JP2000013671A - Image motion compensation device - Google Patents

Abstract

(57) [Problem] In an image pickup apparatus having a shake correction optical system, if the amount of movement of a correction lens is small, the phase delay of the entire system due to the effect of the load on the mechanism increases. Reducing phase lag. A microcomputer obtains a focal length of an imaging optical system via an imaging optical system drive control means, and sets initial values of parameters for internal signal processing.
When the imaging device vibrates due to camera shake, the angular velocity sensor 10
, The angular velocity of the housing is detected, and the HPF11, LPF1
2. The angular velocity in two axial directions is input to the microcomputer 15 via the A / D conversion means 14. The microcomputer 15 changes the phase characteristics of the control system, and compensates for the phase lag due to the influence of the load on the mechanism that occurs when the lens movement amount is small.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image motion compensator for correcting camera shake of an image pickup device, and more particularly to a device for performing stable camera shake correction regardless of the focal length of an image pickup optical system.

[0002]

2. Description of the Related Art In recent years, consumer video cameras (hereinafter, referred to as video movies or image pickup apparatuses) have been reduced in size and weight, and optical zooms have been increased in magnification. For this reason, video movies have become one of the most common devices for ordinary users. But on the other hand,
The reduction in size and weight and the increase in the magnification of the optical zoom have caused a user of a video movie who is not proficient in shooting to make the screen unstable if camera shake occurs during shooting. Therefore, in order to reduce such troubles, many video movies equipped with an image motion compensator have been developed and already commercialized.

As an image motion compensating device of an image pickup apparatus, for example, in Japanese Patent Application Laid-Open No. 5-66450, an optical axis of an image forming optical system having a variable power optical group or a focus adjusting group is decentered or tilted. A device provided with a correction optical mechanism has been proposed. In this correction optical mechanism, in the imaging optical system including the first to fourth lens groups 211 to 214 as shown in FIG. 16, some of the lenses are, for example, slide shafts 215 and 216 as shown in FIG. A mechanism that allows movement in up, down, left, and right directions perpendicular to the optical axis via the optical axis is incorporated. By driving an electromagnetic actuator by a coil and a magnet, the optical axis of the imaging optical system is decentered or tilted.

In such a configuration of the related art, an electromagnetic actuator is driven in accordance with camera shake during photographing, and a slide shaft 2 is driven.
The slide portion is moved using 15, 216 as a guide. With this configuration, it is possible to correct image disturbance due to camera shake of the imaging apparatus. Further, in the above correction optical mechanism,
Shake angle displacement θ of the imaging optical system, displacement dL of the correction optical system,
And the relationship between the image movement amount (displacement amount) dIM. According to this, assuming that the focal length of the imaging optical system is f and the imaging magnification is β, the imaging optical system becomes θ around the front principal point.
Assuming that the image movement amount when an angular shake of [rad] occurs is dIM, dIM is expressed by the following equation (1). dIM = f (1 + β) · θ (1) On the other hand, the displacement amount dI of the image with respect to the displacement amount dL of the correction optical system
When the ratio of M is called the eccentric sensitivity Sd, dIM is given by the following (2).
It can be expressed by an expression. dIM = Sd · dL (2) Since the eccentric sensitivity Sd is a function of the focal length f and the imaging magnification β, Sd is expressed by the following equation (3). Sd = Sd (f, β) (3) When the deflection angular displacement θ is expressed using the equations (1) to (3), the following equation (4) is obtained. θ = {Sd (f, β) · dL} / {f · (1 + β)} (4)

In equation (4), “f”, “(1 + β)”, “Sd (f,
β) changes. Generally Sd by zooming
Since the change of (f, β) is smaller than the change rate of the focal length f, the shake correction range is larger at the wide end (wide angle end) than at the tele end (telephoto end).

For this reason, even if the amount of movement of the lens of the correction optical system is constant, the shake correctable angle changes according to the focal length of the imaging optical system. For example, the shake correction angle is larger on the wide angle side than on the telephoto side. Further, the image blur correction range is limited by the focal length so that the correction range on the wide-angle side does not become too large, or the vibration correction range does not include a portion having a large aberration.

[0007]

However, the above conventional example has the following problems. That is,
Since the shake angle of the imaging apparatus due to camera shake during shooting does not depend on the focal length of the imaging optical system, the correction angle required for shake correction is substantially constant regardless of the focal length of the imaging optical system. . Therefore, the fact that the shake correction possible angle changes in accordance with the focal length of the imaging optical system means that the same correction angle is to be maintained within the entire zoom magnification range from the wide-angle end to the telephoto end of the imaging optical system. It is necessary to change the movement amount of the shake correction lens according to the focal length, and the movement amount must be smaller at the wide angle end. In other words, at the wide angle end, it is necessary to move the lens with a small amplitude.

In the vicinity of the wide-angle end, the amount of lens movement is smaller than that at the telephoto end. Therefore, when the lens is moved on the slide shaft as in the above example, the sliding load between the slide shaft and the bearing and the power to the actuator are supplied. It is more susceptible to wiring load due to wiring to supply. Such an increase in the effect of the load acts in the direction of deteriorating the operating characteristics of the mechanism.
Therefore, in the configuration as in the above example, there is a possibility that the shake correction performance may deteriorate near the wide-angle end where the focal length is short due to the deterioration of the operation characteristics of the mechanism section.

The present invention has been made in view of such a conventional problem, and the amount of movement of a lens for shake correction depends on the focal length of an image pickup optical system. SUMMARY OF THE INVENTION It is an object of the present invention to provide an image motion correcting apparatus that has a shake correcting optical system in which the amount of lens movement is small, and that can accurately perform shake correction even when the amount of lens movement is small.

[0010]

Means for Solving the Problems In order to solve such problems, the invention of claim 1 of the present application comprises a motion detecting means for detecting a motion of the imaging device due to camera shake and other vibrations,
An imaging optical system provided in the imaging device, including a plurality of lens groups including at least a zooming unit or a focus adjustment unit, and imaging an object on an imaging surface; and a focal length for detecting a focal length of the imaging optical system. A detecting unit, a motion correcting unit disposed in the imaging optical system for correcting a motion of a captured image generated due to a motion of the imaging device, and controlling an optical axis of imaging light; and an output of the motion detecting unit. Control signal generation means for generating a control signal for the motion correction means based on the
The control signal generating unit has a high-pass filter process for removing a low-frequency component included in an output of the motion detecting unit, and the high-pass filter based on a focal length detected by the focal length detecting unit. The response characteristic of the control signal generating means is changed by changing a cutoff frequency of the processing.

According to a second aspect of the present invention, in the image motion compensating apparatus according to the first aspect, the control signal generating means sets a cutoff frequency of the high-pass filter processing higher as the focal length is longer, The cutoff frequency of the high-pass filter processing is set lower as the focal length is shorter.

According to a third aspect of the present invention, there is provided a motion detecting means for detecting a motion of an image pickup apparatus due to camera shake and other vibrations, and a plurality of lenses provided in the image pickup apparatus and including at least a variable magnification unit or a focus adjustment unit. An imaging optical system that has a group and forms an image of a subject on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and corrects a motion of a captured image caused by a motion of the imaging device. A motion correction unit configured to control an optical axis of imaging light, and a control signal generation unit configured to generate a control signal for the motion correction unit based on an output of the motion detection unit. The control signal generating means has a low-pass filter processing for removing a high-frequency component included in the output of the motion detecting means, and based on the focal length detected by the focal length detecting means, It is characterized in changing the response characteristic of the control signal generating means by varying the cutoff frequency of the over-filtering.

According to a fourth aspect of the present invention, in the image motion compensating apparatus of the third aspect, the control signal generating means sets a cutoff frequency of the low-pass filter processing higher as the focal length is longer, The cutoff frequency of the low-pass filter processing is set lower as the focal length is shorter.

According to a fifth aspect of the present invention, there is provided a motion detecting means for detecting a motion of an image pickup apparatus due to camera shake and other vibrations, and a plurality of lenses provided in the image pickup apparatus and including at least a variable magnification section or a focus adjustment section. An imaging optical system that has a group and forms an image of a subject on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and corrects a motion of a captured image caused by a motion of the imaging device. A motion correction unit configured to control an optical axis of imaging light, and a control signal generation unit configured to generate a control signal for the motion correction unit based on an output of the motion detection unit. The control signal generating means has an integration process for integrating the output of the motion detection means, and changes the time constant of the integration process based on the focal length detected by the focal length detection means. System It is characterized in changing the response characteristics of the signal generating means.

According to a sixth aspect of the present invention, in the image motion compensating apparatus of the fifth aspect, the control signal generating means sets the time constant of the integration process smaller as the focal length becomes shorter, and the focal length becomes shorter. A longer time constant of the integration process is set to be longer.

According to a seventh aspect of the present invention, there is provided a motion detecting means for detecting a motion of an image pickup apparatus due to camera shake and other vibrations, and a plurality of lenses provided in the image pickup apparatus and including at least a variable magnification unit or a focus adjustment unit. An imaging optical system that has a group and forms an image of a subject on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and corrects a motion of a captured image caused by a motion of the imaging device. A motion correction unit configured to control an optical axis of imaging light, and a control signal generation unit configured to generate a control signal for the motion correction unit based on an output of the motion detection unit. The control signal generating means has a phase compensation filter processing for compensating for a phase delay of the output of the motion detecting means,
Based on the focal length detected by the focal length detection means,
The response characteristic of the control signal generating means is changed by changing the phase characteristic of the phase compensation filter processing.

According to an eighth aspect of the present invention, in the image motion compensating apparatus of the seventh aspect, the control signal generating means sets a lower frequency range in which the phase is advanced by the phase compensation filter processing as the focal length is shorter. The frequency range in which the phase is advanced by the phase compensation filter processing is set higher as the focal length is longer.

According to a ninth aspect of the present invention, there is provided a motion detecting means for detecting a motion of the image pickup apparatus due to camera shake and other vibrations, and a plurality of lenses provided in the image pickup apparatus and including at least a variable magnification section or a focus adjustment section. An imaging optical system that has a group and forms an image of a subject on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and corrects a motion of a captured image caused by a motion of the imaging device. A motion compensator disposed in the imaging optical system for controlling an optical axis of imaging light, an A / D converter for converting a signal related to the motion of the imaging device obtained by the motion detector into a digital signal, Control signal generation means for generating a control signal for the motion correction means based on the motion signal of the imaging device converted by the A / D conversion means, wherein the control signal generation means To control the conversion period of the A / D converting means in accordance with the detected focal length at the point distance detecting means, a period for generating the control signal is characterized in that variable.

According to a tenth aspect of the present invention, in the image motion compensating apparatus according to the ninth aspect, the control signal generating means generates a conversion cycle of the A / D conversion means and generates the control signal as the focal length becomes shorter. The cycle is set to be short, and the longer the focal length, the longer the conversion cycle of the A / D converter and the generation cycle of the control signal.

The invention of claim 11 of the present application is directed to claims 1-1
0. The image motion compensating apparatus according to any one of items 0 to 5, wherein the motion compensating means is a variable apex angle prism.

[0021] The invention of claim 12 of the present application is directed to claims 1-1.
0. The image motion compensating apparatus according to claim 1, wherein the motion compensating means drives at least one lens to be decentered in two directions orthogonal to an optical axis of the imaging optical system. It is.

The invention of claim 13 of the present application is directed to claims 1 to 1
0, the motion compensating means includes a motion compensating unit that is orthogonal to the optical axis of the imaging optical system.
At least one lens is driven to rotate about an axis.

[0023] The invention of claim 14 of the present application is directed to claims 1-1.
3. The image motion compensator according to claim 3, wherein the motion detecting means is an angular velocity sensor that detects an angular velocity of the imaging apparatus itself.

The invention of claim 15 of the present application is the invention of claims 1-1
3. The image motion compensating apparatus according to any one of the items 3, wherein the motion detecting means is a motion vector detecting means for detecting a motion vector of an image from a captured image.

The invention of claim 16 of the present application relates to claims 1-1
0, wherein the control signal generating means is a microcomputer which executes a series of signal processing by a predetermined program.

[0026]

(Embodiment 1) An image motion correcting apparatus according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the image motion compensation device according to the present embodiment. In FIG. 1, an imaging optical system 1 is an imaging optical system including four lens groups L1, L2, L3, and L4, and performs a zooming operation (zooming) by moving the lens group L2 in the optical axis direction. When the group L4 moves in the optical axis direction, a focusing operation (focusing) is performed. The lens unit L3 includes two lens units L31 and L32 arranged closer to the image plane than the lens unit L2. When the lens unit L32, which is a correction optical system, moves in a plane orthogonal to the optical axis, it functions to decenter the optical axis and correct the movement of the image.

The L32 lens group drive control means 2 is a control means for driving and controlling the lens group L32, which is a shake correction lens, and moves the lens group L32 up and down in a plane orthogonal to the optical axis of the imaging optical system 1. Move left and right. The movement amount detection means 3 is a detection means for detecting the actual movement amount of the lens group L32, and forms a feedback control loop for driving and controlling the lens group L32 together with the L32 lens group drive control means 2. As described above, the lens unit L32 and the L32 lens unit drive control unit 2 constitute a movement correction unit that controls the optical axis of the imaging light.

The imaging optical system drive control means 4 controls the driving of the lens units L2 and L4 in the imaging optical system 1, performs zooming and focusing operations, and outputs focal length information of the imaging optical system 1. It also has a function of detecting means. A /
The D conversion unit 5 is a conversion unit that converts the focal length information of the imaging optical system 1 output from the imaging optical system drive control unit 4 into a digital signal and provides the digital signal to the microcomputer 15.

The solid-state image pickup device 6 is an image pickup device for converting an image incident through the image pickup optical system 1 into an electric signal. The analog signal processing unit 7 is a processing unit that performs analog signal processing such as gamma processing on the video signal obtained by the solid-state imaging device 6. The A / D converter 8 is a converter that converts an analog video signal output from the analog signal processor 7 into a digital video signal. The digital signal processing unit 9 is a signal processing unit that performs digital signal processing such as noise removal and contour enhancement on the video signal converted into a digital signal by the A / D conversion unit 8.

The angular velocity sensor 10 is a sensor for detecting the movement of the image pickup apparatus itself including the image pickup optical system 1. The angular velocity sensor 10 changes the direction of the movement of the image pickup apparatus based on the output when the image pickup apparatus is stationary. Outputs angular velocity signals in both positive and negative directions. The angular velocity sensors 10 are sensors that detect movement in two directions, yawing and pitching, and are provided in two sets. FIG. 1 shows only one direction. As described above, the angular velocity sensor 10 has a function of a motion detecting unit that detects the motion of the imaging device due to camera shake and other vibrations.

The HPF 11 is a high-pass filter for removing a DC drift component in an unnecessary band component included in the output of the angular velocity sensor 10. LPF 12 is an angular velocity sensor 10
This is a low-pass filter that removes the resonance frequency component of the sensor and the noise component in the unnecessary band component included in the output of the filter. The amplifier 13 is a circuit that adjusts the signal level of the output of the angular velocity sensor 10. The A / D converter 14 is a converter for converting the output signal of the amplifier 13 into a digital signal, and the output is provided to the microcomputer 15.

The microcomputer 15 performs filtering, integration, phase compensation, gain adjustment, clipping, and the like on the output signal of the angular velocity sensor 10 fetched through the A / D conversion means 14 to perform motion correction. This is a control signal generating means for obtaining a required drive control amount of the lens group L32 (hereinafter, referred to as a control signal). This control signal is output to the L32 lens group drive control means 2 via the D / A conversion means 16. The L32 lens group drive control means 2 corrects the motion of the image by driving the lens group L32 based on the control signal. The solid-state imaging device drive control unit 17 is a control unit for driving and controlling the solid-state imaging device 6.

FIG. 2 is a perspective view showing an example of a shake correcting optical mechanism for driving and controlling the lens group L32 in the direction orthogonal to the optical axis in the image pickup optical system 1. In the figure, a lens group 21 is a lens group L3 that operates as a shake correction lens.
2. The main shafts 22 and 23 are slide shafts for moving a movable portion including the lens group 21 in the pitch direction and the yaw direction, respectively. The detent 24 is a shaft that holds one of the lens groups 21 slidably in the pitch direction and prevents rotation of the lens group 21. The magnet 25 forms a magnetic circuit together with the yoke 27, and acts to apply a magnetic flux to the coil 29 and apply an electromagnetic force in the pitch direction. Similarly, the magnet 26 forms a magnetic circuit together with the yoke 28, and acts to apply a magnetic flux to the coil 30 and apply an electromagnetic force in the yaw direction. The magnets 25 and 26, the yokes 27 and 28, and the coils 29 and 30 constitute an electromagnetic actuator that drives a movable part.

The PSDs 31 and 32 are semiconductor position detecting elements for detecting the position of the projection beam. The LEDs 33 and 34 are infrared light emitting diodes that project a light beam onto the PSD. The PSD 31 and the LED 33 detect the position of the movable portion in the pitch direction, and have the function of the movement amount detecting means 3 in FIG. Similarly, the PSD 32 and the LED 34 have a function of movement amount detecting means for detecting the position of the movable portion in the yaw direction.

The operation of the image motion compensator configured as described above will be described. FIG. 3 is a flowchart of the processing program stored in the microcomputer 15. When a camera shake correction switch (not shown) is turned on, a series of processes shown in FIG. 3 is started. Note that one processing loop is interrupted by a timer built in the microcomputer 15 at fixed intervals, and the loop processing is executed at every interruption, for example, every 1 msec.

First, when the camera shake correction switch is turned on,
In step 101, set values used in filtering, integration processing, phase compensation, gain adjustment, and clip processing are set to initial values. Note that the filtering of the microcomputer 15 means a low-frequency cutoff process (hereinafter, referred to as an HPF process) and a high-frequency cutoff process (hereinafter, referred to as an LPF process), and its transfer function is determined by the focal length of the imaging optical system 1. What is set accordingly is different from the functions of the HPF 11 and the LPF 12 in FIG. That is, in step 101, HPF processing and L
For the PF processing, each cutoff frequency is set to an initial value, and the integration constant, phase compensation band, gain, and clip value are set to initial values.

When the timer interrupts, first, at step 102, the microcomputer 1 sets the output of the angular velocity sensor 10, that is, the movement of the imaging device as the angular velocity.
5 takes in. At this time, the cycle in which the A / D converter 14 converts the output of the angular velocity sensor 10 into a digital signal is synchronized with one processing cycle of the microcomputer 15.
Subsequently, in step 103, the focal length of the imaging optical system 1 is detected by the imaging optical system drive control means 4. In step 104, the cutoff frequency of the HPF processing used in step 105 is determined according to the focal length detected in step 103.

In step 105, the output of the angular velocity sensor 10 is band-limited by HPF processing. The HPF processing in this step is to remove unnecessary low-frequency signal components such as temperature drift contained in the output of the angular velocity sensor 10. The transfer function in this HPF processing is
It has the characteristic of a primary filter represented by (1−Z ⁻¹ ) / (1−a · Z ⁻¹ ). Step 101 or step 1
The filter coefficient a (0 <a <1) is changed according to the cutoff frequency set in step 04, and the pass band (cutoff frequency) of the filter is changed.

In step 106, an LPF is applied to the output of the angular velocity sensor 10 after the low-frequency removal in step 105.
Bandwidth is limited by processing. The LPF processing in this step is for removing unnecessary signal components such as high-frequency noise included in the output of the angular velocity sensor 10. This LPF
The transfer function in the processing is (1 + Z ^-1 ) / (1-b · Z
^-1 ). The filter coefficient b (0 <b <1) is changed according to the cutoff frequency set in step 101, and the pass band (cutoff frequency) of the filter is changed.

In step 107, the output of the angular velocity sensor 10 after the filtering in step 106 is integrated to obtain an angle from the angular velocity. It is assumed that the transfer function in the process of this step has a characteristic of 1 / (1−K · Z ⁻¹ ). Note that K is an integration constant, and 0 <
Let K <1. By changing the value of this integration constant K,
The time constant of the integration process can be manipulated.

In step 108, the phase characteristics of the signal after step 107 are improved. This process is to newly adjust the phase change of the signal due to the HPF 11, the LPF 12, and various filtering processes in steps 105 and 106 with respect to the output of the angular velocity sensor 10. The phase compensation here is performed when the transfer function is (cd−
Z ^-1 ) / (eg-Z.Z ^-1 ),
The phase compensation band can be changed by changing the coefficients c, d, e, and g.

In step 109, gain adjustment is performed on the angle information of the motion of the imaging device obtained from the output of the angular velocity sensor 10 in step 107. In step 110, clip processing is performed so that the control signal sent from the microcomputer 15 to the L32 lens group drive control means 2 does not indicate a correction amount exceeding the motion correction range by the lens group L32. The data after clip processing is D
/ A conversion means 16 converts the analog signal into an analog signal.
It is output to the two-lens group drive control means 2.

In the above-described signal processing, a series of operations such as angular velocity detection by the angular velocity sensor and drive control of the lens unit L32 are performed in both the horizontal and vertical directions. Are identical.

As described above, the shake angle of the image pickup apparatus due to camera shake during photographing does not depend on the focal length of the image pickup optical system 1. Therefore, the correction angle at the time of shake correction is not related to the focal length of the imaging optical system 1, and the required correction angle is substantially constant.
However, since the shake-correctable angle with respect to the amount of lens movement of the shake correction lens (lens group L32) changes according to the focal length, it is approximately the same within the entire zoom magnification range from the wide-angle end to the telephoto end of the imaging optical system 1. In order to maintain the correction angle of (1), it is necessary to change the amount of movement of the shake correction lens (L32) according to the focal length of the imaging optical system. The amount of movement must be smaller at the wide-angle end. That is, if the focal length of the imaging optical system 1 is at the telephoto end and the moving amount of the lens unit L32 for securing a certain correction angle is Dt, when the imaging optical system 1 is moved to the wide angle side, the same correction angle is obtained. The amount of movement of the lens unit L32 required to obtain
It becomes smaller than t. In this case, the mechanism for moving the lens group L32 is greatly affected by the friction between the slide shaft and the bearing and the load on the wiring such as the coil of the electromagnetic actuator, and the control characteristics are degraded. Specifically, the phase delay of the mechanism due to the load becomes remarkable in the frequency characteristics. As a result, the camera shake suppression performance deteriorates.

FIGS. 4 and 5 show examples in which the frequency characteristic (closed loop characteristic) is measured by changing the moving amplitude of the movable part by the slide mechanism in the configuration shown in FIG. FIG. 4 shows the measurement with the movement amplitude of about ± 1 mm, and FIG. 5 shows the measurement with the movement amplitude of about 0.1 mm. When the moving amplitude is small, it is understood that a phase delay of about 10 ° occurs at 10 Hz as shown in FIG.

Therefore, the focal length of the imaging optical system 1 is short,
In order to compensate for the phase delay of the mechanism that appears when the amount of movement of the lens unit L32 is small, the microcomputer 15
Reduces the phase lag factor that occurs during signal processing and improves the phase characteristics of the entire system. As a measure for compensating for the phase delay generated in such a mechanism, the cutoff frequency of the HPF processing for the output of the angular velocity sensor 10 is changed according to the focal length. This will be described in detail below.

The microcomputer 15 has a relational expression or a table defining the relation between the focal length of the image pickup optical system 1 and the cutoff frequency of the HPF processing.
Optimum HP from focal length by this relational expression or table
The cutoff frequency of the F processing is determined. Then, the set value of the cutoff frequency of the HPF processing set to the initial value is changed to the newly determined value. In this case, the shorter the focal length, the larger the phase delay generated in the mechanism section. Therefore, the cutoff frequency of the HPF processing is changed so as to eliminate the phase delay of the mechanism section. For example, in the case of camera shake correction, since the frequency of the shake to be corrected is at most 20 Hz or less, the cutoff frequency of the HPF processing is changed so that the phase lead at 20 Hz or less increases. Since the microcomputer 15 is provided with a relational expression or a table defining the relation between the set cutoff frequency and the filter coefficient a, the filter coefficient a is determined from the cutoff frequency according to the relational expression or the table. Then, the band of the output of the angular velocity sensor 10 is limited.

FIG. 6 is an explanatory diagram showing an example of the cutoff frequency determination method in step 104 shown in FIG. In the example shown in the figure, the cut-off frequency of the HPF processing in step 105 is set from the minimum value of the focal length (the widest angle side: fmin) to the predetermined focal length f1.
Set the cutoff frequency to fch2 from the focal length f2 to the maximum value of the focal length (the maximum telephoto side: fmax) from f1 to fch2.
Up to f2, the cutoff frequency is changed continuously.

As described above, by changing the cutoff frequency of the HPF processing in step 105 in accordance with the focal length of the image pickup optical system 1, the phase delay of the entire system, which increases under the influence of the load on the mechanism, is reduced. Thus, the motion compensation characteristics can be improved.

In FIG. 6, a method of setting f1 = fmin and f2 = fmax, a method of limiting the cutoff frequency to two values by setting f1 = f2, and a method of changing the cutoff frequency in multiple stages are also conceivable. An example in which the cutoff frequency is changed non-linearly as shown in FIG.

As described above, in the first embodiment, the HP for removing low-frequency components contained in the output of the angular velocity sensor 10 is used.
F processing is provided, and the H processing is performed according to the focal length of the imaging optical system 1.
By changing the cutoff frequency of the PF processing, it is possible to reduce the phase delay when the movement amount of the lens unit L32 is small. In this way, the motion compensation characteristics were improved, and good camera shake compensation was realized regardless of the focal length.

(Embodiment 2) Next, an image motion correcting apparatus according to Embodiment 2 of the present invention will be described. The image motion compensating apparatus according to the present embodiment is different from the first embodiment only in a part of processing contents in the microcomputer 15. Therefore, as an operation of the image motion compensating apparatus, a processing program stored in the microcomputer 15 will be described with reference to FIG. Embodiment 1
The same step numbers as in FIG. 1 are assigned to the same processing contents as in FIG. 1, and the description of the operations of those steps is omitted.

In FIG. 8, the microcomputer 15
It is assumed that a loop process is executed every time an interrupt is generated by a built-in timer. In step 204, step 10
Step 10 based on the focal length detection result in Step 3
The cutoff frequency used in the low-pass filter processing (LPF processing) 6 is determined. In step 106, the band of the output of the angular velocity sensor 10 is limited based on the LPF processing of the cutoff frequency determined in step 204.

The operation centering on step 204 will now be described in detail. The microcomputer 15 has a relational expression or a table defining the relation between the focal length of the imaging optical system 1 and the cutoff frequency. Using this relational expression or table, an optimal cutoff frequency is determined from the focal length of the imaging optical system 1. Then, the set value of the cutoff frequency, which was set to the initial value in step 101, is changed to the value determined in this step. In this case, the shorter the focal length, the larger the phase delay generated in the mechanism section. Therefore, the cutoff frequency is changed so that the phase change due to the LPF processing eliminates the phase delay of the mechanism section. For example, in the case of camera shake correction, since the frequency of the shake to be corrected is at most 20 Hz or less, the cutoff frequency of the LPF processing is changed so that the phase delay at 20 Hz or less is reduced. In step 106, b is determined from the cutoff frequency using a relational expression or table that defines the relationship between the set cutoff frequency and the filter coefficient b, and band limitation is performed.

FIG. 9 is an explanatory diagram showing an example of the method of determining the cutoff frequency in step 204 shown in FIG. In the example shown in the figure, the cutoff frequency of the LPF processing is set to fcl2 from the minimum value of the focal length (the widest angle side: fmin) to the predetermined focal length f1, and the focal length is changed from the focal length f2 to the focal length. Up to the maximum value (the maximum telephoto side: fmax)
The cutoff frequency is set to fcl1, and the cutoff frequency is changed continuously from f1 to f2.
By changing the cutoff frequency of the LPF processing in accordance with the focal length of the imaging optical system 1 in this manner, the lens group L3
2 can reduce the phase lag when the moving amount is small, and can improve the motion compensation characteristics.

In FIG. 9, a method of setting f1 = fmin and f2 = fmax, a method of limiting the cutoff frequency to two values by setting f1 = f2, and a method of changing the cutoff frequency in multiple stages are also conceivable. An example in which the cutoff frequency is changed non-linearly as in FIG.

As described above, in the present embodiment, the microcomputer 15 uses the low-pass filter (LPF) for removing high-frequency components contained in the output of the angular velocity sensor 10.
By having a processing function and changing the cutoff frequency of the LPF processing according to the focal length of the imaging optical system 1, it is possible to reduce a phase delay that occurs when the movement amount of the lens unit L32 is small. This improves the motion compensation characteristics,
Good camera shake correction can be realized regardless of the focal length.

(Embodiment 3) Next, an image motion correcting apparatus according to Embodiment 3 of the present invention will be described. The image motion compensating apparatus according to the present embodiment is different from the first or second embodiment only in a part of processing contents in the microcomputer 15. Therefore, as an operation of the image motion compensating device, a processing program stored in the microcomputer 15 will be described with reference to FIG. Note that the same processes as those in the first or second embodiment are denoted by the same step numbers as those in FIG. 1, and the description of the operations of those steps is omitted.

FIG. 10 is an example of a flowchart of a processing program stored in the microcomputer 15. In the process shown in FIG. 10 as well, a loop process is executed every time an interrupt is generated by a timer built in the microcomputer 15. In step 304, step 103
The integration constant K of the integration process (integration filter) in step 107 is determined based on the focal length detection result in. In step 107, an integration process is performed using the integration constant K determined in step 304.

The details of the processing in step 304 will be described below. The microcomputer 15 has a relational expression or a table defining the relation between the focal length of the imaging optical system 1 and the integration constant K therein. Using this relational expression or table, an integration constant K is determined from the focal length of the imaging optical system 1. Then, the set value of the integration constant K that has been set to the initial value in step 101 is changed to the value determined in this step. In this case, the shorter the focal length, the larger the phase delay generated in the mechanism section. Therefore, the integration constant is changed so that the phase change due to the integration process compensates for the phase delay in the mechanism section. For example, in the case of camera shake correction, since the frequency of the shake to be corrected is at most 20 Hz or less, the integration constant (time constant) of the integration process is changed so as to reduce the phase delay at 20 Hz or less.

FIG. 11 is a flowchart showing the operation of step 304 shown in FIG.
FIG. 4 is an explanatory diagram showing an example of a method for determining an integration constant K in FIG. In the example shown in the figure, from the minimum value of the focal length (the widest angle side: fmin) to the predetermined focal length f1,
The integration constant of the integration processing in step 107 is set to K2, the integration constant is set to K1 from the focal length f2 to the maximum value of the focal length (the maximum telephoto side: fmax), and the integration constant is continuously changed from f1 to f2. It was made.

As described above, by changing the integration constant used in the integration processing in accordance with the focal length of the image pickup optical system 1, the phase delay caused when the moving amount of the lens unit L32 is small is reduced, and the motion compensation characteristic is improved. Can be improved.
Note that in FIG. 11, a method of setting f1 = fmin and f2 = fmax,
A method of limiting the integration constant to binary with 1 = f2 is also conceivable. Further, an example in which the integration constant is changed non-linearly as shown in FIG.

As described above, in the present embodiment, the microcomputer 15 has the integration means for integrating the output of the angular velocity sensor 10 and converting the angular velocity into an angle, and integrates according to the focal length of the imaging optical system 1. The time constant of the integration process is changed by changing the integration constant of the means. Then, the phase lag of the entire system, which increases under the influence of the load on the mechanism that occurs when the movement amount of the lens unit L32 is small, is reduced.
In this way, the motion compensation characteristics can be improved, and good camera shake compensation can be realized regardless of the focal length.

(Embodiment 4) Next, an image motion correcting apparatus according to Embodiment 4 of the present invention will be described. The image motion compensating apparatus according to the present embodiment is different from the first to third embodiments only in a part of processing contents in the microcomputer 15. Therefore, as an operation of the image motion compensating apparatus, a processing program stored in the microcomputer 15 will be described with reference to FIG. The same processes as those in the first to third embodiments are denoted by the same step numbers as those in FIG. 1, and the description of the operations of those steps is omitted.

FIG. 12 is an example of a flowchart of a processing program stored in the microcomputer 15. Also in the processing shown in FIG. 12, it is assumed that a loop processing is executed for each interruption by a timer built in the microcomputer 15. In step 404, step 103
Based on the focal length detection result in step 108
Of the compensation band in the phase compensation processing of (1). Step 10
In step 8, based on the determination in step 404, step 10
The phase characteristic of the output of the angular velocity sensor 10 that has undergone the HPF processing of Step 5, the LPF processing of Step 106, and the integration processing of Step 107 is improved by a phase compensation filter.

The details of the process in step 404 will be described below. The microcomputer 15 has a relational expression or a table defining the relation between the focal length of the imaging optical system 1 and the phase compensation band. Therefore, the phase compensation band is determined from the focal length according to the relational expression or the table, and the set value of the phase compensation band set to the initial value in step 101 is changed to the value determined in this step. In this case, the shorter the focal length, the larger the phase delay generated in the mechanism section. Therefore, the compensation band is changed so that the phase change due to the phase compensation processing compensates for the phase delay of the mechanism section. For example, in the case of camera shake correction, since the frequency of the shake to be corrected is at most 20 Hz or less, the phase compensation processing is changed so that the phase delay at 20 Hz or less is reduced.

FIG. 13 shows a characteristic example of the phase compensation filter. The transfer function of the phase compensation filter shown in FIG. 13 is, for example, (0.08−0.047 · Z ⁻¹ ) / (0.038−0.045 ·).
Z ^-1 ). This phase compensation filter can advance the phase by about 30 at about 8 Hz. Set compensation band and filter coefficients c, d, e, g
In step 108, c, d, e, and g are determined from the compensation band in accordance with the relational expression or table. Then, phase compensation is performed on the output of the angular velocity sensor 10.

As described above, in the present embodiment, the microcomputer 15 performs phase compensation on the output of the angular velocity sensor 10 that has undergone the HPF processing in step 105, the LPF processing in step 106, and the integration processing in step 107. have. Then, by changing the compensation band of the phase compensation filter according to the focal length of the imaging optical system 1, the phase delay that occurs when the movement amount of the lens unit L32 is small is reduced. In this way, the motion compensation characteristics can be improved, and good camera shake compensation can be realized regardless of the focal length.

(Embodiment 5) Next, an image motion correcting apparatus according to Embodiment 5 of the present invention will be described. FIG.
FIG. 1 is a block diagram illustrating an overall configuration of an image motion correction device according to the present embodiment. The configuration of the image motion compensating apparatus according to the present embodiment is basically the same as that of the first embodiment, and only the processing contents in the A / D converter 18 and the microcomputer 15 are different as shown in FIG. And the description of the configuration of the other blocks is omitted. A /
The D conversion means 18 is a means for converting the output of the angular velocity sensor 10 into a digital signal, and its conversion cycle is variably controlled by a command from the microcomputer 15.

A processing program stored in the microcomputer 15 will be described with reference to FIG. 15 as an operation of the image motion compensating apparatus according to the present embodiment. In FIG. 15,
The same processing contents as those in the above embodiments are denoted by the same step numbers, and description thereof is omitted. In this process as well, it is assumed that a loop process is executed for each interruption by a timer built in the microcomputer 15.

In step 511, the execution cycle of the processing flow is changed based on the detection result of the focal length in step 103. Specifically, for example, the interrupt cycle of a timer built in the microcomputer 15 is changed to make the processing cycle of the processing loop variable. Step 51
In step 2, when the execution cycle of the processing flow is changed in step 511, optimal settings for various processes executed in the subsequent steps are performed.

The details of the processing in step 511 will be described below. The microcomputer 15 has a relational expression or a table defining the relation between the focal length of the imaging optical system 1 and the execution cycle of the processing flow.
Using this relational expression or table, the optimal processing flow execution cycle is determined from the focal length of the imaging optical system 1. After that, each process shown in FIG. 15 is executed in the execution cycle of the newly determined process flow. At the same time, a command is also sent to the A / D conversion means 18 to change the A / D conversion cycle of the A / D conversion means 18. Specifically, the shorter the focal length, the faster the execution cycle of the processing flow.

Increasing the execution cycle of the processing flow in this way increases the sampling frequency in signal processing, thereby reducing the dead time caused by sampling, ie, the sampling cycle (execution cycle of the processing flow). . Therefore, since the delay time of the entire control system can be reduced, the influence of the phase delay generated in the mechanism can be reduced as the focal length becomes shorter.

In step 512, even if the execution cycle of the processing flow is changed, the frequency characteristics of various filters used in the HPF processing in step 105, the LPF processing in step 106, the integration processing in step 107, and the phase compensation processing in step 108 Is calculated so that does not greatly change, and this is used in each subsequent step. Thus, even if the execution cycle of the processing flow changes, the characteristics of the entire control system can be maintained.

As described above, in the present embodiment, the microcomputer 15 determines the execution cycle of the processing flow for calculating the control signal for driving and controlling the shake correction lens (L32) by the focal length of the imaging optical system 1. It changes according to. This reduces the phase delay that occurs when the amount of movement of the lens unit L32 is small. In this way, the motion compensation characteristics can be improved, and good camera shake compensation can be realized regardless of the focal length.

In all of the above embodiments, 2
It is easy to use a combination of two or more, and by combining in that case, it is possible to effectively reduce the phase delay that occurs when the movement amount of the lens unit L32 is small. In this way, the motion correction characteristics can be improved, and good camera shake correction can be realized regardless of the focal length.

In all of the above embodiments, the optical axis is decentered by moving the lens unit L32 in a direction perpendicular to the optical axis in order to correct the shake.
However, the present invention is not limited to this. For example, a variable apex angle prism in which two glass plates are joined with a bellows-like structure, and a liquid having a high refractive index is sealed therein. Further, as disclosed in "Development of Image Shake Prevention Technology for Video Cameras", Technical Report of the Institute of Television Engineers of Japan, Vol. 11, No. 28, pp. 19-24 (1987), the imaging optical system 1 and the solid-state imaging device 6 are used. Alternatively, a configuration may be employed in which the movement is corrected by rotatably supporting and driving the housing of the imaging apparatus. Further, a configuration may be adopted in which a lens group for motion correction is rotationally driven around a certain rotation center. In any of these cases, the present invention is effective.
This is because, in the case of the variable apex angle prism, due to the effect of the viscous resistance of the liquid sealed therein, at the time of a small amplitude operation, FIG.
This is because the phase characteristic is delayed similarly to the slide mechanism shown in FIG. Further, a configuration for correcting the movement by rotatably supporting and driving the imaging optical system 1, the solid-state imaging device 6, and the like on the housing of the imaging apparatus, and moving the lens group for the movement correction to a certain rotation center This is because the same phenomenon occurs due to the friction between the rotating shaft and the bearing and the load on the wiring even in the method of rotationally driving the motor.

In all of the above embodiments, the lens group L32 is incorporated in a mechanism that can move up, down, left and right via a slide shaft. However, the present invention is not limited to this. For example, a configuration in which the lens group L32 is supported by a leaf spring through a holding frame is also conceivable. Since the characteristics are delayed, the method of the present invention is effective.

In all of the above embodiments, the imaging optical system 1 is not limited to the configuration including the four lens groups L1, L2, L3, and L4 as shown in FIGS. The present invention is applicable to any imaging optical system having a shake correction optical system in which the amount of lens movement for shake correction depends on the focal length of the imaging optical system, and the shorter the focal length, the smaller the amount of lens movement. Needless to say, it is effective.

In all of the above embodiments, the angular velocity sensor has been described as an example of the means for detecting the movement of the imaging device. However, the present invention is not limited to this. For example, a method of detecting a motion vector of an image by pattern matching between fields or frames of a captured image may be used in place of the angular velocity sensor.

Further, in all of the above-described embodiments, an example has been described in which a microcomputer performs program processing, but the present invention is not limited to this. It goes without saying that the program processing by the microcomputer can be realized by hardware such as an electronic circuit.

In the first to fourth embodiments, among the various filtering processes performed in the microcomputer 15, the HPF process and the LPF process are respectively performed by the HPF process shown in FIG.
Needless to say, a configuration in which F11 and LPF12 are integrated into one is also possible.

In all of the above embodiments, transfer functions of various filters (HPF, LPF, integration filter, phase compensation filter) used for processing in the microcomputer 15 are illustrated as specific examples. The transfer functions of various filters (HPF, LPF, integration filter, phase compensation filter) used for processing in the microcomputer 15 are not limited to these.
It is needless to say that the present invention is effective even if filters represented by different transfer functions having the same effect are used.

In all of the above embodiments, the HPF and LPF used for processing in the microcomputer 15 are used.
Although the PF is a primary filter, it is not limited to this. It is needless to say that the present invention is also effective in the case of a second-order or higher-order filter configuration.

In all of the above embodiments,
Although no particular mention is made of the number of solid-state imaging devices in the imaging device, it is clear that the present invention is effective in any of single-chip imaging devices, two-chip imaging devices, and three-chip imaging devices. Further, it is apparent that the present invention is similarly effective in an imaging device using an imaging tube instead of a solid-state imaging device.

[0086]

According to the first and second aspects of the present invention, the control signal generating means has a high-pass filter process for removing low-frequency components contained in the output of the motion detecting means. By changing the cutoff frequency of the high-pass filter processing based on the focal length of the optical system, it is possible to change the response characteristics of the control signal generator. For this reason, even if the amount of drive of the motion compensator is small, it is possible to obtain an effect that the deterioration of the control characteristics due to the influence of the load can be reduced.

According to the third and fourth aspects of the present invention, the control signal generating means has a low-pass filter processing for removing high-frequency components contained in the output of the motion detecting means. By changing the cutoff frequency of the low-pass filter processing based on the focal length of the control signal, the response characteristic of the control signal generating means can be changed. For this reason, even if the amount of drive of the motion compensator is small, it is possible to obtain an effect that the deterioration of the control characteristics due to the influence of the load can be reduced.

According to the fifth and sixth aspects of the present invention, since the control signal generating means has the integration processing for integrating the output of the motion detection means, the integration processing based on the focal length of the imaging optical system is performed. By changing the time constant, the response characteristics of the control signal generating means can be changed. For this reason, even when the amount of drive of the motion compensator is small, it is possible to obtain an effect that the deterioration of the control characteristics due to the influence of the load can be reduced.

According to the seventh and eighth aspects of the present invention, the control signal generating means has the phase compensation filter processing for compensating for the phase delay of the output of the motion detecting means. The response characteristic of the control signal generating means can be changed by changing the phase characteristic of the phase compensation filter processing based on the above. For this reason, even if the amount of drive of the motion compensator is small, it is possible to obtain an effect that the deterioration of the control characteristics due to the influence of the load can be reduced.

According to the ninth and tenth aspects of the present invention,
The control signal generator controls the conversion cycle of the A / D converter and the generation cycle of the control signal according to the focal length. For this reason, even if the amount of drive of the motion compensator is small, it is possible to obtain an effect that the deterioration of the control characteristics due to the influence of the load can be reduced.

As described above, according to the first to sixteenth aspects of the present invention, even when the driving amount of the motion compensating means is small, deterioration of the control characteristics due to the influence of the load can be reduced, and the focal length of the image pickup optical system can be reduced. In this way, an effect of achieving good camera shake correction can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an image motion correction device according to a first embodiment of the present invention.

FIG. 2 is a perspective view of a shake correction optical mechanism used in the image motion correction device of each embodiment.

FIG. 3 is a flowchart illustrating processing performed by a microcomputer in the image motion correction device according to the first embodiment;

FIG. 4 is an explanatory diagram illustrating frequency characteristics (part 1) of a shake correction optical mechanism in the image motion correction device according to the first embodiment;

FIG. 5 is an explanatory diagram illustrating frequency characteristics (part 2) of a shake correction optical mechanism in the image motion correction device according to the first embodiment;

FIG. 6 is a diagram illustrating an image motion correcting apparatus according to the first embodiment;
Example of cutoff frequency determination method for PF processing (Part 1)
FIG.

FIG. 7 is a diagram illustrating an image motion correcting apparatus according to the first embodiment;
Example of method for determining cutoff frequency of PF processing (part 2)
FIG.

FIG. 8 is a flowchart illustrating processing performed by a microcomputer in the image motion correction device according to the second embodiment of the present invention.

FIG. 9 is a block diagram illustrating an image motion compensating apparatus according to a second embodiment;
FIG. 4 is an explanatory diagram illustrating an example of a method for determining a cutoff frequency in a PF process.

FIG. 10 is a flowchart illustrating processing performed by a microcomputer in the image motion correction device according to the third embodiment of the present invention.

FIG. 11 illustrates an image motion compensation device according to a third embodiment.
FIG. 9 is an explanatory diagram illustrating an example of a method of determining an integration constant K in the integration processing.

FIG. 12 is a flowchart illustrating processing performed by a microcomputer in the image motion correcting apparatus according to the fourth embodiment of the present invention.

FIG. 13 illustrates an image motion compensating apparatus according to a fourth embodiment.
FIG. 4 is an explanatory diagram illustrating frequency characteristics of a phase compensation filter.

FIG. 14 is a configuration diagram of an image motion correction device according to a fifth embodiment of the present invention.

FIG. 15 illustrates an image motion compensating apparatus according to a fifth embodiment.
6 is a flowchart showing processing contents in the microcomputer.

FIG. 16 is a lens configuration diagram of an imaging optical system in the imaging apparatus.

FIG. 17 is a perspective view of a shake correction optical mechanism in a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Image pickup optical system 2 L32 lens group drive control means 3 Moving amount detection means 4 Image pickup optical system drive control means 5, 8, 14, 18 A / D conversion means 6 Solid-state image sensor 7 Analog signal processing means 9 Digital signal processing means 10 Angular velocity sensor 11 high-pass filter (HPF) 12 low-pass filter (LPF) 13 amplifier 15 microcomputer 16 D / A conversion means 17 solid-state imaging device drive control means 25, 26 magnet 27, 28 yoke 29, 30 coil 31, 32 PSD 33, 34 LED L1, L2, L3, L4 lens group

Claims (16)

[Claims] A motion detection unit configured to detect a motion of the imaging apparatus due to camera shake and other vibrations; and a plurality of lens groups provided in the imaging apparatus and including at least a zoom unit or a focus adjustment unit. An imaging optical system that forms an image on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and an imaging optical system that corrects a movement of a captured image caused by a movement of an imaging device. A motion correcting unit disposed to control an optical axis of the imaging light; and a control signal generating unit configured to generate a control signal to the motion correcting unit based on an output of the motion detecting unit. The means has high-pass filter processing for removing low-frequency components included in the output of the motion detection means. Based on the focal length detected by the focal length detection means, the power of the high-pass filter processing is determined. An image motion compensator wherein a response characteristic of the control signal generating means is changed by changing a cutoff frequency. 2. The control signal generating means sets a cutoff frequency of the high-pass filter processing higher as the focal length is longer, and sets a cutoff frequency of the high-pass filter processing as the focal length is shorter. 2. The image motion compensator according to claim 1, wherein the image motion compensator is set lower. 3. A motion detecting means for detecting a motion of the imaging device due to camera shake and other vibrations, and a plurality of lens groups provided at the imaging device and including at least a zooming unit or a focusing unit. An imaging optical system that forms an image on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and an imaging optical system that corrects a movement of a captured image caused by a movement of an imaging device. A motion correcting unit disposed to control an optical axis of the imaging light; and a control signal generating unit configured to generate a control signal to the motion correcting unit based on an output of the motion detecting unit. The means has a low-pass filter processing for removing high-frequency components included in the output of the motion detection means, and based on the focal length detected by the focal length detection means, the power of the low-pass filter processing. An image motion compensator wherein a response characteristic of the control signal generating means is changed by changing a cutoff frequency. 4. The control signal generating means sets a cutoff frequency of the low-pass filter processing higher as the focal length is longer, and sets a cutoff frequency of the low-pass filter processing as the focal length is shorter. 4. The image motion compensator according to claim 3, wherein the value is set lower. 5. A movement detecting means for detecting a movement of the imaging device due to camera shake and other vibrations, and a plurality of lens groups provided at the imaging device and including at least a variable magnification unit or a focus adjustment unit. An imaging optical system that forms an image on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and an imaging optical system that corrects a movement of a captured image caused by a movement of an imaging device. A motion correcting unit disposed to control an optical axis of the imaging light; and a control signal generating unit configured to generate a control signal to the motion correcting unit based on an output of the motion detecting unit. The means has an integration process for integrating the output of the motion detection unit, and changes the time constant of the integration process based on the focal length detected by the focal length detection unit, thereby responding to the control signal generation unit. An image motion compensator that changes characteristics. 6. The control signal generating means sets a time constant of the integration process smaller as the focal length is shorter, and sets a larger time constant of the integration process as the focal length is longer. The image motion compensator according to claim 5. 7. A motion detection unit for detecting a motion of the imaging device due to camera shake and other vibrations, and a plurality of lens groups provided at the imaging device and including at least a zooming unit or a focusing unit. An imaging optical system that forms an image on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and an imaging optical system that corrects a movement of a captured image caused by a movement of an imaging device. A motion correcting unit disposed to control an optical axis of the imaging light; and a control signal generating unit configured to generate a control signal to the motion correcting unit based on an output of the motion detecting unit. The means has a phase compensation filter processing for compensating for a phase delay of an output of the motion detection means, and changes a phase characteristic of the phase compensation filter processing based on the focal length detected by the focal length detection means. A response characteristic of the control signal generating means. 8. The control signal generating means sets a lower frequency range in which the phase is advanced by the phase compensation filter processing as the focal length is shorter, and advances the phase by the phase compensation filter processing as the focal length is longer. 8. The frequency range to be set is set high.
The image motion compensating device according to claim 1. 9. A motion detecting means for detecting a motion of the imaging device due to camera shake and other vibrations, and a plurality of lens groups provided at the imaging device and including at least a variable power unit or a focus adjustment unit, An imaging optical system that forms an image on an imaging surface; a focal length detection unit that detects a focal length of the imaging optical system; and an imaging optical system that corrects a movement of a captured image caused by a movement of an imaging device. A motion correcting unit disposed to control an optical axis of the imaging light; an A / D converting unit converting a signal relating to the motion of the imaging device obtained by the motion detecting unit into a digital signal; Control signal generating means for generating a control signal for the motion correcting means based on the converted motion signal of the imaging device, wherein the control signal generating means is With the issued in accordance with the focal length to control the conversion period of the A / D converting means, the image movement correcting device characterized by varying the cycle for generating the control signal. 10. The control signal generating means sets the conversion cycle of the A / D conversion means and the generation cycle of the control signal shorter as the focal length is shorter, and the A / D conversion is longer as the focal length is longer. 10. The apparatus according to claim 9, wherein a conversion cycle of the means and a generation cycle of the control signal are set long. 11. The apparatus according to claim 1, wherein said motion correcting means is a variable apex prism.
0. The image motion correction device according to any one of 0. 12. The motion compensating means comprises: at least one in at least two directions orthogonal to the optical axis of the imaging optical system;
11. The image motion compensator according to claim 1, wherein the two lenses are driven so as to be decentered. 13. The apparatus according to claim 1, wherein the motion correction unit is configured to rotationally drive at least one lens about two axes orthogonal to an optical axis of the imaging optical system. 2. The image motion compensating device according to claim 1. 14. The image motion compensator according to claim 1, wherein the motion detector is an angular velocity sensor that detects an angular velocity of the imaging device itself. 15. The apparatus according to claim 1, wherein said motion detecting means is a motion vector detecting means for detecting a motion vector of an image from a photographed image. 16. The control signal generating means according to claim 1, wherein said control signal generating means is a microcomputer which executes a series of signal processing according to a predetermined program.
0. The image motion correction device according to any one of 0.