JP4807855B2 - Anti-vibration device, anti-vibration method and program - Google Patents

Description

  The present invention relates to an image stabilization function of a camera device (lens system).

  2. Description of the Related Art Conventionally, a lens system (camera device) composed of a lens and a camera, a zoom demand, a focus demand, and a tripod device is a camera having an image sensor unit composed of an image sensor such as a CCD, and a lens having a zoom function and a focus function. And a focus lens moving motor for moving the focus lens and a zoom lens motor for moving the zoom lens during zooming. Furthermore, the lens system has a position sensor that detects the movement and rotation position of each motor.

  The lens system includes a zoom demand that is attached to the outside of the lens and operates a zoom function, a focus demand that operates a focus function, and a tripod device. The tripod device holds the entire camera, lens, and demand, and can change the orientation of the camera device up, down, left, and right by the operation of the cameraman.

  Furthermore, in recent lens systems, in addition to the above components, a vibration detection sensor that detects vibrations, that is, piezoelectric vibrations, in order to remove vibrations generated in the environment where the lens system is installed and obtain a visually good image. An angular velocity sensor such as a gyro, an optical path correction optical system that performs optical axis correction of an optical signal incident from the lens, an optical path correction control unit that controls the optical path correction optical system, a focus lens movement motor, a zoom lens movement motor, And a microcomputer (CPU) for controlling the entire optical path correction control unit.

  Hereinafter, the image stabilization control of the conventional lens system configured as described above will be described.

  FIG. 10 is a flowchart showing an example of the image stabilization control processing procedure in the conventional lens system.

  When the image stabilization control process starts, first, the CPU of the lens system reads the state of the image stabilization switch (S101) and determines whether the image stabilization switch is in the ON state (S102).

  If it is determined in step S102 that the image stabilization switch is in the OFF state, the CPU does not execute image stabilization control, and thus ends the image stabilization control process as it is.

  On the other hand, if it is determined in step S102 that the image stabilization switch is in the ON state, the CPU reads the zoom position of the lens (S103), and determines whether or not the zoom position of the lens is on the tele side from a predetermined value. (S104).

  If it is determined in step S104 that the zoom position of the lens is not on the telephoto side from the predetermined value, the CPU does not need to perform shake correction, that is, since the shooting angle of view is wide, the vibration ratio in the screen is very small. If it is determined that there is no effect even if the shake correction is performed, the image stabilization control process is ended as it is.

  On the other hand, if it is determined in step S104 that the zoom position of the lens is on the tele side from the predetermined value, the CPU reads the voltage value from the angular velocity sensor (S105) and recognizes the direction and amount of shake.

  Next, the CPU calculates the optical axis correction amount from the voltage value obtained from the angular velocity sensor (S106). Further, the CPU outputs a predetermined voltage value to the optical path correction device, moves the optical axis in the direction opposite to the shake to correct the shake (S107), and ends the image stabilization control process.

  FIG. 11 illustrates a description of image stabilization control in a conventional lens system.

  In FIG. 11, (a) shows the case where the lens system is not vibrated, and the subject to be photographed is located at the center of the CCD. FIG. 5B shows a case where vibration is present and image stabilization control is not performed. If the photographing direction of the lens system is tilted due to vibration, the subject is shifted from the center of the CCD to a place other than the center.

  The figure in (c) shows the case where vibration control is performed using an optical path correction optical system, and the amount of deviation in which the lens system is tilted due to vibration is detected by an angular velocity sensor, and the optical path is corrected in the opposite direction to the deviation. By moving the optical system, the refraction of light is changed, and the subject to be photographed is moved to the center of the CCD.

In Patent Document 1, a detection unit (for example, a piezoelectric element) that detects the pan / tilt operation of a television camera is provided in the grip unit, and a signal indicating the pan / tilt operation is output from the detection unit to the arithmetic unit of the image stabilizer. Then, the arithmetic unit controls the drive unit of the image stabilization device to stop the movement of the correction lens, so that the cameraman's pan / tilt operation does not correct the image blur but only corrects the image blur due to disturbance vibration. An anti-vibration device for a camera is disclosed.
JP 09-093483 A

  However, the image stabilization control in the above-described conventional lens system has the following problems, and improvement has been demanded.

  That is, when the cameraman performs a panning operation in which the direction of the lens system is intentionally moved to the left or right, that is, the angular velocity sensor attached to the lens determines that the panning operation is vibration, and outputs the vibration information to the CPU.

  The CPU that has received the vibration information calculates an optical axis correction amount corresponding to the shake amount corresponding to the vibration information, and performs optical path correction.

  Therefore, due to this optical path correction, the optical axis may move in the opposite direction of panning immediately after panning, sticking as it is during panning, and the optical axis may return to its original state when the panning operation is completed.

  Conventionally, in order to solve this problem, the following measures are currently taken.

  The vibration information is stored in the memory for a predetermined time, and if the vibration in the same direction continues for one second or more, it is determined that the operation is a panning operation, and the image stabilization control is stopped.

  However, since it takes at least one second to determine that the operation is a panning operation and to stop the image stabilization control, a reduction in response is regarded as a problem. Further, since the same method is used for detecting the end of panning, it takes time, and the vibration immediately after the end of the panning operation cannot be corrected.

  On the other hand, zoom lenses for broadcasting use have been increasing year by year in order to realize high added value. Along with this, when the focal length on the long focal point side becomes a large numerical value, the shooting angle of view becomes narrow, and thus vibration under the camera system shooting environment appears as a large shake of the screen. From such a background, in recent years, high-precision control of the vibration isolator has been demanded.

  In addition, as in Patent Document 1, a piezoelectric element is incorporated in the grip portion of the pan / tilt operating rod, and panning and non-panning are determined based on whether or not the cameraman has gripped the grip. A technique to make it has been proposed.

  However, this method has a problem that the image stabilization function may not work in a scene to be operated because the image stabilization control is stopped only by the cameraman holding the grip.

The present invention has been made to solve the above problems. An object of the present invention is to instantaneously determine the vibration applied to the camera device and the artificial turning operation (panning operation, tilting operation, etc.) by the cameraman, and to the camera device when it is not at the time of the artificial turning operation by the cameraman. while vibration applied was removed conventionally, when intentional turning operation by the cameraman, and anti Fusei by us against excluding the vibration caused by the turning operation vibration mechanism can be suppressed malfunction during turning operations Is to provide.

The present invention provides a vibration isolator for a camera device that is capable of a turning operation that rotates around a predetermined axis to change a shooting direction, and the rotation of the camera device in the imaging direction side from the center of rotation. A first vibration detecting means provided at a moving part; a second vibration detecting means provided at the rotating part opposite to the imaging direction of the camera device from the center of rotation; During the turning operation using vibration correction means for performing vibration correction for correcting image blurring, vibration information detected by the first vibration detection means, and vibration information detected by the second vibration detection means And determining means for determining whether or not the turning operation is being performed by the determining means, using the vibration information detected by the first vibration detecting means or the second vibration detecting means. Causing the vibration correction means to execute the vibration correction; Write the case where it is determined that the turning operation, according to difference between the first vibration information detected by the detected vibration information second vibration detection means by the vibration detecting means by said determining means Control means for controlling the vibration correction means to execute the vibration correction using vibration information during the turning operation .

According to the present invention, the vibration applied to the camera device and the artificial turning operation (panning operation, tilting operation, etc.) by the cameraman can be determined. Therefore, the vibration applied to the camera device is not during the artificial turning operation by the cameraman. while removed conventionally, when intentional turning operation by the cameraman, by explosion Fusei your respect except for vibration by turning operation vibrations, etc. can be suppressed malfunction during turning operations There is an effect.

  Hereinafter, with reference to the drawings, an image stabilization function of a lens system (camera device) including a lens and a camera, a zoom demand, a focus demand, and a tripod device will be described.

[First Embodiment]
First, with reference to FIG. 1 and FIG. 2, the structure of the lens system which shows embodiment of this invention is demonstrated.

  FIG. 1 is a block diagram showing a control configuration of a lens system showing an embodiment of the present invention.

  FIG. 2 is a side view for explaining a lens system showing an embodiment of the present invention.

  In FIG. 1, reference numeral 1 denotes a focus lens group that changes focus, 2 denotes a zoom lens group that changes the angle of view, and 4 denotes other lens groups.

  An optical path correction optical system 3 corrects the optical axis of an optical signal incident through the focus lens group 1 and the zoom lens group 2.

  Reference numeral 5 denotes an angular velocity sensor, which detects the direction and magnitude of vibration (vibration information) of the lens system. An optical path correction control unit 6 drives the optical path correction optical system 3.

  Reference numeral 8 denotes a focus lens moving motor for moving the focus lens. Reference numeral 9 denotes a zoom lens moving motor for moving the zoom lens during zooming.

  Reference numerals 10 and 11 denote position sensors, which detect the movement positions of the respective motors. Reference numerals 12 and 13 denote motor drive circuits that drive each motor.

  A CPU (microcomputer) 14 controls the entire lens, such as zoom and focus motor control, readout of vibration information from the angular velocity sensor, readout of zoom position, optical path correction control, and readout of the state of the image stabilization switch 25.

  The CPU 14 is a so-called one-chip microcomputer type that incorporates ROM, RAM, and the like, but may have a configuration in which ROM and RAM are externally attached.

  Reference numeral 25 denotes an anti-vibration switch for switching ON / OFF of the anti-vibration control. The cameraman 24 (FIG. 2) can switch the image stabilization control ON / OFF by operating the image stabilization switch 25.

  Reference numeral 15 denotes an image sensor unit, which is composed of three CCDs. A signal processing unit 16 outputs a video signal of the camera device. Reference numeral 17 denotes a zoom demand, which operates the zoom function of the lens from the outside.

  Reference numeral 18 denotes a focus demand for operating the lens focus function from the outside. An angular velocity sensor 19 is built in the focus demand 18.

  Reference numeral 20 denotes a tripod device, which holds the above-described lens system and can change the photographing direction of the lens system in the front-rear and left-right directions.

  As shown in FIG. 2, the cameraman 24 holds the zoom demand 17 and the focus demand 18 and operates the lens system while viewing the image of the viewfinder 23. Reference numeral 26 denotes a support point for the tripod 20 and serves as a rotation center during panning. That is, the cameraman 24 can perform a turning operation (panning operation) in which the camera device is rotated around the support point 26 to change the shooting direction. The cameraman 24 can also perform a tilting operation to change the shooting direction by rotating the camera device up and down (top and bottom) about an axis (not shown).

  As shown in FIG. 1, the angular velocity sensors 5 and 19 are respectively attached to the lens 21 and the focus demand 18, and the angular velocity sensors of the same type or the same output characteristics are used.

  Further, the angular velocity sensor 19 is attached so that the counterclockwise rotation is a positive angular velocity and the clockwise rotation is a negative angular velocity around the support point 26 of the tripod 20. That is, the angular velocity sensors 5 and 19 both detect a positive angular velocity when the lens system rotates counterclockwise about the support point 26 of the tripod 20, while the lens system detects the support point of the tripod 20. In the case of rotating clockwise around 26, it is detected as a negative angular velocity. That is, the angular velocity sensor 5 and the angular velocity sensor 19 are substantially parallel to a plane including a panning trajectory (ie, horizontal) and substantially perpendicular to the imaging direction of the lens system (ie, the front and back direction in FIG. 2 (left and right direction for the cameraman 24)). Can be detected.

  The angular velocity sensors 5 and 19 may be built in the lens housing or the focus demand 18 or may be attached outside.

  The angular velocity sensor 5 is provided on the imaging direction side of the lens system from the fulcrum 26 that is the center of panning, and the angular velocity sensor 19 is provided on the opposite side of the imaging direction side of the lens system from the fulcrum 26 that is the center of panning. That is, the angular velocity sensor 19 may be provided in the zoom demand 17 or an operation unit or the like capable of performing other panning operations.

  Hereinafter, panning and vibration determination will be described with reference to FIGS.

  FIG. 3 is a diagram showing an example of the relationship between the angular velocity of the angular velocity sensors 5 and 19 and the output voltage.

  The angular velocity sensors 5 and 19 are sensors for detecting the rotational angular velocity ω (° / S) of the object. When the sensor rotates at a certain angular velocity, for example, a voltage as shown in FIG. 4 is output according to the angular velocity.

  In FIG. 3, a reference voltage of 2.0 V is output in a state where there is no vibration (state where angular velocity = 0), but when vibration occurs, the output voltage varies from 0.5 V to 3.5 V. That is, a voltage greater than 2.0V is output at a positive angular velocity, and a voltage smaller than 2.0V is output at a negative angular velocity. Therefore, the CPU 14 can determine the direction and magnitude of the vibration by reading the output voltage of the angular velocity sensor.

  FIG. 4 is a diagram for explaining determination of panning and vibration.

  When vibration from the left to the right as viewed from the cameraman as shown in FIG. 4 is applied to the entire lens system, a force from the left to the right as viewed from the cameraman is applied to the lens 21 and the focus demand 18 as well. Therefore, when the support point 26 of the tripod 20 is the center, the angular velocity sensor 5 attached to the lens 21 detects a negative angular velocity, and the angular velocity sensor 19 of the focus demand 18 detects a positive angular velocity. Thus, when vibration is applied to the entire lens system, the two angular velocity sensors output voltages corresponding to substantially the same angular velocity in different directions. That is, one outputs a voltage lower than the reference voltage, one outputs a voltage higher than the reference voltage, and the deviation from the reference voltage is substantially the same (case 1).

  When the angular velocity sensor has non-linear output voltage characteristics, an output voltage corresponding to a specific positive angular velocity and an output voltage corresponding to a negative angular velocity having an absolute value substantially the same as the specific positive angular velocity are output. (Case 2).

  Therefore, the output voltages of the two angular velocity sensors 5 and 19 are AD-converted and compared by the CPU 14, so that it can be determined that vibration is applied to the entire lens system in the case 1 and the case 2.

  When the cameraman 24 pans the camera 22 counterclockwise around the fulcrum of the tripod device 20, the angular velocity sensor 5 attached to the lens 21 and the angular velocity sensor 19 of the focus demand 18 are substantially the same positive. Detect angular velocity. That is, when panning, the two angular velocity sensors output substantially the same output voltage (case 3).

  Note that the output voltage of the angular velocity sensors 5 and 1 varies depending on the mounting direction of the angular velocity sensors 5 and 1, and the panning determination varies accordingly.

  However, the CPU 14 performs panning when the vibration direction indicated by the vibration information detected by the angular velocity sensor 5 and the vibration direction indicated by the vibration information detected by the angular velocity sensor 19 indicate the same rotation direction with the fulcrum 26 as a center (reference). Determine that operation is in progress.

On the other hand, when the vibration direction indicated by the vibration information detected by the angular velocity sensor 5 and the vibration direction indicated by the vibration information detected by the angular velocity sensor 19 indicate the reverse rotation direction with the fulcrum 26 as the center (reference), the CPU 14 performs panning. Determine that it is not in operation,
Hereinafter, the image stabilization control process according to the first embodiment of the present invention will be described with reference to FIG.

  FIG. 5 is a flowchart showing an example of a first control processing procedure in the present invention, and corresponds to the image stabilization control processing in the first embodiment of the present invention. Note that the processing of this flowchart corresponds to a function realized by executing a program stored in a ROM built in the CPU 14.

  First, when the image stabilization process is started, in step S201, the CPU 14 reads the state (ON or OFF) of the image stabilization switch 25 attached to the lens body.

  In step S202, the CPU 14 determines whether or not the image stabilization switch 25 is in the ON state. If it is determined that the image stabilization switch 25 is in the OFF state, the image stabilization processing is ended as it is.

  On the other hand, if it is determined in step S202 that the image stabilization switch 25 is in the ON state, the CPU 14 advances the process to step S203.

  In step S203, the CPU 14 reads the zoom position of the lens from the zoom motor position sensor 10, and proceeds to step S204.

  In step S204, the CPU 14 determines whether or not the zoom position of the lens is on the tele side from a predetermined value.

  In step S204, if it is determined that the zoom position of the lens is not on the tele side from the predetermined value (the side is on the wide side from the predetermined value), the CPU 14 does not need to perform shake correction, that is, the shooting angle of view is wide. It is determined that the proportion of vibration in the image is very small, it is determined that there is no effect even if the shake correction is performed, and the image stabilization control process is terminated as it is.

  On the other hand, when it is determined in step S204 that the zoom position of the lens is on the tele side from the predetermined value, the CPU 14 reads the voltage value from the angular velocity sensor 5 attached to the lens housing in step S205, and the step S206. Proceed with the process.

  In step S206, the CPU 14 reads the voltage value from the angular velocity sensor 19 attached to the focus demand 18, and recognizes the direction and amount of shake.

  Next, in step S207, the CPU 14 determines whether panning is in progress. Here, the CPU 14 determines that the angular velocity determined from the vibration information from both angular velocity sensors, that is, the output voltage values, is in the same direction (the same rotational direction around the support point 26), and the reference voltage (2.0V). If the difference between the output voltage values of both angular velocity sensors is substantially equal, it is determined that a rotational force is applied to the lens system, that is, the lens system is performing a panning operation. On the other hand, the CPU 14 determines that the angular velocities determined from the output voltage values of both angular velocity sensors (5 and 19) are not in the same direction (not in the same rotation direction around the support point 26 (reverse rotation direction)), or the reference voltage When the difference between (2.0V) and the output voltage values of both angular velocity sensors is not substantially equal, it is determined that vibration has been applied to the lens system, that is, the lens system is not panning.

  If the CPU 14 determines in step S207 that panning is in progress, the image stabilization control process is terminated as it is.

  On the other hand, if the CPU 14 determines in step S207 that panning is not in progress, the process proceeds to step S208.

  Next, in step S208, the CPU 14 calculates whether the optical axis deviation can be corrected by moving the optical path correction optical system 3 based on the output voltage value of the angular velocity sensor attached to the lens housing.

  In step S209, the CPU 14 moves the optical path correction optical system 3 via the optical path correction control unit 6 using the calculation result of step S208, and ends the image stabilization control process.

  At the end of the panning operation, the rotary motion stops, so that the output voltages from both angular velocity sensors are close to the reference voltage. Therefore, after determining that the panning operation is being performed, the CPU 14 performs the panning operation when the difference between the output voltage value of both the angular velocity sensors (5 and 19) and the reference voltage (2.0 V) is less than a predetermined value. Can be determined to have ended. Therefore, in step S207, the CPU 14 can detect the end of the panning operation in real time. For this reason, the CPU 14 performs optical path correction immediately after the end of the panning operation. Thereby, it is possible to correct the vibration generated immediately after the end of panning. Conventionally, it took about 1 second to detect the end of the panning operation, so that responsiveness can be improved.

  It is assumed that the CPU 14 repeatedly executes the processing shown in the flowchart of FIG. 5 while the lens system of the present invention can shoot. That is, the CPU 14 performs control so that the processing shown in the flowchart of FIG.

[Second Embodiment]
The lens system of the second embodiment has the same hardware configuration as that of the first embodiment, and includes vibration information from the angular velocity sensor 5 (first angular velocity sensor) attached to the lens housing 21 and the focus demand 18. It is characterized in that the vibration information from the attached angular velocity sensor 19 (second angular velocity sensor) is used to extract artificial vibration, that is, vibration generated during the panning operation, and the vibration is corrected.

  As described above, in the second embodiment, vibrations generated during panning are removed while adopting the same hardware configuration as that of the first embodiment. That is, the angular velocity sensor 5 is attached to the lens casing 21 and the angular velocity sensor 19 of the same type or the same output characteristic is attached to the focus demand 18 that operates the lens from the outside. Each angular velocity sensor may be built in the lens housing 21 or the focus demand 18 or may be configured to be attached to the outside.

  Each attached angular velocity sensor detects vibration.

  The CPU 14 reads angular velocity information from a digital output voltage value obtained by AD converting the output voltages of both the angular velocity sensor 5 in the lens housing 21 and the angular velocity sensor 19 of the focus demand 18.

  At this time, in the case of the panning operation, since the rotation motion is centered on the rotation center of the tripod device, the signs of the angular velocities determined by the output voltages from both angular velocity sensors are the same, and the absolute values of the angular velocities are almost the same. Become. However, if vibration occurs during panning, the output from both angular velocity sensors has the opposite sign of the angular velocity and the absolute value of the angular velocity is almost the same for the contribution of vibration.

  Paying attention to this point, it can be determined that the value obtained by halving the output voltage difference between the two is the magnitude of vibration applied to the lens system, and occurs during panning by calculating the optical path correction amount and performing optical path correction. It is also possible to remove the vibrations that have occurred. As a result, the vibration generated during panning that could not be removed by the invention of claim 1 is removed.

  Hereinafter, with reference to FIG. 6, the image stabilization control process according to the second embodiment of the present invention will be described.

  FIG. 6 is a flowchart showing an example of the second control processing procedure in the present invention, and corresponds to the image stabilization control processing in the second embodiment of the present invention. Note that the processing of this flowchart corresponds to a function realized by executing a program stored in a ROM built in the CPU 14.

  First, when the image stabilization process is started, in step S401, the CPU 14 reads the state (ON or OFF) of the image stabilization switch 25 attached to the lens body.

  In step S402, the CPU 14 determines whether or not the image stabilization switch 25 is in the ON state. If it is determined that the image stabilization switch 25 is in the OFF state, the image stabilization processing is ended as it is.

  On the other hand, if it is determined in step S402 that the image stabilization switch 25 is in the ON state, the CPU 14 proceeds to step S403.

  In step S403, the CPU 14 reads the zoom position of the lens from the zoom motor position sensor 10, and proceeds to step S404.

  In step S404, the CPU 14 determines whether or not the zoom position of the lens is on the telephoto side from a predetermined value.

  In step S404, if it is determined that the zoom position of the lens is not on the tele side from the predetermined value (the side is on the wide side from the predetermined value), the CPU 14 does not need shake correction, that is, the screen has a wide shooting angle of view. It is determined that the proportion of vibration in the image is very small, it is determined that there is no effect even if the shake correction is performed, and the image stabilization control process is terminated as it is.

  On the other hand, if it is determined in step S404 that the zoom position of the lens is on the tele side from the predetermined value, the CPU 14 reads the voltage value from the angular velocity sensor 5 attached to the lens housing in step S405, and the step S406 is performed. Proceed with the process.

  In step S406, the CPU 14 reads the voltage value from the angular velocity sensor 19 attached to the focus demand 18, and recognizes the direction and amount of shake.

  In step S407, the CPU 14 determines whether panning is in progress. Here, the CPU 14 has the same direction of the angular velocity determined from the vibration information from both angular velocity sensors, that is, the output voltage value, and the difference between the reference voltage (2.0 V) and the output voltage value of both angular velocity sensors is the same. In a case where they are substantially equal, it is determined that a rotational force is applied to the lens system, that is, the lens system is performing a panning operation. On the other hand, the CPU 14 determines that the angular velocities determined from the output voltage values of both angular velocity sensors are not in the same direction or the difference between the reference voltage (2.0 V) and the output voltage values of both angular velocity sensors is not substantially equal. It is determined that vibration is applied to the lens system, that is, the lens system is not panning.

  In step S407, if the CPU 14 determines that panning is not being performed, the process proceeds to step S408.

  In step S408, the CPU 14 calculates how much the optical axis deviation can be corrected by moving the optical path correction optical system 3 based on the output voltage value of the angular velocity sensor attached to the lens housing.

  In step S409, the CPU 14 moves the optical path correction optical system 3 via the optical path correction control unit 6 using the calculation result of step S408, and ends the image stabilization control process.

  On the other hand, if the CPU 14 determines in step S407 that panning is in progress, the process proceeds to step S410.

  In step S410, the CPU 14 calculates “((the voltage value of the angular velocity sensor 5 of the lens 21) − (the voltage value of the angular velocity sensor of the focus demand 18)) / 2” as the vibration amount during panning. Since this calculated value is the same value as the vibration applied to the lens system, the CPU 14 can use this to determine the presence / absence of vibration during panning, the direction of vibration, and the amount of vibration. Here, the output waveform during panning will be described with reference to FIG.

  FIG. 7 is a diagram illustrating an output waveform during panning.

  7A shows an output waveform of the angular velocity sensor 5 built in the lens housing 21 when panning.

(B) shows the output waveform of the angular velocity sensor 19 built in the focus demand 18 when panning.

(C) shows a waveform of “((lens shake voltage) − (demand shake voltage)) ÷ 2”, that is, a vibration waveform during panning.

  Returning to the flowchart of FIG.

  Next, in step S411, the CPU 14 determines whether or not there is vibration during panning (the amount of vibration during panning calculated in S410 is greater than a predetermined value) using the calculation result in step S410. If it is determined that there is no vibration inside (the amount of vibration during panning calculated in S410 is equal to or less than a predetermined value), the image stabilization control process is terminated.

  On the other hand, if it is determined in step S411 that there is vibration during panning (the amount of vibration during panning calculated in S410 is greater than a predetermined value), the CPU 14 proceeds to step S408 and performs panning calculated in step S410. Based on the amount of vibration in the optical path, the optical path correction optical system 3 is calculated how much the optical axis deviation can be corrected, and the optical path correction optical system 3 is moved using the calculation result of S408 (S409). The vibration control process is terminated.

  Also in this embodiment, it is assumed that the CPU 14 repeatedly executes the processing shown in the flowchart of FIG. 6 while the lens system can shoot. That is, the CPU 14 controls to start the process shown in the flowchart of FIG.

  As described above, according to the first embodiment of the present invention, in a lens system including a lens, a camera, a zoom demand, a focus demand, and a tripod device, vibrations and an artificial panning operation by a cameraman can be instantaneously determined. Therefore, while removing the vibration applied to the lens system as usual, the camera shake can be suppressed by stopping the image stabilization control during the artificial panning operation by the photographer.

  In addition, since it is possible to grasp the point at which the artificial panning operation by the photographer is completed, the image stabilization control can be started more quickly than before.

  According to the second embodiment of the present invention, in a lens system including a lens and a camera, a zoom demand, a focus demand, and a tripod device, vibrations applied to the lens system that occur during an artificial panning operation by a cameraman. Therefore, it is possible to provide a stable image without blurring during the panning operation.

[Third Embodiment]
An embodiment in which an acceleration sensor is provided instead of the angular velocity sensors 5 and 19, for example, both sensors detect positive acceleration when panned counterclockwise, and both sensors are negative when panned clockwise. Install to detect acceleration. In the panning operation, the acceleration sensor detects the acceleration with the same sign for the rotation and the acceleration with the opposite sign for the vibration during acceleration after the start of panning or deceleration before the end of panning.

  Accordingly, the image stabilization control is performed with 1/2 of the difference in acceleration between the two sensors as a contribution of vibration. When panning at a constant speed, the acceleration sensor outputs a reference voltage (offset voltage) and similarly detects an acceleration with an opposite sign for vibration.

[Fourth Embodiment]
The lens system of the fourth embodiment has the same hardware configuration as that of the first embodiment, and the vibration information from the first angular velocity sensor attached to the lens housing and the second attached to the focus demand. When vibration information is generated when the vibration information from the angular velocity sensors is different, the vibration suppression control is performed by suppressing a predetermined amount.

  The fourth embodiment corresponds to the invention of claim 5 and is effective in a case where malfunction occurs in the first embodiment while adopting the same hardware configuration as that of claim 1, and the vibration is the first angular velocity. In the case of a vibration from an oblique direction or a special vibration that is not transmitted to the sensor and the second angular velocity sensor at the same time but is transmitted to the other angular velocity sensor over time, the vibration proof control is stopped in the first embodiment. Vibrations cannot be removed. In the fourth embodiment, when it is determined that the panning operation is performed by a cameraman, the anti-vibration effect is exhibited even in the above-described vibration by performing the anti-vibration control of 1/2 for a certain period.

  FIG. 8 is a flowchart illustrating a processing procedure of an optical axis misalignment correction processing program executed by the CPU 14 in the fourth embodiment.

  First, the CPU reads whether the image stabilization switch attached to the lens body is ON or OFF (step S501), determines whether the image stabilization switch is in the ON state (step S502), and the image stabilization switch is in the OFF state. If so, exit without doing anything. If the image stabilization switch is ON, the zoom position of the lens is read (step S503).

  When it is determined whether or not the zoom position is on the tele side from the predetermined value, and it is determined that the zoom position is on the wide side from the predetermined value, there is no need for shake correction, i.e., the ratio of vibration to the screen is large because the shooting angle of view is wide. Even if it is determined that the amount is very small and there is no effect even if the shake correction is performed, the process ends without doing anything (step S504).

  Next, the CPU reads the voltage value from the angular velocity sensor attached to the lens housing (step S505) and recognizes the direction and amount of shake. Next, the CPU reads the voltage value from the angular velocity sensor attached to the focus demand (step S506) and recognizes the direction and amount of shake. If the vibration information from both angular velocity sensors, that is, the voltage values are in the same direction and the difference from the reference voltage is the same, it is determined that a rotational force is applied to the lens system, that is, the lens system is performing a panning operation. Then, the process proceeds to step S510 (step S507).

  If the vibration information from both angular velocities, that is, the voltage values are in different directions, it is determined that the entire lens system is receiving vibration, and the optical path correction optical system is based on the voltage value of the angular velocity sensor attached to the lens housing. It is calculated whether the optical axis deviation can be corrected by moving 3 (step S508), the optical path correction optical system 3 is moved via the optical path correction control unit 6 (step S509), and the process ends.

  On the other hand, even when it is determined that the lens system is performing a panning operation, it can be assumed that vibrations transmitted to both angular velocity sensors are not simultaneous, so it is determined whether or not it is within 0.1 seconds after the start of panning (step S510). ) If within 0.1 seconds after the start of panning, the process proceeds to step S511, and if not immediately after panning, the process ends. Next, calculation (step S511) to halve the voltage value corresponding to the vibration information from the angular velocity sensor is performed (step S511), the process proceeds to step S508, and the vibration correction amount is calculated with half the vibration amount to correct the vibration.

[Fifth Embodiment]
In the fourth embodiment, the calculation for reducing the output voltage of the angular velocity sensor to ½ is performed in step S511. However, in the fifth embodiment, the vibration correction ratio is not constant, and the speed of the angular velocity sensor is increased. The difference is that the correction ratio is changed accordingly.

  In other words, the RAM further includes a table for storing the elapsed time and the correction ratio, and the correction ratio corresponding to the elapsed time from the start of panning is applied in step S511. For example, the calculation is performed to halve the voltage value corresponding to the vibration information from the angular velocity sensor within 0.05 seconds from the start of panning, and the vibration information from the angular velocity sensor is within 0.05 seconds after 0.05 seconds from the start of panning. An operation is performed to reduce the voltage value corresponding to 1/3. Further, it may be changed continuously within the target time, and smoother vibration correction can be executed by such control.

  As described above, the first to fifth embodiments have been described. However, the present invention can take an embodiment as, for example, a system, apparatus, method, program, or recording medium. Specifically, You may apply to the system comprised from a some apparatus, and may apply to the apparatus which consists of one apparatus. In the above description, the case where the present invention is used for the image stabilization control during the panning operation has been described. However, the present invention can be similarly used for the image stabilization control during other turning operations such as the tilting operation.

  When performing anti-vibration control during tilting operation, the angular velocity sensors 5 and 19 are rotated counterclockwise in FIG. 2 around the support point 26 of the tripod 20 (rotation from the upper left to the lower left in FIG. 2). Are attached in such a manner that a clockwise rotation (rotation from the lower left to the upper left in FIG. 2) becomes a negative angular velocity. That is, in each of the angular velocity sensors 5 and 19, the lens system rotates counterclockwise (from the upper left to the lower left in FIG. 2) about a tilting shaft (not shown) provided above the tripod device 20. When the lens system rotates, it is detected as a positive angular velocity. On the other hand, when the lens system rotates clockwise around the tilting axis (from the lower left to the upper left in FIG. 2), it is detected as a negative angular velocity. . That is, the angular velocity sensor 5 and the angular velocity sensor 19 are substantially parallel to a plane including the tilting trajectory (ie, vertical) and substantially perpendicular to the imaging direction of the lens system (ie, the up / down (top / bottom) direction in FIG. The vibration in the vertical direction)) can be detected.

  With such a configuration, the tilting operation and the vibration can be discriminated as in the case of the panning operation described above.

  That is, the present invention can discriminate between the turning operation and the vibration as long as it is a turning operation that rotates around a predetermined axis to change the photographing direction, whether it is a panning operation or a tilting operation. Can be configured.

  In addition, you may comprise so that both the anti-vibration function of panning operation mentioned above and the anti-vibration function of tilting operation may be provided.

  In other words, according to the present invention, it is possible to accurately discriminate between the vibration applied to the lens system and the turning operation (panning operation and tilting operation) by the cameraman, and to perform the vibration control with high accuracy.

  In the above embodiment, as the vibration correction method, the optical path correction optical system is shifted by using the vibration information from the angular velocity sensor, and the optical path of the optical signal incident on the lens system via the lens is changed to vibrate. The method of correction was shown. However, the vari-angle prism may be used to correct the vibration by changing the optical path of the optical signal.

  Further, instead of changing the optical path, the position of the CCD 15 may be changed using the vibration information from the angular velocity sensor to correct the vibration.

  In addition, a CCD 15 that can capture an area wider than a normal imaging area may be employed, and vibration correction may be performed by changing the imaging area in the CCD 15 using vibration information from the angular velocity sensor. That is, the image captured in the entire area of the CCD 15 is read into the buffer memory, and the imaging area employed by the CPU 14 is changed and controlled using the vibration information from the angular velocity sensor.

  Furthermore, the structure using another vibration correction method may be sufficient.

  As described above, in the present invention, the angular velocity sensor is built in the focus demand or the like for operating the lens housing and the lens system to detect vibration. CPU14 reads the digital output voltage value which AD-converted the output voltage of the angular velocity sensor in a lens housing | casing, and the angular velocity sensor in a focus demand as vibration information. At this time, in the case of panning (tilting) operation, the rotational motion is centered on the center of rotation of the tripod device. Therefore, the signs of the angular velocities determined by the output voltages from both angular velocity sensors are the same, and the absolute value of the angular velocity. Is almost equivalent. On the other hand, in the case of vibration, the signs of the angular velocities determined by the output voltages from both angular velocity sensors are reversed, or the absolute values of the angular velocities are not substantially the same. Using this, the CPU 14 discriminates the vibration applied to the lens system and the turning operation such as panning by the cameraman. In the case of a turning operation such as a panning operation, the CPU 14 can avoid an operation failure such as during conventional panning by not operating the image stabilization function. The same applies to tilting.

  When vibration occurs during panning, the output from both angular velocity sensors has the opposite sign of the angular velocity and the absolute value of the angular velocity is substantially the same for the contribution of vibration. Using this, if the CPU 14 determines that panning is in progress, the CPU 14 determines that the value obtained by halving the difference between the output voltages from both angular velocity sensors is the magnitude of vibration applied to the lens system, and corrects the optical path. The amount is calculated and optical path correction is performed. As a result, it is possible to remove vibrations generated during panning. The same applies to tilting.

  As described above, according to the present invention, since vibration and an artificial turning operation (panning operation, tilting operation, etc.) by a cameraman can be determined instantaneously, vibration applied to the camera device (lens system) is removed as usual. When an intentional turning operation is performed by the cameraman, it is possible to suppress malfunctions during the turning operation by stopping the image stabilization control.

  In addition, it is possible to grasp the point in time when the intentional turning operation by the photographer is completed, and to start the image stabilization control more quickly than before.

  Furthermore, since the vibration applied to the lens system that occurred during the artificial panning operation by the cameraman can be removed, a stable image without blurring can be provided even during the panning operation.

Further, according to the vibration isolator described in the fourth embodiment of the present invention, in a lens system including a lens and a camera, a zoom demand, a focus demand, and a tripod device, vibrations from an oblique direction and undulating vibrations are observed. Even in the case where a large amount of vibration is generated and is not transmitted to the first angular velocity sensor and the second angular velocity sensor at the same time, various types of vibration isolation control can be performed by halving the vibration amount without stopping the vibration isolation control. Anti-vibration effect can be improved against various vibrations.

  The configuration of the control program that can be read by the CPU 14 of the lens system according to the present invention will be described below with reference to the memory map shown in FIG.

  FIG. 9 is a diagram illustrating a memory map of a recording medium (storage medium) that stores a control program readable by the CPU 14 of the lens system according to the present invention.

  Although not specifically shown, information for managing a program group stored in the recording medium, for example, version information, creator, etc. is also stored, and information depending on the OS on the program reading side, for example, a program is identified and displayed. Icons may also be stored.

  Further, data depending on various programs is also managed in the directory. In addition, when a program or data to be installed is compressed, a program to be decompressed may be stored.

  The functions shown in FIGS. 5, 6, and 8 in this embodiment may be performed by a host computer by a program installed from the outside. In this case, the present invention is applied even when an information group including a program is supplied to the output device from a recording medium such as a CD-ROM, a flash memory, or an FD, or from an external recording medium via a network. Is.

  As described above, a recording medium in which a program code of software for realizing the functions of the above-described embodiments is recorded is supplied to the system or apparatus, and the computer (or CPU or MPU) of the system or apparatus is stored in the recording medium. It goes without saying that the object of the present invention can also be achieved by reading and executing the program code.

  In this case, the program code itself read from the recording medium realizes the novel function of the present invention, and the recording medium storing the program code constitutes the present invention.

  As a recording medium for supplying the program code, for example, a flexible disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD-R, DVD-ROM, magnetic tape, nonvolatile memory card, ROM, EEPROM, A silicon disk or the like can be used.

  Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an OS (operating system) or the like running on the computer based on the instruction of the program code. It goes without saying that a case where the function of the above-described embodiment is realized by performing part or all of the actual processing and the processing is included.

  Furthermore, after the program code read from the recording medium is written in a memory provided in a function expansion board inserted in the computer or a function expansion unit connected to the computer, the function expansion is performed based on the instruction of the program code. It goes without saying that the case where the CPU or the like provided in the board or the function expansion unit performs part or all of the actual processing and the functions of the above-described embodiments are realized by the processing.

  Further, the present invention may be applied to a system composed of a plurality of devices or an apparatus composed of a single device. Needless to say, the present invention can be applied to a case where the present invention is achieved by supplying a program to a system or apparatus. In this case, by reading a recording medium storing a program represented by software for achieving the present invention into the system or apparatus, the system or apparatus can enjoy the effects of the present invention.

  Furthermore, by downloading and reading out a program represented by software for achieving the present invention from a server, database, etc. on a network using a communication program, the system or apparatus can enjoy the effects of the present invention. It becomes.

  In addition, all the structures which combined each embodiment mentioned above and its modification are also included in this invention.

It is a block diagram which shows the control structure of the lens system which shows embodiment of this invention. It is a side view explaining the lens system which shows embodiment of this invention. It is the figure which showed an example of the relationship between the angular velocity of angular velocity sensors 5 and 19, and an output voltage. It is a figure for demonstrating the judgment of panning and a vibration. It is a flowchart which shows an example of the 1st control processing procedure in this invention. It is a flowchart which shows an example of the 2nd control processing procedure in this invention. It is a figure explaining the output waveform during panning. It is a flowchart which shows an example of the control processing procedure of 4th Embodiment in this invention. It is a figure explaining the memory map of the recording medium (storage medium) which stores the control program which can be read by CPU14 of the lens system which concerns on this invention. It is a flowchart which shows an example of the image stabilization control processing procedure in the conventional lens system. FIG. 4 illustrates a description of image stabilization control in a conventional lens system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Focus lens group 2 Zoom lens group 3 Optical path correction | amendment optical system 4 Other lens groups 5 Angular velocity sensor 6 Optical path correction optical system control part 8 Focus motor 9 Zoom motor 10 Focus motor position sensor 11 Zoom motor position sensor 12 Focus motor drive circuit 13 Zoom motor drive circuit 14 CPU (microcomputer)
15 CCD (imaging device)
16 Signal Processing Unit 17 Zoom Demand 18 Focus Demand 19 Angular Velocity Sensor 20 Tripod Device 21 Lens 22 Camera 23 Viewfinder 24 Photographer 25 Anti-Vibration Switch 26 Tripod Support Point (Rotation Center at Panning)

Claims (13)

An anti-vibration device for a camera device capable of turning operation that rotates around a predetermined axis to change a shooting direction,
First vibration detecting means provided at the rotating portion on the imaging direction side of the camera device from the center of rotation;
A second vibration detecting means provided at the rotating portion on the opposite side of the imaging direction of the camera device from the center of rotation;
Vibration correcting means for performing vibration correction for correcting image blur due to vibration;
Determining means for determining whether or not the turning operation is being performed using vibration information detected by the first vibration detecting means and vibration information detected by the second vibration detecting means;
When it is determined by the determination means that the turning operation is not being performed, the vibration correction means is caused to execute the vibration correction using vibration information detected by the first vibration detection means or the second vibration detection means. On the other hand, if the determination means determines that the turning operation is being performed, the difference between the vibration information detected by the first vibration detection means and the vibration information detected by the second vibration detection means Control means for controlling the vibration correction means to execute the vibration correction using vibration information during the turning operation according to the above ;
An anti-vibration device comprising: The vibration isolator according to claim 1, wherein vibration information during the turning operation is ½ of the difference. The first vibration detection means and the second vibration detection means simultaneously detect vibrations in a direction substantially parallel to a plane including the rotation trajectory and substantially perpendicular to the imaging direction of the camera device,
In the case where the vibration direction indicated by the vibration information detected by the first vibration detection means and the vibration direction indicated by the vibration information detected by the second vibration detection means indicate the same direction, the determination means On the other hand, it is determined that the turning operation is being performed. On the other hand, the vibration direction indicated by the vibration information detected by the first vibration detection unit is opposite to the vibration direction indicated by the vibration information detected by the second vibration detection unit. The anti-vibration device according to claim 1, wherein it is determined that the turning operation is not being performed. The first vibration detection means and the second vibration detection means detect vibrations in a direction substantially parallel to a plane including the rotation trajectory and substantially perpendicular to the imaging direction of the camera device,
When the vibration direction indicated by the vibration information detected by the first vibration detection means and the vibration direction indicated by the vibration information detected by the second vibration detection means indicate opposite directions, On the other hand, it is determined that the turning operation is being performed. On the other hand, the vibration direction indicated by the vibration information detected by the first vibration detection unit and the vibration direction indicated by the vibration information detected by the second vibration detection unit are the same direction. The anti-vibration device according to claim 1, wherein it is determined that the turning operation is not being performed.   After the determination means determines that the turning operation is being performed, a value indicating the magnitude of vibration indicated by each vibration information detected by the first vibration detection means and the second vibration detection means and a reference value The vibration isolator according to any one of claims 3 to 4, wherein when the difference between each of them is less than a predetermined value, it is determined that the turning operation is finished. The determination means is further configured to be able to measure a time from the start of the turning operation. When the determination means is within a predetermined time from the start of the turning operation, the vibration information further corresponds to a certain rate or an elapsed time from the start of the turning operation. Control means for multiplying the variable ratio to obtain vibration information during the turning operation, and controlling the vibration correction means to execute the vibration correction using the vibration information during the turning operation;
The vibration isolator according to claim 2, wherein:   The vibration isolator according to any one of claims 1 to 6, wherein the turning operation is a panning operation or a tilting operation. The first vibration detection means is installed in a lens housing of the camera device,
The vibration isolator according to any one of claims 1 to 7, wherein the second vibration detection unit is installed in an operation unit capable of performing the turning operation. The first vibration detection means is installed in a lens housing of the camera device,
The said 2nd vibration detection means is installed in the demand housing | casing which operates the focus or zoom installed outside the lens housing | casing of the said camera apparatus, The any one of Claim 1 thru | or 7 characterized by the above-mentioned. The vibration isolator as described.   The vibration isolator according to any one of claims 1 to 9, wherein the first vibration detection unit and the second vibration detection unit are angular velocity sensors or acceleration sensors.   The vibration correcting means is a method of correcting vibration by changing an optical path of an optical signal incident on the camera device using vibration information, and changing a position of an image sensor in the camera device using vibration information to vibrate. 11. The method according to claim 1, wherein a correction method or a vibration correction method is used by changing an imaging region in an imaging element in the camera device using vibration information. Anti-vibration device. A camera device anti-vibration method capable of turning around a predetermined axis to change a shooting direction,
The vibration information detected by the first vibration detecting means provided at the rotating portion on the imaging direction side of the camera device from the center of rotation, and the imaging direction of the camera device from the center of rotation. A determination step of determining whether or not the turning operation is being performed using vibration information detected by second vibration detection means provided in the rotating part on the opposite side;
When it is determined by the determination step that the turning operation is not being performed, the vibration correction unit is caused to execute vibration correction using the vibration information detected by the first vibration detection unit or the second vibration detection unit, When it is determined by the determination step that the turning operation is being performed, the difference between the vibration information detected by the first vibration detection unit and the vibration information detected by the second vibration detection unit is followed. a control step of controlling so as to execute the vibration correction to the vibration correcting means using the vibration information in the turning operation,
An anti-vibration method comprising: A computer in the camera device capable of turning operation that rotates around a predetermined axis to change the shooting direction is provided at the rotating portion on the imaging direction side of the camera device from the rotation center. Vibration information detected by the first vibration detection means and vibration detected by the second vibration detection means provided on the rotating portion on the opposite side of the imaging direction of the camera device from the center of rotation. A determination step of determining whether or not the turning operation is being performed using information;
When it is determined by the determination step that the turning operation is not being performed, the vibration correction unit is caused to execute vibration correction using the vibration information detected by the first vibration detection unit or the second vibration detection unit, When it is determined by the determination step that the turning operation is being performed, the difference between the vibration information detected by the first vibration detection unit and the vibration information detected by the second vibration detection unit is followed. control step of controlling so as to execute the vibration correction to the vibration correcting means using the vibration information in the turning operation,
A program for running

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