CN101106654B - Anti-shake apparatus - Google Patents

Anti-shake apparatus Download PDF

Info

Publication number
CN101106654B
CN101106654B CN2007101360589A CN200710136058A CN101106654B CN 101106654 B CN101106654 B CN 101106654B CN 2007101360589 A CN2007101360589 A CN 2007101360589A CN 200710136058 A CN200710136058 A CN 200710136058A CN 101106654 B CN101106654 B CN 101106654B
Authority
CN
China
Prior art keywords
removable unit
shake
time
unit
reflective mirror
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2007101360589A
Other languages
Chinese (zh)
Other versions
CN101106654A (en
Inventor
上中行夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ricoh Imaging Co Ltd
Original Assignee
Hoya Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2006192863A external-priority patent/JP4789724B2/en
Application filed by Hoya Corp filed Critical Hoya Corp
Publication of CN101106654A publication Critical patent/CN101106654A/en
Application granted granted Critical
Publication of CN101106654B publication Critical patent/CN101106654B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Adjustment Of Camera Lenses (AREA)
  • Studio Devices (AREA)

Abstract

An anti-shake apparatus for image stabilizing comprises a movable unit and a controller. The movable unit is movable for an anti-shake operation. The controller stops the anti-shake operation after an exposure time and moves the movable unit to a first position after the anti-shake operation. The first position is a position of the movable unit before the exposure time and before the anti-shake operation. The controller moves the movable unit at a decelerated, low rate of speed before finishing its movement to the first position.

Description

Anti-shake apparatus
Technical field
The present invention relates to the anti-shake apparatus of photographing device, and be particularly related to removable unit, so that alleviate in removable unit and stop the vibrations that the impact between its contact point that moves causes to the moving of certain position.
Background technology
Proposed to be used for the anti-shake apparatus of photographing device.The hand amount of jitter that this anti-shake apparatus produces by corresponding to imaging the time is moving hand jitter correction camera lens or imaging device perpendicular to the plane of optical axis, proofreaies and correct the influence of hand shake.
The patent disclosure of Japanese unexamined (KOKAI) No 2005-292799 discloses the anti-shake apparatus with guidance, and the support of this guidance is the mobile removable unit of anti-shake operation.
Yet anti-shake apparatus does not have fixed position mechanism, and this mechanism (drives the OFF state) and keeps removable unit to be in a fixed position when not driving removable unit.Therefore, when not finishing when stopping to drive this removable unit when this anti-shake operation and the driving condition in removable unit are set to the OFF state, allow removable unit freely to move, only when the end part of itself and moving range contacts, stop according to gravity.When removable unit with under two-forty and the situation that this part contacts, impact between removable unit and this part is enough to destroy this contact part or because the vibrations of this contact part cause the operator not feel well, this operator is to use the operator of the photographing device that comprises this anti-shake apparatus.
Summary of the invention
Therefore, the purpose of this invention is to provide anti-shake apparatus (image stabilizing device), this device after the removable unit that controlling and driving is used for anti-shake operation is set to the OFF state, under the situation that does not have fixed position mechanism, vibration-inhibition when the end of removable unit and moving range contacts.
According to the present invention, anti-shake apparatus (image stabilizing device) comprises removable unit and controller.Removable unit can move when carrying out anti-shake operation.This controller stops this anti-shake operation after the time for exposure, and after anti-shake operation with removable cell moving to primary importance.This primary importance be before the time for exposure and anti-shake operation before the position of removable unit.This controller removable unit finish move to primary importance before, removable unit slowed down and move with low rate.Described anti-shake apparatus comprises that further carrying out reflective mirror lifts the reflective mirror that operation and reflective mirror put down operation; Length at the fixed time, to primary importance, the described scheduled time is shorter in length than and is accomplished to described reflective mirror from described anti-shake operation and puts down the time span that operation is finished with described removable cell moving.
The present invention further provides a kind of anti-shake apparatus that is used for stabilized image, this device comprises: movably removable unit; And controller, control is used for the described removable unit of anti-shake operation; After being used for the described removable cell moving of described anti-shake operation, finish when first period with very first time length, described controller during second time span with described removable cell moving to the second place; Position before described removable unit begins described first period after described anti-shake operation is finished, and the variable quantity between the position of described removable unit after finishing described first period is determined the described second place; Described controller described removable unit finish move to primary importance before, described removable unit slowed down and move with low rate.
The present invention further provides a kind of anti-shake apparatus that is used for stabilized image, this device comprises: removable unit, and this mobile unit can move when carrying out anti-shake operation; And controller, this controller stops this anti-shake operation after the time for exposure, and after anti-shake operation with removable cell moving to primary importance; When during predetermined period, showing as under the sinusoidal wave situation when described mobile distance and the corresponding described relation that moves between the pairing elapsed time to described primary importance, described controller is controlled moving of removable unit, described predetermined period start from described removable unit to the beginning of moving of described primary importance, end at described removable unit to described primary importance move finish; Be shorter than the predetermined time interval of described predetermined period, carry out positioning action described removable unit and that determine the position that described removable unit should move to, carry out described removable unit moving to described primary importance according to described position probing operation and positioning action.
Description of drawings
By the reference accompanying drawing, can from following explanation, understand purpose of the present invention and advantage better, wherein:
Fig. 1 is the perspective view of the backsight of first and second embodiment of observed photographing device from behind;
Fig. 2 is the front view of photographing device;
Fig. 3 is the circuit structure diagram of photographing device;
Fig. 4 is the flow chart that is presented at the main operation of the photographing device among first embodiment;
Fig. 5 is the flow chart that has shown the details of timer interrupt procedure among first embodiment;
Fig. 6 is the calculating that has shown in anti-shake operation;
Fig. 7 shown in first embodiment, the displacement of removable unit and start from relation between period of the beginning of moving of removable unit;
Fig. 8 has shown the translational speed of removable unit among first embodiment and the relation between period;
Fig. 9 is the flow chart that has shown the main operation of photographing device in a second embodiment;
Figure 10 is the flow chart that has shown the details of timer interrupt procedure among second embodiment;
Figure 11 shown in a second embodiment, the displacement of removable unit and start from relation between period of the beginning of moving of removable unit;
Figure 12 has shown the translational speed of removable unit among second embodiment and the relation between period; And
Figure 13 be shown among second embodiment, the details flow chart of the calculating of the second place of appointment among the step S161 of Figure 10.
Embodiment
First and second embodiment with reference to the accompanying drawings describe the present invention.In first and second embodiment, photographing device 1 is a digital camera.The camera lens 67 of photographing device 1 has optical axis L X.
For the direction among first and second embodiment is described, first direction x, second direction y, third direction z (see figure 1) have been defined.First direction x is the direction vertical with optical axis L X.Second direction y is the direction vertical with first direction x with optical axis L X.Third direction z be parallel with optical axis L X and with the first direction x direction vertical with second direction y.
First embodiment is explained as follows.
The imaging moiety of this photographing device 1 comprises PON button 11, PON switch 11a, photometry switch 12a, release-push 13, release-push 13a, anti-shake button 14, anti-shake switch 14a, the indicating member 17 such as LCD watch-dog or the like, reflective mirror diaphragm shutter unit 18, DSP 19, CPU 21, AE (automatic exposure) unit 23, AF (focusing automatically) unit 24, the image-generating unit 39a in anti-shake unit 30 and camera lens 67 (seeing Fig. 1,2 and 3).
This PON switch 11a is at ON state or OFF state, is to be determined by the state of PON button 11, so the ON/OFF state of this photographing device 1 is corresponding to the ON/OFF state of PON switch 11a.
The object images of taking pictures is caught as optical imagery by camera lens 67 by image-generating unit 39a, and the image that captures is presented on the indicating member 17.Can observe this object images of taking pictures with eyes by optical finder (not shown).
When the operator pressed these release-push 13 parts, photometry switch 12a became the ON state to carry out photometry operation, AF inductive operation and focusing operation.
When the operator all pressed this release-push 13, release-push 13a became the ON state so that carry out imaging operation by image-generating unit 39a (imaging device), and stored the image that captures.
In first embodiment, only in the time for exposure, when being set to the ON state, carries out release-push 13a anti-shake operation.After the time for exposure of imaging operation, move removable unit 30a at the fixed time in the process of length (execution during the duration) to primary importance P1.
What this reflective mirror diaphragm shutter unit 18 is connected to the port P7 of CPU 21 and carries out the reflective mirror corresponding with release-push 13a lifts/puts down operation (reflective mirror lifts that mirror up operates and reflective mirror puts down mirror down and operates), the opening of aperture and the opening of shutter up and down.
DSP 19 is connected with the port P9 of CPU 21, and is connected with image-generating unit 39a.According to the order from CPU 21,19 pairs of picture signals that obtain by the imaging operation of image-generating unit 39a of DSP are carried out the calculating operation such as image processing operations or the like.
CPU 21 is control photographing device 1 control device (for example image stabilization operation) about each part of imaging operation and anti-shake operation.Anti-shake operation comprises moving and the position probing effect of removable unit 30a.
In addition, CPU 21 has stored the value whether definite photographing device 1 is in the value of the value of the value of the value of the anti-shake parameter I S of anti-shake pattern, release condition parameters R P, reflective mirror state parameter MP, reflective mirror lowering time parameter MRDN, the first previous exposure position parameters R LSPx, the second previous exposure position parameters R LSPy, the first current location parameter PP x and the second current location parameter PP y.
The value of release condition parameters R P changes according to discharging operation in tandem.When carrying out the release operation in tandem, the value of release condition parameters R P is set to 1 (seeing step S22 to S32 among Fig. 4); And when finishing when discharging operation in tandem, be 0 (seeing step S13 and 32 among Fig. 4) with the value setting (reset and put) of release condition parameters R P.
After being used for the time for exposure of imaging operation, when carrying out reflective mirror and put down operation, the value of reflective mirror state parameter MP is set to 1 (seeing step S26 among Fig. 4); Otherwise the value of reflective mirror state parameter MP is set to 0 (seeing step S28 among Fig. 4).
By the ON/OFF status detection of mechanical switch (not describing) is determined that the reflective mirror of photographing device 1 lifts operation and whether finishes.By the detection of finishing of shutter charging is determined that the reflective mirror of photographing device 1 puts down operation and whether finishes.
This reflective mirror lowering time parameter MRDN is the parameter (seeing Fig. 5 step S60) of Measuring Time length when the execution reflective mirror puts down operation.
CPU 21 stops to drive the removable unit 30a (being set to the OFF state) that is used for anti-shake operation after the time for exposure of imaging operation.If stop to be used for the moving (being set to the OFF state) and do not carry out the other driving operation of removable unit 30a of removable unit 30a of anti-shake operation, removable unit 30a drops to the end (descend and move) of moving range according to gravity.
In first embodiment, behind the mobile OFF of the being set to state of the removable unit 30a that will be used for anti-shake operation, CPU 21 length (90ms) at the fixed time drives removable unit.
Especially, after the value of reflective mirror state parameter MP was set to 1, CPU 21 moved to primary importance P1 with removable unit 30a in the execution duration of scheduled time length (90ms).This primary importance is the position of removable unit 30a before the OFF state that drives, and in other words, is before carrying out the time for exposure and before carrying out anti-shake operation, the position of removable unit after release-push 13a is set to the ON state.
Before the time for exposure but not after release-push 13a is set to the ON state, anti-shake operation is not also carried out, the control setting that driving is used for the removable unit 30a of anti-shake operation is the OFF state, and removable unit 30a is navigated to the end of moving range according to action of gravity.Therefore, primary importance P1 is the somewhere of the end of moving range.
Yet, under the very little situation of removable unit 30a amount of movement under gravity, such as when photographing device 1 towards top or towards following etc., this primary importance P1 is somewhere in the moving range but not the end.
In the moving of primary importance P1, removable unit 30a (as removable unit 30a during near primary importance P1) before being about to finish it and moving moves with low speed at removable unit 30a.
Perhaps, removable unit 30a stops at mobile finishing (locating) then finishing mobile front reduction gear (slowing down).
Especially, begin to move (MRDN=0 when the elapsed time t=0) to mobile the finishing of removable unit 30a (at elapsed time t=90ms time MRDN=90) from removable unit 30a, show as (see figure 7) under the sine-shaped situation in the displacement of removable unit 30a and the relation that starts between period of the beginning of moving of removable unit 30a, the CPU removable unit 30a of 21 controls moves.
In other words, begin to move (MRDN=0 when the elapsed time t=0) to mobile the finishing of removable unit 30a (at elapsed time t=90ms time MRDN=90) from removable unit 30a, (see figure 8) under the situation that translational speed and the relation between corresponding period of removable unit 30a shows as cosine waveform, the CPU removable unit 30a of 21 controls moves.
The first previous exposure position parameters R LSPx is set to equal removable unit 30a in first direction x, position (primary importance P1) (seeing the step S21 of Fig. 4) when release-push 13a is set to the ON state and before the time for exposure.
Similarly, the second previous exposure position parameters R LSPy is set to equal removable unit 30a in second direction y, position (primary importance) when release-push 13a is set to the ON state and before the time for exposure.
The first current location parameter PP x be set to equal removable unit 30a first direction x, at the fixed time in the process of length (90ms) removable unit 30a to the position of the corresponding time of beginning that primary importance P1 moves (seeing step S57 among Fig. 5).
Similarly, the second current location parameter PP y be set to equal removable unit 30a second direction y, at the fixed time in the process of length (90ms) removable unit 30a to the position of the corresponding time of beginning that primary importance P1 moves.
In addition, CPU 21 has stored the first digital angular velocity signal Vx nValue, the second digital angular velocity signal Vy nValue, the first digital angular speed VVx n, the second digital angular speed VVy n, the first digital displacement angle Bx n, the second digital displacement angle By n, position S nCoordinate in first direction x: Sx n, position S nCoordinate in second direction y: Sy n, the first actuating force Dx n, the second actuating force Dy n, the position P after the A/D conversion nCoordinate in first direction x: pdx n, the position P after the A/D conversion nCoordinate in second direction y: pdy n, the first minimizing value ex n, the second minimizing value ey n, the first proportionality coefficient Kx, the second proportionality coefficient Ky, sampling period θ, the first integral coefficient T ix of anti-shake operation, second integral coefficient T iy, the first differential coefficient Tdx, the second differential coefficient Tdy.
AE unit 23 (exposure calculating unit) is carried out the photometry operation and is calculated light value according to the object of just being taken pictures.AE unit 23 same calculating f-number and the time for exposure length relevant with light value, the two all is that imaging is required.AF inductive operation and corresponding focusing operation are carried out in AF unit 24, and the two all is that imaging is required.In the focusing operation, camera lens 67 is readjusted the position in the LX direction along optical axis.
The anti-shake part (anti-shake apparatus) of photographing device 1 comprises anti-shake button 14, anti-shake switch 14a, indicating member 17, CPU 21, angular velocity detection unit 25, drive circuit 29, anti-shake unit 30, Hall element signal processing unit 45 (changes of magnetic field detecting element) and camera gun 67.
When the user pressed anti-shake button 14, anti-shake switch 14a became the ON state so that carry out anti-shake operation at the fixed time at interval, wherein with such as other operation of photometry operation or the like independently drives angular velocity detection unit 25 and anti-shake unit 30 mutually.When anti-shake switch 14a is in the ON state, when just being in anti-shake pattern, anti-shake parameter I S is set to 1 (IS=1).When anti-shake switch 14a is not in the ON state, when just being in non-anti-shake pattern, anti-shake parameter I S is set to 0 (IS=0).In first embodiment, the value of predetermined time interval is set to 1ms.
Control the various output commands of the input signal of corresponding these switches by CPU 21.
With photometry switch 12a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P12.With release-push 13a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P13.With anti-shake switch 14a is the information that is in ON state or OFF state is input to CPU 21 with one digital signal port P14.
AE unit 23 is connected with the port P4 of CPU 21 and is used for input and output signal.AF unit 24 is connected with the port P5 of CPU 21 and is used for input and output signal.Indicating member 17 is connected with the port P6 of CPU 21 and is used for input and output signal.
Next, explain in CPU 21 and angular velocity detection unit 25, the input and output relation of 45 of drive circuit 29, anti-shake unit 30 and Hall element signal processing units.
Angular velocity detection unit 25 has the first angular-rate sensor 26a, the second angular-rate sensor 26b, the first circuit of high pass filter 27a, the second circuit of high pass filter 27b, the first amplifier 28a and the second amplifier 28b.
The first angular-rate sensor 26a detects rotatablely move (driftage, yawing) the angular speed (angular speed of photographing device 1 at the velocity component of first direction x) of photographing device 1 with respect to the axle of second direction y.The first angular-rate sensor 26a is gyro (gyro) transducer that detects yaw rate.
The second angular-rate sensor 26b detects rotatablely move (pitching, pitching) the angular speed (detect the angular speed of photographing device 1 velocity component at second direction y) of photographing device 1 with respect to the axle of first direction x.The second angular-rate sensor 26b is gyro (gyro) transducer that detects rate of pitch.
The first circuit of high pass filter 27a removes the low frequency component of the signal of first angular-rate sensor 26a output, because the low frequency component of the signal of first angular-rate sensor 26a output comprises the signal component that moves (panning-motion) based on no-voltage and pan, the two is all irrelevant with the hand shake.
The second circuit of high pass filter 27b removes the low frequency component of the signal of second angular-rate sensor 26b output, because the low frequency composition of the signal of second angular-rate sensor 26b output comprises the signal component that moves based on no-voltage and pan, the two is all irrelevant with the hand shake.
The first amplifier 28a amplifies the signal of the yaw rate that its low frequency component has been removed, and the A/D converter A/D 0 that analog signal is outputed to CPU 21 is as the first angular speed vx.
The second amplifier 28b amplifies the signal of the rate of pitch that its low frequency component has been removed, and the A/D converter A/D 1 that analog signal is outputed to CPU 21 is as the second angular speed vy.
Remove the process that the low-frequency signals component is two steps; At first carry out first's processing operation of handling operation as mimic high pass filter by the first and second circuit of high pass filter 27a and 27b, carry out the second portion processing operation of handling operation as digital high-pass filter by CPU 21 subsequently.
The cut-off frequency that digital high-pass filter is handled the second portion of operation is higher than the cut-off frequency that mimic high pass filter is handled the first of operation.
Handle in the operation at digital high-pass filter, can easily change time constant value (the first high pass filter time constant hx and the second high pass filter constant h y).
After PON switch 11a was set to ON state (the main power source power supply is set to the ON state), power supply began the every part power supply to CPU 21 and angular velocity detection unit 25.The calculating of beginning hand amount of jitter after the PON switch is set to the ON state.
The first angular speed vx that CPU 21 will be input to A/D converter A/D 0 is converted to the first digital angular velocity signal Vx n(A/D conversion operations); Because the first digital angular velocity signal Vx nLow frequency component comprise the signal component that moves based on no-voltage and pan, the two is all irrelevant with the hand shake, so by removing the first digital angular velocity signal Vx nThe low frequency component of (digital high-pass filter is handled operation) is calculated the first digital angular speed VVx nAnd pass through the first digital angular speed VVx nIntegration (integral processing operation) calculates hand amount of jitter (hand shake angle of displacement: the first digital displacement angle Bx n).
Similarly, the CPU 21 second angular speed vy that will be input to A/D converter A/D 1 is converted to the second digital angular velocity signal Vy n(A/D conversion operations); Because the second digital angular velocity signal Vy nLow frequency component comprise the signal component that moves based on no-voltage and pan, the two is all irrelevant with the hand shake, so by removing the second digital angular velocity signal Vy nThe low frequency component of (digital high-pass filter is handled operation) is calculated the second digital angular speed yVy nAnd pass through the second digital angular speed VVy nIntegration (integral processing operation) calculates hand amount of jitter (hand shake angle of displacement: the second digital displacement angle By n).
Thereby CPU 21 and angular velocity detection unit 25 use function to calculate the hand amount of jitter.
" n " is the integer greater than 0, and indicates the interrupt procedure from timer, and (t=0 sees step S12 among Fig. 4) is to the time span (ms) of carrying out nearest anti-shake operation (t=n).
Handle in the operation the first digital angular speed VVx that the interrupt procedure by timer before will (nearest anti-shake operation carry out before) 1ms predetermined time interval calculates at the digital high-pass filter of first direction x 1To VVx N-1Summation divided by the first high pass filter time constant hx, again by the first digital angular velocity signal Vx nDeduct this merchant as a result, calculate the first digital angular speed VVx n(VVx n=Vx n-(∑ VVx N-1) ÷ hx, see (1) among Fig. 6).
Handle in the operation the second digital angular speed VVy that the interrupt procedure by timer before will (nearest anti-shake operation carry out before) 1ms predetermined time interval calculates at the digital high-pass filter of second direction y 1To VVy N-1Get summation divided by the second high pass filter time constant hy, again by the second digital angular velocity signal Vy nDeduct this merchant as a result, calculate the second digital angular speed VVy n(VVy n=Vy n-(∑ VVy N-1) ÷ hy).
In first embodiment, the operation of angular velocity detection in (part) timer interrupt procedure comprises the process in the angular velocity detection unit 25 and the first and second angular speed vx and vy is input to the process of CPU 21 from angular velocity detection unit 25.
In the integral processing operation of first direction x, the first digital angular speed VVx when beginning by interrupt procedure from timer 0, t=0, (seeing step S12 among Fig. 4) the first digital angular speed VVx when carrying out nearest (t=n) anti-shake operation nSummation calculate the first digital displacement angle Bx n(Bx n=∑ VVx n, see (3) among Fig. 6).
Similarly, in the operation of the integral processing of second direction y, the second digital angular speed VVy when beginning by interrupt procedure from timer 0The second digital angular speed VVy when carrying out nearest anti-shake operation nSummation calculate the second digital displacement angle By n(By n=∑ VVy n).
CPU 21 calculate should mobile imaging unit 39a (removable unit 30a) position S n, hand amount of jitter (the first and second digital displacement angle Bx that calculate corresponding to position-based conversion coefficient zz (primary importance conversion coefficient zx is used for first direction x, second place conversion coefficient zy is used for second direction y), at first direction x and second direction y nAnd By n).
Position S nCoordinate in first direction x is defined as Sx n, position S nCoordinate in second direction y is defined as Sy nComprise the moving of removable unit 30a of image-generating unit 39a, carry out by using electromagnetic force, and be described in the back.
For removable unit 30a is moved to position S n, actuating force D nDrive drive circuit 29.With actuating force D nCoordinate at first direction x is defined as the first actuating force Dx n(in D/A conversion back: the first pwm power dx).With actuating force D nCoordinate at second direction y is defined as the second actuating force Dy n(in D/A conversion back: the second pwm power dy).
In first embodiment, the position S that image-generating unit 39a (removable unit 30a) should be moved in the predetermined period of the scheduled time length after anti-shake operation is carried out n, be not set to the value of corresponding hand amount of jitter, rather than the value that moves to primary importance P1 about this removable unit 30a in predetermined period is set substitutes (seeing step S59 among Fig. 5).
In positioning action, with position S about first direction x nCoordinate at first direction x is defined as Sx n, and be the first nearest digital displacement angle Bx nProduct (Sx with primary importance conversion coefficient zx n=zx * Bx n, see (3) among Fig. 6).
In positioning action, with position S about second direction y nCoordinate at second direction y is defined as Sy n, and be the second nearest digital displacement angle By nProduct (Sy with second place conversion coefficient zy n=zy * By n).
Anti-shake unit 30 is the devices that are used to proofread and correct the hand effect of jitter, and it is by moving to position S with image-generating unit 39a n, the imaging device by cancellation image-generating unit 39a imaging surface on the object images of taking pictures hysteresis and during by the exposure of (IS=1) when carrying out anti-shake operation, in the imaging surface steady display of the imaging device object images of taking pictures, proofread and correct the influence of hand shake.
Anti-shake unit 30 has fixed cell 30b, and the removable unit 30a that comprises image-generating unit 39a and can move with respect to the xy plane.
When not carrying out anti-shake operation, in the time for exposure of (IS=0), removable unit 30a is fixed on (being retained in held at) preposition.In first embodiment, predetermined position is in the central authorities of moving range.
After the time for exposure, in the predetermined period, removable unit 30a is driven (moving) to primary importance P1; Otherwise (unless in the predetermined period after time for exposure and time for exposure) do not drive (moving) removable unit 30a.
Anti-shake unit 30 does not have fixed position mechanism, and this mechanism (drives the OFF state) and keeps removable unit 30a to be in fixing (reservation) position when not driving removable unit 30a.
By having from the first pwm power dx of PWM 0 input of CPU 21 and from the drive circuit 29 of the second pwm power dy of PWM 1 input of CPU 21, carry out the driving of the removable unit 30a of anti-shake apparatus 30 by the electromagnetic force of coil unit that is used to drive and the magnet unit that is used to drive, comprise and move to fixing (reservation) precalculated position (seeing (5) among Fig. 6).
Cause by drive circuit 29 move before or mobile after, detect the detection position P of removable unit 30a by Hall element unit 44a and Hall element signal processing unit 45 n
Will be in the information of first coordinate of the detection position P on the first direction x, the first detection position signal px just is input to the A/D converter A/D 2 (seeing (2) among Fig. 6) of CPU 21.Primary importance detection signal px is an analog signal, and is converted to digital signal by A/D converter A/D 2 (A/D conversion operations).Behind the A/D conversion operations, with the detection position P on the first direction x nFirst coordinate be defined as pdx n, corresponding to the first detection position signal px.
Will be at the detection position P on the second direction y nThe information of second coordinate, the second detection position signal py just is input to the A/D converter A/D 3 of CPU 21.Second place detection signal py is an analog signal, and is converted to digital signal by A/D converter A/D 3 (A/D conversion operations).Behind the A/D conversion operations, with the detection position P on the second direction y nSecond coordinate be defined as pdy n, corresponding to the second detection position signal py.
PID (proportion integration differentiation) is controlled at and moves the back according to being used for detection position P n(pdx n, pdy n) and position S n(Sx n, Sy n) coordinate calculate the first and second actuating force Dx nAnd Dy n
The first actuating force Dx nCalculating be according to the first minimizing value ex n, the first proportionality coefficient Kx, sampling period θ, first integral coefficient T ix and the first differential coefficient Tdx (Dx n=Kx * { ex n+ θ ÷ Tix * ∑ ex n+ Tdx ÷ θ * (ex n-ex N-1), see (4) among Fig. 6).The first minimizing value ex nBe position S by inciting somebody to action nCoordinate Sx at first direction x nDeduct at A/D conversion back detection position P nCoordinate pdx at first direction x nCalculate (ex n=Sx n-pdx n).
The second actuating force Dy nCalculating be according to the second minimizing value ey n, the second proportionality coefficient Ky, sampling period θ, second integral coefficient T ix and the second differential coefficient Tdy (Dy n=Ky * { ey n+ θ ÷ Tiy * ∑ ey n+ Tdy ÷ θ * (ey n-ey N-1)).The second minimizing value ey nBe position S by inciting somebody to action nDeduct at A/D conversion back detection position P at the coordinate Syn of second direction y nCoordinate pdy at second direction y nCalculate (ey n=Sy n-pdy n).
The value of sampling period θ is set to the predetermined time interval of 1ms.
When photographing device 1 is in anti-shake switch 14a and is set to the anti-shake pattern of ON state (IS=1), removable unit 30a is driven into position S corresponding to the anti-shake operation of the PID control of carrying out n(Sx n, Sy n).
When anti-shake parameter I S is 0, carry out the PID control that does not correspond to anti-shake operation, so removable unit 30a is moved to the central authorities (precalculated position) of moving range.
Removable unit 30a has the drive coil unit of being made up of the first drive coil 31a and the second drive coil 32a, the image-generating unit 39a with imaging device, and the Hall element 44a that changes the detecting element unit as magnetic field.In first embodiment, imaging device is CCD; Yet this imaging device can be such as other imaging device of CMOS or the like.
Fixed cell 30b has by primary importance detection and magnet 411b and second place detection and magnet 412b, primary importance detects and drive yoke (driving yoke) 431b and the second place detects and the magnet unit that is used to drive of driving yoke 432b formation.
In first direction x and second direction y, fixed cell 30b supports removable unit 30a movably.
When the central area of imaging equipment is passed by the optical axis L X of camera lens 67, relation between the position of the position of removable unit 30a and fixed cell 30b is set, make removable unit 30a be positioned the central authorities of the moving range among first direction x and the second direction y, so that utilize the overall dimension of the imaging scope of imaging device.
Constitute the rectangle of the imaging surface of imaging device, have two diagonal.In first embodiment, the central authorities of imaging device are these two intersection of diagonal.
The first drive coil 31a, the second drive coil 32a and Hall element unit 44a invest removable unit 30a.
The first drive coil 31a forms the coil modes (coilpattern) of base (seat) and spiral type.The coil modes of the first drive coil 31a has the line that parallels with second direction y, produces first electromagnetic force like this and come to move the removable unit 30a that comprises the first drive coil 31a in first direction x.
First electromagnetic force is according to the sense of current of the first drive coil 31a and primary importance detects and the magnetic direction of magnet 411b occurs.
The second drive coil 32a forms the coil modes of base and spiral type.The coil modes of the second drive coil 32a has the line that parallels with first direction x, produces second electromagnetic force like this and come to move the removable unit 30a that comprises the second drive coil 32a in second direction y.
Second electromagnetic force is according to the sense of current of the second drive coil 32a and the second place detects and the magnetic direction of magnet 412b occurs.
The first and second drive coil 31a are connected with drive circuit 29 with 32a, and this drive circuit 29 drives first and second drive coil 31a and the 32a by flexible PCB (not describing).The first pwm power dx is input to drive circuit 29, the second pwm power dy from the PWM 0 of CPU 21 and is input to drive circuit 29 from the PWM 1 of CPU 21.Drive circuit 29 is the first drive coil 31a power supply corresponding to the first pwm power dx, and drive circuit 29 is the second drive coil 32a power supply of the corresponding second pwm power dy, drives removable unit 30a.
Primary importance detects and magnet 411b invests removable unit one side (side) of fixed cell 30b, and primary importance detects and magnet 411b faces the first drive coil 31a and the Hall element hh10 of level in third direction z.
Second place detection and magnet 412b invest removable unit one side of fixed cell 30b, and the second place detects with magnet 412b and faces the second drive coil 32a and Hall element hv10 vertical in third direction z.
Under the situation in first direction x, primary importance detects and magnet 411b invests the primary importance detection and drive yoke 431b at N magnetic pole and S pole arrangement.Primary importance detect and drive yoke 431b removable unit 30a on one side, in third direction z, invest fixed cell 30b.
Under the situation in second direction y, the second place detects and magnet 412b invests second place detection and drive yoke 432b at N magnetic pole and S pole arrangement.The second place detects and drives yoke 432b and invests fixed cell 30b, at removable unit 30a on one side, and in third direction z.
First and second position probing and driving yoke 431b, 432b are made by soft magnetic material.
Primary importance detects and drives around yoke 431b prevents that primary importance from detecting and the magnetic field of magnet 411b is dissipated to, and improve that primary importance detects and the magnet 411b and the first drive coil 31a between and primary importance detection and magnet 411b and horizontal Hall element hh10 between magnetic flux.
The second place detects and drives around yoke 432b prevents that the second place from detecting and the magnetic field of magnet 412b is dissipated to, and improve that the second place detects and the magnet 412b and the second drive coil 32a between and second place detection and magnet 412b and vertical Hall element hv10 between magnetic flux.
Hall element unit 44a is the single shaft unit, comprise two electromagnetic conversion elements (magnetic field change detecting element), use Hall effect to detect the current location P of removable unit 30a respectively, specify in first coordinate among the first direction x and the first detection position signal px and the second detection position signal py of second coordinate in second direction y.
One of two Hall elements are horizontal Hall element hh10, be used for detecting first coordinate of the position Pn of removable unit 30a at first direction x, another is vertical Hall element hv10, is used for detecting at second direction y second coordinate of the position Pn of removable unit 30a.
Horizontal Hall element hh10 invests removable unit 30a, and the primary importance in the face of fixed cell 30b in third direction z detects and magnet 411b.
Vertical Hall element hv10 is attached to removable unit 30a, and the second place in the face of fixed cell 30b in third direction z detects and magnet 412b.
When the central authorities of imaging equipment and optical axis L X intersect, horizontal Hall element hh10 need be placed on the Hall element unit 44a, in the face of primary importance detects and the N magnetic pole of magnet 411b and the mesozone in first direction x between the P magnetic pole, as looking from third direction z.In this position, horizontal Hall element hh10 uses maximum magnitude, wherein can change (linearity) based on the output of single shaft Hall element and carry out position probing operation accurately.
Similarly, when the central authorities of imaging equipment and optical axis L X intersect, vertical Hall element hv10 need be placed on above the Hall element unit 44a second place is detected and the N magnetic pole of magnet 412b and the mesozone in second direction y between the P magnetic pole, as looking from third direction.
Hall element signal processing unit 45 has the first Hall element signal processing circuit 450 and the second Hall element signal processing circuit 460.
The first Hall element signal processing circuit 450 is based on the output signal of horizontal Hall element hh10, detection level potential difference values x10 between the output of horizontal Hall element hh10.
The first Hall element signal processing circuit 450 outputs to the A/D converter A/D 2 of CPU 21 with the first detection position signal px, and this signal is determined the position P of removable unit 30a based on horizontal potential difference values x10 nFirst coordinate in first direction x.
The second Hall element signal processing circuit 460 is based on the output signal of vertical Hall element hv10, detection of vertical potential difference values y10 between the output of vertical Hall element hv10.
The second Hall element signal processing circuit 460 outputs to the A/D converter A/D 3 of CPU 21 with the second detection position signal py, and this signal is determined the position P of removable unit 30a based on vertical potential difference values y10 nSecond coordinate in second direction y.
Next, the main operation of the photographing device 1 in first embodiment comprises the operation of taking pictures, and will explain by the flow chart that uses Fig. 4.
When photographing device 1 is set to the ON state,, make angular velocity detection unit 25 in step S11, be set to the ON state to 25 power supplies of angular velocity detection unit.
At step S12, the interrupt procedure of timer is (1ms) beginning at interval at the fixed time.In step S13, the value of release condition parameters R P is set to 0.To explain the details of the interrupt procedure of first embodiment by the flow chart that uses Fig. 5 after a while.
In step S14, determine whether photometry switch 12a is set to the ON state.When definite photometry switch 12a was not set to the ON state, operation turned back to the process of step S14 and repeating step S14.Otherwise operation proceeds to step S15.
In step S15, determine whether anti-shake switch 14a is set to the ON state.When definite photometry switch 14a is not set to the ON state, be set to 0 in the value of the anti-shake parameter I S of step S16.Otherwise, be set to 1 in the value of the anti-shake parameter I S of step S17.
At step S18, drive the AE transducer of AE unit 23, carry out the photometry operation, and calculate f-number and time for exposure.
In step S19, the AF transducer of driving AF unit 24 and lens control circuit are correspondingly carried out and are used for AF induction and focusing operation.
In step S20, determine whether release-push 13a is set to the ON state.When definite release-push 13a was not set to the ON state, operation turned back to step S14 and repeats process from step S14 to step S19.Otherwise operation proceeds to step S21.
In step S21, specify primary importance P1.Especially, the first previous exposure position parameters R LSPx is set to position P nCoordinate in A/D conversion back at first direction x: pdx n, the second previous exposure position parameters R LSPy is set to position P nCoordinate in A/D conversion back at second direction y: pdy n, begin to discharge operation in tandem then.
At step S22, the value of release condition parameters R P is set to 1.
In step S23, carry out pre-if the reflective mirror of the corresponding f-number that calculates lifts operation and aperture shutoff operation by reflective mirror diaphragm shutter unit 18.
Reflective mirror lift the operation finish after, in step S24 the beginning shutter opening operation (the preceding curtain of mobile shutter, preceding curtain-front curtain).
In step S25, carry out exposing operation, in other words, carry out the accumulation of imaging device (CCD or the like).After the time for exposure consumes, in step S26 reflective mirror state parameter MP be set to 1 and reflective mirror lowering time parameter MRDN be set to 0.
In step S27, shutoff operation (the back curtain of mobile shutter), the reflective mirror of carrying out shutter by reflective mirror diaphragm shutter unit 18 puts down the opening operation of operation and aperture.In step S28, the value of reflective mirror state parameter MP is set to 0.
When exposure will after, finish anti-shake operation, and postpone about the moving of the removable unit 30a of anti-shake operation, be set to the ON state up to release-push 13a again.In other words, the interrupt procedure of execution graph 5 and without the action of execution in step S61 to S63, release-push 13a is set to the ON state up to next time after exposure.
The elapsed time that reflective mirror puts down from beginning to finish approximately is 120ms.In first embodiment, removable unit 30a to primary importance P1 move reflective mirror put down operation finish before (or simultaneously) finish.
In addition, when removable unit 30a puts down finishing synchronously of operation to moving with reflective mirror of primary importance P1, from the mobile vibration sequential of braking to removable unit 30a, the vibration sequential that operation finishes is identical with putting down based on reflective mirror.Therefore, owing to eliminated, can suppress the discomfort that the operator of photographing device 1 feels based on vibration to the destruction of moving of removable unit.
In step S29, read in the accumulation of imaging device accumulation in the time for exposure.In step S30, CPU 21 communicates by letter with DSP 19, so that come the carries out image processing operation based on the accumulation that reads from imaging device.The image of carries out image processing operation is stored in the memory of photographing device 1.In step S31, the image that is stored in the memory is presented at indicating member 17.In step S32, release condition parameters R P is set to 0, so that finish the release operation in tandem, operation turns back to step S14 then, just photographing device 1 is set to the state that can carry out next imaging operation.
Next, explain the interrupt procedure that in the step S12 of Fig. 4, begins and be independent of the timer of other operation execution at each predetermined time interval (1ms) by the flow chart that uses Fig. 5.
When the timer interrupt procedure begins, in step S51, will be input to the A/D converter A/D 0 of CPU 21 and be converted to the first digital angular velocity signal Vx by the first angular speed vx of angular velocity detection unit 25 outputs n, be input to the A/D converter A/D 1 of CPU 21 and be converted to the second digital angular velocity signal Vy by the second angular speed vy of angular velocity detection unit 25 outputs equally n(angular velocity detection operation).
Handle operation (the first and second digital angular speed VVx at digital high-pass filter nAnd VVy n) the middle first and second digital angular velocity signal Vx that remove nAnd Vy nLow frequency (part).
In step S52, determine whether the value of release condition parameters R P is set to 1.When the value of determining release condition parameters R P is not set to 1, in step S53, drive removable unit 30a or drive anti-shake unit 30, removable unit is set to the OFF state, and anti-shake unit 30 is set to not carry out the state of the drive controlling of removable unit.Otherwise operation directly proceeds to step S54.
In step S54, Hall element unit 44a detects the position of removable unit 30a, and Hall element signal processing unit 45 calculates first and second detection position signal px and the py.The first detection position signal px is input to the A/D converter A/D 2 of CPU 21 and is converted to digital signal pdx n, simultaneously the second detection position signal py is input to the A/D converter A/D 3 of CPU 21 and is converted to digital signal pdy nThereby the two determines the current location P of removable unit 30a n(pdx n, pdy n).
In step S55, determine whether the value of reflective mirror state parameter MP is set to 1.When the value of determining reflective mirror state parameter MP was not set to 1, operation directly proceeded to S70.Otherwise operation proceeds to step S56.
In step S56, determine whether the value of reflective mirror lowering time parameter MRDN is set to 0.
When the value of determining reflective mirror lowering time parameter MRDN was set to 0, in step S57, the value of the first current location parameter PP x was set to position P after the A/D conversion nCoordinate figure pdx at first direction x n, and the value of the second current location parameter PP y be set to position P nCoordinate figure pdy at second direction y nOperation proceeds to step S58 then.Otherwise operation directly proceeds to step S58.
In step S58, determine whether the value of reflective mirror lowering time parameter MRDN is set to 90.
When the value of determining reflective mirror lowering time parameter MRDN was not set to 90, operation directly proceeded to step S53; Otherwise this operation proceeds to step S59.
In step S59, calculate the position S that removable unit 30a (image-generating unit 39a) should move to based on the first and second current location parameter PP x and PPy and reflective mirror lowering time parameter MRDN n(Sx n, Sy n) (Sx n=PPx+ (RLSPx-PPx) * sin (MRDN * 90 degree ÷ 90), Sy n=PPy+ (RLSPy-PPy) * sin (MRDN * 90 degree ÷ 90)).
In step S60, with the value increase by 1 of reflective mirror lowering time parameter MRDN, operation directly proceeding to step S64 then.
Because when the value of " sin (MRDN * 90 degree ÷ 90) " is calculated in execution trigonometric function processing operation, on CPU 21, loaded very big load, need from MRDN=0 to MRDN=90 91 kinds of storage " sin (MRDN * 90 degree ÷ 90) " multi-form, so that improve processing speed.
In step S70, determine whether the value of reflective mirror lowering time parameter MRDN is set to 90.When the value of determining reflective mirror lowering time parameter MRDN was not set to 90, operation directly proceeded to S53.Otherwise operation proceeds to step S61.
In step S61, determine whether the value of anti-shake parameter I S is set to 0.When the value IS that determines anti-shake parameter is 0 (IS=0), just when photographing device is not in anti-shake pattern, the position S that in step S62, removable unit 30a (image-generating unit 39a) should be moved n(Sx n, Sy n), be set to the central authorities of the moving range of removable unit 30a.When the value IS that determines anti-shake parameter is not 0 (IS=1), just when photographing device is in anti-shake pattern, in step S75,, calculate the position S that removable unit 30a (image-generating unit 39a) should move based on first and second angular speed vx and the vy n(Sx n, Sy n).
In step S64, with the position S that determines among step S59, S62 or the step S63 n(Sx n, Sy n) and current location P n(pdx n, pdy n) be the basis, calculate removable unit 30a is moved to position S nActuating force D nThe first actuating force Dx n(the first pwm power dx) and the second actuating force Dy n(the second pwm power dy).
In step S65, use the first pwm power dx to drive the first drive coil unit 31a by drive circuit 29, and use the second pwm power dy to drive the second drive coil unit 32a, so that removable unit 30a is moved to position S by drive circuit 29 n(Sx n, Sy n).
The process of step S64 and S65 is that control fortune is automatically calculated, and PID controls automatically and uses this calculating to be used for common (standard) ratio, integration, differential calculation.
Fixed position mechanism is not in a fixed position removable unit 30a when driving, in the photographing device that does not have fixed position mechanism, such as first embodiment, when after anti-shake operation, removable unit 30a mobile being set to the OFF state, allow this removable unit 30a freely to move, touch the end of moving range and stop up to it according to gravity.Removable unit 30a with contact impact between part when very big because the vibrations of removable unit 30a can cause destroying the contact part and the operator of photographing device 1 is not felt well.
In first embodiment, when the control setting of finishing and can drive mobile unit 30a when anti-shake operation is the OFF state, in the process of length (90ms) removable unit 30a is moved to primary importance P1 at the fixed time.Primary importance P1 is determined in the position of the photographing device of holding based on the operator 1 before the time for exposure, so that the position of the time for exposure photographing device 1 that (anti-shake operation is finished) operator holds when finishing is identical with the position of the photographing device 1 held of operator before the time for exposure approx.
Therefore, when the control setting that can drive mobile unit 30a was finished anti-shake operation for the OFF state, removable unit was the somewhere of the moving range end according to the position that gravity moved, and is almost identical with primary importance P1.
In addition, at the fixed time in length (90ms) process, to carry out the (see figure 7) that moves of removable unit 30a relative to low speed to primary importance P1.Particularly, carry out moving of removable unit 30a so that suppress based on this vibration of moving with low speed towards finishing the mobile end (as the close primary importance P1 of removable unit 30a).
In addition, in first embodiment,, do not need to specify mobile direction for removable unit 30a is moved to primary importance P1.Therefore, with respect to the situation of specifying the direction that moves of removable unit 30a by the direction that detects gravity etc., can simplify this calculating.
In first embodiment, begin to move (MRDN=0 when the elapsed time t=0) to mobile the finishing of removable unit 30a (at elapsed time t=90ms time MRDN=90) from removable unit 30a, show as (see figure 7) under the sine-shaped situation in the displacement of removable unit 30a and the relation that starts between period of the beginning of moving of removable unit 30a, the CPU removable unit 30a of 21 controls moves.
In other words, begin to move (MRDN=0 when the elapsed time t=0) to mobile the finishing of removable unit 30a (at elapsed time t=90ms time MRDN=90) from removable unit 30a, (see figure 8) under the situation that translational speed and the relation between corresponding period of removable unit 30a shows as cosine waveform, the CPU removable unit 30a of 21 controls moves.
Carry out removable unit 30a to the moving of primary importance P1, in the predetermined time interval of the 1ms that is shorter than predetermined period based on the operation of the position probing of removable unit 30a and positioning action---position that wherein removable unit 30a should move to is determined---.
Therefore, can be reposefully and stably to the mobile deceleration of removable unit 30a, the speed of removable unit 30a is almost 0 when arriving primary importance P1 with the removable unit 30a of box lunch.
Yet, not restriction performance elapsed time and when removable unit 30a begins the waveform from the relation between the displacement of removable unit 30a is a sinusoidal waveform when mobile.
For example, showing the displacement of removable unit 30a and begin waveform between the elapsed time of correspondence when mobile from removable unit 30a, can be that removable unit 30a finishes mobile (MRDN=90) preceding saturation curve that moves with low speed at removable unit 30a.
In addition, in first embodiment, photographing device 1 is to carry out reflective mirror to lift/put down the anti-lens camera of list of operation, yet photographing device 1 can not carried out reflective mirror and lift/put down operation.
Lift the photographing device 1 of operation under the obsolete situation of first embodiment ought not carrying out reflective mirror, after anti-shake operation is finished, begin removable unit 30a to the moving of primary importance P1, and before second handles, finish removable unit 30a moving to primary importance P1.
In addition, the length that does not limit predetermined period is 90ms.Scheduled time length is set to be shorter than and is accomplished to reflective mirror from anti-shake operation and puts down the time span that (or when second handles, such as finishing image manipulation processing etc.) finished in operation.Therefore, scheduled time length only need be put down the preceding consumption of operation (or when second finishes dealing with) (predetermined period end) finishing reflective mirror.
In first embodiment, scheduled time length is set to 90ms, and it is shorter than and puts down operation from reflective mirror and begin to put down the time span (approximately 120ms) (seeing step S27 Fig. 4) that operation is finished to reflective mirror.In addition, the consumption (scheduled time end) of scheduled time length appears in (or simultaneously) before reflective mirror puts down operation when handling (or finish second) and finishes.
Next, explain second embodiment.In first embodiment, removable unit 30a is moved to primary importance P1, this position be removable unit 30a after anti-shake operation, the present position before the OFF state of the control that drives anti-shake operation.In a second embodiment, removable unit 30a is moved to the second place, this position is to calculate according to the moving direction of gravity according to removable unit 30a in anti-shake operation back.To be explained as follows with respect to the difference of first embodiment.
When the operator pressed these release-push 13 parts, photometry switch 12a became the ON state to carry out photometry operation, AF inductive operation and focusing operation.
When the operator all pressed this release-push 13, release-push 13a became the ON state with the execution imaging operation, and stores the image that captures.
In a second embodiment, only in the time for exposure, when being set to the ON state, carries out release-push 13a anti-shake operation.After time for exposure and end in first period, in the process of second time span, removable unit 30a is moved to second place P2 about imaging operation.
CPU 21 is control photographing device 1 control device about each part of imaging operation and anti-shake operation (being the imaging stable operation).Anti-shake operation comprises moving and the position probing effect of removable unit 30a.
In addition, CPU 21 has stored the value whether definite photographing device 1 is in the value of the value of the value of the value of the anti-shake parameter I S of anti-shake pattern, release condition parameters R P, reflective mirror state parameter MP, reflective mirror lowering time parameter MRDN, the first extreme position parameters R FSPx, the second extreme position parameters R FSPy, the first current location parameter PP x and the second current location parameter PP y.
CPU 21 stops to drive the removable unit 30a (being set to the OFF state) about anti-shake operation after the time for exposure of imaging operation.When the moving of the removable unit 30a that stops to be used for anti-shake operation (being set to the OFF state) and when not carrying out the Next driving operation of removable unit 30a, removable unit 30a drops to the end (descend and move) of moving range according to gravity.
In a second embodiment, even after will being used for the mobile OFF of the being set to state of removable unit 30a of anti-shake operation, CPU 21 does not drive removable unit 30a immediately.The substitute is, CPU 21 has first o'clock interim moving direction of very first time length based on removable unit 30a, has carried out the time-out of very first time length (30ms) in second time span (90ms) process before the removable unit 30a of driving.
Especially, be set to 1 and after very first time length consumed in the value of reflective mirror state parameter MP, CPU 21 calculates second place P2 based on the moving direction of removable unit 30a in first period.At the variable quantity that begins in very first time length according to removable unit 30a between (MP is set to after 1 in reflective mirror state parameter) preceding position and the removable unit 30a position when very first time length finishes, determine the moving direction of removable unit 30a.Then, CPU 21 moves to second place P2 with removable unit 30a in second time span (90ms) process.
In the moving of second place P2, removable unit 30a (when removable unit 30a approximately is in second place P2) before finishing it and moving moves with low speed immediately at removable unit 30a.
In other words, removable unit 30a stops at the mobile place that finishes then finishing mobile front reduction gear (slowing down).
Especially, during anti-shake operation setting was the OFF state, after the control that drives removable unit 30a, CPU 21 did not control moving of removable unit 30a in first period.
Relation between the displacement of working as elapsed time and removable unit 30a shows as under the sine-shaped situation (sees Figure 11), and CPU 21 controls moving of removable unit 30a again.Especially, under the control of CPU 21, removable unit 30a is when sending the terminal point of very first time length and the starting point (MRDN=30 of second time span, elapsed time t=30) begins to move during signal, and when the terminal point that sends second time span (MRDN=120, elapsed time t=120) signal, finish mobile.
In other words, show as under the situation of cosine waveform in the relation when between the translational speed of elapsed time and removable unit 30a, CPU 21 controls move (the seeing Figure 12) of removable unit 30a again.Especially, under the control of CPU 21, removable unit 30a is as the starting point (MRDN=30 of the end and second time span of sending very first time length, elapsed time t=30) begins to move during signal, and when the end of sending second time span (MRDN=120, elapsed time t=120) signal, finish mobile.
The first extreme position parameters R FSPx is set to the position of removable unit 30a at first direction x (second place P2).
Similarly, the second extreme position parameters R FSPy is set to the position of removable unit 30a at second direction y (second place P2).
Based on the moving direction that removable unit 30a descended according to gravity in first period, second place P2 has consumed the position that the removable unit 30a in back should move in second time span.
When removable unit 30a under amount of movement the situation more than or equal to reference amount of movement ZA of first period according to gravity, second place P2 is set to the end (seeing step S87, S88, S90, S91, S94, S95, S97 and S98 among Figure 13) of moving range.
When removable unit 30a first period according to the amount of movement of gravity not can greater than with situation about equaling with reference to amount of movement ZA under, such as when photographing device 1 during in the face of upper end or lower end etc., second place P2 is set to removable unit 30a in identical position (seeing step S99 among Figure 13), position that the end of very first time length occupies.
The value of the CPU 21 storages first amount of movement parameter X X and the value of the second amount of movement parameter YY.
The first amount of movement parameter X X is set to equal position P nPoor in A/D conversion back at the coordinate figure of first direction x: pdx nWith the first current location parameter PP x (seeing Figure 13 step S81).
Similarly, the second amount of movement parameter YY is set to equal position P nPoor in A/D conversion back at the coordinate figure of second direction y: pdy nWith the second current location parameter PP y.
The first current location parameter PP x be set to equal removable unit 30a when anti-shake operation is finished in position (seeing Figure 10 step S157) that first direction x occupies.
Similarly, the second current location parameter PP y be set to equal removable unit 30a when anti-shake operation is finished in position that second direction y occupies.
To be used to calculate value ZA, the first horizontal extreme position X of the reference amount of movement of the second place +The value of LMT, the second horizontal extreme position X -The value of LMT, the first vertical extreme position Y +The value of LMT, the second vertical extreme position Y -The value of LMT is stored in CPU 21 grades.
In a second embodiment, with image-generating unit 39a (removable unit 30a) have anti-shake operation after finishing have second time span during and have a position S that should move to during first period that very first time length consumed n, the mobile and not corresponding hand amount of jitter to second place P2 is provided with in second period about removable unit 30a.
Next, the main operation of photographing device 1 in a second embodiment will be explained by the flow chart that uses Fig. 9.
When photographing device 1 is set to the ON state,, make angular velocity detection unit 25 in step S111, be set to the ON state to 25 power supplies of angular velocity detection unit.
At step S112, the interrupt procedure of timer is (1ms) beginning at interval at the fixed time.At step S113, the value of release condition parameters R P is set to 0.The back will by the flow chart that uses Figure 10 explain second embodiment in the details of interrupt procedure of timer.
In step S114, determine whether photometry switch 12a is set to the ON state.When definite photometry switch 12a was not set to the ON state, operation turned back to the process of step S114 and repeating step S114.Otherwise operation proceeds to step S115.
In step S115, determine whether anti-shake switch 14a is set to the ON state.When definite photometry switch 14a is not set to the ON state, be set to 0 in the value of the anti-shake parameter I S of step S116.Otherwise, be set to 1 in the value of the anti-shake parameter I S of step S117.
At step S118, drive the AE transducer of AE unit 23, carry out the photometry operation, and calculate f-number and time for exposure.
In step S119, the AF transducer of driving AF unit 24 and lens control circuit are correspondingly carried out and are used for AF induction and focusing operation.
In step S120, determine whether release-push 13a is set to the ON state.When release-push 13a was not set to the ON state, operation turned back to step S114 and repeats process from step S114 to step S119.Otherwise operation proceeds to step S122, and begins to discharge operation in tandem.
At step S122, the value of release condition parameters R P is set to 1.
In step S123, carry out pre-if the reflective mirror of the corresponding f-number that calculates lifts operation and aperture shutoff operation by reflective mirror diaphragm shutter unit 18.
Reflective mirror lift the operation finish after, in step S124 the beginning shutter opening operation (the preceding curtain of mobile shutter).
In step S125, carry out exposing operation, in other words, carry out the accumulation of imaging device (CCD etc.).After the time for exposure consumes, in step S126 reflective mirror state parameter MP be set to 1 and reflective mirror lowering time parameter MRDN be set to 0.
In step S127, carry out the shutoff operation (moving of fast curtain behind the door) of shutter, the opening operation that reflective mirror puts down operation and aperture by reflective mirror diaphragm shutter unit 18.In step S128, the value of reflective mirror state parameter MP is set to 0
After the time for exposure, finish anti-shake operation, and postpone about the moving of the removable unit 30a of anti-shake operation, be set to the ON state up to release-push 13a again.In other words, after exposure, carry out the interrupt procedure of Figure 10 and without the action of execution in step S165 to S167, release-push 13a is set to the ON state up to next time.
The elapsed time that reflective mirror puts down from beginning to finish approximately is 120ms.In a second embodiment, removable unit 30a to second place P2 (RFSPx, RFSPy) move reflective mirror put down operation finish before (or simultaneously) finish.
In addition, when removable unit 30a puts down finishing synchronously of operation to moving with reflective mirror of second place P2, from the mobile vibration sequential of braking to removable unit 30a, the vibration sequential that operation finishes is identical with putting down based on reflective mirror.Therefore, owing to eliminated, can suppress the discomfort that the operator of photographing device 1 feels based on vibration to the destruction of moving of removable unit.
In step S129, read in the accumulation of imaging device accumulation in the time for exposure.In step S130, CPU 21 communicates by letter with DSP 19, so that come the carries out image processing operation based on the accumulation that reads from imaging device.The image of carries out image processing operation is stored in the memory of photographing device 1.In step S131, the image that is stored in the memory is presented in the indicating member 17.In step S132, release condition parameters R P is set to 0, so that finish the release operation in tandem, and operation turns back to step S14 then, just photographing device 1 is set to the state that can carry out next imaging operation.
Next, the step S112 from Fig. 9 begins, and operating the independently interrupt procedure of the timer of each predetermined time interval (1ms) execution with other, will use the flow chart of Figure 10 to explain in a second embodiment.
When the interrupt procedure in period begins at once, in step S151, will be input to the A/D converter A/D 0 of CPU 21 and be converted to the first digital angular velocity signal Vx by the first angular speed vx of angular velocity detection unit 25 outputs n, be input to the A/D converter A/D 1 of CPU 21 and be converted to the second digital angular velocity signal Vy by the second angular speed vy of angular velocity detection unit 25 outputs equally n(angular velocity detection operation).
Handle operation (the first and second digital angular speed VVx at digital high-pass filter nAnd VVy n) the middle first and second digital angular velocity signal Vx that remove nAnd Vy nLow frequency part.
In step S152, determine whether the value of release condition parameters R P is set to 1.When the value of determining release condition parameters R P is not set to 1, in step S153, drive removable unit 30a or drive anti-shake unit 30, removable unit is set to the OFF state, and anti-shake unit 30 is set to not carry out the state of the drive controlling of removable unit.Otherwise operation directly proceeds to step S154.
In step S154, Hall element unit 44a detects the position of removable unit 30a, and Hall element signal processing unit 45 calculates first and second detection position signal px and the py.The first detection position signal px is input to the A/D converter A/D 2 of CPU 21 and is converted to digital signal pdx n, simultaneously the second detection position signal py is input to the A/D converter A/D 3 of CPU 21 and is converted to digital signal pdy nThereby the two determines the current location P of removable unit 30a n(pdx n, pdy n).
In step S155, determine whether the value of reflective mirror state parameter MP is set to 1.When the value of determining reflective mirror state parameter MP was not set to 1, operation directly proceeded to S170.Otherwise operation proceeds to step S156.
In step S156, determine whether the value of reflective mirror lowering time parameter MRDN is set to 0.
When the value of determining reflective mirror lowering time parameter MRDN was set to 0, in step S157, the value of the first current location parameter PP x was set to position P nCoordinate figure pdx after the A/D conversion at first direction x n, and the value of the second current location parameter PP y be set to position P nCoordinate figure pdy after the A/D conversion at second direction y nOperation proceeds to step S158 then.Otherwise operation directly proceeds to step S158.
In step S158, determine whether the value of reflective mirror lowering time parameter MRDN is set to 30.When the value of determining reflective mirror lowering time parameter MRDN less than 30 the time, operation directly proceeding to S159.Otherwise operation directly proceeds to step S160.
In step S159, with the value increase by 1 of reflective mirror lowering time parameter MRDN.Otherwise operation proceeds to step S153.
In step S160, determine whether the value of reflective mirror lowering time parameter MRDN is set to 30.
When the value of determining reflective mirror lowering time parameter MRDN is set to 30 (very first time length consumes), operation proceeds to step S161.Otherwise operation directly proceeds to step S162.
In step S161, carry out to the second place (RFSPx, RFSPy), the calculating of the position of moving of removable unit 30a in the second time span process.Use the flow chart of Figure 13 to come the details of the calculating among the interpretation procedure S161 in the back.
In step S162, determine whether the value of reflective mirror lowering time parameter MRDN is set at 120.
When the value of determining reflective mirror lowering time parameter MRDN is set to 120 (very first time length consumes), operation turns back to step S153.Otherwise operation proceeds to step S163.
In step S163, based on the first and second current location parameter PP x and PPy, the first and second extreme position parameters R FSPx and RFSPy, and reflective mirror lowering time parameter MRDN calculate the position S that removable unit 30a (image-generating unit 39a) should move to n(Sx n, Sy n) (Sx n=PPx+ (RFSPx-PPx) * sin{ (MRDN-30) * 90 degree ÷ 90}, Sy n=PPy+ (RFSPy-PPy) * sin{ (MRDN-30) * 90 degree ÷ 90}).
In step S164, with the value increase by 1 of reflective mirror lowering time parameter MRDN, operation directly proceeding to step S168 then.
Because when carrying out trigonometric function and handle and operate and calculate the value of " sin{ (MRDN-30) * 90 spends ÷ 90) } ", on CPU 21, loaded very big load, need from MRDN=30 to MRDN=120 91 kinds of storage " sin{ (MRDN-1) * 90 spend ÷ 90) } " multi-form, so that the raising processing speed.
In step S170, determine whether the value of reflective mirror lowering time parameter MRDN is set to 120.When the value of determining reflective mirror lowering time parameter MRDN was not set to 120, operation directly proceeded to S153.Otherwise operation proceeds to step S165.
In step S165, determine whether the value of anti-shake parameter I S is set to 0.When the value IS that determines anti-shake parameter is 0 (IS=0), just when photographing device is not in anti-shake pattern, in step S166, the position S that removable unit 30a (image-generating unit 39a) should be moved n(Sx n, Sy n) be set to the central authorities of the moving range of removable unit 30a.When the value IS that determines anti-shake parameter is not 0 (IS=1), just when photographing device is in anti-shake pattern, in step S167,, calculate the position S that removable unit 30a (image-generating unit 39a) should move based on first and second angular speed vx and the vy n(Sx n, Sy n).
In step S168, with the position S that determines among step S163, S166 or the step S167 n(Sx n, Sy n) and current location P n(pdx n, pdy n) be the basis, calculate removable unit 30a is moved to position S nActuating force D nThe first actuating force Dx n(the first pwm power dx) and the second actuating force Dy n(the second pwm power dy).
In step S169, use the first pwm power dx to drive the first drive coil unit 31a by drive circuit 29, and use the second pwm power dy to drive the second drive coil unit 32a, so that removable unit 30a is moved to position S by drive circuit 29 n(Sx n, Sy n).
The process of step S168 and S169 is that control fortune is automatically calculated, and PID controls automatically and uses this calculating to be used for common (standard) ratio, integration, differential calculation.
Below, use the flow chart of Figure 13 to explain the details of step S161 in Figure 10 about the calculating of the second place P2 of appointment.
In the flow chart of Figure 13, explained that moving range as removable unit 30a forms under the foursquare situation computational process about the second place.The moving range that should note removable unit 30a can form rectangle equally.Form under the situation of rectangle in the moving range as removable unit 30a, the value of the situation among Figure 13 in each step changes about the length-width ratio of rectangle.
When beginning to calculate second place P2, based on P nCoordinate pdx in A/D conversion back in the position of first direction x n, first period the end (end of the very first time length after anti-shake operation) and the first current location parameter PP x calculate the first amount of movement parameter X X (XX=pdx n-PPx).Similarly, in step S81, change the coordinate pdy of back at A/D in the position of second direction y based on Pn n, second period the end (end of second time span after anti-shake operation) and the second current location parameter PP y calculate the second amount of movement parameter YY (YY=pdy n-PPy).
In step S82, whether the absolute value of determining the first amount of movement parameter X X is less than reference amount of movement ZA.
When the absolute value of determining the first amount of movement parameter X X during, determine that in step S83 the absolute value of the second amount of movement parameter YY is less than reference amount of movement ZA less than reference amount of movement ZA.
When the absolute value of determining the first amount of movement parameter X X was not less than with reference to amount of movement ZA, operation directly proceeded to step S84.
When the absolute value of determining the second amount of movement parameter YY during less than reference amount of movement ZA, operation directly proceeding to step S99.
When the absolute value of determining the second amount of movement parameter YY during less than reference amount of movement ZA, operation directly proceeding to step S84.
In step S84, determine whether the absolute value of the first amount of movement parameter X X equals the absolute value of the second amount of movement parameter YY.
Determine that the absolute value of the first amount of movement parameter X X equals the absolute value of the second amount of movement parameter YY, operation directly proceeds to S92.
Determine that the absolute value of the first amount of movement parameter X X is not equal to the absolute value of the second amount of movement parameter YY, operation directly proceeds to S85.
In step S85, whether the absolute value of determining the first amount of movement parameter X X is greater than the absolute value of the second amount of movement parameter YY.
Determine the absolute value of the absolute value of the first amount of movement parameter X X greater than the second amount of movement parameter YY, operation directly proceeds to S89.
Determine that the absolute value of the first amount of movement parameter X X is not more than the absolute value of the second amount of movement parameter YY, operation proceeds to S86.
In step S86, whether the absolute value of determining the second amount of movement parameter YY is less than 0.When the absolute value of determining the second amount of movement parameter YY is less than 0 the time, operation directly proceeding to S88.When the absolute value of determining the second amount of movement parameter YY was not less than 0, operation proceeded to step S87.
In step S87, in the end (end of the very first time length after anti-shake operation is finished) in first period, the first extreme position parameters R FSPx is set to position P nCoordinate in A/D conversion back at first direction x: pdx n, and the second extreme position parameters R FSPy is set to equal the first vertical extreme position Y +The value of LMT.
In other words, second place P2 the coordinate of first direction x be set to equal this position when finish first period (very first time length when anti-shake operation is finished has consumed the back) at the coordinate figure of first direction x, and second place P2 is set to equal the coordinate figure of this position in the end of the moving range of side second direction y, that move in first period at removable unit 30a at the coordinate of second direction y.
In step S88, in the end (very first time length after anti-shake operation is finished finishes) in first period, the first extreme position parameters R FSPx is set to position P nCoordinate in A/D conversion back at first direction x: pdx n, and the second extreme position parameters R FSPy is set to equal the second vertical extreme position Y -The value of LMT.
In other words, second place P2 the coordinate of first direction x be set to equal this position when finishing for first period (very first time length when anti-shake operation is finished has consumed the back) at the coordinate figure of first direction x, and second place P2 is set to equal this position at second direction y at the coordinate of second direction y, the coordinate figure of the end of the moving range of a side that moves in first period at removable unit 30a.
In step S89, whether the absolute value of determining the first amount of movement parameter X X is less than 0.When the absolute value of determining the first amount of movement parameter X X is less than 0 the time, operation directly proceeding to S91.When the absolute value of determining the first amount of movement parameter X X was not less than 0, operation proceeded to step S90.
In step S90, the value of the first extreme position parameters R FSPx is set to the first horizontal extreme position X +The value of LMT, and be set to position P in the value of (very first time length when anti-shake operation is finished consumed back), the second extreme position parameters R FSPy when finish first period nCoordinate in A/D conversion back at second direction y: pdy n
In other words, second place P2 the coordinate of first direction x be set to equal this position when finish first period (very first time length when anti-shake operation is finished has consumed the back) at the coordinate figure of first direction x, and second place P2 is set to equal this position at second direction y at the coordinate of second direction y, the coordinate figure of the end of the moving range of a side that moves in first period at removable unit 30a.
In step S91, the value of the first extreme position parameters R FSPx is set to the second horizontal extreme position X -The value of LMT, and be set to position P in the value of (very first time length when anti-shake operation is finished consumed back), the second extreme position parameters R FSPy when finish first period nCoordinate in A/D conversion back at second direction y: pdy n
In other words, second place P2 the coordinate of first direction x be set to equal this position when finishing for first period (very first time length when anti-shake operation is finished has consumed the back) at the coordinate figure of first direction x, and second place P2 is set to equal this position at second direction y at the coordinate of second direction y, the coordinate figure of the end of the moving range of a side that moves in first period at removable unit 30a.
In step S92, whether the absolute value of determining the second amount of movement parameter YY is less than 0.When the absolute value of determining the second amount of movement parameter YY is less than 0 the time, operation directly proceeding to S96.When the absolute value of determining the second amount of movement parameter YY was not less than 0, operation proceeded to step S93.
In step S93, whether the absolute value of determining the first amount of movement parameter X X is less than 0.When the absolute value of determining the first amount of movement parameter X X is less than 0 the time, operation directly proceeding to S95.When the absolute value of determining the first amount of movement parameter X X was not less than 0, operation proceeded to step S94.
In step S94, the value of the first extreme position parameters R FSPx is set to equal the first horizontal extreme position X -The value of LMT, and the value of the second extreme position parameters R FSPy is set to equal the first upright position Y +The value of LMT.
In other words, second place P2 is set to equal this position coordinate figure at first direction x when finishing for first period at the coordinate of first direction x, and second place P2 is set to equal the coordinate figure of this position in the end of the moving range of side second direction y, that move in first period at removable unit 30a at the coordinate of second direction y.
In step S95, the value of the first extreme position parameters R FSPx is set to equal the first horizontal extreme position X -The value of LMT, and the value of the second extreme position parameters R FSPy is set to equal the first upright position Y +The value of LMT.
In other words, second place P2 is set to equal this position coordinate figure at first direction x when finishing for first period at the coordinate of first direction x, and second place P2 is set to equal the coordinate figure of this position in the end of the moving range of side second direction y, that move in first period at removable unit 30a at the coordinate of second direction y.
In step S96, whether the absolute value of determining the first amount of movement parameter X X is less than 0.When the absolute value of determining the first amount of movement parameter X X is less than 0 the time, operation directly proceeding to S98.When the absolute value of determining the first amount of movement parameter X X was not less than 0, operation proceeded to step S97.
In step S97, the value of the first extreme position parameters R FSPx is set to equal the first horizontal extreme position X -The value of LMT, and the value of the second extreme position parameters R FSPy is set to equal the second upright position Y -The value of LMT.
In other words, second place P2 is set to equal this position coordinate figure in the end of the moving range of side first direction x, that move in first period at removable unit 30a when finishing for first period at the coordinate of first direction x, and second place P2 is set to equal the coordinate figure of this position in the end of the moving range of side second direction y, that move in first period at removable unit 30a at the coordinate of second direction y.
In step S98, the value of the first extreme position parameters R FSPx is set to equal the first horizontal extreme position X -The value of LMT, and the value of the second extreme position parameters R FSPy is set to equal the second upright position Y -The value of LMT.
In other words, second place P2 is set to equal this position coordinate figure in the end of the moving range of side first direction x, that move in first period at removable unit 30a when finishing for first period at the coordinate of first direction x, and second place P2 is set to equal the coordinate figure of this position in the end of the moving range of side second direction y, that move in first period at removable unit 30a at the coordinate of second direction y.
In step S99, in the end (end of the very first time length after anti-shake operation is finished) in first period, the first end position parameters R FSPx is set to position P nCoordinate in A/D conversion back at first direction x: pdx n, and in the end (end of the very first time length after anti-shake operation is finished) in first period, the second end position parameters R FSPy is set to position P nCoordinate in A/D conversion back at second direction y: pdy n
In other words, the coordinate figure of the position of first direction x when second place P2 is set to end (consumption of the very first time length after anti-shake operation is finished) in first period at the coordinate of first direction x, and the coordinate figure of second place P2 position of second direction y when the coordinate of second direction y is set to end (consumption of the very first time length after anti-shake operation is finished) in first period.
Fixed position mechanism is not in a fixed position removable unit 30a when driving, in the photographing device that does not have fixed position mechanism, such as second embodiment, when after anti-shake operation, removable unit 30a mobile being set to the OFF state, allow this removable unit 30a freely to move, touch the end of moving range and stop up to it according to gravity.Removable unit 30a with contact impact between part when very big because the vibration of removable unit 30a can cause destroying the contact part and the operator of photographing device 1 is not felt well.
In a second embodiment, when finishing anti-shake operation, the control setting that drives removable unit 30a is consumed (period 1 end) to OFF state and very first time length, and removable unit 30a moves to second place P2 during second time span (90ms).Determine second place P2 according to removable unit 30a at first o'clock interim moving direction.According to removable unit 30a when the very first time, length finished the position and the variable quantity between the position of removable unit 30a time signal and when the very first time, length began at anti-shake EO, determine the moving direction of removable unit 30a.
Therefore, when the control setting that can drive mobile unit 30a was finished anti-shake operation for the OFF state, removable unit was the somewhere of the moving range end according to the position that gravity moved, and is almost identical with second place P2.
In addition, during second time span (90ms), removable unit 30a with relative low speed (seeing Figure 11) near second place P2.Particularly towards the end that moves (when removable unit 30a near second place P2), carry out removable unit 30a to the moving of second place P2, carry out moving of removable unit 30a so that suppress with low speed based on the vibration of moving.
In addition, in a second embodiment, owing to specified removable unit 30a immediately direction of motion after anti-shake operation, even the position of the photographing device 1 that the operator held changes before and after exposure to some extent, second place P2 can be based on the direction (calculating) of gravity.
In addition, there is no need to add the independent device that is used to detect gravity direction, such as gravity detecting sensor etc.
In a second embodiment, show as under the sine-shaped situation mobile (the seeing Figure 11) of the removable unit 30a of CPU 21 controls in the relation when between the displacement of elapsed time and removable unit 30a.Especially, under the control of CPU 21, removable unit 30a is as the starting point (MRDN=30 of the end and second time span of sending very first time length, elapsed time t=30) begins to move during signal, and when the end of sending second time span (MRDN=120, elapsed time t=120) signal, finish finish after anti-shake operation and very first time length finish mobile.
In other words, show as under the sine-shaped situation mobile (the seeing Figure 12) of the removable unit 30a of CPU 21 controls in mobile relation apart from speed as elapsed time and removable unit 30a.Especially, especially, under the control of CPU 21, removable unit 30a is as the starting point (MRDN=30 of the end and second time span of sending very first time length, elapsed time t=30) begins to move during signal, and when the end of sending second time span (MRDN=120, elapsed time t=120) signal, finish finish after anti-shake operation and very first time length finish mobile.
Yet, not restriction performance elapsed time and when removable unit 30a begins the waveform from the relation between the displacement of removable unit 30a is a sinusoidal waveform when mobile.
For example, show the displacement of removable unit 30a and begin waveform between the elapsed time of correspondence when mobile from removable unit 30a, can be removable unit 30a removable unit 30a finish move before (MRDN=120) saturation curve of moving with low speed.
In addition, in a second embodiment, photographing device 1 is to carry out reflective mirror to lift the anti-lens camera of list of operation, yet photographing device 1 can not carried out reflective mirror and lift operation.
Lift the photographing device 1 of operation under the obsolete situation of second embodiment ought not carrying out reflective mirror, finish and very first time length begins removable unit 30a moving to second place P2 after having consumed in anti-shake operation, and before second handles, finish removable unit 30a to the moving of second place P2, such as finishing image processing operations etc.
In addition, the length that did not limit for first period is 30ms, and the length that did not also limit for second period is 90ms.The sum total of first and second time spans is set to be shorter than or equals to be accomplished to reflective mirror from anti-shake operation puts down the time span that (or when second handles, such as finishing image processing operations etc.) finished in operation.Therefore, the sum total of first and second time spans only needs to put down operation (or when second finishes dealing with) preceding consumption (finishing for second period) finishing reflective mirror.
In a second embodiment, the sum total of first and second time spans is set to 120ms (30ms+90ms), and this time equals to put down operation from reflective mirror and begins to put down the time span (about 120ms) that operation is finished to reflective mirror.In addition, the consumption (end in second period) of scheduled time length appears in (or simultaneously) before reflective mirror puts down operation when handling (or finish second) and finishes.
In addition, illustrated that removable unit 30a has imaging device; Yet removable unit 30a can have the hand that substitutes this imaging device and tremble corrective lens.
In addition, the Hall element that is used for position probing as the changes of magnetic field detecting element has been described.Yet, another detecting element, such as MI (magnetoimpedance) transducer of high frequency carrier type magnetic field sensor, magnetic resonance type magnetic field detection element, or MR (magnetoresistance effect) element can be used for the purpose of position probing.A kind of in using MI transducer, magnetic resonance type magnetic field detection element or MR element, Hall element is similar with using, can be by detecting the relevant information that changes of magnetic field obtain removable cell position.
Although by having described embodiments of the invention with reference to accompanying accompanying drawing, obviously the those skilled in the art can make change and the change that does not deviate from the scope of the invention here.

Claims (12)

1. anti-shake apparatus that is used for stabilized image, this device comprises:
Removable unit, this mobile unit can move when carrying out anti-shake operation; And
Controller, this controller stop this anti-shake operation after the time for exposure, and after anti-shake operation with removable cell moving to primary importance;
Described primary importance be before the time for exposure and described anti-shake operation before the position of described removable unit;
Described controller described removable unit finish move to primary importance before, described removable unit slowed down and move with low rate;
Described anti-shake apparatus comprises that further carrying out reflective mirror lifts the reflective mirror that operation and reflective mirror put down operation;
Length at the fixed time, to primary importance, the described scheduled time is shorter in length than and is accomplished to described reflective mirror from described anti-shake operation and puts down the time span that operation is finished with described removable cell moving.
2. anti-shake apparatus as claimed in claim 1, the predetermined period that wherein has scheduled time length puts down at described reflective mirror and finishes when operation is finished.
3. anti-shake apparatus as claimed in claim 1 wherein is used for the scheduled time length of described removable cell moving to primary importance, is shorter than when described anti-shake operation is finished the time span when image processing operations is finished.
4. anti-shake apparatus as claimed in claim 1, wherein when during predetermined period, showing as under the sinusoidal wave situation when described mobile distance with to the described relation that moves between the pairing elapsed time of described primary importance, described controller is controlled moving of removable unit, described predetermined period start from described removable unit to the beginning of moving of described primary importance, end at described removable unit to described primary importance move finish.
5. anti-shake apparatus as claimed in claim 4 is wherein carried out the mobile control of the removable unit that is used for described anti-shake operation at the fixed time at interval; And
The time span of described predetermined period is longer than described predetermined time interval.
6. anti-shake apparatus that is used for stabilized image, this device comprises:
Movably removable unit; And
Controller, control is used for the described removable unit of anti-shake operation;
After being used for the described removable cell moving of described anti-shake operation, finish when first period with very first time length, described controller during second time span with described removable cell moving to the second place;
Position before described removable unit begins described first period after described anti-shake operation is finished, and the variable quantity between the position of described removable unit after finishing described first period is determined the described second place;
Described controller described removable unit finish move to the second place before, described removable unit slowed down and move with low rate, the second place is to have consumed the position that removable unit, back should move in second time span;
Described anti-shake apparatus, comprise that further carrying out reflective mirror lifts the reflective mirror that operation and reflective mirror put down operation, the summation of described very first time length and described second time span is shorter than or equals and finishes and the control setting that driving is used for the removable unit of described anti-shake operation is the OFF state, puts down to reflective mirror and operate the time span of finishing from described anti-shake operation.
7. anti-shake apparatus as claimed in claim 6 puts down at described reflective mirror and finish when operation is finished second period that wherein has second time span.
8. anti-shake apparatus as claimed in claim 6, the summation of wherein said very first time length and described second time span are shorter than from described anti-shake operation and finish and the control setting that driving is used for the removable unit of described anti-shake operation is the OFF state, puts down the time span that operation is finished to described reflective mirror.
9. anti-shake apparatus as claimed in claim 6, wherein have from described removable unit to the described second place mobile, to described removable unit during second period of described second time span of the mobile end of the described second place, showing as under the sine-shaped situation about the relation between the distance that moves of the described second place from described removable unit when elapsed time and described removable unit, described controller is controlled moving of described removable unit.
10. anti-shake apparatus as claimed in claim 9 is wherein carried out at interval at the fixed time and is used for described anti-shake operation and to the mobile control of the removable unit that moves of the described second place; And
Described very first time length is longer than described predetermined time interval; And
Described second time span is longer than described predetermined time interval.
11. anti-shake apparatus as claimed in claim 6, wherein when described variable quantity was very little, the described second place was set to the identical position of removable unit when finish described first period; And
When described variable quantity when not being very little, the described second place is set to move in the described very first time length end of moving range of the described removable unit of described removable unit one side.
12. an anti-shake apparatus that is used for stabilized image, this device comprises:
Removable unit, this mobile unit can move when carrying out anti-shake operation; And
Controller, this controller stop this anti-shake operation after the time for exposure, and after anti-shake operation with removable cell moving to primary importance;
When during predetermined period, showing as under the sinusoidal wave situation when described mobile distance and the corresponding described relation that moves between the pairing elapsed time to described primary importance, described controller is controlled moving of removable unit, described predetermined period start from described removable unit to the beginning of moving of described primary importance, end at described removable unit to described primary importance move finish;
Be shorter than the predetermined time interval of described predetermined period, carry out the position probing operation of described removable unit and the positioning action of the position that definite described removable unit should move to, carry out described removable unit to the moving of described primary importance according to the operation of described position probing and positioning action, described primary importance be before the time for exposure with anti-shake operation before the position of removable unit.
CN2007101360589A 2006-07-13 2007-07-13 Anti-shake apparatus Expired - Fee Related CN101106654B (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2006-192863 2006-07-13
JP2006192863A JP4789724B2 (en) 2006-07-13 2006-07-13 Image blur correction device
JP2006192712A JP4963885B2 (en) 2006-07-13 2006-07-13 Image blur correction device
JP2006192863 2006-07-13
JP2006-192712 2006-07-13
JP2006192712 2006-07-13

Publications (2)

Publication Number Publication Date
CN101106654A CN101106654A (en) 2008-01-16
CN101106654B true CN101106654B (en) 2011-06-01

Family

ID=39000306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2007101360589A Expired - Fee Related CN101106654B (en) 2006-07-13 2007-07-13 Anti-shake apparatus

Country Status (2)

Country Link
JP (1) JP4963885B2 (en)
CN (1) CN101106654B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102375286B (en) * 2010-08-13 2016-03-09 鸿富锦精密工业（深圳）有限公司 Imaging device
DE112018001670T5 (en) * 2017-03-30 2019-12-19 Hoya Corporation ELECTRONIC ENDOSCOPE DEVICE

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6332060B1 (en) * 1994-02-04 2001-12-18 Nikon Corporation Camera with vibration compensation device varying the compensating action in accordance with the focal length of a lens and the distance to the subject
CN1403866A (en) * 2001-08-16 2003-03-19 佳能株式会社 Equipment with antivibrating function
CN1717923A (en) * 2002-12-26 2006-01-04 三菱电机株式会社 Image processor
CN1719329A (en) * 2004-07-09 2006-01-11 宾得株式会社 Camera provided with camera-shake compensation functionality

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0887055A (en) * 1994-09-14 1996-04-02 Canon Inc Camera provided with panning function
JP3414522B2 (en) * 1994-09-29 2003-06-09 オリンパス光学工業株式会社 Camera shake correction device
JP3487040B2 (en) * 1995-09-12 2004-01-13 株式会社ニコン Image stabilization camera
JP2000250086A (en) * 1999-03-04 2000-09-14 Canon Inc Shake correcting device
JP3940807B2 (en) * 2002-02-19 2007-07-04 株式会社ニコン Locking device for shake correction optical system
US7400825B2 (en) * 2003-10-20 2008-07-15 Matsushita Electric Industrial Co., Ltd. Imaging device and method of controlling the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6332060B1 (en) * 1994-02-04 2001-12-18 Nikon Corporation Camera with vibration compensation device varying the compensating action in accordance with the focal length of a lens and the distance to the subject
CN1403866A (en) * 2001-08-16 2003-03-19 佳能株式会社 Equipment with antivibrating function
CN1717923A (en) * 2002-12-26 2006-01-04 三菱电机株式会社 Image processor
CN1719329A (en) * 2004-07-09 2006-01-11 宾得株式会社 Camera provided with camera-shake compensation functionality

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP特开2005-292799A 2005.10.20

Also Published As

Publication number Publication date
CN101106654A (en) 2008-01-16
JP4963885B2 (en) 2012-06-27
JP2008020700A (en) 2008-01-31

Similar Documents

Publication Publication Date Title
KR101297352B1 (en) Anti-shake apparatus
CN101266382B (en) Anti-shake apparatus
CN101106649A (en) Anti-shake apparatus
CN101266381B (en) Anti-shake apparatus
TWI403157B (en) Anti-shake apparatus
TWI416167B (en) Anti-shake apparatus
CN101162346B (en) Angular velocity detection apparatus
CN101266383B (en) Anti-shake apparatus
CN101106656B (en) Anti-shake apparatus
CN101162350A (en) Dust removal apparatus of photographing apparatus
CN101162351B (en) Dust removal apparatus of photographing apparatus
CN101106654B (en) Anti-shake apparatus
CN101963702B (en) Dust removal apparatus of photographing apparatus
CN101106653A (en) Anti-shake apparatus
CN101106650B (en) Anti-shake apparatus
CN101106648B (en) Anti-shake apparatus
KR20080007154A (en) Anti-shake apparatus
CN101163203A (en) Dust removal apparatus of photographing apparatus

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C41 Transfer of patent application or patent right or utility model
TA01 Transfer of patent application right

Effective date of registration: 20080919

Address after: Japan Tokyo Shinjuku fall two chome 7 No. 5

Applicant after: HOYA Corporation

Address before: Tokyo, Japan, Banqiao District, the former wild Ting, 2 Ding mu, 36 times, No. 9

Applicant before: Pentax Co., Ltd.

C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: PENTAX RICOH IMAGING COMPANY, LTD.

Free format text: FORMER OWNER: HOYA CORP.

Effective date: 20111215

C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20111215

Address after: Tokyo, Japan

Patentee after: Pentax Ricoh Imaging Co., Ltd.

Address before: Japan Tokyo Shinjuku fall two chome 7 No. 5

Patentee before: HOYA Corporation

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110601

Termination date: 20210713

CF01 Termination of patent right due to non-payment of annual fee