WO2007132730A1 - 画像揺れ補正装置 - Google Patents
画像揺れ補正装置 Download PDFInfo
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- WO2007132730A1 WO2007132730A1 PCT/JP2007/059660 JP2007059660W WO2007132730A1 WO 2007132730 A1 WO2007132730 A1 WO 2007132730A1 JP 2007059660 W JP2007059660 W JP 2007059660W WO 2007132730 A1 WO2007132730 A1 WO 2007132730A1
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- Prior art keywords
- control
- rotation
- amount
- shake
- image
- Prior art date
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Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0007—Movement of one or more optical elements for control of motion blur
- G03B2205/003—Movement of one or more optical elements for control of motion blur by a prism with variable angle or the like
Definitions
- the present invention relates to an image shake correction apparatus that appropriately controls the amount of movement of a movable refracting element within a movable range when correcting image shake.
- Patent Document 1 a shake of an imaging device provided with a lens formed by injecting a liquid between two glass plates connected by a bellows as a movable refractive element is detected by a detector, and the detected imaging
- An image shake correction apparatus that corrects image shake by varying the tilt angle of the movable refractive element according to the shake of the device has been proposed.
- the degree of freedom of element control is increased.
- Patent Document 2 the movable refraction element for displacing the image on the imaging surface is set to the initial position of movement start, and the initial movement start is set by an external operation or the like during camera shake correction control.
- An image displacement device that further changes the position has been proposed.
- Patent Document 1 JP-A-9 51469
- Patent Document 2 Japanese Patent No. 2752115
- the movable refraction element for displacing the image on the imaging surface is set to the movement start initial position, and the movement start initial position set by an external operation or the like is set during camera shake correction control. Furthermore, since the change is made, the center of vibration of the moving amount of the movable refractive element necessary for correcting the shaking of the image does not always coincide with the center of the movable range of the movable refractive element.
- the amount of movement of the movable refractive element necessary for correcting the image shake is biased toward the upper limit direction or the lower limit direction of the movable range of the movable bending element, and the movement amount of the movable refractive element exceeds the movable range. It was difficult to properly control the amount of movement of the movable refractive element.
- the present invention has been made in view of the above problems, and provides an image shake correction apparatus that can appropriately control the amount of movement of the movable refraction element within the movable range when correcting the image shake.
- the purpose is to do.
- a first aspect of the present invention is to detect a shake that occurs in an imaging device due to an image shake correction device that corrects a shake of a captured image caused by a shake during shooting of an imaging device having an optical lens.
- a control amount calculating means for calculating a control amount; a control means for controlling the driving means based on the control amount calculated by the control amount calculating means; a drive amount detecting means for detecting the driving amount of the image moving means;
- a reversal control means for calculating a reversal control amount by subtracting the difference between the control amount and the control limit amount from the control limit amount indicating the control amount of the movable limit of the means, and controlling the drive means based on this reversal control amount And drive When it is determined that the drive amount detected by the amount detection means has reached the control limit amount, an
- the second aspect of the present invention is caused by shake during imaging of an imaging device having an optical lens.
- the image shake correction device for correcting the shake of the photographed image, the shake detection means for detecting the shake generated in the photographing device, and the refraction of the light incident on the optical lens disposed on the optical path to the optical lens.
- Two movable refracting elements that change the direction, two rotating means that rotate the two movable refracting elements around the optical axis, respectively, and the two rotating means that cancel the shake detected by the shake detecting means.
- a rotation control amount calculation means for calculating the rotation control amount, a rotation control means for controlling the two rotation means based on the rotation control amount calculated by the rotation control amount calculation means, and two movable
- the difference between the rotation control amount and the rotation limit amount is subtracted from the rotation amount detection means for detecting the rotation amount of the refraction element and the rotation limit amount indicating the rotation amount of the movable limit of the two movable refraction elements.
- the amount is calculated as the reversal control amount. Therefore, when it is determined that the rotation amount detected by the rotation control unit that controls the two rotation units and the rotation amount detection unit has reached the rotation limit amount, the reversal control of the rotation unit is performed.
- the gist of the invention is that it includes a control switching means for transmitting a shake control start signal for starting the control of the rotation means to the rotation control means when it is determined that the control amount is inconsistent.
- an image shake correction device that corrects a shake of a captured image caused by a shake during shooting of an imaging device having an optical lens.
- Means an image moving means for moving an image obtained from light incident on the optical lens, a driving means for driving the image moving means, and a control amount for driving the driving means so as to cancel the shake detected by the shake detecting means.
- a control amount calculating means for calculating; a control means for controlling the driving means based on the control amount calculated by the control amount calculating means; a drive amount detecting means for detecting the driving amount of the image moving means; and a control amount calculating means.
- the control amount start set value is calculated based on the calculated control amount amplitude for a predetermined time, and the drive means is initialized so that the drive amount detected by the drive amount detection means becomes equal to the control amount start set value.
- the initial control start signal for starting the initial control of the driving means is transmitted to the initial control means, and the control amount calculated by the control amount calculation means And control amount calculated by initial control means
- the gist of the invention is that it includes a shake control start means for transmitting a shake control start signal for starting control of the drive means to the control means when the set value becomes equal.
- a fourth feature of the present invention is a shake detection unit that detects a shake that occurs in a photographing apparatus in an image shake correction apparatus that corrects a shake of a photographed image caused by a shake during photographing of an imaging apparatus having an optical lens. And two movable refracting elements that are arranged on the optical path of incidence to the optical lens and change the refraction direction of the light incident on the optical lens, and rotate the two movable refracting elements around the optical axis, respectively.
- the rotation amount start setting value is calculated by calculating the amplitude of the control amount and multiplying the calculated amplitude by a preset multiple of the set value amplitude, and the rotation amount detected by the rotation amount detection means is the rotation amount start setting value.
- An initial control means for initially controlling the rotating means to be equal, and an initial control start signal for starting the initial control of the rotating means are transmitted to the initial control means after receiving a camera shake correction start request signal by an external operation.
- the rotation control amount calculated by the rotation control amount calculation unit is equal to the rotation amount start set value calculated by the initial control unit, a shake that causes the rotation control unit to start controlling the rotation unit is detected.
- the gist of the present invention is that it includes a camera shake control start means for transmitting a control start signal.
- a fifth feature of the present invention is that an image shake correction device that corrects a shake of a captured image caused by a shake during shooting of an imaging device having an optical lens is used to detect a shake generated in the shooting device.
- a shake control start means for sending a shake control start signal for starting control of the drive means to the control means when the absolute value of the difference between the control amount and the control amount is
- a sixth feature of the present invention is a shake detection unit that detects a shake that occurs in a photographing apparatus in an image shake correction apparatus that corrects a shake of a photographed image caused by a shake during photographing of an imaging apparatus having an optical lens.
- Two movable refraction elements that are arranged on the incident optical path of the optical lens and change the refraction direction of the light incident on the optical lens, and two rotations that respectively rotate the two movable refraction elements around the optical axis. Based on the rotation control amount calculated by the rotation control amount calculation means and the rotation control amount calculation means for calculating the rotation control amount of the two rotation means so as to cancel out the shake detected by the shake detection means.
- the rotation control means for controlling the two rotation means, the rotation amount detection means for detecting the rotation amount of the two movable refractive elements, and the rotation amount detection after receiving the camera shake correction start request signal by the external operation. Detected by means When the absolute value of the difference between the rotation amount and the rotation control amount calculated by the rotation control amount calculation means or the difference between the rotation amount and the rotation control amount is minimum, the rotation control means
- the gist of the invention is that it includes a camera shake control start means for transmitting a camera shake control start signal for starting control of the rotating means.
- a seventh feature of the present invention is that an image shake correction device that corrects a shake of a captured image caused by a shake during shooting of an imaging device having an optical lens detects a shake that occurs in the shooting device.
- Shake detecting means that is arranged on the incident optical path of the optical lens, and two movable refractive elements that change the refractive direction of the light incident on the optical lens, and the two movable refractive elements are rotated about the optical axis, respectively.
- Two rotation means Two rotation means, a rotation control amount calculation means for calculating the rotation control amount of the two rotation means so as to cancel the shake detected by the shake detection means, and the rotation calculated by the rotation control amount calculation means
- a rotation control means for controlling the two rotation means based on the control amount
- a rotation amount detection means for detecting the rotation amounts of the two movable refractive elements , Detected by the rotation amount detection means
- the absolute value of the difference between the rotation amount calculated and the rotation control amount calculated by the rotation control amount calculation means falls within a predetermined range, or the absolute value of the difference between the rotation amount and the rotation control amount is the minimum.
- the camera shake control start signal is sent to the rotation control means to start control of the two rotation means.
- the gist of the present invention is that it includes a vibration control start means for transmitting.
- FIG. 1 is a block diagram showing a configuration of an image shake apparatus according to a first embodiment of the present invention.
- FIG. 2 is a schematic diagram showing a correction unit of the still image capturing device shown in FIG. 1.
- FIG. 2 (a) is a schematic front view
- FIG. 2 (b) is a schematic side view.
- FIG. 3 is a block diagram of the correction unit shown in FIG. 2, in which FIG. 3 (a) is a front view, FIG. 3 (b) is a cross-sectional view as seen from the direction B shown in FIG. 2 (a), and FIG. FIG. 3 is a cross-sectional view seen from the direction A shown in FIG.
- FIG. 4 is a perspective view of a fixed prism provided in the correction unit shown in FIG.
- Fig. 5 Arrangement of actuators and sensors provided in the correction unit shown in Fig. 3.
- Fig. 5 (a) is a schematic side view
- Fig. 5 (b) is an arrangement of the actuators and sensors of the movable prism 10A
- Fig. 5 (c) is an arrangement diagram of the actuator and sensor of the movable prism 10B.
- FIG. 6 is a diagram for explaining the movement of a subject image by a prism
- FIG. 6 (a) is a diagram for explaining the refraction of light by the prism
- FIG. 6 (b) is a diagram illustrating the prism from the front in FIG. It is a view.
- FIG. 7 is a diagram showing an image shift angle vector when the movable prism does not rotate.
- FIG. 8 is a diagram for explaining the movement of a subject image when the movable prism is rotated.
- FIG. 8 (a) is a diagram showing an image shift angle vector when the movable prism is rotated
- FIG. FIG. 9 is a diagram showing the change amount of the image shift angle vector shown in FIG.
- FIG. 9 Diagram showing the parallel movement of the subject image (subject).
- Fig. 9 (a) shows the subject moved to the second quadrant
- Fig. 9 (b) shows the subject moved to the first quadrant.
- Fig. 9 (c) is a diagram in which the subject has moved to the third quadrant
- Fig. 9 (d) is a diagram in which the subject has moved to the fourth quadrant.
- FIG. 10 is a diagram for explaining a converted focal length and a shift plane
- FIG. 10 (a) is a diagram for explaining a converted focal length
- FIG. 10 (b) is a diagram for explaining a shift amount.
- FIG. 11 is a diagram for explaining camera shake correction
- FIG. 11 (a) is a diagram for explaining movement of a subject image due to camera shake
- FIG. 11 (b) is a diagram for explaining camera shake correction.
- FIG. 12 is a flowchart showing a processing flow of camera shake control of the image shake correction apparatus according to the present embodiment.
- FIG. 13 is a flowchart showing a control switching process flow by the image shaking apparatus according to the present embodiment. It is a chart.
- FIG. 14 is a flowchart showing a processing flow of inversion control processing of the image shake correction apparatus according to the present embodiment.
- FIG. 15 is an explanatory diagram of a control switching process in the image shake correction apparatus according to the present embodiment.
- FIG. 16 is a diagram showing the lens system in FIG. 1.
- FIG. 17 is a diagram showing another arrangement relationship between the correction unit and the lens system shown in FIG. 1.
- FIG. 17 (a) is a diagram in which the correction unit is arranged in the lens system
- FIG. FIG. 6 is a diagram in which correction units are arranged.
- FIG. 18 is a diagram showing a correction unit without a fixed prism as another configuration of the correction unit according to the present embodiment.
- FIG. 18 (a) is a front view
- FIG. 18 (b) is a plan view
- FIG. It is a side view.
- FIG. 19 is a diagram illustrating a correction unit including two fixed prisms as another configuration of the correction unit according to the present embodiment.
- FIG. 19 (a) is a front view
- FIG. 19 (b) is a plan view
- FIG. c) is a side view.
- FIG. 20 is a diagram showing another configuration of the prism according to this embodiment
- FIG. 20 (a) is a diagram showing a single prism
- FIG. 20 (b) is a diagram showing a compound prism
- FIG. 20 (c) shows a parallel plate having the prism effect.
- FIG. 21 is a block diagram showing a configuration of an image shake apparatus according to the second embodiment of the present invention.
- FIG. 23 is an explanatory diagram of camera shake control start determination processing in the image shake correction apparatus according to the present embodiment.
- FIG. 24 is a block diagram showing the configuration of the image shake device according to the third embodiment of the present invention. 25: This is a flowchart showing the processing flow of the image shake correction device according to the present embodiment.
- FIG. 1 is a block diagram showing a first embodiment of an image shake correction apparatus according to the present invention.
- the image shake correction apparatus of the present invention is provided in, for example, a video camera 1 that is an imaging apparatus.
- the video camera 1 includes a correction unit 2 including a fixed prism 9 (Fig. 3) and a pair of movable prisms 10A and 10B that can rotate independently about the optical axis la as a rotation center.
- the pre-processing IC unit 19 with functions, the camera DSP unit 20 that performs various digital processing on the input signal coming from the pre-processing IC unit 19, and the pair of movable prisms in the correction unit 2 are independent of each other.
- Actuators 4A and 4B that rotate automatically, a camera shake detection unit 5 that outputs a camera shake signal by detecting a shake by the angular velocity of the video camera 1 due to camera shake, etc., a CPU 6 that performs various controls, and a control from the CPU 6 Motor drive power to drive the actuators 4A and 4B according to the signal Circuit (MDE) 7, sensors 8A and 8B for detecting the rotation state of a pair of movable prisms in the correction unit 2, a storage unit 24 for storing data necessary for camera shake control, operation buttons, etc.
- An external operation system 26 is provided.
- the CPU 6 has a rotation control amount calculation means 6A for calculating the rotation control amounts of the two actuators 4A and 4B so as to cancel the shake detected by the camera shake detection unit 5, and the two rotation means 4A and 4
- the reversal control amount is calculated by subtracting the difference between the rotation control amount and the rotation limit amount from the rotation limit amount of the rotation control means 6B for controlling B and the movable prisms 10A and 10B.
- the reversal control means 6C hair actuator
- a control switching means 6D for transmitting a camera shake control start signal for starting the control of the rotation control means 6B hair actuators 4A, 4B when it is determined that the rotation control amount calculated immediately before has been matched.
- the image shake correction apparatus of the present embodiment is configured to include the correction unit 2 and the CPU 6, but at least the rotation control amount calculation means 6A, the rotation control means 6B, and the inversion control means 6C If it includes control switching means 6D, it is good.
- the correction unit 2 is disposed between the lens system 3 and the hood unit lb covering the front surface of the lens system 3, and is shown in Figs. 3 (a) to 3 (c).
- a fixed prism 9 that is fixedly installed and a pair of movable prisms 10A and 10B that can rotate about the optical axis as a rotation center are provided.
- the fixed prism 9 has a first surface 9a orthogonal to the optical axis la and a first surface 9a facing the first surface 9a with a slight angle of inclination.
- This is a prism made of talyl or the like and having a second surface 9b.
- the movable prisms 10A and 10B have the same shape and material.
- FIG. 5 is an arrangement diagram of the actuator and sensor included in the correction unit 2 shown in FIG. 3.
- FIG. 5 (a) is a schematic side view
- FIG. 5 (b) is an arrangement of the actuator and sensor of the movable prism 10A
- Fig. 5 (c) is an arrangement diagram of the actuator and sensor of the movable prism 10B.
- the actuator and the sensor are attached to the correction unit 2. As shown in FIGS. 5 (b) and 5 (c), the actuator 4A and the sensor 8A are for the movable prism 10A, and the actuator 4B and the sensor 8B are for the movable prism 10B.
- the actuators 4A and 4B rotate the movable prisms 10A and 10B according to a control signal from the rotation control means 6B of the CPU 6.
- the actuators 4A and 4B are composed of small pulse motors with small load torque, small linear motors, small ultrasonic motors, and so on.
- the sensors 8A and 8B are constituted by small photo interrupters, MR elements, Hall elements, and the like, detect the rotation state of the movable prisms 10A and 10B, and output the rotation state information to the CPU 6.
- a small photo interrupter When a small photo interrupter is used as the sensors 8A and 8B, it is used in combination with a pulse motor, and the outer peripheral side of the movable prisms 10A and 10B is masked, and holes 10a and 10b are respectively provided on the masking. .
- the holes 10a and 10b are provided so as to come to the positions of the sensors 8A and 8B when the movable prisms 10A and 10B are in the initial positions.
- the small photo interrupter includes an infrared light emitting diode and a phototransistor, and is installed so that the movable prism 10A or 10B is disposed between the infrared light emitting diode and the phototransistor.
- the small photo interrupter detects the origin position by rotating the movable prisms 10A and 10B when the power supply is N, and receiving the light of the infrared light emitting diode that has passed through the holes 10a and 10b by the phototransistor. .
- the information on the rotation state of the movable prisms 1 OA and 1 OB can be obtained by counting the number of pulses at the time of rotation with zero at the origin position being zero.
- a magnetic material is attached to each of the movable prisms 10A and 10B.
- the MR element or the Hall element detects the rotation state information by detecting a change in the magnetic field caused by the magnetic body that rotates with the rotation of the movable prisms 10A and 10B.
- FIG. 6 illustrates the movement of the subject image by the prism.
- FIG. 6 (a) illustrates the refraction of light by the prism.
- FIG. 6 (b) illustrates the refraction of FIG.
- FIG. 6 is a diagram of the prism as viewed from the front direction (a direction).
- the prism 11 shown in Fig. 6 (a) is rotated only on a plane perpendicular to the a direction.
- the incident light is refracted by the prism 11 at a refraction angle i '.
- ⁇ is the prism angle (incident angle of light) of the prism 11
- L is the prism length
- ⁇ is the prism height
- ⁇ is Prism height of the thinnest part
- ⁇ is the refractive index
- FIG. 7 is a diagram showing an image shift angle beta when the movable prisms 10A and 10B do not rotate (initial state).
- ⁇ , ⁇ , and ⁇ are fixed prisms vector 1 vector 2 vector 3
- FIG. 9 is an image shift angle vector by the movable prisms 10A and 10B. [0042] As shown in Fig. 7, the fixed vector is set so that ⁇ cancels the combined vector of ⁇ and ⁇ .
- FIG. 8 is a diagram for explaining the movement of the subject image when the movable prisms 10A and 10B are rotated
- FIG. 8 (a) is a diagram showing an image shift angle vector when the movable prism is rotated.
- FIG. 8B is a diagram in which the amount of change in the image shift angle vector shown in FIG.
- the image shift angle vector is the synthetic vector ⁇ of ⁇ and ⁇
- Fig. 9 is a diagram showing a form of parallel movement of the subject image (subject)
- Fig. 9 (a) is a diagram in which the subject has moved to the second quadrant
- Fig. 9 (b) is a diagram in which the subject is in the first quadrant
- Fig. 9 (c) is a diagram in which the subject has moved to the third quadrant
- Fig. 9 (d) is a diagram in which the subject has moved to the fourth quadrant.
- FIG. 10 is a diagram for explaining the converted focal length and the shift amount
- FIG. 10 (a) is a diagram for explaining the converted focal length
- FIG. 10 (b) is a diagram for explaining the shift amount.
- S is the distance from the subject A to the first principal point of the lens system 3
- f is the lens.
- FIG. 11 is a diagram for explaining camera shake correction, and FIG. 11 (a) is a subject due to camera shake.
- FIG. 11B is a diagram illustrating image movement, and
- FIG. 11B is a diagram illustrating camera shake correction.
- the image shift vector ⁇ and the camera shake angle vector by the correction unit 2 are determined as the camera shake correction condition.
- the subject image 14A ′ moves to the position of the subject image 14A.
- FIG. 12 is a flowchart showing a processing flow of camera shake control of the image shake correction apparatus according to the present embodiment.
- Step S101 when the control switching means 6D of the CPU 6 receives a camera shake correction start request signal by a user's push button operation or the like received by the external operation system 26, it transmits a camera shake control start signal to the rotation control means 6B. (Step S101).
- the rotation control means 6B that has received the shake control start signal transmits a shake angle calculation command to the rotation control amount calculation means 6A and receives the shake angle calculation command.
- the means 6A receives a camera shake signal from the camera shake detector 5 every predetermined time, and calculates a camera shake angle based on the received camera shake signal (steps S105 and S107).
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake, and outputs this to the rotation control amount calculation means 6A of the CPU 6 as a camera shake signal. Based on this camera shake signal, the CPU 6 rotation control amount calculation means 6A calculates a camera shake angle vector ⁇ indicating the magnitude and direction of the shake.
- the rotation control amount calculation means 6 ⁇ calculates the rotation angles H and A of the movable prisms 10A and 10B necessary for correcting the camera shake based on the camera shake angle calculated in step S105 (Equation 15 ) ⁇ (
- the CPU 6 receives the rotation angle H and H calculated by the rotation control means 6B force rotation control amount calculation means 6A of the CPU 6, and controls the movable prisms 10A and 10B so that the rotation angle becomes H and a.
- the motor drive electronic circuit 7 drives the actuators 4A and 4B in accordance with a control signal from the rotation control means 6B of the CPU 6, and the actuators 4A and 4B have the rotation angles of the movable prisms 10A and 10B increased. , Rotate to a.
- the rotation control means 6B of the CPU 6 repeats the processing of steps S103 to S109 until it receives the camera shake control stop signal from the control switching means 6D of the CPU 6 (step Sl l l).
- the image shake correction apparatus of the present embodiment rotates the movable prisms 10A and 10B so as to cancel the shake detected by the shake detection unit 5, and corrects the image shake caused by the shake.
- a rotation control start signal for starting the reversal control of the actuators 4A and 4B is transmitted, and the rotation calculated by the rotation control amount calculation unit 6A when the two actuators 4A and 4B are controlled by the reversal control unit 6C.
- a camera shake control start signal for starting control of the two actuators 4A and 4B is transmitted to the rotation control means 6B.
- FIG. 13 is a flowchart showing a control switching process flow by the image shaking apparatus according to the present embodiment. It is a chart.
- control switching means 6D of the CPU 6 determines that the rotation angle ⁇ , a is based on the rotation angle information received from the sensors 8A, 8B when the image shaker is performing the shake control (step S201).
- control switching means 6D of the CPU 6 receives the rotation angles H and A of the movable prisms 10A and 10B calculated by the rotation control amount calculation means 6A, and records the received rotation angles H and H.
- control switching means 6D of the CPU 6 determines whether or not the rotation amount detected by the sensors 8A and 8B has reached the rotation limit amount in steps S207 and S208.
- the control switching means 6D of the CPU 6 reads the rotation angle H, a stored immediately before in the storage unit 24, and the rotation angle H, a read out and the rotation control.
- Control unit 6A A ratio of the movable prism ⁇ ⁇ , 10B rotation angle, and received from 6A
- the rotation angle H, a is the maximum value received from the rotation control amount calculation means 6A at time t.
- the rotation angles of the new movable prisms 10A and 10B are shown.
- the rotation angles ⁇ and a are just before
- the rotation angles of the movable prisms 10A and 10B stored in the storage unit 24 are shown in l (t ⁇ l) 2 (t ⁇ l).
- control switching means 6D of the CPU 6 determines the rotation angle ex, a and the rotation angle.
- step S207 the control switching means 6D of the CPU 6 reads the rotation angles a and a stored immediately before in the storage unit 24, and the read rotation angles ⁇ and a and the sensor 8 '' lO (tl) 20 (tl) 10 (tl) 20 (tl)
- Rotation angle ⁇ of movable prisms 10A and 10B calculated based on rotation angle information received from B ⁇
- the rotation angle H, a represents the rotation angle information received from the sensors 8A, 8B at t.
- a indicates the rotation angle of the movable prisms 10A and 10B stored in the storage unit 24 immediately before.
- control switching means 6D of the CPU 6 includes the rotation angle H, a and the rotation angle.
- step S209 It is determined that the field quantity has been reached (step S209), and the values of the rotation angles ⁇ and a at this time are rotated.
- step S207 and step S209 the control switching means 6D of the CPU 6 becomes
- the rotation limit amount, a represents the rotation amount of the movable limit of the movable prisms 10A and 10B.
- the indicated value may be set in advance by the image shake correction device provider or the like and stored in the storage unit 24.
- control switching means 6D of the CPU 6 transmits a camera shake control stop signal to the rotation control means 6B (step S213), and transmits an inversion control start signal to the inversion control means 6C (step S213). 215).
- FIG. 14 is a flowchart showing a processing flow of inversion control processing of the image shake correction apparatus according to the present embodiment.
- the reversal control means 6C of the CPU 6 receives a reversal control start signal from the control switching means 6D (step S301), it transmits a hand shake angle calculation command to the rotation control amount calculation means 6A.
- the rotation control amount calculation means 6A that has received the shake angle calculation command receives the shake signal from the shake detector 5 and calculates the shake angle based on the received shake signal (steps S303 and S305).
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake, and outputs this to the rotation control amount calculation means 6A of the CPU 6 as a camera shake signal.
- the rotation control amount calculation means 6A of the CPU 6 calculates a camera shake angle vector ⁇ , which indicates the magnitude and direction of the shake, using (Equation 27) and (Equation 28) based on this camera shake signal.
- the rotation control amount calculation means 6A calculates the rotation angles H and A of the movable prisms 10A and 10B necessary for correcting the camera shake based on the camera shake angle calculated in step S305 (formula 15) to (
- Rotation limit angle indicating the amount of movement, reverse rotation angle reversed symmetrically with respect to, a
- the inversion control means 6C of the CPU 6 reads the rotation limit amount ⁇ , a indicating the rotation amount of the movable limit of the movable refractive elements 10A, 10B stored in the storage unit 24, and this time
- llim 21im 1 2 The amount obtained by subtracting the difference of llim 21im is calculated as the reverse rotation angle , (step S309).
- the reversal control means 6C of the CPU 6 outputs a control signal to the motor drive electronic circuit 7 so that the reversal rotation angle H, a calculated for the movable prisms 10A, 10B is reached (step S).
- the motor drive electronic circuit 7 drives the actuators 4A and 4B according to the control signal from the inversion control means 6C of the CPU 6, and the actuators 4A and 4B turn the movable prisms 10A and 10B to the reverse rotation angle, Rotate to a.
- the reversal control means 6C of the CPU 6 repeats the processing of steps S303 to S311 until the reversal control stop signal of the control switching means 6D force of the CPU 6 is received (step S313).
- FIG. 15 is an explanatory diagram of control switching processing in the image shake correction apparatus according to the present embodiment.
- FIG. 15 (a) shows the camera shake angle ⁇ * necessary for correcting the shake of the images of the movable prisms 10A and 10B with respect to time t
- FIG. 15 (b) shows the image shake device according to the present embodiment. Indicates the camera shake angle ⁇ * for which the control switching process has been performed.
- FIG. 15 shows the camera shake angle ⁇ * in the vertical direction in which correction is performed by the movable prism 10A for the sake of simplicity.
- a camera shake angle curve 150 represents a camera shake angle ⁇ * necessary for correcting a shake of the image of the movable prism 10A with respect to time t.
- the control switching means 6D of the CPU 6 has a time change in the rotation angle and no change in the rotation angle ⁇ at T1, that is, there is a difference between the rotation angle ⁇ and the rotation angle.
- the control switching means 6D of the CPU 6 transmits a camera shake control stop signal to the rotation control means 6B and transmits an inversion control start signal to the inversion control means 6C at T1.
- the inversion control means 6C that has received the inversion control start signal receives the rotation angle ⁇ after the time T1, and rotates the rotation angle ⁇ to the limit of the movable limit of the movable refractive element 10A. Calculate the reversal rotation angle ⁇ that is symmetrically reversed with respect to the rotation limit amount ⁇ that indicates the amount of movement.
- the actuator 4A is controlled based on the reverse rotation angle.
- control switching means 6D of the CPU 6 receives the rotation angle H, a from the rotation control amount calculation means 6A, and stores the received rotation angle H, a in the storage unit 24. Yes
- step S219 the control switching unit 6D of the CPU 6 determines whether or not the rotation control amount calculated by the rotation control amount calculation unit 6A has reached the peak of camera shake.
- the control switching means 6D of the CPU 6 reads the rotation angle H, a stored immediately before in the storage unit 24, and performs rotation control with the read rotation angle H, ⁇ .
- the rotation angles ⁇ , a are the maximum values received from the rotation control amount calculation means 6A at time t.
- Kt ⁇ l) 2 (t ⁇ l) indicates the rotation angles of the movable prisms 10A and 10B stored in the storage unit 24.
- control switching means 6D of the CPU 6 determines the rotation angle ⁇ , a and the rotation angle.
- Step S219 It is determined that the control amount has reached the peak of camera shake, and an inversion control stop signal is transmitted to the inversion control means 6C. (Step S221).
- control switching means 6D of the CPU 6 transmits a camera shake control start signal to the rotation control means 6B (step S223).
- the movable range of the movable prism 10A in which the peak of the camera shake correction curve 151 does not exceed the movable range of the movable prism 10A can be afforded.
- the rotation amount of the movable prism 10A can be appropriately controlled within the movable range so that the camera shake correction curve 151 does not exceed the movable range.
- the lens system 3 is depicted as one block, but it may be configured as a plurality of lens groups.
- 16 is a diagram showing the lens system 3 in FIG. 1
- FIG. 17 (a) is a diagram in which the correction unit 2 is arranged in the lens system 3
- FIG. ) Is a diagram in which the correction unit 2 is arranged behind the lens system 3.
- the lens system 3 includes first to fourth lens groups 3a to 3d. Although not shown in FIG. 1, an optical low-pass filter 16 that suppresses noise (false signal) and a CCD unit 13 that forms a subject image are provided behind the lens system 3.
- the force at which the correction unit 2 is arranged in front of the lens system 3 as shown in FIG. 16 may be arranged inside the lens system 3 as shown in FIG. 17 (a). Alternatively, it may be arranged behind the lens system 3 as shown in FIG. As a result, the correction unit 2 is arranged in a narrow portion of the light beam after passing through the lens system 3 or after passing through the lens system 3, so that the correction unit 2 can be downsized.
- FIG. 18 is a diagram illustrating a correction unit without a fixed prism as another configuration of the correction unit according to the present embodiment.
- FIG. 18 (a) is a front view
- FIG. 18 (b) is a plan view
- FIG. (c) is a side view.
- FIG. 19 is a diagram illustrating a correction unit including two fixed prisms as another configuration of the correction unit according to the present embodiment.
- FIG. 19A is a front view
- FIG. 19B is a plan view.
- FIG. 19 (c) is a side view.
- the image shift due to chromatic aberration is larger than in the case of FIGS. 3 and 19. That is, in the case of FIGS. 3 and 19, the fixed prism 9 is configured so that the incident angle and the outgoing angle of the correction unit 2 are the same in the initial state. This is due to the effect of chromatic aberration due to the prism action during image shake correction. This is to minimize image misalignment and reduce image misalignment correction due to chromatic aberration.
- the fixed prism 9 since the fixed prism 9 is omitted, the incident angle and the outgoing angle are not the same in the initial state. Therefore, in the case of Fig. 3 and Fig. 19. Compared to the above, the image shift due to chromatic aberration increases.
- the length of the correction unit 2 in the optical axis direction can be shortened to reduce the size.
- each prism in the embodiments shown in FIGS. 3, 18 and 19 may be a single prism or a composite prism.
- a parallel plate having a prism effect may be used.
- 20A is a diagram showing a single prism
- FIG. 20B is a diagram showing a compound prism
- FIG. 20C is a diagram showing a parallel plate having a prism effect.
- the movable prism 10A may be a composite prism in which two prisms lOAa and lOAb having a minute angle are bonded together as shown in FIG. 20 (b). If a composite prism is used, the angle of the prism alone can be increased, and a prism with a small angle that is difficult with a single prism can be easily manufactured.
- the prism requires production control of the tilt angle, but the parallel plate 17 can be easily processed.
- the amount of rotation of the movable prism is appropriate within the movable range so that the amount of rotation of the movable prism necessary for correcting image shaking does not exceed the movable range.
- a description will be given by taking an image shake correction apparatus controlled as described above as an example.
- FIG. 21 is a block diagram showing a second embodiment of the image shake correction apparatus according to the present invention.
- the image shake correction apparatus of the present invention is installed in a video camera 1 that is an imaging apparatus, for example.
- the image shake of the first embodiment is used.
- Components that are the same as those of the correction apparatus are denoted by the same reference numerals, description thereof is omitted as appropriate, and components that are different from the configuration of the image shake correction apparatus of the first embodiment are mainly described. .
- the video camera 1 includes a correction unit 2 including a fixed prism 9 (Fig. 3) and a pair of movable prisms 10A and 10B that can rotate independently about the optical axis la as a rotation center.
- the pre-processing IC unit 19 with functions, the camera DSP unit 20 that performs various digital processing on the input signal coming from the pre-processing IC unit 19, and the pair of movable prisms in the correction unit 2 are independent of each other.
- Actuators 4A and 4B that rotate automatically, a camera shake detection unit 5 that detects camera shake and outputs a camera shake signal based on the angular speed of the video camera 1, etc., a CPU 36 that performs various controls, and a control from the CPU 36 Motor drive power that drives the actuators 4A and 4B according to the signal Sub-circuit (MDE) 7, sensors 8A and 8B that detect the rotation state of the pair of movable prisms in correction unit 2, storage unit 24 that stores data necessary for camera shake control, etc. Operation system 26 is provided.
- MDE signal Sub-circuit
- the CPU 36 which is a component different from the configuration of the image shake correction apparatus of the first embodiment, rotates the two actuators 4A and 4B so as to cancel the shake detected by the camera shake detection unit 5.
- Rotation control amount calculation means 36A for calculating the control amount
- rotation control means 36B for controlling the two rotation means 4A and 4B
- rotation control for a predetermined time calculated by the rotation control amount calculation means 36A
- the amplitude of the rotation control amount is calculated from the maximum and minimum values of the amount
- the rotation amount start set value is calculated by multiplying the calculated amplitude by a preset multiple of the set value amplitude, and the rotation detected by the sensors 8A and 8B.
- the initial control means 36C that initially controls the two actuators 4A and 4B so that the amount of movement is equal to the rotation amount start set value, and the initial control start signal that starts the initial control is sent to the initial control means 36C to rotate.
- Rotation control calculated by control amount calculation means 36A When the a turning amount start set value calculated by the initial control means 36C was equal KuNatsu and to, and a hand shake control starting means 36D transmits the hand shake control start signal for starting the control to the rotation control means 36B.
- the image shake correction apparatus of the present embodiment includes a correction unit 2 and a CPU 36.
- a correction unit 2 includes a correction unit 2 and a CPU 36.
- at least the rotation control amount calculation means 36A, the rotation control means 36B, the initial control means 36C, and the camera shake control start means 36D are acceptable.
- the rotation angle of the movable prisms 10A and 10B necessary for the rotation control amount calculation unit 36A to correct the shake based on the shake detected by the shake detection unit 5 is described.
- the initial control means 36C calculates the rotation amount start set value from the rotation angle of the movable prisms 10A and 10B for a predetermined time calculated by the rotation control amount calculation means 36A, and detects it by the sensors 8A and 8B.
- the two actuators 4A and 4B start initial control so that the rotation angle is equal to the rotation amount start set value, and the rotation angle of the movable prisms 10A and 10B calculated by the rotation control amount calculation means 36A and the initial control means 36C
- the rotation control means 36B uses the two rotation means based on the rotation angles of the movable prisms 10A and 10B calculated by the rotation control amount calculation means 36A. 4 Starts control of A and 4B.
- FIG. 22 is a flowchart showing a processing flow of the image shake correction apparatus according to the present embodiment.
- step S40 1 when the camera shake control start means 36D of the CPU 36 receives a camera shake correction start request signal by a user's push button operation or the like received by the external operation system 26 (step S40 1), the sensor 8A, 8B The rotation information of the movable prisms 10A and 10B detected in this way is received and the rotation angles ⁇ and ⁇ are calculated (step S403).
- the shake control start means 36D of the CPU 36 transmits a shake angle calculation command to the rotation control amount calculation means 36A and receives the shake angle calculation command 36A. Receives a camera shake signal from the camera shake detector 5 and calculates a camera shake angle based on the received camera shake signal (steps S405 and S407).
- the rotation control amount calculation means 36A calculates the rotation angles H and A of the movable prisms 10A and 10B necessary for correcting the camera shake based on the camera shake angle calculated in Step S407.
- the rotation control amount calculation unit 36A that has received the vector calculation command of the camera shake angle vector ⁇ * from the camera shake control start unit 36D of the CPU 36 receives the camera shake signal from the camera shake detector 5 every predetermined time. Based on the received camera shake signal, the camera shake angle vector ⁇ * is calculated, and the rotation control amount calculating means 36A calculates the camera shake compensation vector based on the camera shake angle vector ⁇ *.
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake every predetermined time, and outputs this as a camera shake signal to the rotation control amount calculation unit 36A of the CPU 36.
- the rotation control amount calculation means 36A of the CPU 36 calculates the camera shake angle vector ⁇ * indicating the magnitude and direction of the shake using (Equation 27) and (Equation 28) based on the camera shake signal.
- the rotation control amount calculation means 36A of the CPU 36 calculates ⁇ , a that is a component of the rotation angle vector ⁇ based on (Equation 15) to (Equation 21).
- the rotation control amount calculation means 36A of the CPU 36 sequentially stores the calculated rotation angles ⁇ , a in association with the time in the storage unit 24 until a predetermined time has elapsed (step S41 1).
- the predetermined time for storing the rotation angle ct, a in the storage unit 24 is the maximum of the shake amplitude.
- the camera shake control starting means 36D of the CPU 36 determines whether or not to start the camera shake correction control (steps S413 to S427).
- an initial control start signal for starting the initial control of the actuators 4A and 4B is transmitted to the camera shake control start means 36D force initial control means 36C of the CPU 36 (step S413).
- the initial control means 36C that has received the initial control start signal extracts the maximum value and the minimum value from the values of the rotation angles a and a stored in the storage unit 24 (step S415).
- the initial control means 36C obtains the maximum value of the rotation angles ⁇ , a extracted in step S415,
- the amplitude of the hand shake is calculated, and the rotation amount start set values ⁇ 1 and ⁇ are calculated from the calculated hand shake amplitude (step S417).
- the initial control means 36C of the CPU 36 determines the maximum and minimum values of the rotation angle, a.
- This set value amplitude multiple is between 0 and 1.
- It can be set freely, and is set in advance by a provider of the image shake correction apparatus and stored in the storage unit 24.
- the initial control means 36C of the CPU 36 makes the rotation angle and force S calculated based on the rotation angle information received from the sensors 8A and 8B S equal to the rotation amount start set values ⁇ and ⁇ .
- the controller 4A, 4B is controlled (step S419).
- the rotation angles H, a of the movable prisms 10A, 10B become the rotation angles H, a corresponding to the rotation amount start set values ⁇ , ⁇ .
- the movable prisms 1 OA and 1 OB are rotated until 10 20 1 2 100 200 is reached.
- the camera shake control start unit 36D of the CPU 36 transmits a command for calculating the camera shake angle vector ⁇ ? To the rotation control amount calculation unit 36A, and receives the calculation command.
- the means 36A receives the camera shake signal from the camera shake detector 5, calculates the camera shake angle vector ⁇ * based on the received camera shake signal, and the rotation control amount calculation means 36A uses the camera shake angle vector.
- the angles ⁇ and ⁇ are calculated (steps S421 to S42 5 ).
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake every predetermined time, and outputs this as a camera shake signal to the rotation control amount calculation unit 36A of the CPU 36.
- the rotation control amount calculation means 36A of the CPU 36 calculates the camera shake angle vector ⁇ * indicating the magnitude and direction of the shake using (Equation 27) and (Equation 28) based on the camera shake signal.
- the rotation control amount calculation means 36A of the CPU 36 calculates a a which is a component of the rotation angle vector ⁇ ⁇ ⁇ based on (Equation 15) to (Equation 21).
- the camera shake control start means 36D of the CPU 36 correlates with the rotation angle of the movable prisms 10A and 10B calculated by the rotation control amount calculation means 36A and the rotation amount start set values ⁇ and ⁇ .
- the camera shake control start means 36D of the CPU 36 includes the rotation angle ⁇ , a and the rotation angle ⁇ , a
- the initial control stop signal is sent to the initial control means 36C.
- a shake control start signal for starting the control of the actuators 4A and 4B so as to have the rotation angle calculated by the rotation control amount calculation means 36A is transmitted to the rotation control means 36B (step S429).
- FIG. 23 is an explanatory diagram of a camera shake control start determination process in the image shake correction apparatus according to the present embodiment.
- FIG. 23 (a) shows the camera shake angle ⁇ * required to correct the image shake of the movable prisms 10A and 10B with respect to time t
- FIG. 23 (b) shows the image according to the second embodiment.
- the camera shake angle ⁇ * at which the camera shake correction control is started by the shaker is shown.
- the movable prisms 10A and 10B are independently movable in the vertical direction and the horizontal direction, so that the camera shake angles ⁇ * in the vertical direction and the horizontal direction are independently calculated.
- FIG. 23 for the sake of simplicity, the camera shake angle ⁇ * in the vertical direction in which correction is performed by the movable prism 10A is shown.
- FIG. 23 (a) the camera shake angle ⁇ * necessary for correcting the shake of the image of the movable prism 10A with respect to the camera shake angle curve of 250 force time t is shown.
- the rotation control amount calculation means 36A of the CPU 36 receives the rotation information of the movable prism 10A detected by the sensor 8A and responds to “cO” at T1, as shown in FIG. 23 (b). Obtain the value of the rotation angle ⁇ .
- "cO” is a camera shake correction start request by an external operation by the user
- the shake control start means 36D of the CPU 36 transmits a shake angle calculation command to the rotation control amount calculation means 36A, and after T1, the rotation control amount calculation means 36 A
- the camera shake signal is received from the camera shake detector 5 and the camera shake angle ⁇ * is calculated based on the received camera shake signal.
- the rotation control amount calculating means 36A calculates the rotation angle of the movable prism 10A necessary for performing the camera shake correction based on the calculated camera shake angle ⁇ * (Equation 15) to ( According to Equation 21) Calculate.
- the camera shake control start means 36D of the CPU 36 transmits an initial control start signal for starting the initial control of the initial control means 36C hair cursor 4A at T2 when a predetermined time has elapsed.
- the initial control means 36C calculates the rotation amount start set value ⁇ .
- the rotation angle of the movable prism 10A corresponds to the rotation amount start set value ⁇ .
- Actuator 4A is initially controlled so that the rotation angle is 10 1.
- the rotation angle value corresponds to the rotation amount start set value ⁇ .
- the camera shake control start means 36D of the CPU 36 corresponds to the rotation amount start set value ⁇ .
- the rotation control means 36 ⁇ of the CPU 36 that has received the camera shake control start signal from the camera shake control start means 36D starts the camera shake correction control.
- the camera shake correction control starts at 4 o'clock, so the central force of the vibration of the camera shake correction curve 251 is the center of the movable range of the movable prism 10A.
- the amount of rotation of the movable prism 10A can be appropriately controlled within the movable range so that the camera shake correction curve 251 does not exceed the movable range.
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake, and outputs this as a camera shake signal to the rotation control amount calculation means 36 ⁇ of the CPU 36.
- the control amount calculation means 36A calculates a camera shake angle vector ⁇ ⁇ * indicating the magnitude and direction of the shake using (Equation 27) and (Equation 28).
- the rotation control amount calculation means 36A of the CPU 36 calculates the beta value based on (Equation 15) to (Equation 21), and rotates the rotation angle parameter A, which is a component of the calculated vector noise.
- the motion vector vector 1 2 is transmitted to the control means 36B, and the rotation control means 36B moves the movable prisms 10A and 10B at the rotation angle.
- a control signal is output to the motor drive electronics circuit 7 so that
- the motor drive electronic circuit 7 drives the actuators 4A and 4B according to the control signal from the rotation control means 36B of the CPU 36, and the actuators 4A and 4B have the rotation angles of the movable prisms 10A and 1OB, Rotate to a.
- the rotation control unit 36B of the CPU 36 cancels the shake detected by the shake detection unit 5 after receiving the shake control start signal from the shake control start unit 36D.
- the movable prisms 10A and 10B are rotated to correct image shake due to camera shake.
- the amount of rotation of the movable prism is appropriate within the movable range so that the amount of rotation of the movable prism necessary for correcting image shaking does not exceed the movable range.
- a description will be given by taking an image shake correction apparatus controlled as described above as an example.
- FIG. 24 is a block diagram showing a third embodiment of the image shake correction apparatus according to the present invention.
- the image shake correction apparatus of the present invention is installed in a video camera 1 that is an imaging apparatus, for example.
- the same component elements as those of the image shake correction apparatus of the first embodiment are denoted by the same reference numerals, and the description thereof will be appropriately described.
- the components that are omitted and different from the configuration of the image shake correction apparatus of the first embodiment are mainly described.
- the video camera 1 includes a correcting unit 2 including a fixed prism 9 (Fig. 3) and a pair of movable prisms 10A and 10B that can rotate independently about the optical axis la as a rotation center.
- the lens system 3 for shooting the subject, and the light incident from the lens system 3 is imaged and the imaged subject CCD section 13 that converts images into electrical signals, preprocessing IC section 19 with CDS function, AGC function, and A / D conversion function, and various input signals from preprocessing IC section 19
- the camera DSP unit 20 that performs digital processing, the actuators 4A and 4B that independently rotate the pair of movable prisms in the correction unit 2, and the angular velocity of the video camera 1 due to camera shake, etc., detect shakes.
- the camera shake detection unit 5 outputs a camera shake signal
- the CPU 66 performs various controls
- the motor drive electronic circuit (MDE) 7 that drives the actuators 4A and 4B according to the control signal from the CPU 66
- the correction unit 2 Sensors 8A and 8B that detect the rotational state of the pair of movable prisms, a storage unit 24 that stores data necessary for camera shake control, and an external operation system 26 that includes operation buttons and the like.
- the CPU 66 which is a component different from the configuration of the image shake correction apparatus of the first embodiment, rotates the two actuators 4A and 4B so as to cancel the shake detected by the camera shake detection unit 5.
- the rotation control amount calculation means 66A for calculating the control amount
- the rotation control means 66B for transmitting a control signal for controlling the two rotation means 4A and 4B
- a camera shake control start means 66C for transmitting a camera shake control start signal for starting control.
- the image shake correction apparatus includes the correction unit 2 and the CPU 66, but at least the rotation control amount calculation unit 66A, the rotation control unit 66B, and the camera shake control start unit 66C. It is good if it is included.
- the image shake correction apparatus it is necessary to receive the rotation angle information of the movable prisms 10A, 10B from the sensors 8A, 8B and correct the camera shake based on the shake detected by the camera shake detection unit 5.
- the rotation angle of each of the movable prisms 10A and 10B is calculated, and the calculated rotation angle is compared with the rotation angle calculated based on the received rotation angle information.
- a camera shake control start signal for starting control of the two rotation means 4A and 4B is transmitted to the rotation control means 66B.
- FIG. 25 is a flowchart showing a processing flow of the image shake correction apparatus according to the present embodiment.
- the camera shake control start means 66C of the CPU 66 receives the profit received by the external operation system 26.
- a camera shake correction start request signal is received by a user's push button operation or the like (step S501)
- the rotation information ⁇ and ⁇ are calculated by receiving the rotation information of the movable prisms 10A and 10B detected by the sensors 8A and 8B. (Step S503).
- the camera shake control start means 66C of the CPU 66 transmits a shake angle calculation command to the rotation control amount calculation means 66A, and the rotation control amount calculation means 66A that has received the shake angle calculation command receives the shake control amount calculation means 66A.
- a camera shake signal is received from the detector 5, and a camera shake angle is calculated based on the received camera shake signal (steps S505 and S507).
- the rotation control amount calculation means 66A calculates the rotation angles H and A of the movable prisms 10A and 10B necessary for correcting the camera shake based on the camera shake angle calculated in Step S507 (
- the rotation control amount calculation unit 66A that has received the vector calculation command for the camera shake angle vector ⁇ * from the camera shake control start unit 66C of the CPU 66 has received and received the camera shake signal from the camera shake detector 5. Calculate hand shake angle vector ⁇ * based on hand shake signal, and turn control vector
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake, and outputs this as a camera shake signal to the rotation control amount calculation means 66A of the CPU 66. Based on this camera shake signal, the rotation control amount calculation means 66A of the CPU 66 calculates a camera shake angle vector ⁇ ⁇ * indicating the magnitude and direction of the shake using (Equation 27) and (Equation 28).
- the rotation control amount calculation means 66A of the CPU 66 calculates a a which is a component of the rotation angle vector ⁇ ⁇ ⁇ based on (Equation 15) to (Equation 21).
- the camera shake control starting means 66C of the CPU 66 determines whether or not to start the camera shake correction control (steps S511-S515).
- the camera shake control start means 66C of the CPU 66 includes the rotation angles H, H and CP calculated based on the rotation information of the movable prisms 10A and 10B detected by the sensors 8A and 8B.
- the rotation angles a and a of the movable prisms 10A and 10B calculated by the rotation control amount calculation means 66A of U66 are compared.
- the camera shake control start means 66C of the CPU 66 has the rotation angle, and the rotation angle,
- step S51 1 If 10 20 1 is the same value (step S51 1), or rotation angle ⁇ , ⁇ and rotation angle ,, a and
- a shake control start signal for starting the control of the two actuators 4A and 4B is transmitted to the rotation control means 66B of the CPU 66.
- Figure 26 shows the CPU66 hand shake control start means 66C force rotation angle, rotation angle, rotation angle rotation,
- FIG. 26 (a) shows the camera shake angle ⁇ * necessary to correct the image shake of the movable prisms 10A and 10B with respect to time t
- FIG. 26 (b) is related to the third embodiment.
- the camera shake angle ⁇ * at which the camera shake correction control is started by the image shaker is shown.
- the movable prisms 10A and 10B are independently movable in the vertical direction and the horizontal direction. Therefore, the camera shake angles ⁇ * in the vertical direction and the horizontal direction are independently calculated. In FIG. 26, for the sake of simplicity, the camera shake angle ⁇ * in the vertical direction in which correction is performed by the movable prism 10A is shown.
- FIG. 26 (a) the camera shake angle ⁇ * necessary for correcting the shake of the image of the movable prism 10A with respect to the camera shake angle curve 350 force time t is shown.
- the camera shake control start means 66C of the CPU 66 receives the rotation information of the movable prism 10A detected by the sensor 8A at T1, and obtains the rotation angle value corresponding to “c0”. "c0"
- the camera shake control start means 66C of the CPU 66 provides a hand to the rotation control amount calculation means 66A.
- the command for calculating the shake angle is transmitted, and after T1, the rotation control amount calculation means 66A receives the shake signal from the shake detector 5 and calculates the shake angle ⁇ * based on the received shake signal.
- the rotation control amount calculating means 66A calculates the rotation angle of the movable prism 10A necessary for correcting the camera shake based on the calculated camera shake angle ⁇ * (Equation 15) to ( Calculated using Equation 21).
- the camera shake control start means 66C of the CPU 66 includes the rotation angle calculated based on the rotation information of the movable prism 10A detected by the sensor 8A and the rotation control amount calculation hand of the CPU 66.
- the camera shake control start means 66C of the CPU 66 transmits a camera shake control start signal for starting control of the two actuators 4A and 4B to the rotation control means 66B of the CPU 66.
- the rotation control means 66B of the CPU 66 that has received the camera shake control start signal from the camera shake control start means 66C starts the camera shake correction control.
- the camera shake correction control is started from T2, so the central force of the vibration of the camera shake correction curve 351 is the center of the movable range of the movable prism 10A.
- the amount of rotation of the movable prism 10A can be appropriately controlled within the movable range so that the camera shake correction curve 351 does not exceed the movable range.
- FIG. 27 shows the CPU66 camera shake control start means 66C force rotation angle ⁇ , ⁇ and rotation angle ⁇ ,
- Fig. 27 (a) shows the camera shake angle ⁇ * required to correct the shake of the images of the movable prisms 10A and 10B with respect to time t
- Fig. 27 (b) is related to the third embodiment.
- the camera shake angle ⁇ * at which the camera shake correction control is started by the image shaker is shown.
- FIG. 27 as in FIG. 26, for the sake of simplicity, the camera shake angle curve is shown in the vertical direction in which correction is performed by the movable prism 10A.
- Fig. 27 (a) the image of the movable prism 10A fluctuates with respect to the hand shake angle curve 360 force time t. It represents the camera shake angle ⁇ * required to correct this.
- the camera shake control start means 66C of the CPU 66 receives a camera shake correction start request signal by an external operation at T1
- the CPU 66 starts the camera shake control start determination process.
- the camera shake control start means 66C of the CPU 66 receives the rotation information of the movable prism 10A detected by the sensor 8A at T1, and obtains the rotation angle value corresponding to "cl".
- the shake control start means 66C of the CPU 66 transmits a shake angle calculation command to the rotation control amount calculation means 66A, and the rotation control amount calculation means 66A starts from the shake detector 5 after T1.
- the camera shake signal is received, and the camera shake angle ⁇ * is calculated based on the received camera shake signal.
- the rotation control amount calculating means 66A calculates the rotation angle of the movable prism 10A necessary for performing the camera shake correction based on the calculated camera shake angle ⁇ * (Equation 15) to ( Calculated using Equation 21).
- the camera shake control start means 66C of the CPU 66 includes the rotation angle ⁇ calculated based on the rotation information of the movable prism 10A detected by the sensor 8A and the rotation control amount calculation hand of the CPU 66.
- the rotation control amount calculation means 66 ⁇ of the CPU 66 calculates the difference between the rotation angle ⁇ and the rotation angle ⁇ .
- the absolute value is calculated as the rotation angle phase difference, and the calculated rotation angle phase difference is stored in the storage unit 24.
- the camera shake control start means 66C of the CPU 66 reads the rotation angle phase difference stored in the storage unit 24, and the read rotation angle phase difference and the newly calculated rotation angle phase difference force The rotation angle phase difference is minimized.
- the absolute value of the rotational angle of the movable prism 10A calculated by the rotation control amount calculating means 66 ⁇ ⁇ is less than the absolute value of the rotational angle corresponding to “cl”,
- the absolute value of the camera shake angle ⁇ * is a minimum value, that is, the absolute value of the difference between the rotation angle of the movable prism 10 A and the rotation angle corresponding to “cl” is minimum. It has become Then, the camera shake control starting means 66C of the CPU 66 transmits a control start signal for starting the control of the two actuators 4A to the rotation control means 66B of the CPU 66 when the time T2 is exceeded.
- the camera shake correction control starts at the time T2. Therefore, the camera shake correction control is performed as compared with the case where the camera shake correction control is started from the time T1.
- the central force of the vibration of curve 361 shifts to the center of the movable range of movable prism 10A, so the rotation amount of movable prism 10A is controlled appropriately within the movable range so that camera shake correction curve 361 does not exceed the movable range. be able to.
- the rotation angle ⁇ is compared with the rotation angle ⁇ .
- the shake control start means 66C calculates the rotation amount force shake angle detected by the sensors 8 ⁇ and 8 ⁇ , and the calculated shake angle and rotation control amount are calculated.
- the means 66 ⁇ may compare the camera shake angle calculated based on the camera shake signal from the camera shake detector 5, and the camera shake control start means 66C may send a control start signal to the rotation control means 66 ⁇ according to the comparison result. .
- the camera shake detection unit 5 detects a shake of the video camera 1 due to a camera shake, and outputs this as a camera shake signal to the rotation control amount calculating means 66A of the CPU 66. Based on this camera shake signal, the rotation control amount calculation means 66A of the CPU 66 calculates a camera shake angle vector ⁇ ⁇ * indicating the magnitude and direction of the shake using (Equation 27) and (Equation 28).
- the rotation control amount calculation means 66A of the CPU 66 calculates the beta value based on (Equation 15) to (Equation 21), and rotates the calculated rotation angle parameter A, which is a component of the vector noise.
- the motion vector vector 1 2 is transmitted to the control means 66B.
- a control signal is output to the motor drive electronics circuit 7 so that
- the motor drive electronic circuit 7 drives the actuators 4A and 4B according to the control signal from the rotation control means 66B of the CPU 66, and the actuators 4A and 4B have the rotation angles of the movable prisms 10A and 1OB, Rotate to a.
- the rotation control unit 66B of the CPU 66 cancels the shake detected by the shake detection unit 5 after receiving the shake control start signal from the shake control start unit 66C.
- the movable prisms 10A and 10B are rotated to correct image shake due to camera shake.
- the rotation amount detected by the sensors 8A and 8B and the rotation control amount calculated by the rotation control amount calculation means 66A match, or the absolute value of the difference between the rotation amount and the rotation control amount. It is configured to transmit a camera shake control start signal for starting the control of the two actuators 4A and 4B to the rotation control means 66B when is minimized.
- the absolute value of the difference between the rotation amount detected by the sensors 8A and 8B and the rotation control amount calculated by the rotation control amount calculation means 66A is a predetermined rotation angle tolerance.
- a shake control start signal for starting the control of the two actuators 4A, 4B is sent to the rotation control means 66B. Configure to send.
- FIG. 28 shows the CPU66 camera shake control start means 66C force rotation angle, rotation angle, rotation angle rotation, When the absolute value of the difference from a is determined to be within the predetermined rotation angle tolerance range
- Figure 28 (a) shows the camera shake angle ⁇ * required to correct the shaking of the images of the movable prisms 10A and 10B with respect to time t.
- FIG. 8B shows a camera shake angle ⁇ * that is controlled to start a camera shake operation by the image shake device according to the third embodiment.
- FIG. 28 shows the camera shake angle ⁇ * in the vertical direction in which correction is performed by the movable prism 10A for the sake of simplicity, as in FIG.
- the camera shake correction curve 370 represents the camera shake angle ⁇ * necessary for correcting the shake of the image of the movable prism 10A with respect to time t.
- the CPU 66 starts camera shake control start determination processing.
- the camera shake control start means 66C of the CPU 66 receives the rotation information of the movable prism 10A detected by the sensor 8A at T1, and obtains the value of the rotation angle a corresponding to “c 2”.
- the shake control start means 66C of the CPU 66 transmits a shake angle calculation command to the turn control amount calculation means 66A, and after T1, the turn control amount calculation means 66A starts from the shake detector 5.
- the camera shake signal is received, and the camera shake angle ⁇ * is calculated from (Equation 15) to (Equation 21) based on the received camera shake signal.
- the rotation control amount calculating means 66A calculates the rotation angle ⁇ of the movable prism 10A necessary for performing the camera shake correction based on the calculated camera shake angle ⁇ *.
- the camera shake control start means 66C of the CPU 66 includes the rotation angle ⁇ calculated based on the rotation information of the movable prism 10A detected by the sensor 8 ⁇ and the rotation control amount calculation hand of the CPU 66.
- the absolute value of the difference between the rotation angle and the rotation angle is the rotation angle allowable range.
- the camera shake control start means 66C of the CPU 66 transmits a control start signal for starting the control of the two actuators 4 ⁇ and 4 ⁇ to the rotation control means 66 ⁇ of the CPU 66.
- this allowable rotation angle range ⁇ ⁇ ⁇ is a condition for starting control of camera shake correction, and how much the movable range of the movable prisms 10A and 10B is allowed to deviate from the range of camera shake correction. Set according to your needs. The larger this value is, the faster the camera shake correction control can be started after accepting a shake correction start request signal by a user's push button operation, etc.
- this rotation angle allowable range K is preset by a provider of the image shake correction apparatus or the like and stored in the storage unit 24.
- the camera shake correction control is started from T2, so that the rotation angle determined in advance by the image shake correction apparatus according to the third embodiment.
- the image stabilization control can be started earlier by the time corresponding to the allowable range K.
- the image shake correction apparatus has been described with respect to an apparatus that optically performs image shake correction using a movable prism, the present invention is not limited to other optical image shake correction.
- the present invention can also be applied to a correction device and an image shake correction device that electronically corrects image shake.
- an electronic image shake correction device that electronically corrects image shake by moving the image cutout area of the CCD, or an optical image shake correction device other than one that uses a movable prism
- an image shake correction device that corrects image shake using some of the lenses inside and those that move the CCD perpendicular to the optical axis and those that change the angle of the liquid prism.
- shake detection means there are a method for detecting angular acceleration and angular velocity from a gyro, a vector detection method for detecting from movement of an image, and the like.
- the image shake correction apparatus calculates the control amount by the control amount calculation means based on the information obtained from the shake detection means in both the optical type and the electronic type, and calculates the calculated control amount and the drive amount.
- Image shake correction can be performed by controlling the drive means based on the drive amount detected by the detection means.
- the control amount calculation means detects the image shake correction device configured as described above by a known image shake correction device mounted on an actual device. [0239] Whether the camera shake control start means of the present invention is electronic or optical, it can be applied to all these image shake correction apparatuses.
- the movement amount of the movable refraction element is within the movable range so that the movement amount of the movable refraction element necessary for correcting the image shake does not exceed the movable range. It can be controlled appropriately.
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- Engineering & Computer Science (AREA)
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- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Studio Devices (AREA)
- Adjustment Of Camera Lenses (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2008515511A JPWO2007132730A1 (ja) | 2006-05-12 | 2007-05-10 | 画像揺れ補正装置 |
EP07743095A EP2028540A1 (en) | 2006-05-12 | 2007-05-10 | Image blur correcting device |
US12/227,235 US20090175607A1 (en) | 2006-05-12 | 2007-05-10 | Image Fluctuation Correction Device |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
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JP2006134506 | 2006-05-12 | ||
JP2006-134506 | 2006-05-12 | ||
JP2006-134510 | 2006-05-12 | ||
JP2006134510 | 2006-05-12 | ||
JP2006-134504 | 2006-05-12 | ||
JP2006134504 | 2006-05-12 |
Publications (1)
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WO2007132730A1 true WO2007132730A1 (ja) | 2007-11-22 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/059660 WO2007132730A1 (ja) | 2006-05-12 | 2007-05-10 | 画像揺れ補正装置 |
Country Status (4)
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US (1) | US20090175607A1 (ja) |
EP (1) | EP2028540A1 (ja) |
JP (1) | JPWO2007132730A1 (ja) |
WO (1) | WO2007132730A1 (ja) |
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JP5857322B2 (ja) * | 2011-06-02 | 2016-02-10 | 新シコー科技株式会社 | オートフォーカスカメラ及びカメラ付きモバイル端末装置 |
WO2022105572A1 (zh) * | 2020-11-19 | 2022-05-27 | 宁波舜宇光电信息有限公司 | 光学防抖摄像模组 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63169614A (ja) * | 1987-01-07 | 1988-07-13 | Oputo:Kk | 像安定化装置 |
JPH0394214A (ja) * | 1989-09-06 | 1991-04-19 | Asahi Optical Co Ltd | 像安定化装置 |
JPH08240831A (ja) * | 1995-03-02 | 1996-09-17 | Canon Inc | ぶれ補正装置 |
JPH0951469A (ja) | 1995-05-31 | 1997-02-18 | Sony Corp | 撮像装置及び画像揺れの補正方法 |
JP2752115B2 (ja) | 1988-12-09 | 1998-05-18 | キヤノン株式会社 | 像変位装置 |
-
2007
- 2007-05-10 US US12/227,235 patent/US20090175607A1/en not_active Abandoned
- 2007-05-10 WO PCT/JP2007/059660 patent/WO2007132730A1/ja active Application Filing
- 2007-05-10 EP EP07743095A patent/EP2028540A1/en not_active Withdrawn
- 2007-05-10 JP JP2008515511A patent/JPWO2007132730A1/ja not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63169614A (ja) * | 1987-01-07 | 1988-07-13 | Oputo:Kk | 像安定化装置 |
JP2752115B2 (ja) | 1988-12-09 | 1998-05-18 | キヤノン株式会社 | 像変位装置 |
JPH0394214A (ja) * | 1989-09-06 | 1991-04-19 | Asahi Optical Co Ltd | 像安定化装置 |
JPH08240831A (ja) * | 1995-03-02 | 1996-09-17 | Canon Inc | ぶれ補正装置 |
JPH0951469A (ja) | 1995-05-31 | 1997-02-18 | Sony Corp | 撮像装置及び画像揺れの補正方法 |
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US20090175607A1 (en) | 2009-07-09 |
EP2028540A1 (en) | 2009-02-25 |
JPWO2007132730A1 (ja) | 2009-09-24 |
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