JPH07261229A - Inspection device for shake correction camera, shake correction camera and inspection method for shake correction camera - Google Patents

Abstract

PURPOSE:To check the operation of a shake correcting function in the general assembly state of a camera. CONSTITUTION:This device is the inspection device for inspecting the shake correcting function of a shake correction camera and it is provided with an information transfer part transferring information from or to the shake correction camera, a vibration imparting part imparting specified vibration to the shake correction camera, a gain adjusting value changing part setting and changing a gain adjusting value for adjusting the dispersion of the gain of an output value between the equipments of the angular velocity detecting parts 8 and 9 of the shake correction camera to a value in accordance with the range of the angle or the angular velocity of the imparted vibration, and a judgement part judging whether or not the shake correcting function is normal based on the output value of a maximum and minimum displacement detecting part on the gain adjusting value set and changed in accordance with the range of the angle or the angular velocity of the specified vibration by the gain adjusting value changing part at the time of imparting the specified vibration to the shake correction camera by the vibration imparting part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shake correction camera inspection apparatus, a shake correction camera, and a shake correction camera inspection method capable of correcting image shake caused by camera shake during photographing.

[0002]

2. Description of the Related Art Among such conventional shake correction cameras, the following shake correction cameras are known. An angular velocity detection circuit using an angular velocity sensor or the like detects an angular velocity due to shake in at least two directions on a plane perpendicular to the optical axis of the camera. The optical axis of the photographing optical system is moved by shifting a shake correction lens (anti-vibration lens), which is a part of the photographing lens, in substantially the same direction as the detection direction according to the detected angular velocity. This photographic optical system is driven by decelerating the rotation of an actuator such as a motor with a gear or the like and converting this rotational movement into a linear movement. As a result, the image blur caused by the blur generated in the camera is corrected (this control is also referred to as image stabilization control).

At the manufacturing stage, such a camera is manufactured by dividing it into several parts (parts), and after checking the operation of each part, the total assembly is performed. For example, a correction lens shift mechanism system that shifts a shake correction lens by rotating a motor is incorporated into the camera body after checking whether or not it normally operates as one subassembly. The same applies to the angular velocity detection circuit that detects the angular velocity due to camera shake.

[0004]

However, the above-mentioned conventional shake correction camera has the following problems. First, when the correction lens shift mechanical system and the angular velocity detection circuit were good in the operation check at the stage of assembly, but the operation became abnormal at the stage of being incorporated in the camera body, There were cases where the operating performance could not be obtained. Here, the check could not be performed in the total assembly state of the cameras.

Secondly, there are individual differences (variations among devices) in the output of the angular velocity sensor used in the angular velocity detection circuit, and the output value of each angular velocity sensor when a predetermined angular velocity is given is not constant. Further, the amplifier of the angular velocity detection circuit also has variations in amplification factor. Furthermore, the output value of the angular velocity detection circuit is often converted into a digital value by an A / D converter incorporated in a microcomputer or the like.
There is also an individual difference in the / D converter, and the A / D converted digital value for a given input voltage is not constant. here,
It is not so difficult to adjust the variation of the gain of the angular velocity detection circuit in the state of the assembly, but in this case, the error due to the variation of the A / D converter remains. If shake correction is performed in the state where these gain variations are present, there is a problem that shake correction cannot be performed accurately.

Thirdly, the angular velocity sensor used in the angular velocity detection circuit is, for example, as disclosed in Japanese Patent Laid-Open No. 2-228518, a vibrator wire-shaped for determining the direction of the axis for detecting the angular velocity of rotational movement. The space is supported by a support member. The case of the angular velocity sensor in which the legs of the support member are fixed has a structure in which individual differences in the detection axis are likely to occur. Further, an error occurs in the mounting direction between the step of attaching the angular velocity sensor to the angular velocity detection circuit and the step of incorporating the angular velocity detection circuit into the camera body. As a result, a deviation occurs between the direction in which the angular velocity detection circuit detects the angular velocity and the direction in which the shake correction lens is actually shifted to move the optical axis (this deviation is controlled by the deviation in the detection direction of the angular velocity detection circuit). It is also referred to as the detection angle deviation because it is a target.) This angle deviation may be 5 ° or more.
If there is an angular deviation between the angular velocity detection direction and the optical axis moving direction in this way, there is the problem that shake correction cannot be performed accurately.

The present invention has been made in order to solve the above-mentioned problems, and checks the operation of each component such as the shake correction lens shift mechanical system and the angular velocity detection circuit in the total assembled state of the camera. In addition, it is an object of the present invention to adjust the variation in the gain of the output value between the devices of the respective subassemblies so that the shake correction can be performed accurately.

[0008]

In order to achieve the above-mentioned object, a first solving means of the inspection device for a shake correction camera according to the present invention is for correcting shake generated by vibration.
An optical axis changing unit that changes the optical axis of the photographing optical system, a displacement detecting unit that detects a displacement of the photographing optical system by the optical axis changing unit, and a maximum value and a minimum value of output values of the displacement detecting unit are set. Based on a gain adjustment value that adjusts the variation of the gain of the output value between the devices of the angular velocity detection unit, the maximum and minimum displacement detection unit that detects, the angular velocity detection unit that detects the angular velocity that acts due to shake, An inspection device for inspecting a shake correction function of a shake correction camera, comprising: a gain correction unit that corrects a gain variation between devices; an information transfer unit that transfers information to and from the shake correction camera; and the shake correction camera. A vibration imparting unit that imparts a predetermined vibration to the device, a gain adjustment value changing unit that changes the gain adjustment value to a value according to an angle or angular velocity range of the vibration, and the vibration imparting unit. When a predetermined vibration is given to the shake correction camera by the gain adjustment value changing unit, the maximum and minimum displacement detection unit of the gain adjustment value in the gain adjustment value is changed according to the angle or angular velocity range of the predetermined vibration. It is characterized by further comprising a determination unit that determines whether or not the shake correction function is normal based on the output value.

A second solving means detects an optical axis changing portion for changing the optical axis of the photographing optical system and a displacement of the photographing optical system by the optical axis changing portion, in order to correct shake generated by vibration. Based on a gain adjustment value that adjusts the variation in the gain of the output value between the devices of the angular velocity detection unit and the angular velocity detection unit that detects the angular velocity that acts due to shake, and between the devices of the angular velocity detection unit. A gain correction unit that corrects a gain variation; a first calculation unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit; During operation, a shake correction camera including a second calculation unit that calculates a control error of the optical axis changing unit based on the output of the displacement detection unit and the target displacement position by the first calculation unit. An inspecting device for inspecting the shake correction function, an information transfer unit that transfers information to and from the shake correction camera, a vibration applying unit that applies a predetermined vibration to the shake correction camera, and the gain adjustment value. A gain adjustment value changing unit that changes the setting to a value according to the angle of vibration or a range of angular velocity, and the predetermined value by the gain adjustment value changing unit when a predetermined vibration is applied to the shake correction camera by the vibration applying unit. A determination unit that determines whether or not the shake correction function is normal based on the control error by the second calculation unit in the gain adjustment value that is set and changed according to the vibration angle or the angular velocity range. It is characterized by

A third solving means is the second solving means, wherein the judging section determines whether or not the shake correcting function of the shake correcting camera is normal based on the maximum value and the minimum value of the control error. It is characterized by making a judgment.

The first solution means of the shake correction camera is an optical axis changing unit for changing the optical axis of the photographing optical system for correcting shake generated by vibration, and the photographing optical system by the optical axis changing unit. A displacement detection unit that detects the displacement of the displacement detection unit, a maximum and minimum displacement detection unit that detects the maximum value and the minimum value of the output value of the displacement detection unit, an angular velocity detection unit that detects the angular velocity that acts due to shake, and the angular velocity detection unit. A gain correction unit that corrects the gain variation between the devices of the angular velocity detection unit based on the gain adjustment value that adjusts the variation in the gain of the output value between the devices of the unit, and the range of the angle or the angular velocity of the vibration to be applied. The gain adjustment value is changed to a value corresponding to the gain adjustment value set according to the angle or angular velocity range of the predetermined vibration when the predetermined vibration is applied. Based on the output value of the serial maximum minimum displacement detector, whether shake correction function is normal, characterized in that it is not.

A second solving means detects an optical axis changing portion for changing an optical axis of the photographing optical system and a displacement of the photographing optical system by the optical axis changing portion in order to correct shake generated by vibration. Based on a gain adjustment value that adjusts the variation in the gain of the output value between the devices of the displacement detection unit, the angular velocity detection unit that detects the angular velocity that acts due to shake, and the devices of the angular velocity detection unit, between the devices of the angular velocity detection unit. A gain correction unit that corrects a gain variation; a first calculation unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit; In operation, a second calculation unit that calculates a control error of the optical axis change unit based on the output of the displacement detection unit and the target displacement position by the first calculation unit is provided, and The gain adjustment value is set and changed to a value according to the range of degrees or angular velocities, and the gain adjustment value is changed according to the angle or angular velocity range of the predetermined vibration when a predetermined vibration is applied. It is characterized in that whether or not the shake correction function is normal is determined based on the control error by the second arithmetic unit.

A third solving means is characterized in that, in the second solving means, whether or not the shake correction function is normal is judged based on the maximum value and the minimum value of the control error.

A first solution to the method for inspecting a shake correction camera is to change the optical axis of a photographing optical system in order to correct shake generated by vibration, and the optical axis change unit for changing the optical axis. A displacement detection unit that detects the displacement of the photographing optical system, a maximum value of the output value of the displacement detection unit, and a maximum / minimum displacement detection unit that detects the minimum value, and an angular velocity detection unit that detects the angular velocity acting by the shake, A shake correction function of a shake correction camera, which includes: A predetermined vibration is applied to the shake correction camera, and the gain adjustment value of the shake correction camera is adjusted to a range of the given predetermined vibration angle or angular velocity. The value set change, based on the output value of the maximum-minimum displacement detection unit in the setting change has been gain adjustment values, shake correction function is characterized by determining whether it is normal.

A second solving means detects an optical axis changing portion for changing the optical axis of the photographing optical system and a displacement of the photographing optical system by the optical axis changing portion in order to correct shake generated by vibration. Based on a gain adjustment value that adjusts the variation in the gain of the output value between the devices of the angular velocity detection unit and the angular velocity detection unit that detects the angular velocity that acts due to shake, and between the devices of the angular velocity detection unit. A gain correction unit that corrects a gain variation; a first calculation unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit; During operation, a shake correction camera including a second calculation unit that calculates a control error of the optical axis changing unit based on the output of the displacement detection unit and the target displacement position by the first calculation unit. Of the shake correction function, wherein predetermined vibration is applied to the shake correction camera, and the gain adjustment value of the shake correction camera is set to a value according to an angle or a range of angular velocity of the given predetermined vibration. It is characterized in that the setting is changed, and whether or not the shake correction function is normal is determined based on the control error by the second computing unit at the gain adjustment value that has been set and changed.

A third solving means is characterized in that, in the second solving means, it is judged whether or not the shake correcting function of the shake correcting camera is normal based on the maximum value and the minimum value of the control error. And

[0017]

In the solution of the present invention, the gain adjustment value for adjusting the variation in the gain of the output value between the devices of the angular velocity detecting section is calculated, and the variation in the gain is corrected based on this value. Further, the gain adjustment value is
The setting is changed to a value according to the range of the applied vibration angle or angular velocity. Then, it is determined whether the shake correction function is normal or not based on a predetermined output value using the gain adjustment value whose setting has been changed. Therefore, it is possible to perform more accurate shake correction by adjusting the variation of the angular velocity detection unit between devices, and check whether the shake correction function is normal in a state corresponding to the actual use state of the camera. can do.

[0018]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of a camera side portion, a communication tool side portion, and a vibrating table portion which are embodiments of the present invention. First, the camera side portion will be described. The camera of this embodiment includes a photographing optical system 11-14 and a CPU 1.
And the X and Y axis lens position detection circuits 6 and 7, which are electrically connected to the CPU 1, the X and Y axis motor drive circuits 2 and 3, and the yaw and pitch angular velocity detection circuits 8 and 9 and the like. . The photographing optical systems 11 to 14 include four photographing lenses 1
1, 12, 13, and 14, of which the taking lens 13 functions as a lens that corrects image shake due to camera shake (hereinafter referred to as "anti-vibration lens 13"). The yaw / pitch angular velocity detection circuits 8 and 9 detect yaw in the biaxial (X, Y axis) directions on a plane orthogonal to the photographing optical axis and angular velocity due to camera shake in the pitch direction. CPU1
Is a one-chip microcomputer for controlling the sequence of the camera and the like, and has a calculation function for performing various calculations, a timer function for measuring time, a timer interrupt process for performing the process at fixed time intervals, and an arbitrary duty. It has a PWM output function for outputting, a function for A / D converting the outputs of the yaw and pitch angular velocity detection circuits 8 and 9, a communication function with a communication tool side, a shutter function for performing exposure processing, and the like. The X and Y axis motor drive circuits 2 and 3 are respectively
It is a circuit for moving the anti-vibration lens 13 in the X and Y axis directions by driving the Y axis motors 4 and 5. The X and Y axis lens position detection circuits 6 and 7 are circuits for detecting the position of the image stabilizing lens 13 in the X and Y axis directions.

The CPU 1 has an E2PROM10,
The half-press SW16 and the full-press SW17 are electrically connected. The E2PROM 10 is a non-volatile memory, and has a gain adjustment value that corrects the gain variation of the yaw and pitch angular velocity detection circuits 8 and 9, and a detection angle deviation that corrects the detection direction deviation of the angular velocities of the yaw and pitch angular velocity detection circuits 8 and 9. The adjustment value and the like are stored. Half push SW16
Is a switch that is turned on by pressing the release button halfway. The full-press SW 17 is a switch that is turned on by fully pressing the release button.

Next, the operation of this camera will be described. The yaw and pitch angular velocity detection circuits 8 and 9 detect the angular velocity caused by camera shake or the like. This output value is C
After being transmitted to PU1, the CPU1 A / D-converts this output value to detect the angular velocity of camera shake. Next, the CPU 1
Based on this value, the gain adjustment value stored in the E2PROM 10, the detected angle deviation adjustment value, and the like, a predetermined calculation is performed to calculate an appropriate drive amount of the image stabilizing lens 13. Then, the X and Y axis motor drive circuits 2 and 3 drive the X and Y axis motors 4 and 5, respectively. The rotational driving force of the motors 4 and 5 for the X and Y axes is converted into a linear motion by, for example, a gear train, and the antivibration lens 13 is moved at an appropriate speed in the X and Y axis directions so as to cancel camera shake on the image plane. To move. When the image stabilizing lens 13 is moved, the CPU 1 reads the position of the image stabilizing lens 13 in the X and Y axis directions by the X and Y axis lens position detection circuits 6 and 7. In the following explanation,
A mechanical system that shifts the antivibration lens 13 by rotating the X and Y axis motors 4 and 5 is called an antivibration lens shift mechanical system.

A communication tool 15 electrically connected to the CPU 1 of the camera is provided on the communication tool side. The communication tool 15 exchanges information with the CPU 1 to synchronize with the operation of the camera. Various adjustments are made to the camera. A vibration table 18 that is electrically connected to the communication tool 15 is provided on the vibration table side. The vibrating table 18 is for vibrating the camera, and in a state where the camera is attached, a substantially sinusoidal wave is formed in the X and Y axis directions, which are the shift directions of the image stabilizing lens 13, according to a command from the communication tool 15. Vibrate.

Next, adjustment of gain variation in angular velocity detection and deviation adjustment of angular velocity detection angle will be described. (1) Method of gain adjustment and angle deviation correction The yaw and pitch angular velocity detection circuits 8 and 9 each include an angular velocity sensor, an amplification circuit that amplifies the signal, and the like. The factors of the gain variation include the variation of the output of the angular velocity sensor and the variation of the amplification factor of the amplifier circuit. Further, in the camera in which the A / D conversion is performed by the CPU 1 as in the present embodiment, the A of each CPU 1 is changed. There are variations in the A / D converter, variations in the reference voltage used for A / D conversion, and the like. FIG. 2 shows a yaw / pitch angular velocity detection circuit 8,
It is the figure which showed the variation of the gain of 9 typically. Here, the factors of variation of these gains in the yaw direction and the pitch direction are collectively set as G1 and G2.

The yaw and pitch angular velocity detection circuits 8 and 9 are also provided.
And the moving direction of the image stabilizing lens 13 based on the outputs of the yaw and pitch angular velocity detection circuits 8 and 9,
They do not match exactly, and an error occurs due to an angle deviation between the two. FIG. 3 is a diagram for explaining these angular deviations. In FIG. 3, the horizontal axis and the vertical axis are the X-axis and Y-axis driving directions of the image stabilizing lens 13, respectively. Here, if the X-axis drive direction and the angular velocity detection direction of the yaw angular velocity detection circuit 8 are deviated by an angle α, on the other hand, the Y-axis drive direction and the angular velocity detection direction of the pitch angular velocity detection circuit 9 are deviated by an angle β. To do. In this case, when given as a vector ω (angular velocity whose magnitude is ω and is inclined by θ counterclockwise from the X-axis drive axis direction) due to camera shake, the outputs u and v of the yaw and pitch angular velocity detection circuits 8 and 9 are given. Is the following formula (Equation 1),
It is calculated by (Equation 2). (Equation 1) u = G1 × ω × cos (θ + α) (Equation 2) v = G2 × ω × sin (θ−β) However, in FIG. 3, gain variations G1 and G2 are respectively represented by G1 in order to facilitate understanding. = G2 = 1.

When the angular velocity applied to the camera is ω1 and the direction is the X-axis direction (ie, θ = 0), the outputs u1 and v1 of the yaw and pitch angular velocity detection circuits 8 and 9 are , (Equation 3), (Equation 4) (Equation 3) u1 = G1 × ω1 × cos (α) (Equation 4) v1 = −G2 × ω1 × sin (β)

Next, when the angular velocity given to the camera is ω2 and the direction is the Y-axis direction (that is, θ = 90 °), the respective outputs u2 of the yaw and pitch angular velocity detection circuits 8 and 9 are obtained. v2 is calculated by the following equations (Equation 5) and (Equation 6). (Equation 5) u2 = −G1 × ω2 × sin (α) (Equation 6) v2 = G2 × ω2 × cos (β)

From the equations (3) and (6), the gain variation G of the yaw / pitch angular velocity detection circuits 8 and 9 is calculated.
1 and G2 are calculated by the following equations (Equation 7) and (Equation 8). (Equation 7) G1 = u1 / (ω1 × cos
(Α)) (Equation 8) G2 = u2 / (ω2 × cos (β)) Here, since the angle deviation α, β in the detection direction with respect to the X and Y axes is about 5 ° at the maximum, cos (α) = 1, co
Even if s (β) = 1, it is possible to approximate with an error of about 0.4%. Therefore, the equations (7) and (8) can be approximated to the following equations (9) and (10), respectively. (Equation 9) G1 = u1 / ω1 (Equation 10) G2 = v2 / ω2

As described above, the gain variation G depending on the output values of the yaw and pitch angular velocity detection circuits 8 and 9 when a predetermined angular velocity is applied in the X-axis and Y-axis directions, respectively.
1, G2 can be calculated. In FIG. 2, G1 and G2 are calculated by the above method, and the gain adjustment value A1 in the yaw direction proportional to the reciprocal of G1 and the gain adjustment value A2 in the pitch direction proportional to the reciprocal of G2 are calculated as the yaw and pitch angular velocity detection circuit 8 , 9 are used to correct the gain variation. Output values U and V of the yaw and pitch angular velocity detection circuits 8 and 9 after this gain variation correction
Is calculated by the following equations (Equation 11) and (Equation 12). (Equation 11) U = A1 × G1 × ω × cos (θ + α) (Equation 12) V = A2 × G2 × ω × sin (θ−β)

Further, the detected angle deviations α and β are respectively
From equations (Equation 3) and (Equation 5), and (Equation 4) and (Equation 6), the following equations (Equation 13) and (Equation 14) are used for calculation. (Equation 13) tan (α) = − (ω1 / ω2) × (u2 / u1) (Equation 14) tan (β) = − (ω2 / ω1) × (v1 / v2) Here, with respect to the X and Y axes. Since the detection direction deviations α and β are about 5 ° at the maximum, cos (α) = 1, cos
Even if (β) = 1, it is possible to approximate with an error of about 0.4%. Therefore, the equations (13) and (14) can be approximated to the following equations (15) and (16). (Equation 15) sin (α) = − (ω1 / ω2) × (u2 / u1) (Equation 16) sin (β) = − (ω2 / ω1) × (v1 / v2)

As described above, the output values of the yaw and pitch angular velocity detection circuits 8 and 9 when given angular velocities in the X-axis and Y-axis directions respectively determine the yaw and pitch angular velocity detection circuits 8 and 9. It is possible to detect angular deviations α and β in the detection direction.

Next, by the above method, the gain variation G
1, G2, and the method of correcting the angle deviation in the actual camera when the angle deviations α and β are calculated will be described.
Here, in order to facilitate the explanation, the equations (Equation 11) and (Equation 1)
In 2), when normalized as A1 × G1 = 1 and A2 × G2 = 1, the output values U and V of the yaw and pitch angular velocity detection circuits 8 and 9 after the gain variation correction are expressed by the following equation (Equation 1).
7) and (Equation 18). (Equation 17) U = ω × cos (θ + α) (Equation 18) V = ω × sin (θ−β) Further, the respective angular velocities X and Y in the X-axis and Y-axis directions are expressed by the following equation (Equation 19), It is calculated by (Equation 20). (Equation 19) X = ω × cos (θ) (Equation 20) Y = ω × sin (θ) Next, if the equations (Equation 17) and (Equation 18) are equations that do not depend on θ, the following equation is obtained. It can be expressed as in (Equation 21) and (Equation 22). (Equation 21) X = (cos (β) / cos (α + β))
× U + (sin (α) / cos (α + β)) × V (Equation 22) Y = (cos (α) / cos (α + β))
× V + (sin (β) / cos (α + β)) × U

Here, since the detection direction deviations α and β with respect to the X and Y axes are at most about 5 °, cos (α) =
When approximating 1, cos (β) = 1, and cos (α + β) = 1, the formulas (21) and (22) should be approximated to the following formulas (23) and (24), respectively. You can (Equation 23) X = U + sin (α) × V (Equation 24) Y = V + sin (β) × U That is, the gain variation is calculated by the equations (9) and (10), and the equation (14) and (14) If the sin value of the angle deviation is calculated by the formula (15), the formula (formula 23), (formula 2)
4) the gain variations G1 and G2, the angle deviation α,
β can be corrected.

The manner of correcting the gain variations G1 and G2 and the angle deviations α and β will be described with reference to FIG. First, the outputs u and v of the yaw and pitch angular velocity detection circuits 8 and 9 having the gain variations G1 and G2 are multiplied by the gain adjustment values A1 and A2, respectively, and the gain adjusted outputs U and V are obtained. Next, the sum of the output of U and V multiplied by the angle deviation adjustment value Δα is X, and the sum of V and the output of U multiplied by the angle deviation adjustment value Δβ is Y. Here, the angle deviation adjustment value Δα = s
in (α) and Δβ = sin (β). That is, FIG.
With such a configuration, angular velocities X and Y in the X and Y axis directions can be obtained. The angular velocities X and Y are then respectively multiplied by B, and the target speed (hereinafter, referred to as “anti-vibration lens target speed”) Vc of the anti-vibration lens 13 is shifted in the X-axis and Y-axis directions.
(X) and Vc (Y) are obtained. Here, B is a coefficient at which the speed of the image stabilizing lens 13 is shifted with respect to a predetermined angular velocity (hereinafter, referred to as “angular velocity-anti-vibration lens target velocity conversion coefficient”). That is, by multiplying the calculated angular velocities X and Y in the respective drive axis directions by B, the anti-vibration lens target velocities Vc (X) and Vc (Y) in the respective directions are calculated. Once the anti-vibration lens target velocities Vc (X) and Vc (Y) have been calculated, the camera shake on the image plane can be canceled by shifting the anti-vibration lens 13 at that velocity.

(2) Adjustment method using an oscillating table that changes the angular velocity in a sinusoidal manner. In the above description, the gain adjustment and the angle deviation adjustment continue to give a constant angular velocity to the camera, and the yaw at that time is adjusted. , Can be performed by detecting the output values of the pitch angular velocity detection circuits 8 and 9. However, it is very difficult to actually give the camera a constant angular velocity accurately. because,
In order to give a constant angular velocity to the camera accurately, it is necessary to fix the camera at a constant distance with a certain point as the center of rotation and to perform a uniform rotational motion. Therefore, gain adjustment and angle deviation adjustment are performed by applying an angular velocity that changes sinusoidally to the camera using the vibrating table 18.

The vibrating table 18 is fixed near one end of its vibrating portion, and a properly flat cam is arranged below the opposite end. The cam is rotated by a motor or the like, and the vibrating portion moves up and down in a sine wave shape. The vibrating table 18 has this mechanism in two directions, and the camera is attached so that the driving directions of the X and Y axes of the vibration-proof lens 13 and the respective vibrating directions match. Here, in reality, a slight angle deviation exists between the driving direction and the vibration applying direction of the image stabilizing lens 13, but this angle deviation is in a negligible range as compared with the angle deviation which is a problem in the present invention.

Next, with reference to FIG. 4, an embodiment will be described in which a sinusoidal angular velocity is applied to the camera to perform gain adjustment and angle deviation adjustment. FIG. 4 is a diagram showing a state of gain adjustment and angle deviation adjustment according to the present invention. First, an angular velocity of a sine wave having a total amplitude of ω1 is applied to the camera in the X-axis driving direction of the image stabilizing lens 13 by the vibrating table 18. At this time, the maximum and minimum values of the output of the yaw angular velocity detection circuit 8 are u1max and u1min, respectively, and the maximum and minimum values of the output of the pitch angular velocity detection circuit 9 are v1max and v, respectively.
Set to 1 min. Next, Y of the anti-vibration lens 13 is attached to the camera.
The angular velocity of the sine wave having the total amplitude ω2 in the axial drive direction is the vibration table 18
Given by. At this time, the maximum value and the minimum value of the output of the yaw angular velocity detection circuit 8 are u2max and u2mi, respectively.
The maximum value and the minimum value of n and the output of the pitch angular velocity detection circuit 9 are v2max and v2min.

The gain variation at this time can be considered in the same manner as when the above-mentioned constant angular velocity is given. When a sinusoidal angular velocity is given, the following equation (Equation 25)
As shown in (Equation 26), it is calculated as the ratio of the full width of the given angular velocity and the full width of the output value. (Equation 25) G1 = (u1max-u1min) / ω1 (Equation 26) G2 = (v2max-v2min) / ω2 Therefore, the gain adjustment values A1 and A2 are G1 and G, respectively.
It is calculated as a value proportional to the reciprocal of 2. Alternatively, it is given as a ratio of the total amplitudes of outputs of the target yaw and pitch angular velocity detection circuits 8 and 9 desired to be obtained after the gain adjustment with respect to the given full widths ω1 and ω2 of the angular velocity. Here, when the target total amplitudes desired to be obtained from the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 after the gain adjustment are U1 and V1, respectively, the gain adjustment values A1 and A2 are expressed by the following equations (Equation 27), (Equation 28)
Calculated by (Equation 27) A1 = U1 / (u1max-u1min) (Equation 28) A2 = V1 / (v2max-v2min)

Next, yaw and pitch angular velocity detection circuits 8 and 9
The angular deviation in the detection direction can also be considered in the same way as when the above-mentioned constant angular velocity is given, and when a sinusoidal angular velocity is given, it is calculated by the following formulas (Formula 29) and (Formula 30). To be done. (Equation 29) sin (α) = − f * (ω1 / ω2) × {(u2max−u2min) / (u1max−u1min)} (Equation 30) sin (β) = − c * (ω2 / ω1) × {(V1max-v1min) / (v2max-v2min)} Here, c and f are given by the following equations (31) and (32). (Equation 31) c = + 1 (when v1 at the time of detecting u1 maximum value during X-axis excitation is positive) -1 (when v1 at the time of detecting u1 maximum value during X-axis excitation is negative) (Equation 32) ) F = + 1 (when u2 is positive when v2 maximum value is detected during Y-axis excitation) -1 (when u2 is negative when v2 maximum value is detected during Y-axis excitation)

Since the value of the total amplitude calculated from the maximum value and the minimum value when a sinusoidal acceleration is given to the camera is always positive, the sign of the angle deviation is unknown. In order to avoid this, in the formula (Equation 31), when the angular velocity given in the X-axis direction is positive, the output of the pitch angular velocity detection circuit 9 at the time of detecting the maximum value u1max of the output values of the yaw angular velocity detection circuit 8 Have the same sign, and this is used to detect the sign of the angle deviation (equation (32) is also the same). In the present embodiment, the above-described method is simply adopted to detect the sign of the angle deviation, but the sign of the output of the angular velocity detection circuit in the reverse direction at the time of detecting the minimum value or the vibration table 18 is used. The sign of the angular deviation may be detected by comparing the sign of the given angular velocity with the sign of the outputs of the yaw and pitch angular velocity detection circuits 8 and 9.

The problem here is that when the oscillating table 18 is used to apply a sinusoidally changing angular velocity to the camera to perform gain adjustment and angle deviation adjustment, the oscillating table 18 is not accurately controlled. Then, the maximum value and the minimum value cannot be calculated accurately. First, when the frequency of the angular velocity given by the vibrating table 18 fluctuates due to the uneven rotation speed of the drive motor of the vibrating table 18, the yaw / pitch angular velocity detecting circuit is proportional to the fluctuation amount. This is because the full width of the output values of 8 and 9 also fluctuates, and as a result, the gain adjustment value and the angle deviation adjustment value also have an error. Secondly, when the vibration table 18 does not operate smoothly and is moved by high-frequency vibration, noise corresponding to the vibration is added to the output values of the yaw and pitch angular velocity detection circuits 8 and 9. Therefore, an error occurs in the detection of the maximum value and the minimum value of the output value of each angular velocity detection circuit, which causes the gain adjustment value and the angle deviation adjustment value to also have an error. Therefore, a method for solving this problem will be described next. It should be noted that the above adjustment method may, of course, be used if the above problems are not caused when these adjustments are performed using a highly accurate vibration table.

(3) Adjustment Method Using Integrated Value of Angular Velocity Although the adjustment method described above is the dimension of the angular velocity, the following adjustment method is performed by the dimension of the angle or the position. First, as shown in the following equation (33), yaw
Set the initial value for the gain adjustment value in the pitch direction, and
As shown in 4), the angle deviation adjustment values Δα and Δβ are cleared. (Equation 33) A1 = A2 = A0 (Equation 34) Δα = Δβ = 0 As a result, the angular velocities X and Y in each detection direction for which gain adjustment and angle deviation correction have not been performed in FIG. 2 are output.
Next, the anti-vibration lens target velocities Vc (X) and Vc (Y) in the X and Y axis directions, which are B times the output, are calculated by the following formula (Equation 3).
5) and the target positions LC (X), LC in the X-axis and Y-axis directions of the image stabilizing lens 13 by integrating as shown in (Equation 36).
(Y) is calculated. (Equation 35) LC (X) = ∫Vc (X) (Equation 36) LC (Y) = ∫Vc (Y)

On the other hand, the target position LC of the anti-vibration lens 13
The calculation of (X) and LC (Y) is performed by using equations (35) and (3
If the output of the yaw and pitch angular velocity detection circuits 8 and 9 is A / D converted by the CPU 1 and the subsequent processing is controlled using digital values instead of the integral type as in 6), Vc In some cases, it may be more appropriate to integrate and calculate the values of (X) and Vc (Y) at predetermined time intervals. In this case, the target position LC of the image stabilizing lens 13 is calculated by integration.
(X) and LC (Y) may be calculated.

Here, a sine-wave-shaped vibration having a total angular amplitude γ1 is applied to the camera in the X-axis direction of the image stabilizing lens 13 by the vibrating table 18. The maximum and minimum values of LC (X) at this time are LCmax (X) and LCmin (X), and the maximum and minimum values of LC (Y) are LCmax.
(Y) and LCmin (Y), the following equation (Equation 3)
7) and (Equation 38), the total widths a and b of the X-axis and Y-axis target positions of the image stabilizing lens are calculated. Furthermore, according to the formula (Equation 39), LC at the time of detecting LCmax (X)
C is calculated from the sign of (Y). (Equation 37) a = LCmax (X) -LCmin (X) (Equation 38) b = LCmax (Y) -LCmin (Y) (Equation 39) c = + 1 (LC (Y) at the time of detecting LCmax (X) is Positive case) -1 (When LC (Y) at the time of detecting LCmax (X) is negative)

Next, in the Y-axis drive direction of the anti-vibration lens 13, a sine-wave-shaped vibration having a total angular amplitude γ2 is applied to the vibration table 18 of the camera.
Given by. The maximum value and the minimum value of LC (X) at this time are LCmax (X), LCmin (X),
And LC (Y) maximum and minimum values are LCmax
(Y) and LCmin (Y), the following equation (Equation 4
0) and (Equation 41), the overall widths d and e of the X-axis and Y-axis target positions of the image stabilizing lens are calculated. Furthermore, the formula (Equation 42)
Thus, f is calculated from the sign of LC (X) when LCmax (Y) is detected. (Equation 40) d = LCmax (X) -LCmin (X) (Equation 41) e = LCmax (Y) -LCmin (Y) (Equation 42) f = + 1 (LC (X) at the time of detecting LCmax (Y) is Positive case) -1 (when LC (X) at the time of detecting LCmax (Y) is negative)

Full angle widths γ1 and γ given by the vibration table 18
2, the total amplitudes of the anti-vibration lens target positions LC (X) and LC (Y) in the X-axis and Y-axis directions desired after gain adjustment are L01 and L02, respectively. A2 is calculated by the following formulas (Formula 43) and (Formula 44). Here, L01 and L02 have a proportional relationship with the excited angular total amplitudes γ1 and γ2, and are the appropriate total amplitudes of shifts of the image stabilizing lens 13 for stopping the image with respect to the excited angular total amplitudes. . This value is determined by the taking optical system, and the theoretical value is calculated. (Equation 43) A1 = A0 × L01 / a (Equation 44) A2 = A0 × L02 / e

The expressions (Equation 43) and (Equation 44) are expressed by the equation (Equation 2)
7), the angular velocity of (Equation 28) is converted into the dimension of the anti-vibration lens target position, which is the integral value, and the anti-vibration lens amplitude and gain to be obtained when the gain adjustment value is the initial value A0 are adjusted. The gain adjustment value is calculated by multiplying A0 by multiplying the initial value A0 of the gain adjustment value from the ratio of the amplitude of the previous anti-vibration lens target position.

Next, yaw and pitch angular velocity detection circuits 8 and 9
The angle deviation correction amounts Δα and Δβ in the detection direction of are calculated by the following equations (Equation 45) and (Equation 46). (Equation 45) Δα = sin (α) = − f * (L01 / L02) × (d / a) (Equation 46) Δβ = sin (β) = − c * (L02 / L01) × (b / e) The expressions (Equation 45) and (Equation 46) are obtained by using the expressions (Equation 29) and (Equation 3).
The angular velocity of 0) is converted into the dimension of the anti-vibration lens target position which is the integrated value.

When the gain adjustment and the angle deviation adjustment are performed by the integrated values of the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 by the above method, even if the frequency of the vibration table 18 fluctuates to some extent,
The angular amplitude of the vibration table 18 hardly changes. Further, even when vibration noise is slightly present during vibration of the vibration table 18 and vibration noise is present in the outputs of the yaw and pitch angular velocity detection circuits 8 and 9, it is calculated from the integrated value of the output. Therefore, it is possible to perform adjustment that is hardly affected by noise.

Next, an embodiment of actual camera adjustment processing will be described. The adjustment process is divided into a communication tool adjustment process performed on the communication tool side and a camera communication mode process performed on the camera side. First, the outline of the overall adjustment process will be described. As shown in FIG. 1, the CPU 1 of the camera and the communication tool 15 are electrically connected, and the camera adjustment processing is performed. Further, the control of the motors 4 and 5 is performed by PWM (PULSE
The case of performing WIDTH MODELATION control will be described. Normally, the PWM control changes the energization time during a certain fixed period, that is, the motors 4, 5
Is a method of performing speed control by varying the duty that is turned on. FIG. 7 is a flowchart showing an example of the communication adjustment process performed by the communication tool 15. Also, FIG.
7 is a flowchart following FIG. 7, and FIG. 9 is a flowchart following FIG. 7 to 9, the communication tool 15 performs a defect check of the anti-vibration lens shift mechanical system in S602 to S607, and yaw in the next S608 to 624.
Gain adjustment and detection angle deviation adjustment of the pitch angular velocity detection circuits 8 and 9 are performed. Further, a comprehensive check of the image stabilization controllability is performed in S625 to S646.

FIG. 10 is a flow chart showing an embodiment of the communication mode processing performed by the CPU 1 of the camera. The CPU 1 of the camera activates the communication mode process of the camera in response to a command from the communication tool 15. Then, in response to a command from the communication tool 15, for example, the anti-vibration lens reset process of S704 or the anti-vibration control start process of S709 is performed.

(1) Processing on Camera Side Next, the communication mode processing on the camera side will be described in detail with reference to FIG. When the communication tool process is started in S600 of FIG. 7, the communication tool 15 transmits a command to perform the communication mode process to the CPU 1 of the camera in the next S601. As a result, the CPU 1 of the camera starts the communication mode process in S700 of FIG. 10, and proceeds to the next S701. S701
Then, according to the equation (Equation 33), the angular velocity gain adjustment values A1, A
The initial value A0 is set to 2, and the angle deviation adjustment values Δα and Δβ are cleared by the equation (Equation 34) in the next step S702, and the flow proceeds to step S703. The processing from S703 to S718 is performed by branching according to the type of command from the communication tool 15. First, in S703, it is determined whether or not an image stabilization lens reset command is issued. If there is a command, the image stabilization lens reset process (FIG. 11) is performed in S704, and the process returns to S703. If there is no command, the process proceeds to S705. In step S705, it is determined whether or not a vibration proof lens centering command is issued.
If there is a command, the image stabilizing lens centering process (FIG. 12) is performed in S706 and the process returns to S703. If there is no command, the process proceeds to the next S707.

In S707, it is determined whether or not an image stabilization adjustment start command has been issued. If there is a command, the image stabilization control start process (FIG. 13) is performed in S709, and the process returns to S703. If there is no command, the process proceeds to S708. In S708, it is determined whether or not an image stabilization control start command has been issued. If there is a command, the image stabilization control start process is performed in S709 and the process returns to S703. If there is no command, the process proceeds to S710. In S710, it is determined whether or not an image stabilization adjustment end command has been issued. If there is a command, the image stabilization control timer interrupt process is prohibited in S712, the image stabilization control ends and the process returns to S703, and if there is no command, the process proceeds to S711. .
In S711, it is determined whether or not an image stabilization control end command has been issued. If there is a command, the image stabilization control timer interrupt process is prohibited in S712, the image stabilization control ends and the process returns to S703, and if there is no command, the process proceeds to S713. .

In S713, it is determined whether or not a data read command is issued. If there is a command, the data designated by the communication tool 15 is transferred to the communication tool 15 in S714 and the process returns to S703. If there is no command, the process proceeds to S715. .
In S715, it is determined whether or not a data write command has been issued. If there is a command, the data transferred by the communication tool 15 is written in the data designated by the communication tool 15 in S716, and the process returns to S703. If there is no command, S7 is entered.
Proceed to 17. In S717, it is determined whether or not an E2PROM write command has been issued. If there is an instruction, the data transferred by the communication tool 15 in S718 is written in the E2PROM data specified by the communication tool 15 and S
Returning to 703, if there is no command, the process proceeds to S719. S71
In 9, it is determined whether or not a communication mode cancel command is issued. If there is a command, the communication mode process of the camera ends in S720, and if there is no command, the process returns to S703. As described above, the camera performs the corresponding processing according to the command from the communication tool 15.

FIG. 11 is a flow chart showing an embodiment of the anti-vibration lens reset process in S704 of FIG.
The process proceeds from S704 to S800, and the image stabilization lens reset process is started. First, in step S801, the anti-vibration lens reset timer interrupt process (FIG. 14) is permitted, and the anti-vibration lens 13
The reset of is started. Next, in S802, a predetermined time (for example, about 10 ms) is waited, and the process proceeds to S803. In step S803, it is determined whether the X-axis anti-vibration lens speed VR (X) is less than or equal to a predetermined value, that is, whether reset driving of the X-axis anti-vibration lens is completed. If it is not less than the predetermined value, S
Return to 803. In S804, the Y-axis anti-vibration lens speed VR
It is determined whether or not (Y) is less than or equal to a predetermined value, that is, whether or not the reset drive of the Y-axis anti-vibration lens is completed. If it is less than the predetermined value, the process proceeds to S805 and the anti-vibration lens reset process is completed. If it is not less than the predetermined value, S80
Return to 3.

Therefore, the processing of S803 and S804 is X
The process is repeated until the anti-vibration lens reset driving process for both the axes and the Y-axis is completed, and when both the axes are completed, the process ends in S805. Whether or not the anti-vibration lens reset drive has ended is determined when the anti-vibration lens 13 reaches the reset end which is one end of the control range.
The determination is made by utilizing the fact that the speeds VR (X) and VR (Y) of 3 become substantially zero. Further, the reason for waiting for a predetermined time in S802 is that the speeds VR (X) and VR (Y) rise from substantially zero at the initial stage of the reset drive of the anti-vibration lens 13 and are erroneously determined in the processes of S803 and S804. This is to avoid

FIG. 14 is a flow chart showing an embodiment of the image stabilization lens reset timer interrupt processing of S801 of FIG. Actually, two anti-vibration lens reset timer interrupt processes are performed for the X-axis and the Y-axis, but since both processes are similar, only the process on the X-axis side will be described and the process on the Y-axis side will be described. The description is omitted. This process is a process that is repeatedly performed at predetermined intervals (for example, 1 ms intervals). S8
When the image stabilization lens reset timer interrupt process is permitted in 01, first, in step S1101, the image stabilization lens position LR (X) set by the previous image stabilization lens reset timer interrupt process becomes LR '(X). Is set. Then S
At 1102, the X-axis position of the image stabilizing lens 13 detected by the X-axis lens position detection circuit 6 is set to LR (X). Then, in step S1103, LR (X) to LR '(X)
Is subtracted, the change amount of the position of the image stabilizing lens 13 during a predetermined time, that is, the speed VR (X) of the image stabilizing lens 13 in the X-axis direction is calculated. In the next step S1104, the motor 4 is driven with a predetermined drive duty, and the anti-vibration lens 13 is set to X.
The camera is driven to the reset position in the axial direction, and the anti-vibration lens reset timer interrupt process ends in S1105.

FIG. 12 is a flow chart showing an embodiment of the anti-vibration lens centering process of S706 of FIG. This anti-vibration lens centering process is performed by the anti-vibration lens 1
3 is a process of driving 3 to the central position LS. When the process proceeds from S706 to S900 and starts, first, S901
Then, the anti-vibration lens stop FLG, and the FLG set when an abnormality is detected (an anti-vibration lens centering time-up abnormality FLG, X-axis, Y-axis anti-vibration lens movement condition abnormality FLG, X-axis, Y-axis anti-vibration) The lens position detection abnormality FLG) is cleared. In the next step S902, the image stabilization lens centering processing interruption time-up time is set. Here, the set time is such a time that the antivibration lens 13 is surely driven to the center position within the set time after the centering control is started, unless there is any abnormality.

Next, in step S903, the image stabilization lens centering timer interrupt process (FIG. 15) is permitted, and the image stabilization lens centering control is started. In the next step S904, waiting is performed for a predetermined time. In the next step S905, the maximum values VRmax of the X-axis and Y-axis velocities of the image stabilizing lens 13 are respectively obtained.
(X), VRmax (Y), and the minimum values VRmin (X) and VRmin (Y) of the speeds of the X axis and the Y axis are cleared.

Here, the meaning of waiting for a predetermined time in S904 will be described. X-axis and Y-axis lens position detection circuits 6 and 7
For example, a device having a configuration in which a change in the position of the image stabilizing lens 13 is detected by the count number of the interrupter signal pulse is generally used. In the above detection method, since the interrupter signal is a discrete signal, the anti-vibration lens speed VR may be detected by the number of pulses that enter during a predetermined time or the reciprocal of the period of the interrupter signal. But,
In the initial stage of the start of the centering control of the image stabilizing lens 13, the accurate value of the image stabilizing lens speed is not detected, and
A large value that is impossible is likely to be detected. Therefore, even when the interrupter is used, VRmax is waited for a predetermined time after the centering control is started, and VRmax is calculated after the accurate anti-vibration lens speed is calculated.
(X), VRmax (Y), and VRmin (X), V
Rmin (Y) has been cleared. The wait time in S904 is usually set to about 5 ms to several tens of ms. Also, this VRmax (X), VRmax
(Y), VRmin (X), and VRmin (Y) are detected by the anti-vibration lens centering timer interrupt process (see FIG. 1).
5).

Next, in step S906, it is determined whether or not the anti-vibration lens centering process interruption timer set in step S902 has expired, that is, whether or not a predetermined time has elapsed since the centering control of the anti-vibration lens 13 was started. Is judged. If the time is up, it is determined that the time-up abnormality has occurred, and the process advances to step S907 to set the anti-vibration lens centering time-up error FLG and the process advances to step S918. On the other hand, if the time is not up, the routine proceeds to S908, where it is determined whether VRmax (X) is less than or equal to a predetermined value. When the value is equal to or less than the predetermined value, it is determined that the movement of the image stabilizing lens 13 in the X-axis direction is abnormal. On the other hand, when it is not less than the predetermined value, S9
Go to 10.

In S910, it is determined whether VRmax (Y) is less than or equal to a predetermined value. Here, when the value is equal to or smaller than the predetermined value, it is determined that the movement of the image stabilizing lens 13 in the Y-axis direction is abnormal, the process proceeds to S911, the Y-axis image stabilizing lens movement condition abnormality FLG is set, and the process proceeds to S918. on the other hand,
If it is not less than the predetermined value, the process proceeds to S912. This S90
8 and S910 are the maximum values VRmax (X) and VRm of the image stabilizing lens speed when the image stabilizing lens 13 moves poorly.
By utilizing the fact that ax (Y) has a small value, the abnormality of the movement of the image stabilizing lens 13 is determined. This VRma
x (X), VRmax (Y) is the anti-vibration lens speed VR
It may be determined whether or not (X) and VR (Y) are equal to or less than a predetermined value.

Next, in S912, it is determined whether or not VRmin (X) is less than or equal to a predetermined value. If the value is less than the predetermined value, it is determined that the detection of the X-axis lens position is abnormal, and the process proceeds to S913, where the X-axis image stabilization lens position detection abnormality FL.
G is set and the process proceeds to S918. On the other hand, when it is not less than the predetermined value, the process proceeds to S914. VRm in the next S914
It is determined whether or not in (Y) is less than or equal to a predetermined value. Here, when the value is equal to or less than the predetermined value, it is determined that the detection of the Y-axis lens position is abnormal, the process proceeds to S915, the Y-axis image stabilization lens position detection abnormality FLG is set, and the process proceeds to S918. On the other hand, when it is not less than the predetermined value, the process proceeds to S916. This S
The processing of 912 and S914 is performed by the vibration-proof lens speeds VR (X), V by the outputs of the X-axis and Y-axis lens position detection circuits 6, 7.
If R (Y) is an abnormal value and is calculated as an unlikely small value (for example, a value having a negative sign), this is detected if it is detected in the anti-vibration lens centering timer interrupt (FIG. 15). Outliers are VRmin (X), VRm
The fact that it is set to in (Y) is utilized to determine the abnormality of the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7.
The VRmin (X) and VRmin (Y) may be determined depending on whether or not the anti-vibration lens speeds VR (X) and VR (Y) are equal to or lower than a predetermined value.

Next, in S916, it is determined whether or not the operation of the image stabilizing lens 13 in the X-axis direction is stopped. If it is stopped, the process proceeds to S917. Here, whether or not to stop the image stabilizing lens 13 is determined by the X-axis image stabilizing lens stop FLG. This X-axis image stabilization lens stop FLG is the X-axis image stabilization lens position LR set in the image stabilization lens centering timer interrupt process.
(X) is set when it reaches before the predetermined value Lstop of the central position LS. In the next S917,
Similar to S916, it is determined whether or not the operation of the image stabilizing lens 13 in the Y-axis direction is stopped, and when it is stopped, S918 is performed.
If not stopped, the process returns to S906. Whether or not to stop the anti-vibration lens 13 here is the same as the above-mentioned Y
It is determined by the axis anti-vibration lens stop FLG. The Y-axis image stabilization lens stop FLG is the Y-axis image stabilization lens position LR set in the image stabilization lens centering timer interrupt process.
(Y) is set when it reaches before the predetermined value Lstop of the central position LS.

By the processing of S916 and S917, X
The processes of S906 to S917 are repeatedly executed until the position of the anti-vibration lens 13 reaches the predetermined value Lstop of the center position LS for both the Y axis and the Y axis, and when both of the axes reach the predetermined value, the process proceeds to S918. In S918, the centering timer interrupt process of the image stabilizing lens 13 is prohibited. As a result, the motors 4 and 5 are brought into the short brake state, the anti-vibration lens 13 is stopped in both axial directions, and the process proceeds to S919 to end the anti-vibration lens centering process.

FIG. 15 is a flow chart showing an embodiment of the anti-vibration lens centering timer interrupt processing of S903 of FIG. Actually, two anti-vibration lens centering timer interrupt processes are performed for the X-axis and the Y-axis, but since both processes are the same, only the process on the X-axis side will be described, and the process on the Y-axis side will be described. Is omitted. This process is S9
In 03, the anti-vibration lens centering timer interrupt process is permitted, so that the process is repeated at predetermined intervals (for example, 1 ms intervals). First, in step S1201, the image stabilization lens position LR (X) set by the previous image stabilization lens centering timer interrupt process is LR '.
It is set to (X). Further, in the next step S1202, the X-axis position of the image stabilizing lens 13 detected by the X-axis lens position detection circuit 6 is set to LR (X). Next, S120
In 3, the LR '(X) is subtracted from LR (X) to calculate the amount of change in the position of the image stabilizing lens 13 during a predetermined time, that is, the speed VR (X) of the image stabilizing lens 13 in the X-axis direction.

In the next step S1204, it is determined whether or not the anti-vibration lens speed VR (X) in the X-axis direction is greater than VRmax (X).
VR (X) is set to x (X), and the process proceeds to S1206.
On the other hand, if not large, the process proceeds to S1206. S120
6, the image stabilization lens speed VR (X) in the X-axis direction is VRmi.
It is determined whether or not it is smaller than n (Y). When it is smaller than n (Y), the routine proceeds to S1207, VR (X) is set to VRmin (X), and the routine proceeds to S1208. On the other hand, if not smaller, the process proceeds to S1208. By the processes of S1204 to S1207, the maximum value VRmax (X) and the minimum value VRmin (X) of the image stabilizing lens speed VR (X) in the X-axis direction are detected.

At the next step S1208, it is determined whether or not the anti-vibration lens position LR (X) in the X-axis direction has been driven before the center position LS by a predetermined amount Lstop, and LR (X) + Lstop is LS.
It is determined by whether or not the above. When driven to that position, the process advances to step S1209 to stop the X-axis anti-vibration lens FLG.
Is set, then the motor 4 is brought into the short brake state in S1210, and then the process proceeds to S1214, where the anti-vibration lens centering timer interrupt process ends. On the other hand, S
If it is not driven to that position in 1208, S
Proceed to 1211. In S1211, the target speed VC (X) of the image stabilizing lens in the X-axis direction is calculated by the following formula (Formula 47), and in S1212 the drive duty is calculated by the following formula (Formula 48). (Equation 47) VC (X) = K10 × {LS-LR (X)} + Voffset (Equation 48) Centering drive duty = K1 × VC (X) + K2 × {VC (X) -VR (X)} ± Doffset

Here, the expression (Equation 47) is used as the image stabilization lens position LR in the X-axis direction detected by the X-axis lens position detection circuit 6.
A value obtained by adding a certain predetermined speed Voffset to the speed corresponding to the difference between (X) and the central position LS is set as the anti-vibration lens target speed VC (X) in the X-axis direction. Further, the drive duty for driving the motor 4 is the vibration-proof lens position LR in the X-axis direction.
(X) is the drive duty calculated by the equation (Equation 48) up to the predetermined value Lstop of the center position LS, and thereafter, the motor 4 is in the short brake state. The formula (Equation 48) is obtained by multiplying the anti-vibration lens target velocity VC (X) in the X-axis direction by a predetermined coefficient K1, and VC (X) and X
Duty calculated by multiplying the difference from the anti-vibration lens speed VR (X) in the axial direction by a predetermined coefficient K2 is added, and when the value is positive, Doffset is added, and when the value is negative, Doffset is subtracted. Driven by
Are seeking. As a result, the anti-vibration lens 13 has a target speed VC of the anti-vibration lens that is substantially set in the X-axis direction.
The speed is controlled by (X).

Next, in S1213, the calculated drive d
The anti-vibration lens 1 is driven by the motor 4 being driven by
3 is driven in the direction of the center position LS of the X axis, the process proceeds to S1214, and the present process ends.

Next, the state of the centering control of the antivibration lens 13 will be described. FIG. 6 shows X of the anti-vibration lens 13.
It is a figure explaining the mode of axial centering control.
In FIG. 6, first, the centering drive of the image stabilizing lens 13 is started from D1, and the image stabilizing lens 13 attempts to control the target speed VC (X) of the set image stabilizing lens.
The anti-vibration lens speed VR (X) in the X-axis direction gradually increases due to the time constant of the anti-vibration control system including the motor 4, the anti-vibration lens shift mechanical system, etc., and reaches the maximum value at D2. Between D2 and D3, which is before Lstop of the central position LS, VC (X) is set by the straight line calculated by the equation (Formula 47). The speed of the anti-vibration lens 13 is controlled along this straight line, and as the anti-vibration lens 13 approaches the center position LS, the anti-vibration lens speed VR
(X) gradually decreases, the motor 4 is brought into a short brake state from D3, and the image stabilizing lens 13 finally stops at D4 near the central position LS.

By executing the anti-vibration lens centering process in this way, the anti-vibration lens 13 is driven near the target central position LS, and the maximum anti-vibration lens speed in the X-axis direction during the drive is obtained. Value is detected VRmax
It is stored in (X). This maximum speed VRmax (X)
Is a value that changes in accordance with the low movement of the anti-vibration lens shift mechanical system, and if there is a mechanical failure for some reason, the maximum speed VRmax (X) becomes a small value, and at the same time, the X-axis Anti-vibration lens movement abnormality FLG is set. Further, there is an abnormality in the X-axis lens position detection circuit 6, and the vibration-proof lens speed V which is impossible during the centering control.
R (X) is calculated, and when it is a negative value, for example, it is stored in VRmin (X), and the X-axis anti-vibration lens position detection abnormality FLG is set.

The Y-axis anti-vibration lens centering timer interrupt process is performed in the same manner as the above-described X-axis direction process. That is, the maximum value of the anti-vibration lens speed in the Y-axis direction at that time is stored in VRmax (Y), and when each abnormality is detected, each abnormal FLG (Y-axis anti-vibration lens movement abnormality FLG, Y). The axis anti-vibration lens position detection abnormality FLG) is set. Further, if both shafts do not reach the central position LS even if the control is continued for a predetermined time, the anti-vibration lens time-up abnormality FLG is set.

FIG. 13 is a flow chart showing an embodiment of the image stabilization control start processing of S709 of FIG. In this process, the maximum and minimum values of the X-axis and Y-axis anti-vibration lens target positions, the maximum and minimum values of the anti-vibration lens position, control errors, etc. are detected, and the yaw and pitch angular velocity detection circuits 8 and 9 are detected. This is a process for starting the image stabilization control process for suppressing camera shake on the image plane by moving the image stabilization lens 13 in each direction according to the output. When this processing is started by proceeding from S709 to S1000, first, in S1001, the current image stabilizing lens position is detected from the outputs of the X-axis and Y-axis lens position detecting circuits 6 and 7,
X-axis and Y-axis anti-vibration lens target position LC (X),
Set to LC (Y). Next, in S1002, the current anti-vibration lens positions detected by the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are the maximum and minimum values LCmax (of the X-axis and Y-axis anti-vibration lens target positions, respectively. X), LCmax
(Y), LCmin (X), LCmin (Y).

Next, in step S1003, the current image stabilization lens positions detected by the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are the maximum and minimum values of the X-axis and Y-axis image stabilization lens positions, respectively. Value LRmax (X), LRmax (Y), LR
It is set to min (X) and LRmin (Y). Next S
In 1004, the maximum value and the minimum value ΔLmax (X), ΔLmax (Y), and ΔL of the X-axis and Y-axis image stabilization lens position errors are set.
min (X) and ΔLmin (Y) are cleared. Next, in S1005, the image stabilization control timer interrupt process (FIG. 16)
Is permitted, the image stabilization control is started, and S100
The image stabilization control start processing ends at 6.

FIG. 16 shows an embodiment of an image stabilization control timer interrupt process in which the image stabilization control timer interrupt process is performed at a predetermined time interval by allowing the image stabilization control timer interrupt process by the image stabilization control start process of S1005 of FIG. It is a flowchart showing. The process is started from S1300.
Actually, two image stabilization control timer interrupt processes are performed for the X axis and the Y axis, but since they are similar processes, only the X axis process will be described, and the description of the Y axis process will be omitted. This process is a process that is repeatedly performed at predetermined intervals (for example, 1 ms intervals). First, in step S1301, the image stabilization lens position L set by the previous image stabilization control timer interrupt process is set.
R (X) is set to LR '(X), and the X-axis position of the image stabilizing lens 13 detected by the X-axis lens position detection circuit 6 in the next S1302 is set to LR (X).

In the next step S1303, the image stabilization lens position ma
The detection processing of x and min values is performed. FIG. 17 is a flowchart showing an embodiment of the detection processing of the image stabilization lens position max and min values. From S1303 to S in FIG.
Proceeding to 1400, first, in S1401, it is determined whether or not the X-axis anti-vibration lens position LR (X) is larger than LRmax (X). If so, proceed to S1402 and LR
LR (X) is set to max (X), and the process proceeds to S1403. On the other hand, if not large, the process proceeds to S1403. S1
At 403, the X-axis anti-vibration lens position LR (X) is LRm.
It is determined whether or not it is smaller than in (X). When it is smaller, the process proceeds to S1404, LR (X) is set to LRmin (X), and the process proceeds to S1405. On the other hand, if not smaller, the process proceeds to S1405. The process ends in S1405. With the above processing, the vibration-proof lens position LR (X) in the X-axis direction
Maximum and minimum values of LRmax (X) and LRm, respectively
in (X) is detected.

From S1405, the process proceeds to S1304 in FIG. In S1304, LR '(X) is subtracted from LR (X) to change the position of the image stabilizing lens 13 in the X-axis direction during a predetermined time, that is, the speed VR of the image stabilizing lens 13 in the X-axis direction. (X) is calculated. Next, S1305
Then, the output of the yaw angular velocity detection circuit 8 is A / D converted, and the value is set to u. In the next step S1306, u is multiplied by the gain adjustment value A1, and the value is set to U to calculate the gain-adjusted angular velocity in the yaw direction.
In next step S1307, the gain-adjusted angular velocity value V in the other pitch direction is multiplied by the angle deviation adjustment value Δα (= sin α) as shown in the equation (23), and this is added to U to obtain the angle deviation. The corrected output X is calculated.

Here, V is the gain-adjusted angular velocity value calculated in the image stabilization control timer interrupt process for the other Y-axis. Strictly speaking, it is impossible to simultaneously perform the X-axis processing and the Y-axis processing of the anti-vibration control timer interrupt processing. The sampling timing for conversion is different. However, the amount of V that changes during this timing shift is extremely small and can be ignored.

Next, in S1308, the X calculated in S1307 is multiplied by the angular velocity-anti-vibration lens target velocity conversion coefficient B to calculate the X-axis anti-vibration lens target velocity VC (X). Then, in the next step S1309, VC (X) is added to the X-axis anti-vibration lens target position LC (X) to obtain LC
(X) is set. By integrating VC (X) at a predetermined interval, it becomes possible to calculate the anti-vibration lens target position LC (X). Further, LC (X) is S in FIG.
Since the timing is set at 1001 at that timing, the anti-vibration lens target speed VC (X) is integrated and the anti-vibration lens target position LC ( X) continues to be calculated.

In the next step S1310, detection processing of the image stabilization lens target positions max and min values is performed. FIG. 18 is a flow chart showing an example of the detection processing of the anti-vibration lens target positions max and min values. The process proceeds from S1310 to S1500 in FIG. First, in S1501, it is determined whether or not the X-axis anti-vibration lens target position LC (X) is larger than LCmax (X). When it is larger, the routine proceeds to S1502, where LCmax (X) is set to LC (X), at next S1503 the sign of the Y-axis anti-vibration lens target speed LC (Y) which is the other axis is held, and the routine proceeds to S1504. S1
If 501 is not large, the process proceeds to S1504.

In S1504, it is determined whether or not the X-axis anti-vibration lens target position LC (X) is smaller than LCmin (X).
LC (X) is set in (X) and the process proceeds to S1506. If not smaller, the process proceeds to S1506. This processing ends in S1506. By this processing, the maximum value and the minimum value of the image stabilization lens target position LC (X) in the X-axis direction are respectively L
The image stabilization lens target position LC of the other axis when the maximum value is detected by Cmax (X) and LCmin (X)
The sign (Y) is obtained.

The process proceeds from S1506 to S1311 in FIG. In S1311, the X-axis anti-vibration lens target position LC
The image stabilizing lens position LR (X) is subtracted from (X) to calculate the image stabilizing lens position error ΔL (X). Then S131
The process proceeds to 2 and the detection processing of the image stabilization lens position error max and min values is performed. FIG. 19 shows the position error m of this anti-vibration lens.
It is a flow chart which shows one example of detection processing of ax and a min value. The process proceeds from S1312 to S1600 in FIG. First, in S1601, the X-axis anti-vibration lens position error ΔL
It is determined whether (X) is larger than ΔLmax (X). When it is larger, the flow proceeds to S1602 and ΔLmax
ΔL (X) is set in (X), and the flow proceeds to S1603. If it is not larger, the process proceeds to S1603. In the next step S1603, the X-axis vibration-proof lens position error ΔL (X) is ΔLmin.
It is determined whether or not (X) is smaller than, and when it is smaller, S
At 1604, ΔL (X) is set to ΔLmin (X), and the process proceeds to S1605. If it is not smaller, the process proceeds to S1605. This processing ends in S1605. This gives X
The maximum value and the minimum value of the image stabilizing lens position error ΔL (X) in the axial direction are detected as ΔLmax (X) and ΔLmin (X), respectively.

From S1605, the process proceeds to S1313 in FIG. In S1313, the drive duty for driving the motor 4 in the image stabilization control is calculated. Here, for example, the drive du is calculated using the formula (Equation 48) used for the above centering control.
ty is calculated. Next, in step S1314, it is determined whether or not the image stabilization adjustment is performed. If not, the process proceeds to step S1315, and the motor 4 is driven with the drive duty calculated in step S1313.
Is driven. When the image stabilization adjustment is performed (without the motor 4 being driven), the process proceeds to S1316, and the image stabilization control timer interrupt process ends.

(2) Processing on the communication tool side Next, the defect check of the anti-vibration lens shift mechanical system performed on the communication tool side, the gain adjustment and the detection angle deviation adjustment of the yaw and pitch angular velocity detection circuits 8 and 9, and the anti-vibration are performed. The comprehensive controllability check will be described with reference to FIGS. First, when this process is started in S601, the camera is set to the communication mode in S601 by a conventionally known method. With this setting, the camera communication mode process performed by the CPU 1 shown in FIG. 10 is started. Next S602 to S
By the processing up to 607, a defect check of the image stabilizing lens shift mechanical system is performed. In step S602, the image stabilization lens reset command is instructed to the CPU 1. As a result, the CPU 1 of the camera drives the anti-vibration lens 13 to the predetermined reset position in S704 of FIG. In the next step S603, an image stabilizing lens centering command is issued, and the image stabilizing lens 13 is driven to the center position LS. In the next step S604, the maximum value VR of the X-axis and Y-axis anti-vibration lens speeds detected at the time of centering the anti-vibration lens in S603 using the data read command.
max (X), VRmax (Y) and centering abnormality data (anti-vibration lens centering time-up abnormality FL
G, X axis, Y axis Anti-vibration lens movement abnormalities FLG, X axis,
The Y-axis anti-vibration lens position detection abnormality FLG) is read from the CPU 1.

Next, in S605, it is determined whether or not VRmax (X) is a predetermined value or more.
If it is not equal to or more than the predetermined value, the process proceeds to S646 (FIG. 9), it is determined that the mechanical failure, and the process proceeds to S647. S
At 606, it is determined whether or not VRmax (Y) is equal to or larger than a predetermined value. If it is equal to or larger than the predetermined value, the process proceeds to S607. In S607, whether or not there is a centering abnormality is determined based on the centering abnormality data. When there is no centering abnormality, that is, these abnormal FLs
When no G is set, the process proceeds to S608. If at least one of the abnormal FLGs has been set, the process proceeds to S646 and it is determined that there is a mechanical failure as in the above.

By the above-described processing of S603 to S607 and S646, the anti-vibration lens 13 is centered and the maximum value of the anti-vibration lens speed or each abnormality is detected during the centering control. Thirteen
If the movement of the X-axis and Y-axis is bad, or if the outputs of the X-axis and Y-axis lens position detection circuits 6 and 7 are abnormal, check that the anti-vibration lens shift mechanical system is defective. Is possible.

By the following processing from S608 to S624, the gain adjustment of the yaw and pitch angular velocity detection circuits 8 and 9,
The detection angle deviation is adjusted. The gain adjustment value A1 held inside the CPU1 at the timing of S608,
A2 is the initial value A0 set in S700 of FIG. 10, and the angle deviation adjustment values Δα and Δβ are the initial value 0 written in S702 of FIG. First, in S608, the vibration in the X-axis direction is started. As a result, the vibrating table 18 is vibrated. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the X-axis direction. Next, in step S609, the image stabilization adjustment start command is issued to the CPU 1. C through S609
PU1 executes the image stabilization control start processing in S709 of FIG. As a result, the maximum and minimum values LCm of the image stabilization lens target position by the image stabilization control timer interrupt processing shown in FIG.
ax (X), LCmax (Y), LCmin (X), L
Cmin (Y), LCmax (X), LCmax
The codes of LC (Y) and LC (X) at the time of (Y) detection continue to be detected. Further, since it is determined in S1314 of FIG. 16 that the image stabilization adjustment is performed, the motor is not driven,
The anti-vibration lens 13 is not driven.

Next, in S610, a wait is performed for a predetermined time,
In next step S611, the CPU 1 is instructed to end the image stabilization adjustment. As a result, the CPU 1 prohibits the image stabilization control timer interrupt process in S712 of FIG. 10 and ends the image stabilization control. In the next S612, the vibration operation by the vibration table 18 in the X-axis direction is completed. Here, the time to wait in S610 is S
In the period from 609 to S611, the maximum value and the minimum value of the anti-vibration lens target position can be detected at least once. In the next S613, LCmax detected by the CPU 1 is read using the data read command.
(X), LCmax (Y), LCmin (X), LCm
The signs of in (Y) and LC (Y) and LC (X) when detecting LCmax (X) and LCmax (Y) are CP.
Read from U1. Then, in next step S614, the total widths a, b, and c of the X-axis and Y-axis anti-vibration lens target positions are calculated using the equations (Expression 37), (Expression 38), and (Expression 39).

Next, the process proceeds to S615 in FIG. The vibration table 18 is vibrated in S615. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the Y-axis direction. Next S
At 616, an image stabilization adjustment start command is issued to the CPU 1. S
According to 616, the CPU 1 executes the image stabilization control start processing in S709 of FIG. Thereby, the maximum and minimum values LCmax (X), LCmax (Y), LC of the image stabilization lens target position by the image stabilization control timer interrupt processing shown in FIG.
min (X), LCmin (Y) and LCmax
LC at (X), LCmax (Y) detection
The signs of (Y) and LC (X) continue to be detected. Further, since it is not determined in S1314 of FIG. 16 that the image stabilization adjustment is performed, the motor is not driven and the image stabilization lens 13 is not driven.

Next, in S617, a wait is performed for a predetermined time,
In S618, the image stabilization adjustment end command is issued to the CPU1. As a result, the CPU 1 prohibits the image stabilization control timer interrupt process in S712 of FIG. 10, and ends the image stabilization control. Next S61
At 9, the vibration operation by the vibration table 18 in the Y-axis direction is completed. Here, the wait time in S617 is S616.
From S to S618, the maximum and minimum values of the anti-vibration lens target position can be detected at least once. At the next step S620, LCmax (X), LC detected by the CPU 1 is read using the data read command.
max (Y), LCmin (X), LCmin (Y)
Then, the respective codes of LC (Y) and LC (X) at the time of detecting LCmax (X) and LCmax (Y) are read from the CPU 1. Then, in the next S621, the equation (Equation 40)
Using (Formula 41) and (Formula 42), the total widths d, e, and f of the X-axis and Y-axis anti-vibration lens target positions are calculated.

At the next step S622, the gain adjustment values A1 and A2 of the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 are calculated using the equations (43) and (44). And S
At 623, the detection angle deviation adjustment values Δα and Δβ of the yaw and pitch angular velocity detection circuits 8 and 9 are calculated using the equations (Equation 45) and (Equation 46). Next, in S624, an E2PROM write command is issued, and the gain adjustment values A1 and A2 and the detected angle deviation adjustment values Δα and Δβ are written to the E2PROM. With the above processing from S608 to S624, it becomes possible to perform the gain adjustment of the yaw and pitch angular velocity detection circuits 8 and 9 and the detection angle deviation adjustment.

A comprehensive check of the image stabilization controllability is carried out by the processing in and after S625. First, the gain adjustment values A1 and A2 held inside the CPU 1 at the timing of S625 are the initial values A0 set in S700 of FIG. 10, and the angle deviation adjustment values Δα and Δβ are S of FIG.
The initial value written in 702 is 0. A data write command is issued in S625, and A calculated in S622
The value 1 / m of 1 and A2 is the gain adjustment value A in the CPU1.
1, A2, and Δα and Δβ calculated in S623 are written in the angle deviation adjustment values Δα and Δβ in the CPU 1, and the process proceeds to S626.

Next, in step S626, the vibrating table 18 is vibrated. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the X-axis direction. In the next step S627, the image stabilization control start command is issued to the CPU 1. By the command of S627,
The CPU 1 executes the image stabilization control start processing in S709 of FIG. Further, in the image stabilization control timer interrupt processing shown in FIG. 16, the maximum and minimum values LRm of the image stabilization lens position are set.
ax (X), LRmax (Y), LRmin (X), L
Rmin (Y) and the maximum and minimum values of the control error of the anti-vibration lens ΔLmax (X), ΔLmax (Y), ΔLmin
(X) and ΔLmin (Y) continue to be detected. Further, in S1314 of FIG. 16, it is determined that the image stabilization adjustment is not performed, and unlike the above-described gain adjustment and angle deviation adjustment, the motor is driven and the image stabilization lens 13 is controlled.

Next, in S628, a predetermined time is waited,
In S629, the image stabilization control end command is issued, and the CPU 1
In S712 of 0, the image stabilization control timer interrupt processing is prohibited, and the image stabilization control ends. Next, in step S630, the vibrating table 18 ends the vibrating operation. Here, the wait time in S628 is a time in which at least the vibration cycle of the vibration table 18 becomes one cycle or more between S627 and S629.
This is because the anti-vibration lens 13 is controlled in a sine wave shape, but it is to check whether or not the controllability is good at all timings of one cycle. From S630 to S631 in FIG.
Proceed to. In S631, C is read using a data read command.
The maximum and minimum values LRmax (X), LRmin (X) of the X-axis anti-vibration lens position detected by PU1, and X
Maximum and minimum value of axis anti-vibration lens position error ΔLmax
(X), ΔLmin (X) are read from the CPU 1,
In S632, the amplitude g in the X-axis direction of the anti-vibration lens 13 that is actually controlled is calculated using the following equation (Equation 49). (Equation 49) g = LRmax (X) -LRmin (X)

In the next step S633, the total amplitude in the X-axis direction of the actual anti-vibration lens 13 obtained in step S632 is obtained from the value of 1 / m of the total amplitude L01 in the X-axis direction of the anti-vibration lens 13 desired after gain adjustment. It is determined whether the absolute value of the value obtained by subtracting g is less than or equal to a predetermined value. When the value is less than or equal to the predetermined value, S634
If it is not equal to or less than the predetermined value, the process proceeds to S646, it is determined that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the process proceeds to S647.

Here, in S625, the anti-vibration gain adjustment value A1 in the yaw direction is set to 1 / m with respect to the adjustment value obtained in S622, so the actually obtained amplitude g of the anti-vibration lens 13 is If it becomes 1 / m of L01, it means that the gain adjustment is accurately performed and the image stabilization controllability is good. However, if the gain adjustment is not performed accurately for some reason, or because the movement of the anti-vibration lens shift mechanical system is not good, the actually controlled total amplitude of the anti-vibration lens 13 cannot be obtained in theory. In case of failure, the defect can be checked by the determination in S633.

Next, in S634, it is judged whether or not the absolute value of the maximum value ΔLmax (X) of the image stabilizing lens position error in the X-axis direction is less than or equal to a predetermined value.
If it is not equal to or less than the predetermined value, the process proceeds to S646, and it is determined that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the process proceeds to S647. Further, in S635, it is determined whether or not the absolute value of the minimum value ΔLmin (X) of the image stabilizing lens position error in the X-axis direction is less than or equal to a predetermined value. If it is less than or equal to the predetermined value, the process proceeds to S636.
In step 6, it is determined that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the flow proceeds to step S647.

In the processing in S634 and S635, the controllability of the image stabilizing lens 13 in the X-axis direction is checked.
In the image stabilization control timer interrupt process described above, the image stabilization lens position error ΔL (X), which is the difference between the image stabilization lens target position LC (X) and the actually controlled image stabilization lens position LR (X).
Is calculated, and the maximum value ΔLmax (X) and the minimum value ΔL
min (X) is detected, and ΔLm is obtained in S634 and S635.
It can be determined that the controllability is good when the absolute values of ax (X) and ΔLmin (X) are small, and conversely when the absolute values are large, the controllability is poor.

The process from S636 is a process for checking the image stabilization controllability in the Y-axis direction. First, the vibration table 18 is vibrated in S636. The vibration here is a sinusoidal vibration having a predetermined angular amplitude in the Y-axis direction. Next S6
At 37, an image stabilization control start command is issued to the CPU 1. S6
In response to the instruction of 37, the CPU 1 executes the image stabilization control start processing in S709 of FIG. Further, in the image stabilization control timer interrupt processing shown in FIG. 16, the maximum and minimum values of the image stabilization lens position LRmax (X), LRmax (Y), L
Rmin (X), LRmin (Y) and the maximum and minimum values of the control error of the image stabilizing lens ΔLmax (X), ΔLmax
(Y), ΔLmin (X), and ΔLmin (Y) continue to be detected. Further, in S1314 of FIG. 16, it is determined that the image stabilization adjustment is not made, and the motor is driven to control the image stabilization lens 13.

Next, in S638, a wait is performed for a predetermined time,
In S639, the image stabilization control end command is issued, and the CPU 1
In S712 of 0, the image stabilization control timer interrupt processing is prohibited, and the image stabilization control ends. Next, in step S640, the vibrating table 18 ends the vibrating operation. Here, the time to wait in S638 is a time in which at least the vibration cycle of the vibration table 18 becomes one cycle or more between S637 and S639.
This is done for the same reason as the wait time in S628. In the next step S641, the maximum value and the minimum value LRmax (Y), LRmin of the Y-axis anti-vibration lens position detected by the CPU 1 using the data read command.
(Y) and the maximum and minimum values ΔLmax (Y) and ΔLmin (Y) of the Y-axis anti-vibration lens position error are read from the CPU 1 and are actually controlled in S642 using the following equation (Equation 50). The amplitude h of the anti-vibration lens 13 in the Y-axis direction is calculated. (Equation 50) h = LRmax (Y) -LRmin (Y)

At the next step S643, the total amplitude in the Y-axis direction of the actual anti-vibration lens 13 obtained in step S642 is obtained from the value of 1 / m of the total amplitude L02 in the Y-axis direction of the anti-vibration lens 13 desired after gain adjustment. It is determined whether or not the absolute value of the value obtained by subtracting h is less than or equal to a predetermined value. When it is less than the predetermined value, S64
If not equal to or less than the predetermined value, the process proceeds to S646, and it is determined that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the process proceeds to S647. Here, in S643, the determination as described above is performed for the same reason as in S633.

Next, in S644, it is determined whether or not the absolute value of the maximum value ΔLmax (Y) of the image stabilizing lens position error in the Y-axis direction is less than or equal to a predetermined value.
If it is not less than the predetermined value, the routine proceeds to S646, where it is judged that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the routine proceeds to S647. Further, in S645, it is determined whether or not the absolute value of the minimum value ΔLmin (Y) of the image stabilizing lens position error in the Y-axis direction is less than or equal to a predetermined value. If it is less than or equal to the predetermined value, the process proceeds to S647.
In step 6, it is determined that the image stabilization lens shift mechanical system is defective or the adjustment is defective, and the flow proceeds to step S647.

In the processing in S644 and S645, the controllability of the image stabilizing lens 13 in the Y-axis direction is checked.
In the image stabilization control timer interrupt process described above, the image stabilization lens position error ΔL (Y), which is the difference between the image stabilization lens target position LC (Y) and the actually controlled image stabilization lens position LR (Y).
Is calculated, and the maximum value ΔLmax (Y) and the minimum value ΔL are calculated.
min (Y) is detected, and ΔLm is obtained in S644 and S645.
It can be determined that the controllability is good when the absolute values of ax (Y) and ΔLmin (Y) are small, and conversely when the absolute values are large, the controllability is poor.

Next, in step S647, an image stabilization lens reset command is issued to the CPU 1, and the CPU 1 causes the CPU 1 to execute step S70 in FIG.
In step 4, the image stabilizing lens 13 is driven to a predetermined reset position.
Next, in step S648, a communication mode release command is issued to the CPU 1, and the camera is released from the communication mode. And S
At 649, the communication tool adjustment process ends.

Note that in S625, the gain adjustment values A1 and A2 are
Is set to 1 / m for each of the following reasons. Normally, at the time of gain adjustment and angle deviation adjustment, the adjustment accuracy is improved by increasing the outputs of the yaw and pitch angular velocity detection circuits 8 and 9 to maximize the dynamic range. Therefore, the vibration angle of the vibration table 18 also becomes large. In this case, if the above-mentioned vibration isolation controllability is checked with this vibration angle being maintained, the vibration isolation lens 13 must be controlled beyond the drive capability of the vibration isolation lens shift mechanical system. Alternatively, the shift range of the image stabilizing lens 13 may be exceeded.

Further, the angular range or the angular velocity of camera shake of a user who uses a normal camera is smaller than the angle for performing the gain adjustment and the angle deviation adjustment. Therefore, the vibration angle of the vibration table 18 may be set to a small value only when checking the image stabilization controllability. However, it is not easy to mechanically set the vibration angle of the vibration table 18 in two stages. Therefore, the user sets the value of m so as to be within the angular range or the angular velocity range of camera shake that occurs when a normal camera is used, and realistically checks the image stabilization controllability. If the value of m is varied to check the image stabilization controllability, a more accurate check can be performed. On the other hand, it is not easy to perform mechanically such as setting the vibration angle of the vibration table 18 in a plurality of stages.

Next, the processing when the camera is used by the user will be described. FIG. 20 is a flow chart showing an embodiment of the half-pressing process of the camera according to the present invention. The process shown in FIG. 20 is a process performed when the half-push SW 16 of the camera is turned on. First, when the process is started in S1700, the gain adjustment value A
1, A2 are read from the E2PROM. Furthermore S1
At 702, the angle deviation adjustment values Δα and Δβ are read from the E2PROM. In next step S1703, full-press SW17
It is determined whether or not is turned on, and when it is turned on, S17
Proceed to 06. On the other hand, when it is off, the routine proceeds to S1704, where it is determined whether or not the halfway press SW16 is on. Here, when it is on, the process returns to S1703, and when it is off, S17.
The procedure advances to 05 and this process ends.

In step S1706, the above-described anti-vibration lens centering processing (FIG. 12) is performed, and the anti-vibration lens 13 is set to X.
It is driven to the respective central positions in the axial and Y-axis directions. In the next step S1707, image stabilization control start processing (FIG. 13) is performed. Therefore, here, the image stabilization control timer interrupt processing (see FIG.
When 6) is permitted, the image stabilization control is started. Next S
In 1708, the shutter is opened and closed to perform the exposure process. When this exposure processing ends, the image stabilization control timer interrupt is prohibited in S1709, and the image stabilization control ends. Also,
The motors 4, 5 are short-brake for a predetermined time, and the anti-vibration lens 13 is stopped. In the next step S1710, the image stabilizing lens 13 is driven to the reset position by the image stabilizing lens reset process (FIG. 11). Then, the processing proceeds to step S1711, and the half-press processing ends.

After the image stabilization control is started in S1707,
In the image stabilization control timer interrupt until the image stabilization control ends in S1709, including during exposure in S1708, S17
01 and S1702, gain adjustment values A1 and A2 and angle deviation adjustment values Δα and Δβ are read from the E2PROM, and S1
The gain variation is corrected in 306, and S13 is performed.
In 07, the image stabilization control is performed with the output whose angle deviation has been corrected. As a result, highly accurate image stabilization control is performed.

Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above.
Various modifications are possible without departing from the spirit of the invention. For example, in the embodiment, the amount of angular deviation is electrically detected, and the angular deviation is electrically corrected by writing the adjustment value in the E2PROM of the camera. However, the amount of angular deviation is detected by this method, and The angular deviation can be adjusted by mechanically adjusting the angular velocity sensor or the angular velocity detection circuit. The speed control of the motors 4 and 5 is
Although the PWM control has been described, the control method of the motors 4 and 5 is not limited to this. Furthermore, in the embodiments, the method of changing the optical axis of the photographing optical system is explained by shifting a part of the photographing optical system (vibration-proof lens 13), but other than this, a vari-angle prism or the like is used. Alternatively, other actuators such as a voice coil may be used instead of the motor.

In the embodiment of the present invention, the communication tool side inspects and adjusts the shake correction function of the camera. However, the present invention is not limited to this. , You will be able to self-diagnose with the camera itself.

[0111]

According to the present invention, since the gain variation is corrected by the gain adjustment value for adjusting the variation of the gain of the output value between the devices of the angular velocity detecting section, the variation of these output values is corrected. The shake correction can be performed with higher accuracy without being affected by In addition, the gain adjustment value is changed to a value according to the range of vibration angle or angular velocity given by the following check, and the shake correction function is normally operated by the predetermined output value using the changed gain adjustment value. Since it is determined whether or not the shake correction function is normal, it is possible to check whether or not the shake correction function is normal. Further, even when the gain adjustment accuracy is improved by setting the vibration applied during the gain adjustment to a relatively large value, the same vibration is applied as during the gain adjustment and only the gain adjustment value is changed, that is, In the example, without changing the angle of the vibration table,
It is possible to check the shake correction function, which is substantially equivalent to the check performed by giving the same vibration as the vibration generated in the actual use state of the camera.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a camera side portion, a communication tool side portion, and an oscillating table portion that are embodiments of the present invention.

FIG. 2 is a diagram schematically showing variations in gain of yaw and pitch angular velocity detection circuits 8 and 9.

FIG. 3 is a diagram for explaining an angle deviation.

FIG. 4 is a diagram showing a state of gain adjustment and detection angle deviation adjustment according to the present invention.

FIG. 5 is a diagram showing a state of gain adjustment and detection angle deviation adjustment according to the present invention.

6A and 6B are diagrams illustrating a state of centering control of the image stabilizing lens 13 in the X-axis direction.

FIG. 7 is a flowchart showing an example of communication adjustment processing performed by the communication tool 15.

FIG. 8 is a flowchart following FIG.

9 is a flowchart following FIG.

FIG. 10 is a flowchart showing an example of a communication mode process performed by the CPU 1 of the camera.

FIG. 11 is a flowchart showing an example of the image stabilizing lens reset process in S704 of FIG.

FIG. 12 is a flowchart showing an example of the image stabilizing lens centering process of S706 of FIG.

FIG. 13 is a flowchart showing an example of image stabilization control start processing in S709 of FIG.

FIG. 14 is a flowchart illustrating an example of an anti-vibration lens reset timer interrupt process.

FIG. 15 is a flowchart illustrating an example of an anti-vibration lens centering timer interrupt process.

FIG. 16 is a flowchart illustrating an example of an image stabilization control timer interrupt process.

FIG. 17 is a flowchart showing an example of a process of detecting image stabilization lens position max and min values.

FIG. 18 is a flowchart showing an example of a process of detecting image stabilization lens target positions max and min values.

FIG. 19 is a flowchart illustrating an example of a process of detecting the image stabilization lens position error max and min values.

FIG. 20 is a flowchart showing an example of half-press processing of a camera according to the present invention.

[Explanation of symbols]

1 CPU 2,3 X-axis, Y-axis motor drive circuit 4,5 X-axis, Y-axis motor 6,7 X-axis, Y-axis lens position detection circuit 8,9 Yaw, pitch angular velocity detection circuit 10 E2PROM 11, 12, 13, 14 Photographing lens (13 Anti-vibration lens) 15 Communication tool 16 Half-press SW 17 Full-press SW 18 Shaking table

Claims (9)

[Claims] 1. An optical axis changing unit that changes an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting unit that detects a displacement of the photographing optical system by the optical axis changing unit. A maximum and minimum displacement detection unit that detects a maximum value and a minimum value of the output value of the displacement detection unit, an angular velocity detection unit that detects an angular velocity that acts due to a shake, and a gain of an output value between devices of the angular velocity detection unit Of the angular velocity detection unit based on a gain adjustment value that adjusts the variation of the gain of the angular velocity detection unit and a gain correction unit that corrects the variation of the gain between the devices of the angular velocity detection unit. An information transfer unit that transfers information to and from a camera, a vibration applying unit that applies a predetermined vibration to the shake correction camera, and a range of an angle or angular velocity of the vibration that gives the gain adjustment value. A gain adjustment value changing unit that changes the setting to a value according to the predetermined value, and a range of the predetermined vibration angle or angular velocity by the gain adjustment value changing unit when a predetermined vibration is applied to the shake correction camera by the vibration applying unit. Based on the output value of the maximum / minimum displacement detection unit in the gain adjustment value that has been changed according to, a determination unit that determines whether or not the shake correction function is normal, Inspection device. 2. An optical axis changing section for changing an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting section for detecting a displacement of the photographing optical system by the optical axis changing section. Correcting the gain variation between the devices of the angular velocity detection unit, based on the angular velocity detection unit that detects the angular velocity acting due to the shake and the gain adjustment value that adjusts the variation of the gain of the output value between the devices of the angular velocity detection unit. A gain correction unit, a first calculation unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit, and during operation of the optical axis changing unit, A shake correction machine for a shake correction camera, comprising: a second calculation unit that calculates a control error of the optical axis change unit based on an output of a displacement detection unit and the target displacement position by the first calculation unit. Is an inspection device for inspecting, an information transfer unit that transfers information to and from the shake correction camera, a vibration applying unit that applies a predetermined vibration to the shake correction camera, the gain adjustment value, an angle of vibration to apply or A gain adjustment value changing unit that changes the setting to a value according to a range of angular velocity, and an angle of the predetermined vibration by the gain adjustment value changing unit when a predetermined vibration is applied to the shake correction camera by the vibration applying unit. Or a determination unit that determines whether or not the shake correction function is normal based on the control error by the second calculation unit in the gain adjustment value that is set and changed according to the range of the angular velocity. A shake correction camera inspection device. 3. The determination unit according to claim 2, wherein the determination unit determines whether the shake correction function of the shake correction camera is normal based on the maximum value and the minimum value of the control error. Inspection device for image stabilization camera. 4. An optical axis changing section for changing an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting section for detecting a displacement of the photographing optical system by the optical axis changing section. A maximum and minimum displacement detection unit that detects a maximum value and a minimum value of the output value of the displacement detection unit, an angular velocity detection unit that detects an angular velocity that acts due to a shake, and a gain of an output value between devices of the angular velocity detection unit And a gain correction unit that corrects the gain variation between the devices of the angular velocity detection unit based on the gain adjustment value that adjusts the variation of the gain adjustment value. Output value of the maximum / minimum displacement detection unit in the gain adjustment value whose setting is changed according to the range of the angle or angular velocity of the predetermined vibration when the predetermined vibration is applied Based, blur correction camera whether shake correction function is normal, characterized in that it is not. 5. An optical axis changing section for changing an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting section for detecting a displacement of the photographing optical system by the optical axis changing section. Correcting the gain variation between the devices of the angular velocity detection unit, based on the angular velocity detection unit that detects the angular velocity acting due to the shake and the gain adjustment value that adjusts the variation of the gain of the output value between the devices of the angular velocity detection unit. A gain correction unit, a first calculation unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit, and during operation of the optical axis changing unit, A second calculation unit that calculates a control error of the optical axis changing unit based on the output of the displacement detection unit and the target displacement position by the first calculation unit, and the angle or angular velocity of the applied vibration The gain adjustment value is set and changed to a value according to the range, and the second gain adjustment value is changed according to the angle or angular velocity range of the predetermined vibration when the predetermined vibration is applied. A shake correction camera, wherein whether or not the shake correction function is normal is determined based on the control error by the calculation unit. 6. The shake correction camera according to claim 5, wherein whether the shake correction function is normal is determined based on the maximum value and the minimum value of the control error. 7. An optical axis changing unit that changes an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting unit that detects a displacement of the photographing optical system by the optical axis changing unit. A maximum and minimum displacement detection unit that detects the maximum and minimum output values of the displacement detection unit, an angular velocity detection unit that detects the angular velocity that acts due to shake, and a gain of the output value between the devices of the angular velocity detection unit. Is a method for inspecting a shake correction function of a shake correction camera, which includes a gain correction unit that corrects a gain change between devices of the angular velocity detection unit based on a gain adjustment value that adjusts the change in the shake correction camera. A predetermined vibration is applied, the gain adjustment value of the shake correction camera is set and changed to a value according to the given predetermined vibration angle or angular velocity range, and the gain is changed. Based on the output value of the maximum-minimum displacement detector in Seichi shake test method of blur correction camera, characterized in that the correction function to determine whether or not normal. 8. An optical axis changing unit that changes an optical axis of a photographing optical system to correct shake generated by vibration, and a displacement detecting unit that detects a displacement of the photographing optical system by the optical axis changing unit. A gain variation between the devices of the angular velocity detection unit is corrected based on a gain adjustment value that adjusts the variation of the gain of the output value between the devices of the angular velocity detection unit and the angular velocity detection unit. A first correction unit that calculates a target displacement position of the optical axis changing unit by integrating or integrating the output of the gain correction unit; and during operation of the optical axis changing unit, A shake correction machine for a shake correction camera, comprising: a second calculation unit that calculates a control error of the optical axis changing unit based on an output of a displacement detection unit and the target displacement position by the first calculation unit. In the inspection method, a predetermined vibration is applied to the shake correction camera, the gain adjustment value of the shake correction camera is set and changed to a value according to an angle or an angular velocity range of the given predetermined vibration, A shake correction camera inspection method, comprising determining whether or not a shake correction function is normal based on the control error by the second calculation unit in the gain adjustment value whose setting has been changed. 9. The shake correction camera inspection according to claim 8, wherein it is determined whether or not the shake correction function of the shake correction camera is normal based on the maximum value and the minimum value of the control error. Method.