of a shift drive control system provided in the interchangeable lens 140 for performing shift drive control of the shift lens 104 in the follow shot assist mode in the present embodiment. In FIG. 16, constituent elements common to the constituent elements shown in FIG. 6 are assigned the same reference numerals as those in FIG.

  The follow shot control unit 132 ′ includes a camera information acquisition unit 611, an angular velocity data output unit 612, an object angular velocity determination unit 613, a second adder 604, and a second integrator 605.

  The camera information acquisition unit 611 acquires the follow shot setting information and the release information described in the first embodiment from the camera microcomputer 144 via the communication control unit 614.

  The angular velocity data output unit 612 samples angular velocity data at a predetermined timing, and transmits the sampled angular velocity data to the subject angular velocity calculation unit 134 in the camera microcomputer 144 via the communication control unit 614.

  The subject angular velocity determining unit 613 receives the information transmitted from the subject angular velocity calculating unit 134 in the camera microcomputer 144 via the communication control unit 614. The information is a set of information on the relative object angular velocity calculated by the object angular velocity calculating unit 134 before exposure and the delay time from the calculated time (acquisition time) to the communication time of the main information. The object angular velocity determining unit 613 converts the acquired delay time into a calculated time as a time in the lens microcomputer 142, and holds (accumulates) information of a combination of the calculated time and the acquired relative object angular velocity as an angular velocity history. Then, the subject angular velocity determination unit 613 determines (estimates) the relative subject angular velocity during the exposure period using the angular velocity history before the exposure.

  The flowchart of FIG. 17 shows a follow shot assist process performed by the camera microcomputer 144 in the follow shot assist mode. This process is executed by the camera microcomputer 144 in accordance with a camera-side follow-up shooting processing program which is a computer program. In FIG. 17, the same steps as the steps included in the flowchart shown in FIG. 2 in the first embodiment are assigned the same step numbers as those in FIG.

  In step S206, the camera microcomputer 144 causes the subject angular velocity calculation unit 134 to calculate the relative subject angular velocity (first process). Then, in step S801, the camera microcomputer 144 transmits, to the lens microcomputer 142, information on a set of the calculated relative object angular velocity and the delay time from the calculated time to the current time.

  Then, when SW2 is turned on in step S208, the camera microcomputer 144 transmits exposure start timing information to the lens microcomputer 142 in step S802, and performs exposure in step S803. Further, when the exposure is completed, the camera microcomputer 144 transmits the exposure completion timing information to the lens microcomputer 142 in step S803. Thereafter, the camera microcomputer 144 proceeds to step S212.

  The flowchart of FIG. 18 shows a follow shot assist process performed by the lens microcomputer 142 in the follow shot assist mode. This processing is executed by the lens microcomputer 142 in accordance with the lens side follow shot assist processing program which is a computer program.

  In step S901, the lens microcomputer 142 determines whether information on a set of relative object angular velocity and delay time has been received from the camera microcomputer 144. If received, the process proceeds to step S902, and if not received, the present step Repeat the process of

  In step S902, the lens microcomputer 142 holds the received relative object angular velocity.

  Next, in step S903, the lens microcomputer 142 calculates the relative subject angular velocity calculation time as the time in the lens microcomputer 142 from the delay time received in step S901, and sets the calculated time and the relative object angular velocity Information is held as an angular velocity history.

  In step S904, the lens microcomputer 142 determines the relative object angular velocity at the midpoint of the exposure period (second process). This determination is performed by the angular velocity determination process described using the flowchart of FIG. 1 in the first embodiment. Alternatively, the angular velocity determination processing described with reference to FIG. 12 in the second embodiment may be performed by receiving information on the amount of change in the subject distance and the angle θ from the camera microcomputer 144.

  Subsequently, in step S905, the lens microcomputer 142 determines whether or not exposure start timing information has been received from the camera microcomputer 144. If received, the process advances to step S906, and if not received, the process returns to step S901.

  In step S906, the lens microcomputer 142 corrects the amount of displacement of the shift lens 104 on the image plane of the object image through the panning control unit 132 'as in step S210 shown in FIG. 2 in the first embodiment. Shift drive to perform follow-up shooting assistance. At this time, if it is determined that panning is high-speed panning as in step S 502 shown in FIG. 5 in the first embodiment, the lens microcomputer 142 corrects image blurring due to camera shake by the shift lens 104 through the image stabilization control unit 131 Drive to shift.

  Then, in step S 907, the lens microcomputer 142 determines whether or not the exposure end timing information has been received from the camera microcomputer 144. If it has been received, the process returns to step S 901. If it has not been received, the process returns to step S 906 Continue to follow the shooting assistance.

  According to the present embodiment, it is possible to perform, in the lens-interchangeable camera system, the same panning assist as the panning assist with the camera described in the first embodiment or the second embodiment.

  If the interchangeable lens 140 is to perform the same panning assist as described in the third embodiment, the process in step S904 in FIG. 18 is performed before step S906, and the exposure end timing information is received in step S907. If not, the process may return to step S904.

  In this embodiment, the camera microcomputer 144 transmits the delay time from the calculation time of the relative object angular velocity to the communication time to the lens microcomputer 142, and the lens microcomputer 142 calculates the calculation time on its own side from the delay time. The case was described. However, it is also possible to synchronize the time of the lens microcomputer 142 and the time of the camera microcomputer 144 in advance, and to transmit the relative object angular velocity and the calculation time thereof to the lens microcomputer 142 from the camera microcomputer 144.

  Next, a lens-interchangeable camera system according to a fifth embodiment of the present invention will be described. In the present embodiment, components common to those of the interchangeable lens 140 and the camera 141 of the fourth embodiment shown in FIGS. 15 and 6 are denoted by the same reference numerals as the fourth embodiment, and the description thereof is omitted.

  In the fourth embodiment, the lens microcomputer 142 calculates the relative object angular velocity during the exposure period. However, in the fifth embodiment, the camera microcomputer 144 calculates the relative object angular velocity during the exposure period. More specifically, the camera microcomputer 144 creates a relative object angular velocity during the exposure period in consideration of the time lag until the start of exposure as a list for correction sampling, and transmits the list to the lens microcomputer 142.

  The flowchart of FIG. 19 shows a follow shot assist process performed by the camera microcomputer 144 in the follow shot assist mode. This process is executed by the camera microcomputer 144 in accordance with a camera-side follow-up shooting processing program which is a computer program. In FIG. 19, the same steps as the steps included in the flowchart shown in FIG.

  In step S1001, the camera microcomputer 144 holds the relative object angular velocity calculated in step S206 (first process).

  Then, in the next step S1002, the camera microcomputer 144 performs the same processing as step S207 described with reference to FIG. 2 in the first embodiment to calculate the relative object angular velocity during the exposure period (second processing) . However, in this step, the camera microcomputer 144 calculates the relative object angular velocity for each drive timing in a predetermined cycle of the shift lens 104 for the follow shot assist during the exposure period, and calculates a plurality of relative object angular velocities at all drive timings. Create a list containing Then, this list is sent to the lens microcomputer 142.

  For example, when the exposure period is 1/100 second and the drive period of the shift lens 104 is 1 kHz, the shift lens 104 is driven 10 times within the exposure period. Therefore, the camera microcomputer 144 calculates the relative object angular velocity at each drive timing in the ten times of driving, and transmits the calculated ten relative object angular velocities to the lens microcomputer 142 as a list.

  In the present embodiment, the object angular velocity calculation unit 134 in the camera microcomputer 144 performs calculation of the relative object angular velocity during the exposure period and creation of a list. That is, in the present embodiment, the camera microcomputer 144 corresponds to the calculation means, and the lens microcomputer 142 corresponds to the control means.

  FIG. 20 shows a follow shot assist process performed by the lens microcomputer 142 in the follow shot assist mode. This processing is executed by the lens microcomputer 142 in accordance with a follow shot assist processing program which is a computer program. In FIG. 20, the same steps as those in the flowchart shown in FIG. 18 in the fourth embodiment are assigned the same step numbers as those in FIG.

  In step S1101, the lens microcomputer 142 determines whether or not the list of relative object angular velocities in the exposure period is received from the camera microcomputer 144. If received, the process proceeds to step S905, and if not received, the process proceeds to step S905. Repeat the process.

  The lens microcomputer 142 that has received the exposure start timing information from the camera microcomputer 144 in step S905 reads out the relative object angular velocity for each drive timing of the shift lens 104 from the list received in step S1101 in step S1102. Then, the relative subject angular velocity to be used is determined in order from the relative subject angular velocity at the previous drive timing.

  In the next step S1103, the lens microcomputer 142 causes the follow shot control unit 132 ′ to control shift drive of the shift lens 104 according to the relative object angular velocity determined in step S1102. At this time, for each drive timing of the shift lens 104, the relative object angular velocity used in the order as determined in step S1102 is changed. That is, the relative object angular velocity during exposure is sequentially updated.

  At this time, if it is determined that panning is high speed panning as in step S 502 shown in FIG. 5 in the first embodiment, the lens microcomputer 142 causes the image stabilization control unit 131 to shift the image of the shift lens 104 due to camera shake. Shift drive to correct the The lens microcomputer 142 repeats the above processing until the end of exposure (step S 907). Thereby, it is possible to cope with changes in the subject angular velocity during exposure.

  In the present embodiment, the object angular velocity list during the exposure period is transferred as data, but the relative object angular velocity at the start of the exposure and the angular acceleration are similarly passed to correspond to the change in relative object angular velocity during exposure. be able to. FIG. 21 shows a follow shot assist process performed by the camera microcomputer 144 in the follow shot assist mode as a modification of the present embodiment. In FIG. 21, the same processes as the processes shown in FIG.

  The camera microcomputer 144 holding the relative object angular velocity calculated in step S206 in step S1001 calculates a plurality of relative object angular velocities in step S1202 in the same manner as step S1002 in FIG. Then, the camera microcomputer 144 uses the plurality of relative object angular velocities to calculate relative object angular velocity at the start of exposure and relative angular acceleration which is estimated acceleration as prediction information of the movement of the object relative to the camera 100, and these information Is sent to the camera microcomputer 144. Thereafter, the camera microcomputer 144 proceeds to the process of step S208 and subsequent steps.

  FIG. 22 shows the follow shot assist processing performed by the lens microcomputer 142 in the step shooting assist mode in the present modification. In FIG. 22, the same processes as the processes shown in FIG.

  In step S1301, the lens microcomputer 142 determines whether information on the relative object angular velocity and relative angular acceleration at the start of exposure has been received from the camera microcomputer 144. If received, the process proceeds to step S905, and if not received Repeats the process of this step.

  The lens microcomputer 142 that has determined that the exposure has been started in step S905 proceeds to step S1302. In step S1302, the camera microcomputer 144 uses the relative object angular velocity at the start of exposure, relative angular acceleration, and the elapsed time from the exposure start time to drive timing (correction timing) of the shift lens 104 in a predetermined cycle. Determine the relative object angular velocity of

  Then, in the next step S1103, the lens microcomputer 142 controls the shift drive of the shift lens 104 at each correction timing according to the relative object angular velocity of each correction timing determined in step S1302 in the follow shot control unit 132 '. Let me do it. Thus, the relative object angular velocity during the exposure period is sequentially updated. At this time, if it is determined that panning is high speed panning as in step S 502 shown in FIG. 5 in the first embodiment, the lens microcomputer 142 causes the image stabilization control unit 131 to shift the image of the shift lens 104 due to camera shake. Shift drive to correct the The lens microcomputer 142 repeats the above processing until the end of exposure (step S 907). Thereby, it is possible to cope with changes in the subject angular velocity during exposure.

  According to this embodiment, even if the relative object angular velocity changes during the exposure period, good follow-up assistance with less blurring of the object image can be performed in the lens interchangeable type camera system.

In each of the above-described embodiments, the case where the follow shot assist and the correction of the image blur due to the camera shake are performed by shifting the shift lens 104 which forms a part of the photographing lens unit 101 has been described. However, the entire imaging lens unit may be shifted, or the imaging element 112 may be shifted as the shift element.
(Other embodiments)
The present invention supplies a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or storage medium, and one or more processors in a computer of the system or apparatus read and execute the program. Can also be realized. It can also be implemented by a circuit (eg, an ASIC) that implements one or more functions.

  The embodiments described above are only representative examples, and various modifications and changes can be made to the embodiments when the present invention is implemented.

100 camera 101 photographing lens unit 104 shift lens 107 angular velocity sensor 112 image pickup device 130 camera microcomputer 132 panning control unit 134 object angle calculation unit

Claims (13)

An imaging apparatus for imaging an object image which has passed through an imaging optical system with an imaging device,
Wherein such movement of the imaging device to follow the movement of the main subject, the motion vector of the main subject image from the angular velocity information and the detected video signal by the image pickup device obtained from the angular velocity detecting means for detecting a movement of the imaging device Control means for controlling an optical element in a direction orthogonal to the optical axis of the photographing optical system using angular velocity information of the main subject image calculated based on motion vector information obtained from the motion vector detection means to be detected; ,
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating means for calculating prediction information on angular velocity information of the main subject image of
The control means controls the optical element using the prediction information during the exposure period in a follow shot mode in which the main subject is stationary and a photographed image with a background flowing is obtained,
The image pickup apparatus, wherein the control means controls the optical element without using the prediction information during the exposure period in a photographing mode different from the follow shot mode. The calculation means
Distance information from the imaging device to the main subject;
The imaging apparatus according to claim 1, wherein the prediction information is calculated using a start time of the exposure period. The calculating means, when the exposure period is longer than a predetermined value the imaging apparatus according to claim 1 or 2, characterized in that increasing the number of the prediction information for controlling the optical element. The control means moves the optical element in a direction orthogonal to the optical axis of the photographing optical system in an image blur correction mode which is a photographing mode different from the panning mode, so that the image pickup due to the camera shake The image pickup apparatus according to claim 1 , wherein shake of an image of the subject due to shake of the apparatus is corrected. An imaging apparatus for imaging an object image which has passed through an imaging optical system with an imaging device,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Control means for controlling the optical element in a direction orthogonal to the optical axis of the photographing optical system ;
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating means for calculating prediction information on angular velocity information of the main subject image of
Before SL control means includes a control means controls said optical element by using the angular velocity information obtained from the angular velocity detecting means for detecting a motion of the imaging device in said prediction information and the exposure period during the exposure period Imaging device. An imaging apparatus for imaging an object image which has passed through an imaging optical system with an imaging device,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Control means for controlling the optical element in a direction orthogonal to the optical axis of the photographing optical system ;
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating means for calculating prediction information on angular velocity information of the main subject image of
The imaging device includes an imaging device according to claim Rukoto which detects the subject image raw form a photographic image of the subject. A control method of an image pickup apparatus, which picks up an image of a subject passing through a photographing optical system by an image pickup element ,
Wherein such movement of the imaging device to follow the movement of the main subject, the motion vector of the main subject image from the angular velocity information and the detected video signal by the image pickup device obtained from the angular velocity detecting means for detecting a movement of the imaging device Controlling an optical element in a direction orthogonal to an optical axis of the photographing optical system using angular velocity information of the main subject image calculated based on motion vector information obtained from motion vector detection means to be detected;
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating prediction information on angular velocity information of the main subject image of
The controlling step controls the optical element using the prediction information during the exposure period in a follow shot mode in which the main subject is stationary and a captured image with a background flowing is obtained.
A control method of an image pickup apparatus, wherein the controlling step controls the optical element without using the prediction information during the exposure period in a photographing mode different from the follow shot mode. A control method of an image pickup apparatus, which picks up an image of a subject passing through a photographing optical system by an image pickup element ,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Controlling the optical element in a direction orthogonal to the optical axis of the photographing optical system ;
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating prediction information on angular velocity information of the main subject image of
The step of pre-SL control controls said optical element by using the angular velocity information obtained from the angular velocity detecting means for detecting a motion of the imaging device in said prediction information and the exposure period during the exposure period Control method of the imaging device. A control method of an image pickup apparatus, which picks up an image of a subject passing through a photographing optical system by an image pickup element ,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Controlling the optical element in a direction orthogonal to the optical axis of the photographing optical system ;
Based on the angular velocity information of the main subject image before the exposure period, which is calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording, during the exposure period Calculating prediction information regarding angular velocity information of the main subject image;
The imaging device, a control method of an imaging apparatus according to claim Rukoto which detects the subject image raw form a photographic image of the subject. In a computer of an imaging device for imaging an object image having passed through a photographing optical system with an imaging device,
Wherein such movement of the imaging device to follow the movement of the main subject, the motion vector of the main subject image from the angular velocity information and the detected video signal by the image pickup device obtained from the angular velocity detecting means for detecting a movement of the imaging device The optical element is controlled in a direction orthogonal to the optical axis of the photographing optical system using angular velocity information of the main subject image calculated based on motion vector information obtained from the motion vector detection means to be detected.
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating prediction information related to angular velocity information of the main subject image of
In the follow shot mode for acquiring a photographed image in which the main subject is stationary and the background is flowing, the optical element is controlled using the prediction information during the exposure period,
A control program of an image pickup apparatus, which controls the optical element without using the prediction information during the exposure period in a photographing mode different from the follow shot mode. In a computer of an imaging device for imaging an object image having passed through a photographing optical system with an imaging device,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Controlling an optical element in a direction orthogonal to the optical axis of the photographing optical system ,
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating prediction information related to angular velocity information of the main subject image of
During pre-Symbol exposure period of the imaging device, characterized in that to control the prediction information and said optical element by using the angular velocity information obtained from the angular velocity detecting means for detecting a movement of the imaging device during the exposure period Control program. In a computer of an imaging device for imaging an object image having passed through a photographing optical system with an imaging device,
In an imaging mode in which a main subject is stationary and a captured image having a background is flowing, an angular velocity detection unit that detects the motion of the imaging device so that the motion of the imaging device follows the motion of the main subject by using the angular velocity information of the main subject image calculated based on the motion vector information obtained from the motion vector detecting means for detecting a motion vector of the main subject image from the video signal detected by the obtained angular velocity information and said image sensor Controlling an optical element in a direction orthogonal to the optical axis of the photographing optical system ,
During the exposure period based on angular acceleration information of the main subject image before the exposure period calculated using the motion vector information detected at a plurality of different timings before the exposure period for recording for recording. Calculating prediction information related to angular velocity information of the main subject image of
The imaging device, a control program of an image pickup apparatus which comprises causing to detect the object image made raw captured image of the subject. A computer readable storage medium storing a control program of an imaging device according to any one of claims 10 to 12 .