JPH07203285A - Panning/tilt discrimination device for camera and camera equipment - Google Patents

Abstract

PURPOSE:To prevent a disadvantage that a pattern is placed in the middle of a screen because hand-shake correction becomes effective in the case of panning and tilting. CONSTITUTION:A hand-shake is corrected by driving an active prism 1 for correcting optical axis of an image pickup light with a handshake sensing output from each of angular velocity sensors 2, 3. When the hand-shake.sensing output from each of the angular velocity sensors 2,3 is a threshold level or over, a panning/tilt discrimination circuit 13 in a microcomputer 9 discriminates panning or tilting to lower a cut-off frequency of high pass filters 14a, 14b receiving a hand-shake sensing output thereby suppressing the hand-shake correction capability. On the other hand, when the hand-shake sensing output is less than the threshold level, the panning/tilt discrimination circuit 13 increases the cut-off frequency of the high pass filters 14a, 14b to enhance the hand-shake correction capability.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera pan / tilt discrimination device applied to a camera device provided with a camera shake detection function, and a response according to a discrimination output indicating camera shake, panning or tilting. The present invention relates to a camera device capable of excellent image pickup by switching characteristics.

[0002]

2. Description of the Related Art Today, portable video camera devices are becoming popular because they are lightweight, compact and easy to carry. When taking an image with this video camera device, the user holds the video camera device with one hand and takes an image while looking into the subject through the electronic viewfinder.

Here, the portable video camera device should be able to be held by one hand and easily take an image as described above, but it is not stable because it is lightweight and small, and so-called camera shake occurs. However, there is a problem that the image shakes.

Therefore, in recent years, a camera shake correction circuit has been provided in a portable video camera device. This camera shake correction circuit is provided, for example, in front of a CCD image sensor, an active prism for correcting the optical axis of an object, an angular velocity sensor for detecting vertical camera shake and a horizontal camera shake, and a detection output of the angular velocity sensor. And a microcomputer that drives the active prism to correct the optical axis of the subject.

In a camera device provided with such a camera shake correction circuit, the angular velocity sensor forms vertical and horizontal angular velocity signals according to the camera shake and supplies the signals to the A / D converter. The A / D converter forms angular velocity data by digitizing the angular velocity signal and supplies it to the microcomputer.

The microcomputer has a high-pass filter and an integrating circuit. The high-pass filter removes a DC component from the angular velocity data, and the integrating circuit converts the angular velocity data indicating the angular velocity into angle data indicating the angle of camera shake. And supplies it to the active prism.

The active prism changes the optical axis of the image pickup light according to the angle data. This makes it possible to irradiate the imaging light so that the subject is always positioned at the center position of the CCD image sensor, for example, regardless of camera shake. Therefore, camera shake can be corrected, and a good reproduced image without shaking can be obtained.

[0008]

However, the video camera device provided with the conventional camera shake correction circuit should be able to perform the above-mentioned camera shake correction, but the above-mentioned camera shake correction can be performed even when panning or tilting is performed. To do
A subject that is actually imaged in the direction in which the video camera device is directed, such that the subject is imaged so as to be positioned in the center of the screen despite intentionally moving the video camera device. However, there is a problem that a desired captured image cannot be obtained.

The present invention has been made in view of the above-mentioned problems, and a pan / tilt discrimination device for discriminating between hand shake and panning / tilting, and a hand shake according to the discrimination result of the pan / tilt discriminator. An object of the present invention is to provide a camera device capable of preventing the inconvenience of causing a deviation between the direction in which the video camera device is directed and the subject actually imaged by performing the correction.

[0010]

A camera pan / tilt discrimination apparatus according to the present invention detects an angular velocity sensor for detecting movement of a camera body and whether or not a detection output level of the angular velocity sensor exceeds a threshold value for a certain period of time or more. When the detection output level of the angular velocity sensor exceeds the threshold for a certain period of time or more, it is determined to be panning or tilting, and the detection output level of the angular velocity sensor exceeds the threshold for less than the certain period of time. It is characterized in that it is determined to be camera shake when the camera is in motion.

Further, the camera pan / tilt discriminating apparatus according to the present invention is characterized in that the discriminating means has a plurality of threshold values and outputs speed information together with a discriminating output of panning or tilting.

Further, according to the present invention, in a camera device in which the amount of camera shake is detected by the camera shake detection means, and the camera shake correction is performed by the control means on the basis of the camera shake detection output, the camera shake, panning, and chill are detected based on the camera shake detection output. It is characterized in that it has a pan-tilt discriminating means for discriminating an image, and the control means carries out camera shake correction by switching response characteristics in accordance with the discrimination output from the pan-tilt discriminating means.

Further, in the camera device according to the present invention, the control means has a high-pass filter for performing band control of the camera-shake detection output, and the high-pass filter is output according to the discrimination output from the pan-tilt discrimination means. It is characterized in that the circuit characteristics of the filter are switched to perform camera shake correction.

Further, in the camera apparatus according to the present invention, the pan / tilt determination means has a predetermined threshold value, and when the level of the camera shake detection output is equal to or higher than the threshold value, it is determined that the panning or tilting is performed. When the level of the camera shake detection output is less than or equal to this threshold value, it is determined that the camera shake has occurred.

Further, the camera device according to the present invention is characterized in that the pan / tilt determination means has a plurality of threshold values and outputs speed information together with a determination output of panning or tilting.

Further, the camera device according to the present invention is characterized in that the control means performs the camera shake correction by switching the response characteristic for a predetermined time in accordance with the discrimination output from the pan / tilt discrimination means.

Further, in the camera apparatus according to the present invention, the control means is provided with a high-pass filter capable of variably controlling the filter characteristics for band-limiting the camera shake detection output by the camera shake detection means, and is supplied from the pan / tilt discrimination means. It is characterized in that the camera characteristics are corrected by switching the filter characteristic of the high-pass filter for a predetermined time in accordance with the speed information.

[0018]

In the camera pan / tilt discrimination apparatus according to the present invention, the discrimination means discriminates camera shake, panning, and tilting based on the detection output of the angular velocity sensor that detects the movement of the camera body by the angular velocity sensor. When the detection output level of the angular velocity sensor exceeds the threshold value for a certain period of time or more, it is determined that panning or tilting is performed, and when the detection output level of the angular velocity sensor exceeds the threshold value for a certain period of time or less, Determined to be camera shake.

Further, in the pan / tilt discriminating apparatus for a camera according to the present invention, the discriminating means discriminates camera shake, panning and tilting with a plurality of thresholds, and outputs speed information together with discriminating output of panning or tilting. To do.

Further, in the camera device of the present invention, based on the shake detection output of the shake detecting means for detecting the shake amount,
The camera shake, panning, and tilting are discriminated, and the response characteristic is switched by the control means according to the discrimination output from the pan / tilt discrimination means to perform the camera shake correction.

Further, in the camera apparatus according to the present invention, the control means switches the circuit characteristic of the high-pass filter for performing the band control of the camera shake detection output according to the discrimination output from the pan / tilt discrimination means, thereby correcting the camera shake. I do.

Further, in the camera apparatus according to the present invention, the pan / tilt determination means has a predetermined threshold value, and when the level of the camera shake detection output is equal to or higher than this threshold value, it is determined to be panning or tilting. When the level of the shake detection output is less than or equal to this threshold, it is determined that the shake has occurred.

Further, in the camera device according to the present invention, the pan / tilt discrimination means discriminates between the hand shake, the panning and the tilting with a plurality of thresholds, and outputs the speed information together with the discrimination output of the panning or the tilting.

Further, in the camera device according to the present invention, the control means switches the response characteristic for a predetermined time in accordance with the discrimination output from the pan / tilt discrimination means to perform camera shake correction.

Further, in the camera device according to the present invention, the control means is provided with a high-pass filter capable of variably controlling a filter characteristic for band-limiting the camera shake detection output by the camera shake detection means, and is supplied from the pan / tilt discrimination means. The camera characteristics are corrected by switching the filter characteristics of the high-pass filter for a predetermined time according to the speed information.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a pan / tilt discriminating apparatus for a camera and a camera apparatus according to the present invention will be described below with reference to the drawings. First, as shown in FIG. 1, the camera apparatus according to the first embodiment of the present invention includes an active prism 1 that changes the optical axis of image pickup light according to the amount of camera shake, and a vertical direction (pitching direction) of camera shake. Pitching direction angular velocity sensor 2 that detects the amount of camera shake, yawing direction angular velocity sensor 3 that detects the amount of camera shake in the lateral direction (yaw direction), and detection outputs from the pitching direction angular velocity sensor 2 and yawing direction angular velocity sensor 3. Which outputs a drive signal for driving the active prism 1 based on
9, a comparison circuit 10, and a yawing direction drive system 11 for driving the active prism 1 according to the drive signal,
It has a pitching direction drive system 12.

The active prism 1 is formed by connecting the outer peripheral portions of the transparent first and second optical plates 1a and 1b through a bellows-like member and injecting a transparent solution into them. Has been done. A first drive shaft 1c for driving the first optical plate 1a is provided on the right side surface of the first optical plate 1a. By rotating the first drive shaft 1c, The first optical plate 1c is adapted to be driven. A second drive shaft 1d for driving the second optical plate 1b is provided on the upper side surface portion of the second optical plate 1b, and the second drive shaft 1d is rotationally driven. By doing so, the second optical plate 1b is driven.

The pitching direction angular velocity sensor 2 is connected to a filter 4, an amplifier circuit 6, and an A / D converter 8, and the A / D converter 8 detects the pitching detected by the pitching direction angular velocity sensor 2. The direction detection output is supplied.

The yawing direction angular velocity sensor 3 is connected to a filter 5, an amplifier circuit 7, and an A / D converter 8, and the yaw direction detected by the yawing direction angular velocity sensor 3 is applied to the A / D converter 8. The direction detection output is supplied.

The A / D converter 8 is supplied with the first high-pass filter (HPF) 14a to which the digitized detection output in the pitching direction is supplied, and the digitized detection output in the yawing direction. It is connected to the second high-pass filter HPF 14b and is also connected to a pan-tilt discrimination circuit 13 which discriminates whether it is camera shake, panning, or tilting based on the above detection outputs.

The first HPF 14a is connected to the first integrating circuit 15 which converts the detection output of the angular velocity in the pitching direction into the detection output of the angle, and the second HPF 14a.
The F14b is connected to the second integrating circuit 16 which converts the detection output of the angular velocity in the yawing direction into the detection output of the angle. Each of the integrating circuits 15 and 16 includes a comparison circuit 10
It is connected to the.

The output terminal of the pan-tilt discrimination circuit 13 is connected to the first and second HPFs 14a and 14b, and the discrimination output of the pan-tilt discrimination circuit 13 causes the first and second HPFs 14a and 14b to output. The filter characteristics are variably controlled.

The second drive shaft 1d of the active prism 1 is connected to the comparison circuit 10 via the drive coil 18 and the drive circuit 17, and is driven according to the comparison output from the comparison circuit 10. It is like this. The movement of the active prism 1 in the yawing direction is detected by the braking coil 19, the speed detection circuit 20, the photo sensor 21, and the position detection circuit 22, and each of the speed detection circuit 20 and the position detection circuit 22 is detected. The detection outputs are supplied to the comparison circuit 10, respectively.

The comparison circuit 10 drives the second drive shaft 1d of the active prism 1 while comparing each detection output in the yawing direction with the detection output detected by the yawing direction angular velocity sensor 3. Drive signal is supplied to the drive circuit 17.

The first drive shaft 1c of the active prism 1 is connected to the comparison circuit 10 via the drive coil 24 and the drive circuit 23, and is driven according to the comparison output from the comparison circuit 10. It is like this. The movement of the active prism 1 in the pitching direction is detected by the braking coil 25, the speed detection circuit 26, the photo sensor 27, and the position detection circuit 28. Each of the speed detection circuit 26 and the position detection circuit 28 is detected. The detection outputs are supplied to the comparison circuit 10, respectively.

The comparison circuit 10 drives the first drive shaft 1c of the active prism 1 while comparing each detection output in the pitching direction and the detection output detected by the pitching direction angular velocity sensor 2. Drive signal is supplied to the drive circuit 23.

Next, the operation of the camera device according to the first embodiment will be described. First, when imaging is started, the pitching direction angular velocity sensor 2 and the yawing direction angular velocity sensor 3 detect camera shake amounts in the pitching direction and the yawing direction.

Each of the angular velocity sensors 2 and 3 detects the positive / negative of the direction of camera shake with reference to the output (center value) of the camera device at rest, and detects the output according to the magnitude of the angular velocity (camera shake amount). Output. The respective detection outputs are supplied to the filters 4 and 5, respectively.

Since the detection output of each of the angular velocity sensors 2 and 3 includes a signal in an unnecessary band such as a resonance frequency, each of the filters 4 and 5 removes the signal and the amplifier circuits 6 and 7 are used to remove it. And supplies it to the A / D converter 8.

The A / D converter 8 forms detection data in the pitching direction by digitizing the detection output in the pitching direction, and supplies this to the first HPF 14a and the pan / tilt discrimination circuit 13. Further, the detection output in the yawing direction is digitized to form detection data in the yawing direction, which is used as the second HPF.
14b and the pan / tilt determination circuit 13 described above.

Here, the detection output of each of the angular velocity sensors 2 and 3 at the time of panning shown in FIG. 2A and the detection output of each of the angular velocity sensors 2 and 3 at the time of camera shake shown in FIG. The detection outputs of the angular velocity sensors 2 and 3 at the time of panning and at the time of tilting have characteristics that the frequency is lower and the angular velocity is higher. That is, at the time of the panning, the output in only one direction of the positive direction or the negative direction with respect to the center output (0 level) is output from the detection output of each of the angular velocity sensors 2 and 3 for a long time as compared with the time of camera shake. to continue.

This is also the same during tilting.

Therefore, the pan / tilt determination circuit 13 is provided.
Is the detection output level of each of the angular velocity sensors 2 and 3,
Compared with a threshold for a certain period of time, if the detection output exceeds the threshold for a certain period of time or more, it is determined to be panning or tilting, and if the time when the detection output level exceeds the threshold for a certain period of time or less It is decided to judge.

Specifically, as shown in FIG. 3A, the pan / tilt discrimination circuit 13 is provided with a positive threshold value (+ S) and a negative threshold value (-S). When a detection output having a level exceeding the threshold value (+ S) or the threshold value (−S) in the negative direction is supplied, the timer starts counting and the detection output having the level exceeding the threshold value (+ S) in the positive direction is output for several seconds. It is detected whether the output is continued (sample period T). Then, when the time when the detection output exceeds the threshold value is, for example, 100 msec or more, it is determined that the panning (or tilting) is performed as shown in FIG. 7B, and the detection output exceeds the threshold value. Time is 10
If it is 0 msec or less, it is determined that the camera shake has occurred.

That is, assuming that the threshold value is S, the sampling period is T, the detection output is P _OUT , and the time when the level of the detection output is above the threshold value is Pt, the pan / tilt discrimination circuit 1 is described.
3 judges as panning or tilting when P _OUT ≧ S and Pt ≧ T.

Since human shake is within a range of about 3 to 15 Hz, the threshold value and the value of the sampling period T are set to values near the boundary between panning (or tilting) and shake. It is set.

By such hand shake and pan / tilt discrimination, the pan / tilt discrimination circuit 13 supplies a threshold value (0 level) when the detection outputs from the angular velocity sensors 2 and 3 as shown in FIG. 4A are supplied. When a predetermined time is exceeded, panning (or tilting) is performed, and a high-level judgment output as shown in FIG. 7B is supplied to the first and second HPFs 14a and 14b, and the threshold value ( 0
If the time exceeding the level is less than a certain time, a low level judgment output as shown in FIG.
Supply to 14a and 14b.

The first and second HPFs 14a and 14b
Removes the DC component from the detection output from each of the angular velocity sensors 2 and 3, but the cutoff frequency is variable according to the determination output from the pan / tilt determination circuit 13.

When the pan / tilt determination circuit 13 determines that panning (or tilting) is performed and a high level determination output is supplied, the first and second HPFs 14a, 14 are provided.
b is controlled to increase the cutoff frequency. On the contrary, when the pan / tilt determination circuit 13 determines that the camera shake has occurred and a low level determination output is supplied, the first and second HPFs 14a and 14b are controlled to lower the cutoff frequency. .

That is, each of the above HPFs 14a, 14b
Has a filter characteristic of, for example, 1-Z ^-1 / 1-KZ ^-1 , and the value of the coefficient K is variably controlled according to the judgment output, so that the panning (or tilting) is performed. Performs a control to reduce the gain of the detection output from each of the angular velocity sensors 2 and 3 to reduce the camera shake correction capability, and to increase the detection output gain to increase the camera shake correction capability when the camera shake occurs.

It should be noted that at the time of panning (or at the time of tilting), the shake correction ability is reduced by lowering the gain of the detection output, but since the entire screen moves left and right during the panning, Image stabilization is almost unnecessary and is not a problem. The detection outputs via the gain-controlled HPFs 14a and 14b are supplied to the first integration circuit 15 and the second integration circuit 16, respectively.

The first integrator circuit 15 converts the angular velocity detection output in the pitching direction into an angle detection output and supplies it to the comparison circuit 10, and the second integrator circuit 16 in the yawing direction angular velocity. Is converted into an angle detection output and supplied to the comparison circuit 10.

The comparison circuit 10 forms a drive signal for driving the active prism 1 in the yawing direction and a drive signal for driving the active prism 1 in the pitching direction based on the detected outputs of the respective angles, and yaws these signals. Driving circuit 17 of directional driving system 11, pitching directional driving system 1
2 to each of the driving circuits 23.

The drive circuit 17 of the yawing direction drive system 11 applies a voltage according to the drive signal to the drive coil 18. As a result, the second drive shaft 1d can be rotationally driven, and the second optical plate 1b of the active prism 1 can be driven in the yawing direction according to the detection output of the yawing direction angular velocity sensor 3. it can.

The drive circuit 23 of the pitching direction drive system 12 applies a voltage corresponding to the drive signal to the drive coil 24. As a result, the first drive shaft 1c can be rotationally driven, and the first optical plate 1a of the active prism 1 can be driven in the pitching direction according to the detection output of the pitching direction angular velocity sensor 2. it can.

Among the movements of the active prism 1, the movement in the yawing direction is detected by the braking coil 19 and the photo sensor 21. The braking coil 19
Detects a voltage value according to the movement in the yawing direction and supplies it to the speed detection circuit 20. The speed detection circuit 20 detects the movement speed in the yawing direction from the detected voltage value, and compares the detected output with the comparison circuit 1
Return to 0. The photo sensor 21 detects the movement in the yawing direction by light and supplies the detection output to the position detection circuit 22. The position detection circuit 22
Is the active prism 1 based on the detection output.
Position is detected, and the detected output is fed back to the comparison circuit 10.

The movement of the active prism 1 in the pitching direction is determined by the braking coil 25 and the photo sensor 27.
Detected by. The braking coil 25 detects a voltage value according to the movement in the pitching direction and supplies it to the speed detection circuit 26. The speed detection circuit 26 detects the movement speed in the pitching direction from the detected voltage value and feeds back the detection output to the comparison circuit 10. Further, the photo sensor 27 detects the movement in the pitching direction by light, and the detection output is detected by the position detection circuit 28.
Supply to. The position detection circuit 28 detects the position of the active prism 1 based on the detection output, and feeds back the detection output to the comparison circuit 10.

The comparison circuit 10 compares each detection output from the speed detection circuit 20 and the position detection circuit 22 of the yawing direction drive system 11 with the detection output in the pitching direction from the second integration circuit 16. , And supplies a drive signal to the drive circuit 17 so that the error becomes zero. Further, the comparison circuit 10 compares each detection output from the speed detection circuit 26 and the position detection circuit 28 of the pitching direction drive system 12 with the detection output in the pitching direction from the first integration circuit 15, A drive signal that makes the error zero is supplied to the drive circuit 23.

As a result, the active prism 1 can be accurately driven according to the detection outputs from the angular velocity sensors 2 and 3.

If the HPF cutoff frequency is not variably controlled as described above, the detection output of the angular velocity sensor during panning (or tilting) as shown in FIG. A drive signal stuck in one direction as shown in FIG. 3 is supplied to the drive circuits 17 and 23. As a result, despite the panning (or tilting), the active prism 1 is driven and continuously tilted, resulting in a shift in the imaging direction.

However, since the camera device according to the present embodiment variably controls the cutoff frequencies of the HPFs 14a and 14b depending on whether or not there is camera shake, FIG.
In response to the detection output of the angular velocity sensor at the time of panning (or at the time of tilting) as shown in FIG. 1, a drive signal of a level for driving the active prism 1 is initially provided as shown in FIG. , 23, but a drive signal of almost 0 level can be immediately supplied to the drive circuits 17, 23. Therefore, the active prism 1 is driven to some extent at first, but immediately returns to the original position (center position). Therefore, it is possible to prevent the deviation in the imaging direction.

Here, in the camera apparatus according to the first embodiment described above, when camera shake has occurred until then, and when panning (or tilting) is performed next, the camera shake shown by the dotted line in FIG. 7A. Each of the above H at the boundary between
The cutoff frequencies of the PFs 14a and 14b rapidly increase as indicated by the chain line in the figure. Conversely, when panning (or tilting) has been performed up to that point and camera shake occurs next time, at the boundary between the panning and camera shake indicated by the dotted line in FIG. 7B, the cutoff frequency of each HPF 14a, 14b is cut off. However, as shown by the alternate long and short dash line in FIG.

As described above, the HPFs 14a and 14b are
When the cut-off frequency of is rapidly switched, the detection outputs of the angular velocity sensors 2 and 3 contain a lot of harmonic components, the output levels of the HPFs 14a and 14b rise, and the microcomputer 9 activates the active signal. A drive signal for tilting the prism 1 in a direction opposite to that in panning (or tilting) is output, and the active prism 1 is largely tilted in the opposite direction. Thereafter, a force acts to return the active prism 1 to the center position, so that a swingback phenomenon occurs in which the screen moves even when the camera device is stationary.

That is, from the angular velocity sensors 2 and 3,
For example, when the detection output as shown in FIG. 8A is output, the pan / tilt determination circuit 13 of the camera apparatus according to the first embodiment described above does not wait until the sampling period elapses as shown in FIG. 8B. It is determined to be camera shake, and it is determined to be panning until the detection output falls below the threshold value after the sample period, and it is determined to be camera shake after the detection output falls below the threshold value. Further, the cutoff frequency of each of the HPFs 14a and 14b is set low until the sample period passes, as shown in FIG. 8C, and is high until the detected output falls below the threshold value after the sample period. It is set, and is set low after the detection output becomes equal to or less than the threshold value.

As a result, the active prism 1
Is driven to the center position when it is determined that the camera shake has occurred, as shown in FIG.
The sample period from the shake to the judgment of panning (or tilting) is driven according to the outputs of the angular velocity sensors 2 and 3, and when it is judged to be panning (or tilting), the centering is performed. It is determined that the camera is driven by the handwheel until the level of the detection output becomes equal to or less than the threshold value and the panning (or the tilting) ends (transition period T1), and the angular velocity sensors 2 and 3 are driven. It is driven according to the output. Then, after the transition period T1, each HPF1
The cut-off frequencies of 4a and 14b change rapidly,
The detection output of each of the angular velocity sensors 2 and 3 contains a lot of harmonic components, the camera shake correction capability is suddenly recovered, and the active prism 1 is driven at the level of the transition period T1 and then at the camera shake level. Since it is driven, there is a swingback phenomenon in which the screen moves while the camera device is stationary.

In the camera apparatus according to the second embodiment of the present invention, when the pan / tilt determination circuit 13 determines that panning (or tilting) is caused by camera shake in order to prevent such a swing-back phenomenon, or When it is determined from the panning (or tilting) that the camera shake has occurred, the cutoff frequencies of the HPFs 14a and 14b are not immediately switched, but the cutoff frequencies are switched after a certain period of time, whereby the HPFs 14a and 14b are switched.
The filter characteristics of a and 14b have a hysteresis characteristic.

The camera device according to the second embodiment is the same as the camera device according to the first embodiment except for the control operation of the pan / tilt discrimination circuit 13, so that the pan / tilt discrimination circuit 13 does not operate. Only the control operation will be described, and the detailed operation description of the other parts will be omitted.

That is, in the camera apparatus according to the second embodiment, when the pan / tilt determination circuit 13 has determined that the camera shake has occurred until then, and when it is determined that the panning (or the tilting) has occurred, the operation shown in FIG. As shown by the solid line in a), the HPFs 14a and 14b are set so that the cutoff frequency is increased after a predetermined time from the boundary between camera shake and panning.
To control. In addition, if it is determined that panning (or tilting) has been performed until then, and if it is determined that there is camera shake next, as shown by the solid line in FIG. The HPFs 14a and 14b are controlled so that

As a result, when the angular velocity sensors 2 and 3 output the detection outputs as shown in FIG. 9A, the drive signals supplied from the comparison circuit 10 to the drive circuits 17 and 23 are As shown in FIG. 7B, the panning (or the tilting) can be converged immediately after the end.

Therefore, as shown in FIG. 8E, when the panning is completed and the cutoff frequency is switched, the active prism 1 can be driven by the detection output from the threshold value of the transition period T1 to the camera shake level. Since the active prism 1 can be driven by the detection output of the camera shake level, the swing-back phenomenon can be prevented, and the active prism 1 can be controlled to the center position as shown in FIG. You can Therefore, it is possible to prevent the inconvenience that the screen moves due to the above-described swing-back phenomenon even when the camera device is stationary.

Here, if the switching of the cutoff frequency is made to have a hysteresis property in this way, FIG.
Although the period T2 of is a camera shake period,
There is a problem that the cutoff frequencies of the PFs 14a and 14b are maintained high, the gain of the camera shake signal is lowered, and the camera shake correction capability is deteriorated.

Therefore, in the camera apparatus according to the third embodiment of the present invention, the cutoff frequency of the pan / tilt discrimination circuit 13 is switched temporarily. The camera apparatus according to the second embodiment is the same as the camera apparatus according to the first embodiment except for the control operation of the pan / tilt determination circuit 13, so only the control operation of the pan / tilt determination circuit 13 will be performed. However, detailed description of the other parts will be omitted.

That is, when the pan / tilt discrimination circuit 13 provided in the camera apparatus according to the third embodiment has determined that the camera shake has occurred until then, and the next panning (or tilting) is determined, As shown in 10 (a), the HPFs 14a and 14b are controlled so that the cutoff frequency is gradually increased from the boundary between camera shake and panning. In addition, if it is determined that panning (or tilting) has occurred until then, and if it is determined that there is camera shake next, the cutoff frequency is gradually lowered from the boundary between panning and camera shake as shown in FIG. 10B. To the above HPF
14a and 14b are controlled.

In this way, by providing the cut-off frequency switching control with a temporary property, it is possible to prevent the swing-back phenomenon described above and to gradually recover the camera shake correction function. e) period T2
It is possible to minimize the period during which the camera shake correction capability as described above decreases.

In the above description of each embodiment, the HPFs 14a,
The cutoff frequency of 14b is variably controlled. This is, for example, as shown in FIG.
Even if an amplifier circuit 41 is provided between 4a and 14b and each of the integrator circuits 15 and 16 and the gain of the amplifier circuit 41 is variably controlled according to the discrimination output of the pan / tilt discrimination circuit 13, the same effect as described above is obtained. Obtainable.

Further, as shown by the dotted line in FIG. 11, an amplifying circuit 42 is provided in the subsequent stage of the integrating circuits 15 and 16 in place of the amplifying circuit 41, and the gain of this amplifying circuit 42 is discriminated from the pan / tilt discriminating circuit 13. You may make it variably control according to an output.

The integration characteristics of the integration circuits 15 and 16 may be variably controlled according to the determination output from the pan / tilt determination circuit 13.

Further, the circuit characteristics of the drive circuit 17 of the yawing direction drive system 11 and the drive circuit 23 of the pitching direction drive system 12 shown in FIG. 1 are variably controlled according to the discrimination output from the pan / tilt discrimination circuit 13. You may

The circuit characteristics of the comparison circuit 10 shown in FIG. 1 may be variably controlled according to the discrimination output from the pan / tilt discrimination circuit 13.

Further, in the camera apparatus according to the fourth embodiment, the pan / tilt discrimination circuit 13 in the microcomputer 9 discriminates camera shake and panning or tilting with a two-step threshold value, as shown in FIG. The cutoff frequency of the first and second HPFs 14a and 14b is switched in two stages via the cutoff frequency selector 29 according to the discrimination output.

The first and second HPFs 14a, 1
Except for the two-step switching control operation of the cutoff frequency of 4b, it is the same as the camera device according to the third embodiment described above, so only this control operation will be described, and detailed operation description of other parts will be omitted.

That is, in the camera apparatus according to the fourth embodiment, as shown in FIG. 13A, the pan / tilt determination circuit 13 has two types of threshold values (+ S1) in the positive direction,
(+ S2) and two types of threshold values (-S1), (-S2) in the negative direction.
S2) is provided and the threshold value in the positive direction (+ S
1), (+ S2) or threshold values in the negative direction (-S1), (-
When the detection output having a level exceeding S2) is supplied, the timer starts counting, and the threshold value in the positive direction (+ S1),
It is detected for how many seconds the detection output having a level exceeding (+ S2) continues to be output (sample period T). The time when the detection output exceeds the threshold is, for example, 100 msec.
If it is above, it is determined that panning (or tilting) has occurred as shown in FIG. 7B, and if the time when the detection output exceeds the threshold value is, for example, 100 msec or less, it means that there is a camera shake. Judgment is made and speed information is outputted together with the discrimination output of panning or tilting.

That is, assuming that the threshold is S1, the sampling period is T, the detection output is P _OUT , and the time when the level of the detection output is equal to or more than the threshold is Pt, the pan-tilt determination circuit 13 sets S2 ≧ P _OUT ≧ S1. When Pt ≧ T, it is determined that the panning or tilting has a relatively slow speed, the first speed information is output together with the panning or tilting determination output, and P _OUT ≧ S2 and Pt ≧ T At times, it is determined that the panning or tilting has a relatively high speed, and the second speed information is output together with the panning or tilting determination output.

In the camera device according to the fourth embodiment, when the pan / tilt determination circuit 13 has determined that the camera shake has occurred until then, and when it is determined that the panning (or the tilting) has occurred, the state shown in FIG. As indicated by a solid line in a), the HPFs 14a and 14b are controlled so that the cutoff frequency is increased to a frequency corresponding to the first or second speed information after a predetermined time from the boundary between the hand shake and the panning. In addition, when it is determined that panning (or tilting) has occurred until then, and when it is determined that there is camera shake next, as shown by the solid line in FIG. The HPFs 14a and 14b are controlled so that

As described above, by lowering the cutoff frequency of each HPF 14a, 14b according to the panning (or tilting) speed, it is possible to properly prevent the occurrence of the swing-back phenomenon.

In the above description of the angular embodiments, the shake detection is performed by each of the angular velocity sensors 2 and 3, but this is done by, for example, a so-called piezoelectric gyro or a field effect element (MR).
Any element such as an element) can be used as long as it can detect camera shake.

Further, the camera device is applied to the camera device for correcting the camera shake by driving the active prism 1 according to the detected camera shake amount to correct the optical axis of the image pickup light. For example, a camera device that changes the readout area of the CCD image sensor according to the result of camera shake, a camera device that temporarily stores the image pickup signal from the CCD image sensor in a memory, and changes the readout area of the memory according to the result of camera shake, etc. It is also applicable to.

Other than the above, various modifications are possible within the technical idea of the present invention, that is, the technical idea of variably controlling the circuit characteristics of the camera device according to the determination result of the pan / tilt determination circuit 13. Of course, it is possible.

[0089]

In the camera pan / tilt discrimination apparatus according to the present invention, when the detection output level of the angular velocity sensor for detecting the movement of the camera body by the angular velocity sensor exceeds the threshold for a certain period of time or more, it is determined that the panning or tilting is performed. However, when the detected output level of the angular velocity sensor exceeds the threshold value within a certain period of time, it is determined that the camera shake has occurred, so that it is possible to accurately determine the camera shake, the panning, and the tilting by the determining means. That is, the detection output of the angular velocity sensor with respect to camera shake has a high frequency and a low level, but the detection output of the angular velocity sensor with respect to panning or tilting has a low frequency and a high level. Therefore, it is possible to easily determine whether the camera shake detection output is caused by camera shake or panning or tilting by comparing the detection output with the threshold value in consideration of this feature. You can

In the pan-tilt discriminating apparatus for a camera according to the present invention, the discriminating means discriminates camera shake, panning and tilting with a plurality of threshold values, thereby discriminating output of panning or tilting together with its speed. Information can be output.

Further, in the camera device of the present invention, based on the shake detection output of the shake detecting means for detecting the shake amount,
It is possible to discriminate between camera shake, panning and tilting, and the response characteristics can be switched by the control means according to the discrimination output from the pan / tilt discrimination means to appropriately perform camera shake correction. There is a gap between the direction in which the camera device is directed and the direction of the actually imaged subject, such that the subject is imaged so as to be positioned in the center of the screen despite being moved. It is possible to prevent such inconvenience and obtain a good captured image.

Further, in the camera apparatus according to the present invention, the control means switches the circuit characteristic of the high-pass filter for performing the band control of the camera shake detection output according to the discrimination output from the pan / tilt discrimination means, thereby correcting the camera shake. It can be performed.

Further, in the camera device according to the present invention, the pan / tilt determination means has a predetermined threshold value, and when the level of the camera shake detection output is equal to or higher than this threshold value, it is determined to be panning or tilting. When the level of the camera shake detection output is less than or equal to this threshold value, it is possible to perform camera shake correction by accurately determining the camera shake, panning, and tilting by the upper pan-tilt determining unit. it can.

Further, in the camera device according to the present invention, the pan / tilt discrimination means discriminates the camera shake, the panning and the tilting with a plurality of threshold values, and outputs the speed information together with the discrimination output of the panning or the tilting. The control means can switch the response characteristic in accordance with the speed information to appropriately perform the camera shake correction.

Further, in the camera apparatus according to the present invention, the control means switches the response characteristic for a predetermined time in accordance with the discrimination output from the pan / tilt discrimination means to perform the camera shake correction, thereby preventing the shake-back phenomenon. It is possible,
Good camera shake correction can be performed.

Further, in the camera apparatus according to the present invention, the control means is provided with a high-pass filter capable of variably controlling the filter characteristic for band limiting the camera shake detection output by the camera shake detection means, and is supplied from the pan / tilt discrimination means. By switching the filter characteristics of the high-pass filter for a predetermined period of time in accordance with the speed information to perform camera shake correction, it is possible to prevent the shake-back phenomenon and perform good camera shake correction.

[Brief description of drawings]

FIG. 1 is a block diagram of a camera device according to a first embodiment of the present invention.

FIG. 2 is a waveform diagram showing detection outputs of the angular velocity sensor provided in the camera device according to the first embodiment during panning and camera shake.

FIG. 3 is a diagram for explaining the operation of the camera device according to the first embodiment.

FIG. 4 is an output waveform diagram of an angular velocity sensor and a pan / tilt determination circuit provided in the camera device according to the first embodiment.

FIG. 5 is a waveform diagram showing the output of the angular velocity sensor and the voltage applied to the drive circuit when the cutoff frequency of the high-pass filter provided in the camera device according to the first example is fixed.

FIG. 6 is a waveform diagram showing the output of the angular velocity sensor and the voltage applied to the drive circuit when the cutoff frequency of the high-pass filter provided in the camera apparatus according to the first embodiment is variable.

FIG. 7 is a diagram for explaining variable control of a cutoff frequency of a high-pass filter, which is performed by a pan / tilt determination circuit provided in a camera device according to a second embodiment of the present invention.

FIG. 8 is a diagram for explaining the operation of the camera device according to the second embodiment.

FIG. 9 shows an output of an angular velocity sensor and a drive circuit in the case where the variable control of the cutoff frequency of the high pass filter performed by the pan / tilt determination circuit provided in the camera device according to the second embodiment has a hysteresis characteristic. It is a wave form diagram of the applied voltage.

FIG. 10 is a diagram for explaining characteristics of a pan / tilt determination circuit provided in a camera device according to a third embodiment of the present invention.

FIG. 11 is a diagram showing a modified example of the camera device according to each embodiment of the present invention.

FIG. 12 is a block diagram showing a main configuration of a camera device according to a fourth embodiment of the present invention.

FIG. 13 is a diagram for explaining the operation of the camera device according to the fourth embodiment.

FIG. 14 is a diagram for explaining variable control of the cutoff frequency of the high-pass filter, which is performed by the pan-tilt determination circuit provided in the camera device according to the fourth embodiment.

[Explanation of symbols]

 1 Active Prism 1a 1st Optical Plate of Active Prism 1b 2nd Optical Plate of Active Prism 1c 1st Driving Axis of Active Prism 1d 2nd Driving Axis of Active Prism 2 Pitching Direction Angular Velocity Sensor 3 Yawing Direction Angular Velocity Sensor 4 , 5 filter 6, 7 amplifier circuit 8 A / D converter 9 microcomputer 10 microcomputer circuit 11 yawing direction drive system 12 pitching direction drive system 13 pan-tilt determination circuit 14a, 14b high-pass filter (HPF) 15, 16 1st , Second integrator circuit 17,23 drive circuit 18,24 drive coil 19,25 braking coil 20,26 speed detection circuit 21,27 photo sensor 22,28 position detection circuit 41,42 amplification circuit

Claims (8)

[Claims] 1. An angular velocity sensor for detecting the movement of a camera body, and a discriminating means for discriminating whether or not the detection output level of the angular velocity sensor exceeds a threshold value for a certain period of time or more, and the detection output level of the angular velocity sensor. Is determined to be panning or tilting for a certain period of time or more, and is determined to be camera shake when the detection output level of the angular velocity sensor exceeds the threshold for less than a certain period of time. Pan-tilt determination device. 2. The pan-tilt discriminating apparatus for a camera according to claim 1, wherein the discriminating means has a plurality of threshold values and outputs speed information together with discriminating output of panning or tilting. 3. A camera device in which the amount of camera shake is detected by the camera shake detection means, and the camera shake correction is performed by the control means based on the camera shake detection output. In the camera device, the camera shake, panning, and tilting are discriminated based on the camera shake detection output. A camera device having pan / tilt determination means for performing, wherein the control means performs a camera shake correction by switching response characteristics according to a determination output from the pan / tilt determination means. 4. The control means has a high-pass filter for performing band control of the camera shake detection output,
4. The camera device according to claim 3, wherein the camera characteristic is corrected by switching the circuit characteristic of the high-pass filter according to the discrimination output from the pan-tilt discrimination means. 5. The pan / tilt determination means has a predetermined threshold value, and when the level of the camera shake detection output is equal to or higher than the threshold value, it is determined that the panning or tilting is performed, and the level of the camera shake detection output is determined. The camera device according to claim 3 or 4, wherein when it is less than or equal to this threshold value, it is determined to be a camera shake. 6. The camera device according to claim 5, wherein the pan-tilt determination means has a plurality of threshold values and outputs speed information as well as a panning or tilting determination output. 7. The camera device according to claim 4, wherein the control means performs the camera shake correction by switching the response characteristic for a predetermined time in accordance with the discrimination output from the pan / tilt discrimination means. 8. The control means comprises a high-pass filter capable of variably controlling a filter characteristic for band-limiting the camera shake detection output by the camera shake detection means, and the high pass filter according to speed information supplied from the pan / tilt discrimination means. The camera device according to claim 7, wherein the camera characteristics are corrected by switching the filter characteristics of the high-pass filter over a predetermined time.