JPH1130793A - Shake detector and shake correction camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shake detector and a shake correction camera where shake correction is highly accurately performed not only at a standstill stabilizing time but also a viewing angle changing time. SOLUTION: A reference value arithmetic part 35 calculates the reference value of shake correction control at the standstill stabilizing time and that at the viewing angle changing time based on the output signal of an angular velocity sensor 10 amplified by an amplifying part 20. A discriminating part 30 discriminates whether or not a large movement by changing a viewing angle is made to a camera body 70 and a lens barrel 80 based on the output signal from the amplifying part 20, and outputs a discriminating signal in accordance with a discriminated result to a reference value selecting part 55. The reference value selecting part selects either reference value at the standstill stabilizing time or the viewing angle changing time based on the discriminating signal. Thus, the shake correction is accurately performed either at the standstill stabilizing time and the viewing angle changing time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera shake detecting apparatus for detecting vibration caused by camera shake or the like in a photographing apparatus and a camera for correcting the camera shake.

[0002]

2. Description of the Related Art Heretofore, as an example of use of this type of shake detection apparatus, there has been proposed an example in which the apparatus is incorporated in an imaging apparatus such as a still camera or an optical apparatus such as binoculars. In such a photographing device, a camera shake detection device detects camera shake,
A part of the photographing lens (hereinafter, referred to as a blur correction lens) is moved in a direction orthogonal or substantially orthogonal to the optical axis based on the detection signal. The camera shake is corrected by the camera shake correction lens.

The structure of a conventional optical system for performing shake correction is disclosed in FIG. 3 of Japanese Patent Application Laid-Open No. 4-76525. Japanese Patent Laid-Open Publication No. 4-76525 discloses a camera having an anti-vibration means that includes a blur correction lens that can be translated in a plane perpendicular to the optical axis, a frame member that holds the blur correction lens, A plate member to be mounted, four wires attached to the plate member, a main body supporting the wires, an actuator for driving a blur correction lens in the vertical and horizontal directions, comprising a winding coil, a yoke, and a permanent magnet. , A light emitting element and a light receiving element, and a position detecting device for detecting the position of the shake correcting lens.

[0004] The operation of the conventional shake correction apparatus will be described below with reference to FIG. FIG. 14 is a block diagram of a conventional blur correction device. The angular velocity sensor 10
For example, it is a piezoelectric vibration type angular velocity sensor for detecting Coriolis force and a sensor for monitoring vibration of a camera. The output signal of the angular velocity sensor 10 is input to the integration unit 40, and the integration unit 40 integrates the output signal with time.
After converting the output signal of the angular velocity sensor 10 into a camera shake angle, the integration unit 40 converts the output signal into target drive position information of the shake correction lens and outputs the information. The servo circuit 100 calculates a difference between the target drive position information and the position information of the blur correction lens to drive the shake correction lens according to the target drive position information, and outputs a signal to the actuator 110.
The actuator 110 drives the shake correction lens based on this signal in a plane orthogonal or substantially orthogonal to the optical axis. The position detection device 120 monitors the movement of the shake correction lens and feeds it back to the servo circuit 100.

[0005] In the conventional shake correction device, the angular velocity sensor 1
The output signal of 0 is integrated once by the integrator 40, converted into angular displacement information, and then processed. For this reason, it is necessary to determine an integration constant (hereinafter referred to as a reference value) serving as a control reference value when the output signal of the angular velocity sensor 10 is time-integrated by the integration unit. For example, FIGS. 17 and 18 of JP-A-4-211230 disclose a method of calculating this reference value.

The shake sensor of the camera shake correction device disclosed in Japanese Patent Application Laid-Open No. 4-211230 comprises an angular velocity sensor for detecting a Coriolis force, a central processing unit (CPU), and a memory, and a predetermined time before the present time. A drift component detection unit that calculates the average value of the output signal of the angular velocity sensor sampled by the moving average method, and removes the drift component by subtracting the average value from the output signal of the angular velocity sensor, and calculates the subtracted value. And a subtractor for outputting.

The output signal of the angular velocity sensor is input to the drift component detection section every 10 ms, and is output for 0.5 seconds (10 ms).
× 50), 50 output signals are input. Then, the calculated 50 is stored in the memory of the drift component detection unit.
The average value (hereinafter referred to as an average of 1) for each item is stored, and 10
After a lapse of seconds (0.5 seconds × 20), an average of 1 for 20 is input. Therefore, after a lapse of 10 seconds from the start, the average value of the output signals of 1000 (50 × 20) angular velocity sensors can be calculated.

[0008]

The above-described conventional shake correction apparatus generally uses an output signal (hereinafter referred to as "omega zero") of the angular velocity sensor 10 in a state where the camera is stationary when integrating the output signal. Used as integration constant. However, when a photographing device such as a camera is photographed by hand, the camera usually vibrates due to camera shake of the photographer. In such a situation, since the output of the vibration sensor at rest cannot be directly measured, it is necessary to calculate omega zero from the output signal of the angular velocity sensor on which vibration due to camera shake is present.

Referring to FIGS. 15 and 16, a description will be given of a case where the calculation of omega zero has succeeded and a case where the calculation has failed. FIG. 15 is a diagram illustrating an example in which the calculation of omega zero has been successfully performed by the conventional shake correction apparatus. FIG.
FIG. 11 is a diagram illustrating an example in which calculation of omega zero by a conventional shake correction device has failed. FIG. 15A and FIG.
It shows the output signal output by the angular velocity sensor,
FIGS. 15B and 16B show the angular displacement signals obtained from the output signals of the angular velocity sensors. In addition,
For the sake of simplicity, it is assumed that a sine wave is input as a camera shake waveform, and omega zero is set to zero.

[0010] As shown in FIG. 15A, it is assumed that the center of the amplitude of the angular velocity signal is zero, and that the omega zero is accurately obtained to a value of zero. When the integration operation of the angular velocity signal is performed using this omega zero as an integration constant, an angular displacement signal as shown in FIG. 15B can be obtained. in this way,
When the angular velocity signal is integrated using the accurately obtained omega zero as an integration constant, the angular displacement signal can be accurately calculated. Therefore, if the blur correction lens is controlled using the accurately calculated angular displacement signal, the blur correction can be performed with high accuracy.

On the other hand, in FIG. 16A, the center of the amplitude of the angular velocity signal is not zero, and the calculated omega zero is not accurately obtained as a value of zero, and an offset value is present. When such an erroneous omega zero value is integrated as an integration constant, as shown in FIG.
An angular displacement signal with the next inclination component is calculated, and the angular displacement signal cannot be calculated accurately. If the shake correction lens is controlled using such an angular displacement signal, the shake correction lens drifts while oscillating, and not only cannot perform the shake correction with high accuracy, but also may worsen the shake. There is. Therefore, performing the omega-zero calculation with high accuracy is an important factor in blur correction.

FIG. 17 is a diagram showing a calculation result and a calculation error by the moving average method when a calculation section is lengthened in a stationary state, and FIG. 17A shows an output signal of the angular velocity sensor and a moving average method. FIG.
(B) is a diagram showing, as an absolute value, a calculation error between a calculation result by the moving average method and a true omega zero value. For the sake of simplicity, it is assumed that a sine wave is input as a camera shake waveform, and the true omega zero value is zero.

The omega zero value shown in FIG. 17A is calculated by a moving average method represented by the following equation (1).

[0014]

(Equation 1)

Here, K1 is the number of data calculated by the moving average method.

FIG. 18 is a diagram showing a calculation result and a calculation error by the moving average method when the calculation section is shortened at the time of stable stationary state. FIG. 18A shows an output signal of the angular velocity sensor and the moving average method. FIG.
(B) is a diagram showing, as an absolute value, a calculation error between a calculation result by the moving average method and a true omega zero value. As in FIG. 17, it is assumed that a sine wave is input as the camera shake waveform, and the true omega zero value is zero.

The omega zero value shown in FIG. 18A is calculated by the moving average method represented by the following equation (2).

[0018]

(Equation 2)

Here, K2 is the number of data calculated by the moving average method. The difference between Equation 1 and Equation 2 is that the number of operation data K1 according to Equation 1 is greater than the number of operation data K2 according to Equation 2. When FIG. 17B is compared with FIG. 18B, the calculation error of the omega zero value is smaller in FIG. 17B. As a result, the camera is almost still, but when the angular velocity sensor 10 is slightly vibrating due to the camera shake of the photographer (hereinafter referred to as “still stable”), the moving average method is used. It can be seen that it is better to take the calculation section with a longer length.

FIG. 19 is a diagram showing an example of the output signal of the angular velocity sensor at the time of following a moving object, the result of calculation by the moving average method when the calculation section is lengthened, and the driving amount of the blur correction lens. FIG. 20 is a diagram illustrating an example of an output signal of the angular velocity sensor when a moving object is tracked, a calculation result by a moving average method when a calculation section is shortened, and a driving amount of a blur correction lens. Note that FIG. 19A and FIG.
19B shows the output signal of the angular velocity sensor and the calculation result by the moving average method. FIGS. 19B and 20B are diagrams showing the driving amount of the blur correction lens.

Referring to FIGS. 19A and 20A,
The solid line representing the calculation result is a reference value (omega zero value) which is calculated by the moving average method shown in Expressions 1 and 2 and serves as a reference for integrating the output value of the angular velocity sensor.
In addition, as shown in FIGS. 19A and 20A, when the composition is changed, a panning is performed, or the object (object) that moves at random is tracked (hereinafter, referred to as the angle of view change). , A large movement has occurred in the angular velocity sensor 10. If the drive amount of the blur correction lens is calculated based on the omega zero value (output value of the angular velocity sensor = 0) at the time of changing the angle of view, the blur correction lens may reach its drive limit. .

Comparison between FIG. 19 (A) and FIG. 20 (A) shows that when the operation section by the moving average method is long,
As shown in FIG. 19A, the delay is large. When the output signal of the angular velocity sensor 10 is integrated using the calculation results (reference values) shown in FIGS. 19A and 20A as integration constants, as shown in FIGS. 19B and 20B, This output signal is converted into a drive amount of the shake correction lens. In FIG. 20B, the blur correction lens has not reached its driving limit, but in FIG. 19B, the blur correction lens has reached its driving limit. As a result, in a state as shown in FIG.
Not only is it difficult to correct blur with a blur correction lens, but also the movement of the image in the viewfinder of the camera becomes unnatural, giving the photographer a discomfort.

As described above, when the angle of view is changed, the shorter the calculation section, the better. However, if the shake correction is performed based on the reference value when the calculation section is short, the accuracy of the shake correction when the stationary state is stable can be improved. There was a problem that can not be. On the other hand, when the stillness is stable, the longer the calculation section, the better. However, if the shake correction is performed based on the reference value when the calculation section is long, the accuracy of the shake correction at the time of changing the angle of view cannot be improved. there were.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a shake detecting device and a shake correction camera which can perform shake correction with high accuracy not only when the stationary state is stable but also when the angle of view is changed.

[0025]

The present invention solves the above-mentioned problems by the following means. In addition, in order to make it easy to understand, description is given with reference numerals corresponding to the embodiment of the present invention, but the present invention is not limited to this. That is, according to the first aspect of the present invention, based on the shake detection signal, a shake detection unit (10) that detects a shake and outputs a shake detection signal (S400), and sets a reference value of the shake detection signal to 2 based on the shake detection signal.
And a reference value calculating section (35, 36, 37) for calculating one or more (S600, S700).

According to a second aspect of the present invention, in the shake detecting apparatus according to the first aspect, the reference value calculation unit calculates two or more reference values of the shake detection signal simultaneously or substantially simultaneously (S6).
00, S700).

According to a third aspect of the present invention, there is provided the first or second aspect.
In the shake detection device according to (1), a movement state determination unit (30) that determines the movement state of the shake detection unit (S900)
And a reference value (ω) of the plurality of shake detection signals calculated by the reference value calculation unit based on the determination result of the moving state determination unit.
₀ (t), ω ₀ '(t)) to select a reference value of one shake detection signal (S1000, S1100, S1000', S11).
00 ′), a reference value selection unit (55).

According to a fourth aspect of the present invention, there is provided the first to third aspects.
In the blur detection device according to any one of the above, the reference value selection unit sets the reference value of the shake detection signal before the selection operation of the reference value selection unit to B, and after the selection operation of the reference value selection unit. When the reference value of the blur detection signal is A,
Reference value = (1−P (t)) * A + P (t) * B [where P (t) is a decreasing function of 0 ≦ P (t) ≦ 1]
(S1020, S1120).

According to a fifth aspect of the present invention, in the shake detecting apparatus according to the fourth aspect, the decreasing function P (t) is P (t).
= 1 (t <0), P (t) = 1−t / τ (0 ≦ t <
τ) and P (t) = 0 (τ ≦ t).

According to a sixth aspect of the present invention, there is provided a shake detecting section (10) for detecting a shake and outputting a shake detection signal (S400);
A reference value calculator (36, 37) for calculating a reference value (ω ₀ (t)) of the shake detection signal based on the shake detection signal; A shake detection device is characterized in that a correction reference value (ω ₀ ′ (t)) is calculated by correcting the delay of the reference value (S650, S750).

The invention of claim 7 is the invention of claim 1 or claim 2.
In the blur detection device according to the above, the reference value calculation unit,
Based on the shake detection signal, a first
Of the shake detection signal based on the first reference value (ω ₀ (t)).
₀ ′ (t)).

According to an eighth aspect of the present invention, in the shake detecting apparatus according to the seventh aspect, the reference value calculating section corrects a delay of the first reference value with respect to the shake detection signal (S75).
2) calculating the second reference value.

[0033] The invention of claim 9 is the invention of claims 6 to 8.
In the blur detection device according to any one of the above, the reference value calculation unit sets the reference value or the first reference value at time t to ω ₀ (t), and sets the reference value or the reference value within a predetermined time. The change of the first reference value is represented by δω ₀ (t).
, The correction reference value or the second reference value ω
₀ ′ (t) is converted to ω ₀ ′ (t) = ω ₀ (t) + f (δω
₀ (t)) * δω ₀ (t) [where f is δω
₀ (t)] (S752).

According to a tenth aspect of the present invention, in the shake detecting apparatus according to the ninth aspect, the reference value calculating section includes f (δω ₀
(T)) = 0 (| δω ₀ (t) | <Th), f (δω ₀
(T)) = a * δω ₀ (t) (| δω ₀ (t) | ≧ T
h) [where Th is a constant] to calculate the correction reference value or the second reference value ω ₀ ′ (t) (S75
2) A blur detection device characterized by:

According to an eleventh aspect of the present invention, in the shake detecting apparatus according to any one of the first to tenth aspects, the reference value calculating section outputs the output output from the shake detecting section within a predetermined time. The reference value or the first value based on at least a part of the value and an output value output after a predetermined time has elapsed.
And a reference value calculated by the following method.

According to a twelfth aspect of the present invention, in the shake detecting apparatus according to any one of the first to eleventh aspects, the reference value calculating section is configured to execute at least when the shake detecting section is in a moving state. And the reference value (ω ₀ (t), ω ₀ ′ (t)) of the shake detection signal when in the stationary state (S60)
0, S700).

According to a thirteenth aspect of the present invention, in the shake detecting device according to the twelfth aspect, the shake detection signal output by the shake detecting section within a predetermined time period (t _{0 to} t ₁₀ ) is calculated by calculation data (ω _{1 to} ω). comprising a storage unit that stores as ₁₀₎ and (35a), the reference value calculating section, said at least a portion of the operational data (ω ₅ ~ω _10, based on the ω ₇ ~ω _10), wherein the reference value or the first 1 (ω ₀ (t), ω ₀ ′ (t)) are calculated (S600, S700), and the number of calculation data (T2) when the blur detection unit is in the moving state is calculated by Is smaller than the number of operation data (T1) in a stationary state.

According to a fourteenth aspect of the present invention, in the shake detecting apparatus according to any one of the first to thirteenth aspects, the reference value calculation unit moves the reference value or the first reference value. This is a shake detection device that calculates by an average.

According to a fifteenth aspect of the present invention, in the shake detecting apparatus according to any one of the first to fourteenth aspects, the reference value calculation unit includes a plurality of low-pass filters having different cutoff frequencies. And / or calculating the reference value or the first reference value using a plurality of low-pass filters having different calculation methods.

A sixteenth aspect of the present invention is the shake detecting apparatus, wherein the reference value calculating section includes a low-pass filter section for extracting a low-frequency component from the shake detecting signal.

According to a seventeenth aspect of the present invention, in the shake detecting device according to any one of the first to sixteenth aspects, the shake detecting section is an acceleration detector for detecting an acceleration. This is a shake detection device.

According to an eighteenth aspect of the present invention, in the shake detecting device according to any one of the first to sixteenth aspects, the shake detecting section detects a speed or an angular speed. (10) A blur detection device, which is characterized in that:

According to a nineteenth aspect of the present invention, in the shake detecting device according to any one of the first to eighteenth aspects, an amplifying section (20) for amplifying the shake detection signal is provided, and the reference value calculation is performed. The unit calculates a reference value of the shake detection signal based on the shake detection signal amplified by the amplification unit (S600, S700).

According to a twentieth aspect of the present invention, there is provided a blur detecting apparatus according to any one of the first to nineteenth aspects, a blur correcting optical system (60) for correcting blur, and the blur correcting optical system. A blur correction camera comprising: a driving unit (50) for driving; and a control unit (50) for driving and controlling the driving unit based on a reference value of the blur detection signal from the blur detection device. is there.

[0045]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
The embodiment will be described in more detail. First, a single-lens reflex camera using the shake detecting device according to the first embodiment of the present invention will be described, and an outline of the shake detecting device will be described. FIG. 1 is a cross-sectional view schematically showing a single-lens reflex camera equipped with a shake detection device according to a first embodiment of the present invention.

The angular velocity sensor 10 is a sensor that detects the vibration of the camera and outputs a voltage value proportional to the Coriolis force acting on the camera. The angular velocity sensor 10 usually includes two sensors, a pitch angular velocity sensor for detecting an angular velocity about the X axis and a yaw angular velocity sensor for detecting an angular velocity about the Y axis, for detecting angular velocities in two axial directions. ing. In FIG. 1, the illustration of the angular velocity sensor for one axis is omitted. Angular velocity sensor 1
0 indicates that the angular velocity can be detected while the half-press timer 90 described later maintains the ON operation, and the detected blur detection signal is input to the amplifier 20 described later.

The amplifying section 20 amplifies the output value of the angular velocity sensor 10. The amplification unit 20 includes the angular velocity sensor 1
The output voltage from 0 is amplified, and the amplified output signal is input to a determination unit 30, a reference value calculation unit 35, and a drive signal calculation unit 45 described later.

The judging section 30 judges whether or not the camera equipped with the angular velocity sensor 10 is in a moving state by changing the angle of view, based on the reference value of the shake detection signal amplified by the amplifying section 20. The determination unit 30 determines the movement state of the camera by, for example, calculating the variance value based on the magnitude of the output signal of the angular velocity sensor 10 or the output signal of the angular velocity sensor 10. The determination unit 30 outputs a determination signal regarding whether or not there has been movement due to a change in the angle of view to a reference value selection unit 55 described below.

The reference value calculation section 35 calculates a reference value (omega zero value) of the shake correction control, which is the output value of the angular velocity sensor 10, based on the shake detection signal amplified by the amplification section 20. In the first embodiment of the present invention, the reference value calculation unit 35 includes two types of reference values: a reference value when the angle of view of the angular velocity sensor 10 is changed (in a moving state), and a reference value when the stationary state is stable (in a stationary state). Calculate the value. The reference value calculation unit 35 has a function of calculating two types of reference values simultaneously or almost simultaneously. The reference value calculator 35 outputs the calculated two types of reference values to the reference value selector 55.

FIG. 2 is a diagram showing a memory unit of the reference value calculation unit in the blur detection device according to the first embodiment of the present invention. As shown in FIG. 2, the reference value calculation unit 35 controls the angular velocity sensor 1 between time t ₀ and time t _n which is a predetermined time.
0 is provided with a memory portion 35a for storing to the output value omega _n as calculated data from the output value omega ₁ outputted.

The reference value selection unit 55 selects one of the two types of reference values output from the reference value calculation unit 35 based on the determination signal output from the determination unit 30. It is. The reference value selection unit 55 outputs the selected reference value to the drive signal calculation unit 45.

The drive signal calculation section 45 subtracts the reference value calculated by the reference value calculation section 35 from the shake detection signal amplified by the amplification section 20 and performs an integration calculation. The drive signal calculation unit 45 converts the angular velocity signal into an angular displacement signal by an integration operation, and further converts the angular velocity signal into a drive signal corresponding to the angular displacement signal. The drive signal calculation section 45 outputs this drive signal to the drive section 50.

The drive section 50 outputs a drive signal for driving a blur correction lens 60, which will be described later, based on the angular displacement signal from the drive signal calculation section 45, and controls the blur correction lens 60 based on the drive signal. Drive control is performed. The drive unit 50 includes a servo circuit for control and a shake correction lens 6.
0 is provided, and a position detection device for detecting the drive position of the shake correction lens 60 is provided.

The blur correction lens 60 is driven in a direction perpendicular to or substantially perpendicular to the direction of the optical axis I (the direction of the arrow in the figure).
This is a lens that corrects blur. The shake correction lens 60 is
It is built into the imaging optical system of the photographing device. The blur correction lens 60 is driven in a direction intersecting the optical axis I based on a drive signal from the drive unit 50, and decenters the optical axis of the imaging optical system of the photographing apparatus to correct blur.

The lens barrel 80 houses a photographing optical system including the shake correction lens 60. The lens barrel 80 is detachably attached to the camera body 70 and is replaceable.

The power supply section 130 is a supply section for supplying power to the angular velocity sensor 10. Power supply unit 130
Supplies power to the angular velocity sensor 10 simultaneously with the ON operation of the half-press switch SW1 described later. Power supply unit 130
Indicates that while the half-press timer 90 is in the ON state, power is continuously supplied to the angular velocity sensor 10 and the half-press timer 90 is turned off.
By the F operation, the supply of power to the angular velocity sensor 10 is stopped.

The half-press timer 90 includes a half-press switch SW
1 is a timer that is turned on simultaneously with the ON operation of 1. The half-press timer 90 maintains the ON state while the half-press switch SW1 is pressed, and turns off the half-press switch SW1.
The ON state is maintained for a certain time after the operation.

The half-press switch SW1 is a switch for starting a series of photographing preparation operations. The half-press switch SW1 is turned on in conjunction with a half-press operation of a release button (not shown).

The full-press switch SW2 is a switch for starting a photographing operation such as an exposure operation of the camera.
The full-press switch SW2 is turned on in conjunction with the full-press operation of the release button.

Next, the operation of the shake detecting apparatus according to the first embodiment of the present invention will be described, focusing on the operation of the reference value calculating section. FIG. 3 is a flowchart for explaining the operation of the single-lens reflex camera using the blur detection device according to the first embodiment of the present invention. This flow starts when a power switch (not shown) of the camera body is turned on.

In step (hereinafter referred to as S) 100, it is determined whether or not half-press switch SW1 is ON. When the half-press switch SW1 is ON, the process proceeds to S200, and the half-press switch SW1 is turned ON.
N When not operating, the half-press switch SW1 is
The determination is repeated until N operations are performed.

In S200, the half-press timer 90 resets the timer (t = 0). Simultaneously with the ON operation of the half-press switch SW1, the half-press timer 90 resets the timer time t to zero.

In S300, the half-press timer 90 sets
N operations are performed. Simultaneously with the half-press switch SW1 turning on and the half-press timer 90 resetting the timer, the half-press timer 90 turns on.

In S400, the angular velocity sensor 10
N operations are performed. The power supply unit 130 supplies power to the angular velocity sensor 10 in synchronization with the ON operation of the half-press timer 90, and the angular velocity sensor 10 performs the ON operation. The angular velocity sensor 10 detects vibration generated in the camera body 70 and the lens barrel 80, and outputs a shake detection signal. The reference value calculator 35 stores the blur detection signal (output value) amplified by the amplifier 20 in the memory 35a.

In S500, the half-press timer 90 starts counting time. The half-press timer 90 starts time counting simultaneously with the ON operation of the half-press switch SW1.

In S600, the reference value calculation unit 35
The calculation of the reference value is started by Equation 3. Reference value calculator 35
Among the output values omega ₁₀ from the output value omega ₁ of the angular velocity sensor 10 from the time t ₀ which is stored in the memory unit 35a shown in FIG. 2 to time t _10, for example, from the output value omega ₅ in the operation section T1 read until the output value ω _10. Reference value calculator 3
5 is given by the following Expression 3 as an example of the moving average method,
A reference value at the time of stable stationary is calculated, and a reference value selection unit 55
Output this reference value.

[0067]

(Equation 3)

In S700, the reference value calculation unit 35
The calculation of the reference value is started by Equation 4. Reference value calculator 35
Is from time t ₀ to time t ₁₀ stored in the memory unit 35a.
Of the output values omega ₁₀ from the output value omega ₁ of the angular velocity sensor 10 to, for example, reads out the output value omega ₇ in the operational section T2 to the output value omega _10. The reference value calculation unit 35 calculates the reference value at the time of changing the angle of view at the same time or almost at the same time as the calculation of the reference value at the time of stabilization at rest by the following Expression 4 as an example of the moving average method. This reference value is output.

[0069]

(Equation 4)

An operation section T2 according to the moving average method shown in equation (4)
Is different from the length of the calculation section T1 by the moving average method shown in Expression 3.

In S800, the half-press timer 90 sets
It is determined whether or not N operation is performed. Half-press timer 90
When the half-press timer 90 is not ON, the process proceeds to S900.
Proceed to.

At S900, determination section 30 determines whether or not the angle of view is being changed. The determination unit 30 determines whether the camera is in the stationary stationary state or the angle-of-view change state, and outputs a determination signal corresponding to the determination result to the reference value selection unit 55.
Output to If the camera is not in a completely stationary state and the photographer is trying to stop the camera, but the camera is in a stationary stationary state in which the camera is vibrating due to unintentional camera shake, the process proceeds to S1000. When the camera is in a view angle changing state in which the camera is largely moving, S110
Go to 0.

In S1000, the drive signal calculation section 45
Calculates the drive signal based on the calculation result of Expression 3.
The reference value selection unit 55 selects a reference value at the time of stable stationary state calculated by the reference value calculation unit 35 according to Expression 3 based on the determination signal of the determination unit 30. The drive signal calculation unit 45 performs an integration calculation based on the reference value, and calculates a drive signal corresponding to the drive amount of the blur correction lens 60.

In S1100, the drive signal calculation section 45
Calculates the drive signal based on the calculation result of Equation 4.
The reference value selection unit 55 selects a reference value at the time of changing the angle of view calculated by the reference value calculation unit 35 according to Equation 4 based on the determination signal of the determination unit 30. The drive signal calculation unit 45 calculates a drive signal corresponding to the drive amount of the blur correction lens 60 based on the reference value.

In S1200, the blur correction lens 60
Starts driving. The driving unit 50 is operated in S1000 or S1.
At 100, the drive of the blur correction lens 60 is controlled based on the drive signal output by the drive signal calculation unit 45. Note that at the time of proceeding to S1200, the blur correction lens 6
0 is not being driven, the driving unit 50 proceeds to S12
At 00, the drive of the blur correction lens 60 is started.

At S1300, full-press switch SW
It is determined whether or not 2 is ON. If the full-press switch SW2 is ON, the process proceeds to S1400. If the full-press switch SW2 is not ON, the process returns to S100, and it is determined whether the half-press switch SW1 is ON.

At S1400, a photographing operation is performed. A series of photographing operations such as opening and closing of a shutter by a shutter mechanism (not shown) and winding of a film by a film winding mechanism are performed, and the series of operations is completed.

In step S 1500, the blur correction lens 60
Stops driving. At the time of proceeding to S1500, if the blur correction lens 60 is being driven, the driving unit 50
Stops the driving of the shake correction lens 60 in S1500. If the blur correction lens 60 is not driven when the process proceeds to S1500, the process skips S1500 and proceeds to S1600.

At S1600, reference value calculation unit 35
Stops the calculation of the reference value by Equations 3 and 4.

At S1700, the angular velocity sensor 10 is turned off. In S1700, the half-press timer 9
When it is determined that 0 is not ON operation, the power supply unit 130 stops supplying power to the angular velocity sensor 10 in synchronization with the OFF operation of the half-press timer 90.

At S1800, half-press timer 90 stops counting time. The half-press timer 90 stops timing at the same time as the half-press switch SW1 is turned off, and ends a series of operations.

FIG. 4 is a diagram showing, by way of example, the output signal of the angular velocity sensor, the calculation result by the moving average method, and the driving amount of the blur correction lens in the blur detection device according to the first embodiment of the present invention. 4A shows the output signal of the angular velocity sensor and the calculation result by the moving average method, and FIG.
FIG. 5 is a diagram illustrating a driving amount of a shake correction lens. In order to simplify the description, a sine wave is input as a camera shake waveform, and omega zero is set to zero.

In FIG. 4A, the camera is in a stationary state again after a state in which the camera largely moves from the stationary state (view angle changing state). In FIG. 4A,
In contrast to the solid line indicating the fluctuating output signal of the angular velocity sensor 10, the solid line indicating the calculation result indicates the change in the reference value (omega zero value) calculated by Equation 3 or 4 according to the first embodiment of the present invention. Things. As shown in FIG. 4 (A), in the first stationary stable state, the calculation result based on Equation 3 having a long calculation section is selected, and the accuracy of the reference value is improved. Next, in the angle-of-view change state, the calculation result based on Equation 4 having a short calculation section is selected, and the responsiveness is improved. When the state returns to the stationary stable state again, the calculation result based on Equation 3 having a long calculation section is selected, and the accuracy of the reference value is improved. As a result, as shown in FIG. 4B, when the drive amount of the shake correction lens 60 is calculated based on the calculation result (reference value), the shake correction lens 60 does not reach its drive limit. Driven.

The camera shake detection apparatus according to the first embodiment of the present invention selects a reference value calculated by the moving average method of a long calculation interval of 3 when the camera is in a stable stationary state, The calculation accuracy of the reference value has been increased. On the other hand, when the angle of view is changed such as following a moving subject, the response of the reference value calculation is required to be fast. Therefore, the reference value calculated by the moving average method of Equation 4 having a short calculation section is used. You have selected. As described above, the blur detection device according to the first embodiment of the present invention calculates two reference values simultaneously or almost simultaneously, and selects an optimum reference value according to the situation. For this reason, it is possible to solve the problem of the conventional shake detection device that the response becomes poor when the calculation section by the moving average method is lengthened and the accuracy of the shake correction when the stationary state is stable is increased. . It also solves the problem of shortening the calculation section by the moving average method and increasing the responsiveness in the event of a large movement such as a change in the angle of view, thereby sacrificing the calculation accuracy of the reference value when the stationary state is stable. can do. As a result, it is possible to improve the accuracy of the blur correction when the stationary state is stable. In addition, when the photographer changes the angle of view, the inconvenience that the blur correction lens 60 reaches the driving limit and the discomfort given to the photographer can be eliminated.

(Second Embodiment) FIG. 5 is a flowchart for explaining the operation of a single-lens reflex camera in which a blur detection device according to a second embodiment of the present invention is used. In the following description, the same steps as those in the flowchart shown in FIG. 3 will be denoted by the same reference numerals, and description thereof will be omitted unless particularly necessary.

In S1900, the blur correction lens 60
Starts driving. The reference value selection unit 55 selects one of the reference value calculated by the reference value calculation unit 35 using Equation 3 in S600 and the reference value calculated by the reference value calculation unit 35 using Equation 4 in S700. Then, the drive signal calculation unit 45 calculates a drive signal based on the selected reference value, and the drive unit 50 controls the drive of the shake correction lens 60 based on the drive signal.

In S1000 ′, the drive signal calculation unit 4
5 calculates the drive signal based on the calculation result of Expression 3. The reference value selection unit 55 determines the determination unit 30 in S900.
, The reference value calculated by the reference value calculation unit 35 in S600 is selected, and the drive signal calculation unit 45
Calculates a drive signal based on this reference value. In addition,
In S1900, when the drive signal calculation unit 45 is calculating the drive signal based on the reference value calculated by Equation 3, S1000 ′ may be skipped and the process may proceed to S1200.

At S1100 ′, the drive signal calculation unit 4
5 calculates the drive signal based on the calculation result of Equation 4. The reference value selection unit 55 determines the determination unit 30 in S900.
, The reference value calculated by the reference value calculation unit 35 in S700 is selected, and the drive signal calculation unit 45
Calculates a drive signal based on this reference value. In addition,
In S1900, when the drive signal calculation unit 45 is calculating the drive signal based on the reference value calculated by Equation 4, S1100 'may be skipped and the process may proceed to S1200.

In the shake detecting device according to the second embodiment of the present invention, when the half-press switch SW1 is ON and the full-press switch SW2 is not ON (the release button (not shown) is half-pressed). Is based on either one of the equations (3) and (4).
Is calculated. Full-press switch SW
When 2 is ON (the release button is being fully pressed), the reference value calculated by one of Equations 3 and 4 is selected. For this reason, even during the shooting preparation operation (during the half-press operation), the blur correction lens 60 is controlled based on the reference value at the time of stabilization of the stationary state or the change of the angle of view.
Can be driven. In addition, in the shake detection apparatus according to the second embodiment of the present invention, the start and end of the calculation by Equations 3 and 4 are the same timing (simultaneous).
The calculation result is always output. As a result, when selecting a reference value (solution) calculated by one of Equations 3 and 4, the calculation result can be obtained instantaneously, so that the camera body 70 and the lens barrel 80 suddenly move. Quick response to posture changes.

(Third Embodiment) FIG. 6 is a flowchart for explaining the operation of the reference value selecting section in the shake detecting device according to the third embodiment of the present invention. FIG. 7 is a diagram illustrating a calculation result when the reference value selection unit selects and switches the reference value in the shake detection apparatus according to the third embodiment of the present invention. FIG. FIG. 7B is a diagram illustrating a discontinuous point generated when switching is performed, and FIG. 7B is a diagram illustrating a calculation result when the discontinuous point is eliminated. FIG. 6 illustrates S1000 and S1100 in FIG. 3 and S1000 ′ and S1100 ′ in FIG. 5 in detail, and the reference value selection unit 55 performs the calculation according to the following procedure.

In S1010, it is determined whether or not there is a discontinuity due to the reference value before and after the selection operation. The reference value selection unit 55 selects the reference value A (hereinafter, referred to as a reference value after the selection operation) A calculated by the reference value calculation unit 35 in S600 based on the determination signal of the determination unit 30 in S900. The reference value selection unit 55 determines whether there is a difference AB between the reference value A after the selection operation and the reference value B before the selection operation,
If there is a difference AB, the process proceeds to S1020, where the difference AB
If not, the process proceeds to S1030.

At S1020, reference value selecting section 55
Eliminates discontinuities. In FIG. 7, time t _S is
Reference value selecting operation (switching operation) by reference value selecting section 55
Is the time at which the operation was performed. As shown in FIG. 7A, a discontinuity of the reference value occurs at time t _S. The reference value selection unit 55 in the blur detection device according to the third embodiment of the present invention eliminates discontinuous points at the time of the switching operation by the following Expression 5.

[0093]

(Equation 5)

Here, the function P (t) in Equation 5 is a decreasing function represented by Equation 6 below.

[0095]

(Equation 6)

Here, the time t is the time elapsed from the time t _S at which the reference value selecting section 55 starts the selection operation, and the variable τ is a number for setting the reference value switching time after the selection operation. It is.

In S1030, the drive signal calculation section 45
Calculates the drive signal based on the calculation results of Equations 5 and 6. The drive signal calculation unit 45 calculates a drive signal based on the reference value calculated by the reference value selection unit 55 in S1020. Note that the procedure from S1110 to S1130 is the same as the procedure from S1010 to S1030, and a description thereof will be omitted.

In the shake detecting apparatus according to the third embodiment of the present invention, the reference value selecting section 55 calculates the reference value at the time of the switching operation by using Equations 5 and 6. For this purpose, FIG.
As shown in (B), the discontinuity of the reference value at the time of the switching operation can be eliminated. As a result, a suspicious operation in which the blur correction lens 60 is driven stepwise by a discontinuous point can be eliminated.

(Fourth Embodiment) FIG. 8 is a cross-sectional view schematically showing a single-lens reflex camera on which a shake detecting device according to a fourth embodiment of the present invention is mounted. In the following description, the same parts as those shown in FIG. 1 will be denoted by the same reference numerals, and detailed description of those parts will be omitted.

The amplifying section 20 amplifies the output value (output voltage) from the angular velocity sensor 10 and outputs the amplified value to a first reference value calculating section 36 and a drive signal calculating section 45 described later.

The first reference value calculation unit 36 determines the angular velocity sensor 10 based on the blur detection signal amplified by the amplification unit 20.
Reference value of the image stabilization control (Omega zero value)
Is calculated as a first reference value. The first reference value calculator 36 outputs the calculated first reference value to a second reference value calculator 37 described later.

The second reference value calculator 37 calculates a second reference value based on the first reference value output from the first reference value calculator 36. The second reference value calculator 37 outputs the calculated second reference value to the drive signal calculator 45.

The drive signal calculation section 45 subtracts the second reference value calculated by the second reference value calculation section 37 from the shake detection signal amplified by the amplification section 20 and performs an integration calculation. The drive signal calculation section 45 converts the angular velocity signal into an angular displacement signal, and further converts the drive signal into a drive signal corresponding to the angular displacement signal. The drive signal calculation section 45 outputs this drive signal to the drive section 50.

Next, the operation of the shake detecting apparatus according to the fourth embodiment of the present invention will be described, focusing on the operation of the first and second reference value calculation units. FIG. 9 is a flowchart illustrating an operation of a single-lens reflex camera using the shake detection device according to the fourth embodiment of the present invention. In the following description, the same steps as those in the flowchart shown in FIG. 3 will be denoted by the same reference numerals, and description thereof will be omitted unless particularly necessary.

In S650, the first reference value calculation unit 36
Is the calculation of the first reference value ω ₀ (t) at time t
Start with The first reference value calculation unit 36 calculates the first reference value ω by the following Expression 7 shown as an example of the moving average method.
₀ (t) and outputs the first reference value ω ₀ (t) to the second reference value calculator 37.

[0106]

(Equation 7)

Here, K0 is the number of data calculated by the moving average method set to a size such that sufficient accuracy can be obtained when the stationary state is stable. When S650 is the second or subsequent step, the first reference value ω ₀ (t)
The calculation of is continued.

In S750, the second reference value calculator 37
Calculates the calculation of the second reference value ω ₀ ′ (t) at time t as
Start with The second reference value calculation unit 37 calculates a second reference value ω ₀ ′ (t) according to the following Expression 8 shown as an example,
The second reference value ω ₀ ′ (t) is output to the drive signal calculation unit 45.

[0109]

(Equation 8)

Here, δω ₀ (t) is a change of the first reference value ω ₀ (t) within a predetermined time from time t−1 to time t. The second reference value calculator 37 calculates the change δ
ω ₀ (t) is calculated by the following _equation (9).

[0111]

(Equation 9)

Here, time t-1 is the time at which sampling was performed immediately before time t. Note that S750
Is the second and subsequent steps, the calculation of the second reference value is continued.

FIG. 10 is a flowchart for explaining the calculation processing of the second reference value calculation unit in the shake detection device according to the fourth embodiment of the present invention. FIG. 11 is a diagram schematically illustrating the calculation processing of the second reference value calculation unit in the shake detection device according to the fourth embodiment of the present invention. Note that, in FIG. 11, a broken line is a first reference value calculated by Expression 7, and
The solid line is the second reference value calculated by Equation 8.

In S751, the second reference value calculation unit 37
Calculates the change δω ₀ (t) of the first reference value ω ₀ (t) within a predetermined time from the time t−1 to the time t by using Expression 9. Equation 7 is an arithmetic expression based on the moving average method, and it is possible to obtain a more accurate reference value when the stationary state is stable when the operation section is lengthened (the number of operation data K0 is increased).
On the other hand, for example, when following a moving subject,
When the calculation section is lengthened, the calculation result of the reference value is delayed as shown in FIG. 19A, and the blur correction lens 60 reaches the drive limit as shown in FIG. 19B. Therefore, the second reference value calculator 37, as shown in FIG.
Change δω of first reference value ω ₀ (t) at time t
First, ₀ (t) is calculated.

In S752, the second reference value calculator 37
Calculates the second reference value ω ₀ ′ (t) at the time t by Expression 8. The second reference value calculation unit 37 adds a function f (δω) to the change δω ₀ (t) of the first reference value ω ₀ (t) at time t.
₀ those multiplied by (t)), is added to the first reference value omega ₀ (t), the second reference value omega ₀ 'Request (t). As a result, FIG.
As shown in the figure, the place where the response of the first reference value ω ₀ (t) is poor is raised (or reduced in some cases), and the first reference value ω ₀ (t) of the output signal of the angular velocity sensor 10 is reduced. The response delay is corrected.

In S800, the half-press timer 90 sets
It is determined whether or not N operation is performed. Half-press timer 90
If the half-press timer 90 is not ON, the process proceeds to S1200.
Go to 0.

In S1200, the blur correction lens 60
Starts driving. The drive signal calculation unit 45 performs an integration calculation based on the second reference value ω ₀ ′ (t) calculated in S752 to obtain a drive signal corresponding to the drive amount of the blur correction lens 60. The drive unit 50 controls the drive of the shake correction lens 60 based on the drive signal.

In S1600, the first reference value calculation unit 3
6 and the second reference value calculator 37 stop calculating the first reference value ω ₀ (t) and the second reference value ω ₀ ′ (t), respectively.
The first reference value calculator 36 and the second reference value calculator 37 determine the first reference value ω ₀ (t) at the time of proceeding to this step.
When the calculation of the second reference value ω ₀ ′ (t) is being performed, the calculation of these reference values is stopped.

FIG. 12 is a diagram showing, by way of example, the output signal of the angular velocity sensor, the calculation results by the first and second reference value calculation units, and the driving amount of the shake correction lens in the shake detection device according to the fourth embodiment of the present invention. FIG. 12 (A)
FIG. 12B shows an output signal of the angular velocity sensor and calculation results by the first and second reference value calculation units, and FIG. 12B is a diagram showing a driving amount of the shake correction lens. For the sake of simplicity, a sine wave is input as a camera shake waveform, and omega zero is set to zero.

As shown in FIG. 12A, the fourth embodiment of the present invention
The blur detection device according to the embodiment maintains the accuracy of the reference value when the stationary state is stable, and the reference value follows the output signal of the angular velocity sensor 10 even when there is a large movement such as when the angle of view is changed. Respond quickly. Further, as shown in FIG. 12B, the shake detecting device according to the fourth embodiment of the present invention can be used for a shake correction lens without reaching the drive limit even when there is a large movement such as when changing the angle of view. 60 can be driven to a state where blur correction can be performed. As described above, the blur detection device according to the fourth embodiment of the present invention improves the accuracy of the reference value when the stationary state is stable, and
It is possible to solve the delay of the reference value when changing the angle of view. As a result, highly accurate blur correction is possible, and
Since it is possible to cope with blurring correction at the time of changing the angle of view, it is possible to provide a blurring correction device that is extremely comfortable to use. In the shake detection device according to the fourth embodiment of the present invention, the start and end timings of the calculations by the formulas 7, 8, and 9 are substantially the same (slightly different). However, even if the first reference value calculation unit 36 and the second reference value calculation unit 37, which cannot perform simultaneous processing, have a certain processing capability and a certain calculation speed, the accuracy of the reference value at the time of stable stationary state can be improved. The improvement and the elimination of the delay of the reference value when the angle of view is changed can be sufficiently achieved.

(Fifth Embodiment) FIG. 13 shows a fifth embodiment of the present invention.
FIG. 9 is a diagram illustrating, as an example, a shape of a function f (δω ₀ (t)) calculated by a second reference value calculation unit in the blur detection device according to the embodiment. The second reference value calculation unit 37 can calculate the second reference value ω ₀ ′ (t) using the function f (δω ₀ (t)) shown in the following Expressions 10 and 11.

[0122]

(Equation 10)

[0123]

[Equation 11]

Here, Th is a constant. The function f (δ
ω ₀ (t)) is zero when the absolute value of the change δω ₀ (t) is smaller than the constant Th, as shown in Expression 10.
The function f (δω ₀ (t)) is proportional to the change δω ₀ (t) when the absolute value of the change δω ₀ (t) is equal to or larger than the constant Th, as shown in Expression 11. In general, the change δω
The value of ₀ (t) decreases when the stationary state is stable, and increases when the output signal of the angular velocity sensor 10 increases as in the case of changing the angle of view. When the variation δω ₀ (t) is small, as in the case of stationary stabilization, the variation δω ₀ (t) becomes zero according to Equation 10, and the second reference value ω ₀ ′ (t) becomes the first reference value ω _It is equal to ₀ (t). On the other hand, when the change δω ₀ (t) is large, such as when the angle of view is changed, the second reference value calculation unit 3 is used to correct and improve the response delay of the reference value.
7 calculates the second reference value ω ₀ ′ (t) according to equation 11.

In the shake detecting apparatus according to the fourth embodiment of the present invention, the shape of the function f (δω ₀ (t)) can be limited to the shape shown in Expression 11. In this case, the function f (δω ₀ (t))
Becomes proportional to the values of all the changes δω ₀ (t), the second reference value δω ₀ ′ (t) when the stationary state is stable.
Fluctuates more than the first reference value ω ₀ (t). As a result, as shown in FIG. 18, the calculation accuracy of the reference value when the stationary state is stable decreases, which is not preferable. The blur detection apparatus according to the fourth embodiment of the present invention adopts the formula 10 without increasing fluctuations at the time of stable stabilization, and when a quick response is required such as when changing the angle of view, the reference is obtained. A quick response of the value is possible.

It is to be noted that the constant Th has a value which does not affect the first reference value ω ₀ (t) when the stationary state is stable, and which can quickly respond to the output signal of the angular velocity sensor 10 when the angle of view is changed. Is preferred. The constant Th may be determined experimentally or theoretically. For example, the amount of tilt at the time of stable stationary state and at the time of changing the angle of view may be determined by analyzing a waveform.

(Sixth Embodiment) First Reference Value Calculation Unit 36
Can calculate the first reference value ω ₀ (t) by the following _equation (12).

[0128]

(Equation 12)

[0129] Formula 12 uses the reference value calculated at the time of the previous sampling when calculating the first reference value ω ₀ (t). For example, the first reference value calculation unit 36
Is t = 1 s from the time when the angular velocity sensor 10 is ON (t = 0)
The average value of the output signal of the angular velocity sensor 10 during the period is calculated. The first reference value calculation unit 36 subtracts the oldest data (in this example, the output value at t = 0) from the calculated average value, and adds the data at t = 1.001s to the next sampling time. t = 1.001s
The average value of the output signal at is calculated.

The shake detection apparatus according to the sixth embodiment of the present invention is based on a part of the output value output by the angular velocity sensor 10 within a predetermined time and the output value output after a predetermined time has elapsed.
The first reference value ω ₀ (t) is calculated. Therefore, the amount of calculation can be extremely reduced as compared with a format in which all data in the calculation section is processed, and the speed of the calculation process can be increased.

(Other Embodiments) The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the equivalent scope of the present invention. For example, in the shake detection device according to the first embodiment of the present invention, the reference value calculation unit 35 calculates the reference values simultaneously or almost simultaneously when the stationary state and when the angle of view is changed. , There is no need to calculate the reference value when changing the angle of view. The reference value calculating unit 35 calculates the reference value at the angle of view changes from the output value that is common to the operation period T1 shown in FIG. 2 and calculation interval T2, then, from time t ₄ to time t ₆ Can be calculated from the output value at the time when the stationary state is stable in the calculation section T1. In this case, the calculation speed can be increased as compared with the case where Equations 3 and 4 are independently calculated. Further, in the first embodiment of the present invention, the operation intervals T1 and T2 are set at the time t _0.
Although calculates the reference value based on a portion of the output value until time t ₁₀ from may be calculated a reference value based on all of the output values. The reference value calculation unit 35 previously stores the calculated reference values at the time of static stability and at the time of changing the angle of view in the memory unit 35a, and the reference value selection unit 55 selects one of the reference values based on the determination signal. You can also.

In the first embodiment of the present invention, one reference value is selected from two reference values calculated by two types of calculation methods. However, the reference value calculated by the reference value calculation unit 35 is as follows.
However, the present invention is not limited to the two types of reference values at the time of stabilization at rest and at the time of changing the angle of view. Further, the reference value can be calculated by using two or more types of arithmetic expressions having different arithmetic methods, or the arithmetic method or the arithmetic expression can be selected to calculate the reference value. When the CPU has room, one reference value can be selected from the reference values calculated by three or more types of calculation methods.
For example, the type of the reference value includes a photographing preparation operation (half) in which the length of the calculation section is intermediate, in addition to the reference value for when the calculation section is long and the stationary state is stable and the calculation section is short when the angle of view is changed. Three types of reference values during the pressing operation) may be used. Further, during the shooting preparation operation, the blur correction lens 60 is driven based on the reference value for the half-press operation, and during the shooting operation (full-press operation), the algorithm is switched to the algorithm for the full-press operation,
One reference value may be selected from two types of reference values. In this case, the algorithm for the full-press operation does not involve in driving the blur correction lens 60 during the half-press operation, and only calculates the reference value.

In the first embodiment of the present invention, the reference value calculation unit 35 calculates the reference value by two moving average methods in which the length of the calculation section is changed. The digital filter can calculate the reference value. Also, a plurality of digital filters and those of different calculation methods such as a moving average method may be prepared to calculate the reference value. Furthermore, the reference value can be calculated by a plurality of low-pass filters having different cutoff frequencies and / or calculation methods, and these low-pass filters can also calculate the reference value by a moving average method. The reference value calculation unit 35 may perform digital processing of the reference value by the CPU or may perform analog processing by an analog circuit.

Although the reference value selecting section 55 selects the reference value based on whether or not the angle of view has been changed, the present invention is not limited to this. The reference value selection unit 55 may use, for example, the time of the half-press timer 90 as the selection criterion, or both the time of the half-press timer 90 and whether or not the angle of view has been changed. Further, the function P (t) in the first embodiment of the present invention may be a decreasing function, and the shape is not limited to this. Further, the variable τ may be a constant, for example, a variable proportional to the difference AB between the reference value A after the selection operation and the reference value B before the selection operation.

In the blur detection device according to the fourth embodiment of the present invention, the calculation method of the first reference value calculation unit 36 is not limited to the moving average method shown in Expressions 7 and 12. For example, a low-frequency transmission type digital filter that extracts low-frequency components from the angular velocity sensor 10, a least square method, or the like can be used. Generally, a low-frequency transmission type arithmetic expression is used. The shape of the function f (δω ₀ (t)) is
The shape is not limited to the shape shown in Expression 11 and may be any shape obtained experimentally or theoretically, and may be, for example, a quadratic expression or a cubic expression. Further, the second reference value calculation unit 37 can obtain the change δω ₀ (t) by a numerical calculation method shown in the following Expression 13.

[0136]

(Equation 13)

Note that the shape of the function f (δω ₀ (t)) shown in Expression 13 may be the shape shown in Expressions 10 and 11.
Any shape obtained by other experiments or theoretically may be used.

[0138] In the fourth embodiment of the present invention, if the first reference value omega ₀ second reference value from the (t) ω ₀ 'Format seeking (t), the format shown in Formula 9 and Formula 13 Without limitation, all other forms are included in the present invention. Further, in the fourth embodiment of the present invention, the calculation of the reference value is up to the second reference value ω ₀ ′ (t), but is not limited thereto. The calculation may be performed in multiple stages like the third and fourth reference values. Further, in the fourth embodiment of the present invention, the first reference value calculation unit 36 and the first reference value calculation unit 37
The reference value may be calculated digitally by the CPU, or may be processed by an analog circuit depending on the mounting state. The first reference value calculation unit 36 stores the calculation data by the memory unit 35a as shown in FIG. 2, and based on at least a part of the calculation data, the first reference value ω ₀ (t).
Can also be calculated.

In the shake detecting device according to the embodiment of the present invention, the shake detecting section is not limited to the angular velocity detector such as the angular velocity sensor 10, but may be a speed detector, an acceleration detector such as an acceleration sensor, or another sensor. The present invention can also be applied to such cases. Further, the determination unit 30, the reference value calculation unit 35, the reference value selection unit 55, and the drive signal calculation unit 45 can be mounted in an integrated one-chip microcomputer. Similarly, the first reference value calculation unit 36 and the second reference value calculation unit 37 may be one reference value calculation unit, and the first reference value calculation unit 36, the second reference value calculation unit 37, and the drive signal The operation unit 45 can be mounted in an integrated one-chip microcomputer. In the embodiment of the present invention, an example in which a blur detection device is mounted on a single-lens reflex still camera has been described. However, the present invention is not limited to this. The present invention can be applied to an apparatus. Further, the present invention can be applied to a compact camera in which the lens barrel cannot be replaced.

[0140]

As described above in detail, according to the first aspect of the present invention, the reference value calculating section sets the reference value of the shake detection signal to 2 based on the shake detection signal output from the shake detection section. Since one or more calculations are performed, a plurality of reference values can be prepared according to the situation.

According to the second aspect of the present invention, since the reference value calculation section calculates two or more reference values of the shake detection signal simultaneously or substantially simultaneously, it calculates a plurality of reference values and instantaneously calculates the calculation result. Can be obtained.

According to the third aspect of the invention, the moving state determining section determines the moving state of the blur detecting section, and the reference value selecting section determines the reference value calculating section based on the determination result of the moving state determining section. Since the reference value of one shake detection signal is selected from the reference values of the plurality of shake detection signals calculated by, the optimum reference value can be selected according to the moving state.

According to the fourth aspect of the present invention, the reference value selecting section sets the reference value as the reference value B of the shake detection signal before the selection operation and the reference value A of the shake detection signal after the selection operation. = (1-P (t)) * A + P (t) * B [However,
P (t) is a decreasing function of 0 ≦ P (t) ≦ 1], so that the discontinuity of the reference value at the time of the selecting operation of the reference value selecting unit can be reliably eliminated.

According to the fifth aspect of the present invention, the decreasing function P
(T) is P (t) = 1 (t <0), P (t) = 1−t
/ Τ (0 ≦ t <τ) and P (t) = 0 (τ ≦ t), so that the discontinuity of the reference value at the time of the selection operation of the reference value selection unit can be eliminated according to the switching time. it can.

According to the present invention, the reference value calculating section calculates the correction reference value by correcting the delay of the reference value with respect to the shake detection signal. Can be corrected.

According to the seventh aspect of the present invention, the reference value calculating section calculates the first reference value of the shake detection signal based on the shake detection signal output from the angular velocity sensor, and calculates the first reference value. Based on the reference value, the second
Is calculated, the blur can be corrected with high accuracy based on the second reference value.

According to the eighth aspect of the present invention, the reference value calculation section calculates the second reference value by correcting the delay of the first reference value with respect to the shake detection signal. , And the blur can be corrected with high accuracy.

According to the ninth aspect of the present invention, the reference value calculating section sets the reference value or the first reference value of the shake detection signal at time t to ω ₀ (t), and sets the reference value or the reference value within a predetermined time. When the amount of change in the first reference value is δω ₀ (t), the correction reference value or the second reference value ω ₀ ′ (t) is set to ω ₀ ′.
(T) = ω ₀ (t) + f (δω ₀ (t)) * δω
₀ (t) [where f is a function of δω ₀ (t)]
Therefore, it is possible to correct the first reference value having poor response to the shake detection signal and to solve the delay of the response of the first reference value to the shake detection signal.

According to the tenth aspect of the present invention, the reference value calculating section calculates f (δω ₀ (t)) = 0 (| δω ₀ (t) | <
Th), f (δω ₀ (t)) = a * δω ₀ (t) (| δ
ω ₀ (t) | ≧ Th) (where Th is a constant)
Is used to calculate the correction reference value or the second reference value ω ₀ ′ (t).
Fluctuation of the reference value can be prevented, and when the angle of view is changed, a quick response of the correction reference value or the second reference value can be realized.

According to the eleventh aspect of the present invention, the reference value calculating section determines the blur based on at least a part of the output value output within a predetermined time by the shake detecting section and the output value output after the predetermined time has elapsed. Since the reference value or the first reference value of the detection signal is calculated, the amount of calculation can be reduced, and the speed of the calculation process can be increased.

According to the twelfth aspect of the present invention, the reference value calculation section calculates at least the reference value of the shake detection signal when the shake detection section is in the moving state and in the stationary state. A plurality of reference values can be calculated according to the state of the unit.

According to the thirteenth aspect of the present invention, the storage unit stores, as operation data, a shake detection signal output within a predetermined time by the shake detection unit, and the reference value operation unit stores at least a part of the operation data. And calculates the reference value or the first reference value of the shake detection signal based on the calculated value, and the number of calculation data when the shake detection unit is in the moving state is the number of calculation data when the shake detection unit is in the stationary state Since the number is relatively small, a reference value having a small error can be calculated for each of the moving state and the stationary state.

According to the fourteenth aspect of the present invention, since the reference value calculating section calculates the reference value or the first reference value of the shake detection signal by a moving average, it can calculate a reference value having a small error. .

According to the fifteenth aspect of the present invention, the reference value calculation unit uses the plurality of low-pass filters having different cutoff frequencies and / or the plurality of low-pass filters having different calculation methods to determine the reference of the blur detection signal. Since the value or the first reference value is calculated, the reference value can be calculated accurately.

According to the sixteenth aspect of the present invention, since the reference value calculating section includes the low-pass filter section for extracting a low-frequency component from the blur detection signal, only the frequency components necessary for calculating the reference value are obtained. Can be taken out.

According to the seventeenth aspect, since the shake detecting section is an acceleration detector for detecting acceleration, it is possible to calculate a reference value based on an output signal of the acceleration detector.

According to the eighteenth aspect of the present invention, since the shake detecting section is a speed detector for detecting a speed or an angular speed, a reference value is calculated based on an output signal of the speed detector or the angular speed detector. be able to.

According to the nineteenth aspect, the reference value calculation section calculates the reference value of the shake detection signal based on the shake detection signal amplified by the amplification section. Can be calculated.

According to the twentieth aspect, the control unit drives and controls the drive unit for driving the shake correction optical system based on the reference value of the shake detection signal from the shake detection device. Accuracy can be increased.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view schematically showing a single-lens reflex camera equipped with a shake detection device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a memory unit of a reference value calculation unit in the shake detection device according to the first embodiment of the present invention.

FIG. 3 is a flowchart illustrating an operation of a single-lens reflex camera using the blur detection device according to the first embodiment of the present invention.

FIG. 4 is a diagram illustrating, as an example, an output signal of an angular velocity sensor, a calculation result by a moving average method, and a driving amount of a blur correction lens in the blur detection device according to the first embodiment of the present invention.

FIG. 5 is a flowchart illustrating an operation of a single-lens reflex camera using a blur detection device according to a second embodiment of the present invention.

FIG. 6 is a flowchart illustrating an operation of a reference value selection unit in a shake detection device according to a third embodiment of the present invention.

FIG. 7 is a diagram illustrating a calculation result when a reference value selection unit in a blur detection device according to a third embodiment of the present invention selects and switches a reference value.

FIG. 8 is a cross-sectional view schematically showing a single-lens reflex camera equipped with a shake detection device according to a fourth embodiment of the present invention.

FIG. 9 is a flowchart illustrating an operation of a single-lens reflex camera using a blur detection device according to a fourth embodiment of the present invention.

FIG. 10 is a flowchart illustrating a calculation process of a second reference value calculation unit in a blur detection device according to a fourth embodiment of the present invention.

FIG. 11 is a diagram schematically illustrating a calculation process of a second reference value calculation unit in a shake detection device according to a fourth embodiment of the present invention.

FIG. 12 is a diagram illustrating, as an example, an output signal of an angular velocity sensor, a calculation result by a first and a second reference value calculation unit, and a driving amount of a shake correction lens in a shake detection device according to a fourth embodiment of the present invention.

FIG. 13 is a diagram illustrating a function f (δω) calculated by a second reference value calculation unit in a blur detection device according to a fifth embodiment of the present invention.
It is a figure which shows the shape of ₀ (t)) as an example.

FIG. 14 is a block diagram of a conventional shake correction apparatus.

FIG. 15 is a diagram showing an example in which the calculation of omega zero by the conventional blur correction device has been successful.

FIG. 16 is a diagram illustrating an example in which calculation of omega zero by the conventional shake correction apparatus has failed.

FIG. 17 is a diagram showing a calculation result and a calculation error by the moving average method when a calculation section is lengthened in a stationary state.

FIG. 18 is a diagram illustrating a calculation result and a calculation error by the moving average method when a calculation section is set to be short in a stationary state.

FIG. 19 is a diagram illustrating an example of an output signal of an angular velocity sensor when a moving object is tracked, a calculation result by a moving average method when a calculation section is lengthened, and a driving amount of a blur correction lens.

FIG. 20 is a diagram illustrating an example of an output signal of an angular velocity sensor when a moving object is tracked, a calculation result obtained by a moving average method when a calculation section is shortened, and a driving amount of a blur correction lens.

[Explanation of symbols]

 Reference Signs List 10 angular velocity sensor 20 amplifying unit 30 moving state determining unit 35 reference value calculating unit 35a memory unit 36 first reference value calculating unit 37 second reference value calculating unit 45 drive signal calculating unit 50 driving unit 55 reference value selecting unit 60 blur correction lens Reference Signs List 70 Camera body 80 Lens barrel 90 Half-press timer 130 Power supply section SW1 Half-press switch SW2 Full-press switch I Optical axis

Claims (20)

[Claims] 1. A shake detection unit that detects a shake and outputs a shake detection signal, and a reference value calculation unit that calculates two or more reference values of the shake detection signal based on the shake detection signal. A blur detection device, characterized in that: 2. The blur detection device according to claim 1, wherein the reference value calculation unit calculates two or more reference values of the blur detection signal simultaneously or substantially simultaneously. 3. The shake detection device according to claim 1, wherein the movement state determination unit determines a movement state of the shake detection unit, and the reference is based on a determination result of the movement state determination unit. A reference value selection unit that selects a reference value of one shake detection signal from a plurality of reference values of the shake detection signals calculated by the value calculation unit. 4. One of claims 1 to 3
In the blur detection device according to the item, the reference value selection unit sets the reference value of the shake detection signal before the selection operation of the reference value selection unit to B, and sets the reference value of the shake detection signal after the selection operation of the reference value selection unit to B. When the reference value is A, the reference value = (1−P (t)) * A + P (t) * B [where P (t) is a decreasing function of 0 ≦ P (t) ≦ 1] Performing a selecting operation according to the following. 5. The blur detection device according to claim 4, wherein the decreasing function P (t) is P (t) = 1 (t <0), P (t)
(T) = 1−t / τ (0 ≦ t <τ), P (t) = 0 (τ
.Ltoreq.t). 6. A blur detection unit that detects blur and outputs a blur detection signal, and a reference value calculation unit that calculates a reference value of the blur detection signal based on the blur detection signal, wherein the reference value The calculation unit calculates a correction reference value by correcting a delay of the reference value with respect to the shake detection signal. 7. The blur detection device according to claim 1, wherein the reference value calculation unit determines a first one of the blur detection signals based on the blur detection signal.
And calculates a second value of the shake detection signal based on the first reference value.
Calculating a reference value of. 8. The shake detection device according to claim 7, wherein the reference value calculation unit calculates the second reference value by correcting a delay of the first reference value with respect to the shake detection signal. A blur detection device. 9. Any one of claims 6 to 8
In the blur detection device described in the paragraph, the reference value calculation unit sets the reference value or the first reference value at time t to ω ₀ (t), and sets the reference value or the first reference within a predetermined time. Δω
₀ (t), the correction reference value or the second reference value ω ₀ ′ (t) is calculated as ω ₀ ′ (t) = ω ₀ (t) + f
(Δω ₀ (t)) * δω ₀ (t) [where f is δω
₀ (t) is a function of (t). 10. The blur detection device according to claim 9, wherein the reference value calculation unit is configured to calculate f (δω ₀ (t)) = 0 (| δω
₀ (t) | <Th), f (δω ₀ (t)) = a * δω ₀
(T) (| δω ₀ (t) | ≧ Th) [where Th is
The correction reference value or the second reference value ω ₀ ′ (t) is calculated by using a constant. 11. The blur detection device according to claim 1, wherein the reference value calculation unit includes at least a part of an output value output within a predetermined time by the shake detection unit. And calculating the reference value or the first reference value based on the output value output after a predetermined time has elapsed. 12. The blur detection device according to claim 1, wherein the reference value calculation unit is at least when the blur detection unit is in a moving state and in a stationary state. Calculating a reference value of a shake detection signal at the time. 13. The blur detection device according to claim 12, further comprising: a storage unit configured to store, as operation data, a shake detection signal output by the shake detection unit within a predetermined time, wherein the reference value calculation unit performs the calculation. The reference value or the first reference value is calculated based on at least a part of data, and the number of calculation data when the blur detection unit is in a moving state is calculated when the blur detection unit is in a stationary state. A blur detection device characterized in that the number is smaller than the number of operation data. 14. The blur detection device according to claim 1, wherein the reference value calculation unit calculates the reference value or the first reference value by a moving average. A blur detection device, characterized in that: 15. The blur detection device according to claim 1, wherein the reference value calculation unit includes a plurality of low-pass filters and / or calculation methods having different cutoff frequencies. And calculating the reference value or the first reference value using a plurality of different low-pass filters. 16. The blur detection device according to claim 1, wherein the reference value calculation unit extracts a low frequency component from the blur detection signal. A blur detection device, comprising: 17. The blur detecting device according to claim 1, wherein the blur detecting unit is an acceleration detector that detects an acceleration. . 18. The blur detecting device according to claim 1, wherein the blur detecting unit is a speed detector or an angular speed detector that detects a speed or an angular speed. Characteristic blur detection device. 19. The blur detection device according to claim 1, further comprising: an amplification unit that amplifies the blur detection signal, wherein the reference value calculation unit is amplified by the amplification unit. Calculating a reference value of the blur detection signal based on the obtained blur detection signal. 20. A blur detection device according to claim 1, a blur correction optical system for correcting blur, a drive unit for driving the blur correction optical system, and And a control unit for driving and controlling the drive unit based on a reference value of the shake detection signal from a detection device.