JP2019174608A - Imaging apparatus, lens device, imaging system, control method of imaging apparatus and program - Google Patents

Abstract

To provide an imaging apparatus that can perform accurate panning photographing while performing effective camera shake correction.SOLUTION: An imaging apparatus (101) comprises: an imaging device (112); shake detection means (105) that detects a shake of the imaging apparatus; motion vector detection means (117) that detects a motion vector on the basis of image data; first optical axis decentering means (103, 104) that drives the imaging device to decenter an optical axis; and first control means (107) that controls the first optical axis decentering means. The first control means detects a reference angular velocity of panning photographing on the basis of the shake and the motion vector, and performs first control to control one of the first optical axis decentering means or second optical axis decentering means through the second control means on the basis of a difference between the reference angular velocity and the shake, and the second control to control the other of the first optical axis decentering means or the second optical axis decentering means through the second control means so as to correct a camera shake of a photographer.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an imaging apparatus capable of easily realizing panning while correcting camera shake.

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a vibration isolator having a function of detecting vibration applied to a camera and correcting image deterioration due to the vibration with correction optical means. In Patent Document 2, the main subject moving speed is calculated from the difference between the moving speed of the main subject on the imaging surface and the panning speed performed by the photographer, and the difference between the main subject moving speed and the panning speed performed by the photographer is disclosed. An imaging apparatus that performs optical decentration so as to correct the above is disclosed.

JP-A-7-218967 JP 2007-139552 A

  In general, when performing panning shooting, the correction optical system may hit the end of the movable range in order to reduce the shutter speed. When the correction optical system hits the end of the movable range, the drive of the correction optical system is limited, so that an image captured with an insufficient effect of blur correction can be obtained.

  The imaging apparatus disclosed in Patent Document 2 sets the correction signal of the shift lens to zero until exposure starts. Therefore, the correction start position at the time of exposure becomes the control center of the shift lens, and the correction angle during exposure can be used effectively. However, in this case, since the correction signal during aiming is zero, the effect of camera shake correction cannot be obtained in a state where the subject is aimed. As a result, it is difficult to perform aiming before panning shot shooting, particularly in a telephoto lens.

  Accordingly, an object of the present invention is to provide an imaging apparatus, a lens apparatus, an imaging system, an imaging apparatus control method, and a program capable of performing highly accurate panning shooting while performing effective camera shake correction. To do.

  An imaging apparatus according to an aspect of the present invention is an imaging apparatus in which a lens apparatus is detachable, an imaging element that photoelectrically converts an optical image formed through the lens apparatus and outputs image data, and an imaging apparatus A blur detection unit that detects a blur of the image, a motion vector detection unit that detects a motion vector based on the image data, a first optical axis eccentric unit that drives the image sensor to decenter the optical axis, and the first A first control unit that controls one optical axis decentering unit, and the lens device includes a lens, a second optical axis decentering unit that drives the lens to decenter the optical axis, and the second And a second control means for controlling the optical axis decentering means, wherein the first control means detects a reference angular velocity of panning based on the blur and the motion vector, and the reference angular velocity and the Based on the difference from blur, the first First control for controlling one of the second optical axis decentering means via the optical axis decentering means or the second control means, and the first optical axis decentering means for correcting camera shake of the photographer Alternatively, a second control for controlling the other of the second optical axis decentering means is performed via the second control means.

  A lens device according to another aspect of the present invention includes an image sensor that photoelectrically converts an optical image formed via the lens device and outputs image data, and motion vector detection that detects a motion vector based on the image data. Means, a shake detecting means for detecting a shake applied to the imaging device, a first optical axis eccentric means for driving the imaging element to decenter the optical axis, and a first for controlling the first optical axis eccentric means. A correction lens, a second optical axis decentering unit that drives the correction lens to decenter the optical axis, and the second light. Second control means for controlling shaft eccentric means, and the second control means is configured to control the first based on the blur and the motion vector based on a command from the first control means. Detected by the control means A first control for controlling the second optical axis decentering means based on a difference between a reference angular velocity of the image and the blur, or the second optical axis so as to correct a camera shake of a photographer. A second control for controlling the eccentric means is performed.

  An imaging system according to another aspect of the present invention includes an imaging element that photoelectrically converts an optical image formed via an imaging optical system and outputs image data, and a blur detection unit that detects a blur applied to the imaging system, Motion vector detection means for detecting a motion vector based on the image data, first optical axis decentering means for driving the imaging device to decenter the optical axis, and driving a correction lens of the imaging optical system to A second optical axis decentering means for decentering the optical axis; and a control means for controlling the first optical axis decentering means and the second optical axis decentering means. A reference angular velocity for panning is detected based on the motion vector, and one of the first optical axis eccentric means and the second optical axis eccentric means is controlled based on a difference between the reference angular velocity and the blur. First control and shooting Performing of a second control for controlling the other of said first optical axis eccentric means or said second optical axis eccentric means so as to correct a hand shake.

  According to another aspect of the present invention, there is provided a method for controlling an imaging apparatus, the step of photoelectrically converting an optical image formed via an imaging optical system using an imaging element and outputting image data, and a blur applied to the imaging system. Detecting a motion vector based on the image data, first optical axis decentering means for driving the image sensor to decenter the optical axis, and a correction lens of the imaging optical system And controlling the second optical axis decentering means to decenter the optical axis, and the step of controlling the first optical axis decentering means and the second optical axis decentering means comprises And a reference angular velocity of the panning shot based on the motion vector, and one of the first optical axis eccentric means and the second optical axis eccentric means is detected based on a difference between the reference angular velocity and the blur. Control first A control step, and a second control step of controlling the other of said first optical axis eccentric means or said second optical axis eccentric means so as to correct the shake of the photographer's.

  Other objects and features of the invention are described in the following embodiments.

  According to the present invention, it is possible to provide an imaging apparatus, a lens apparatus, an imaging system, an imaging apparatus control method, and a program capable of performing highly accurate panning shooting while performing effective camera shake correction. .

It is a block diagram of the camera system in this embodiment. It is explanatory drawing of the panning photography in this embodiment. It is a signal waveform diagram at the time of panning shooting in the present embodiment. It is a flowchart which shows operation | movement of the camera main body in this embodiment. It is a flowchart which shows operation | movement of the interchangeable lens in this embodiment. It is a flowchart which shows the communication interruption operation | movement of the interchangeable lens in this embodiment. It is a flowchart which shows the operation | movement of camera image blurring correction in this embodiment. It is a flowchart which shows the operation | movement of the lens image blurring correction in this embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, the configuration of a camera system (imaging system) in the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram of the camera system 100. The camera system 100 includes a camera main body (imaging device) 101 and an interchangeable lens (lens device) 102 that can be attached to and detached from the camera main body 101. However, the present embodiment is not limited to this, and can also be applied to an imaging system in which an imaging apparatus main body and a lens apparatus are integrally configured.

  The camera system 100 can perform panning shooting. During panning shooting, the release switch of the operation unit 121 is half-pressed (SW1 ON) to prepare for shooting (during aiming), and then the release switch of the operation unit 121 is fully pressed (SW2 ON). Is under exposure.

  Before the photographing operation (during aiming), the focal plane shutter 110 is in an open state, and the photographing light flux from the subject passes through the imaging optical system of the interchangeable lens 102 and forms an image on the imaging unit 112. The image formed on the imaging unit 112 is displayed on the LCD 119, and the photographer can visually recognize the image of the subject that is aiming. The imaging unit 112 is an imaging sensor (imaging element) including a multi-pixel element such as a CCD sensor or a CMOS sensor. For this reason, the imaging unit 112 can detect (calculate) a motion vector (vector information) indicating the moving direction and moving speed of the subject along with the video signal processing circuit (motion vector detecting means) 117. The vector information is input to the camera MPU 107 via the imaging unit 112 and the video signal processing circuit 117.

  When performing a photographing operation (during exposure), the focal plane shutter 110 is driven by a shutter drive circuit 111. The shutter operation before the start of exposure varies depending on the camera settings. For example, when the camera setting is a setting for performing the front curtain mechanical shutter operation, the focal plane shutter 110 is closed before exposure and the accumulated signal of the imaging unit 112 is reset, and then the focal plane shutter 110 is opened and the exposure process is started. . On the other hand, when the camera setting is a setting for performing the front curtain electronic shutter operation, the focal plane shutter 110 is not closed, the accumulated signal of the imaging unit 112 is reset, and then the exposure process is started. When the exposure process starts, the photographic light beam forms an image on the surface of the imaging unit 112 as a photographic optical image. The captured optical image is photoelectrically converted by the imaging unit 112 into an imaging signal. That is, the imaging unit 112 photoelectrically converts a subject image (optical image) formed via the interchangeable lens 102 (imaging optical system) and outputs image data.

  The timing generator (TG) 113 controls various operations such as an accumulation operation, a read operation, and a reset operation of the imaging unit 112. The CDS circuit (double correlation sampling circuit) 114 reduces accumulated charge noise of the imaging unit 112. The gain control circuit (GC) 115 amplifies the imaging signal from the imaging unit 112 (the output signal from the CDS circuit 114). The A / D converter 116 converts the imaging signal amplified by the gain control circuit 115 from an analog signal to a digital signal (image data). The video signal processing circuit 117 performs various signal processing such as filter processing, color conversion processing, and gamma processing on the image data digitized by the A / D converter 116. The image signal subjected to the signal processing by the video signal processing circuit 117 is stored in the buffer memory 118 and displayed on the LCD 119 serving as a display unit or recorded on the memory card 120 serving as a removable recording medium.

  The operation unit 121 is a group of switches for setting the shooting mode of the camera body 101, setting the recording image file size, and releasing at the time of shooting. A camera MPU (first control means) 107 controls the above-described operations of the camera body 101. The camera MPU 107 communicates with the lens MPU (second control means) 124 via the interface circuit (IF) 122 of the camera body 101 and the interface circuit (IF) 123 of the interchangeable lens 102. The camera MPU 107 exchanges various data between the camera body 101 and the interchangeable lens 102 via this communication.

  The temperature sensor 140 includes a thermistor and the like. An output signal from the temperature sensor 140 is input to the camera MPU 107 and used to control the camera body 101, or input to the lens MPU 124 via the interface circuits 122 and 123 and used to control the interchangeable lens 102.

  The camera body 101 is for correcting image blur caused by a camera shake of the photographer by shifting the imaging unit 112 in a direction (optical axis orthogonal direction) orthogonal to the optical axis OA (decentering the optical axis OA). A camera image blur correction control circuit 103 and a linear motor 104 are included. The camera image blur correction control circuit 103 and the linear motor 104 constitute first optical axis decentering means (first shift means) that shifts (drives) the imaging unit 112 in the direction orthogonal to the optical axis. The first optical axis decentering means drives the image blur correction lens 127 to decenter the optical axis OA.

  When image blur correction is performed by the imaging unit 112, a blur signal (a signal indicating vibration) output from a camera angular velocity sensor (blur detection unit) 105 that detects rotational blur is converted into a digital signal by the ADC 106 and input to the camera MPU 107. Is done. The camera MPU 107 performs various types of signal processing and calculates a drive target signal for the imaging unit 112. The camera MPU 107 outputs a drive signal corresponding to the difference between the drive target signal and the position signal (information indicating the position of the imaging unit 112) output from the imaging unit encoder 108 to the camera image blur correction control circuit 103. Image blur correction by driving the imaging unit 112 is performed by feeding back the position signal output from the imaging unit encoder 108 to the camera image blur correction control circuit 103 in this way. Note that the above-described image blur correction control is centered on the camera body 101 and has two axes (in the plane orthogonal to the optical axis) of the pitch axis for detecting the vertical tilt and the yaw axis for detecting the horizontal tilt. In each of the first direction and the second direction).

  The interchangeable lens 102 includes a focus lens 125, a zoom lens 126, an image blur correction lens (lens) 127, and an aperture 128 as optical elements that form an imaging optical system. The focus lens 125 is driven via a focus control circuit 129 and a focus lens driving motor 130 based on a control signal from a lens MPU (second control means) 124. In addition to the focus lens drive circuit, the focus control circuit 129 includes a focus encoder that outputs a zone pattern signal and a pulse signal according to the movement of the focus lens 125 in the direction along the optical axis (optical axis direction). The subject distance can be detected using this focus encoder.

  The zoom lens 126 moves in the optical axis direction when the photographer operates a zoom operation ring (not shown) of the interchangeable lens 102. The zoom encoder 131 outputs a zone pattern signal corresponding to the movement of the zoom lens 126. The photographic image magnification is determined by the lens MPU 124 reading the output signal from the focus encoder and the output signal from the zoom encoder 131 and reading out the photographic image magnification data stored in advance according to the combination of the subject distance and the focal length. can get.

  The image blur correction lens (correction optical system) 127 is shifted (moved) in the direction perpendicular to the optical axis by the second optical axis decentering means (second shift means) constituted by the lens image blur correction control circuit 132 and the linear motor 133. ) To perform image blur correction. That is, the second optical axis decentering means drives the image blur correction lens 127 to decenter the optical axis OA. Specifically, image blur correction is performed as follows. That is, the lens angular velocity sensor (gyro) 135 detects rotational shake of the interchangeable lens 102 due to camera shake or the like. Then, an A / D converter (ADC) 136 converts an analog signal (a shake signal indicating angular velocity information) output from the lens angular velocity sensor 135 into a digital signal, and the digital signal is input to the lens MPU 124.

  The lens MPU 124 performs various types of signal processing on the digital signal and calculates a corrected lens driving target signal. Then, the lens MPU 124 outputs a drive signal corresponding to the difference between the corrected lens drive target signal and the corrected lens position signal output from the corrected lens encoder 134 to the lens image blur correction control circuit 132. The image blur correction is performed by feeding back the correction lens position signal output from the correction lens encoder 134 to the lens image blur correction control circuit 132 in this way. The above-described image blur correction control is centered on the camera body 101 and has two axes (a first axis in the plane orthogonal to the optical axis) of the pitch axis for detecting the vertical inclination and the yaw axis for detecting the horizontal inclination. And the second direction).

  The diaphragm 128 is driven to change the aperture size (F value) via the diaphragm control circuit 137 and the stepping motor 138 based on the control signal from the lens MPU 124. A switch (SW) 139 is a switch for selecting image blur correction ON / OFF.

  Next, the operation of the camera system 100 in the panning mode in this embodiment will be described with reference to FIGS. FIG. 2 is an explanatory diagram of panning shot shooting, and the movement of the subject and the camera system 100 when shooting a subject passing in front of the photographer in the panning mode is shown in FIGS. It is shown in time series in the order of b) and (c).

  In the panning mode, the camera system 100 is shaken so as to match the subject moving speed even during the exposure period, so that it is possible to take a picture with the background flowing while the subject 300 stops moving. However, when the photographer is unfamiliar, the photographer actually intends to shake the camera system 100 in accordance with the movement of the subject 300 as shown in FIG. And do not match completely, and there is a difference in their velocities. Here, there is a correlation between the fluctuation of the subject moving speed and the fluctuation of the output signal of the angular velocity sensor (camera angular velocity sensor 105 or lens angular velocity sensor 135). As shown in FIG. 2B, the angular displacement of the change (relative angular displacement between the subject 300 and the camera system 100) is θ [deg], the subject distance is L, the shooting magnification is β, and the subject blur. When the displacement is D, the following (1) holds.

D = βLπθ / 180 (1)
Therefore, when the subject moving speed is V _a and the fluctuation angular speed is ω _a , the following equation (2) is established.

V _a = βLπω _a / 180 (2)
Here, the variable angular velocity ω _a is subtracted from the angular velocity ω detected by the camera angular velocity sensor 105 or the lens angular velocity sensor 135 (the output signal of the lens angular velocity sensor 135 or the camera angular velocity sensor 105, ie, the panning angular velocity). As a result, the angular velocity (reference angular velocity) ω ₀ for performing clean panning, that is, accurately following a moving subject is calculated as in the following equation (3).

ω ₀ = ω−ω _a
= Ω-180V _a / (βLπ) (3)
Thus, by driving the imaging unit 112 or the image blur correction lens 127 so as to cancel (reduce) the difference between the subject moving speed V _a and the panning angular velocity ω ₀ , there is no subject blurring during panning ( Reduced) and it becomes possible to take beautiful panning pictures.

  FIG. 3 is a signal waveform diagram during panning shooting. The upper part of FIG. 3 shows a value obtained by converting the subject moving speed at the time of panning according to the method of FIG. Indicates the detected angular velocity (panning angular velocity). The vertical axis in the upper part of FIG. 3 indicates angular velocity, and the horizontal axis indicates time. The lower part of FIG. 3 shows a drive signal for driving the imaging unit 112 or the image blur correction lens 127, the vertical axis indicates the driving amount of the imaging unit 112 or the image blur correction lens 127, and the horizontal axis indicates time. . The drive signal is generated based on the angular velocity signal from the camera angular velocity sensor 105 or the lens angular velocity sensor 135. For example, the drive signals SA and SB in FIG. 3 are generated based on the panning angular velocities A and B, respectively.

  In FIG. 3, if the subject speed is constant, the subject angular speed, that is, the ideal panning reference angular speed for performing panning is a constant angular speed as indicated by a dotted line. That is, when performing panning, an ideal panning photograph can be taken if the panning angular velocity can be followed during the exposure period so as to match the ideal panning reference angular velocity. However, it is difficult to follow the ideal panning reference angular velocity so as to be exactly the same, and usually there is a considerable follow-up or follow-up delay with respect to the ideal panning reference angular velocity.

  As shown in FIG. 2, when the camera system 100 is shaken at a speed faster than an ideal panning reference angular speed during exposure, in order to cancel subject blur during exposure, the imaging unit 112 or The image blur correction lens 127 is driven in the plus direction in FIG. The state in which the follow-up advance occurs during the exposure corresponds to the relationship between the panning angular velocity A and the panning reference angular velocity in FIG. 3, and the drive signal SA is generated based on these two signals. It will be.

  On the other hand, when the camera system 100 is shaken at a speed slower than the ideal panning reference angular velocity during exposure to perform panning, the imaging unit 112 or an image blur correction lens is used to cancel subject blur during exposure. 127 is driven in the minus direction in FIG. The state in which the follow-up delay occurs during exposure corresponds to the relationship between the panning angular velocity B and the panning reference angular velocity in FIG. 3, and the drive signal SB is generated based on these two signals. It will be. Such control can correct a deviation from an ideal panning angular velocity during exposure, so that it is possible to correct subject blurring in panning.

  Next, the operation of the camera system 100 in this embodiment will be described with reference to FIGS. First, the photographing operation of the camera body 101 will be described with reference to FIG. FIG. 4 is a flowchart showing the shooting operation of the camera body 101. Each step in FIG. 4 is executed mainly based on a command from the camera MPU 107.

  When the main switch of the camera body 101 is turned on, the operation starts from step S401. First, in step S401, the camera MPU 107 determines whether or not the release switch of the operation unit 121 is half-pressed (SW1 ON). If the release switch is pressed halfway, the process proceeds to step S402. On the other hand, if the release switch has not been half-pressed, this flow ends. Therefore, the SW1 is always in the ON state during the photographing operation shown in FIG. In the present embodiment, the SW1ON state includes the LIVEVIEW state.

  In step S402, the camera MPU 107 performs status communication (camera-lens status communication) with the lens MPU 124 via the interface circuits 122 and 123. In the present embodiment, the camera MPU 107 transmits the state of the camera body 101 (release switch state (SW1 ON), shooting mode, shutter speed, etc.) to the lens MPU 124. The camera MPU 107 receives the state of the interchangeable lens 102 (focal length, state of the aperture stop 128, driving state of the focus lens 125, etc.) from the lens MPU 124. In FIG. 4, it is described that status communication is performed in step S <b> 402. It is performed as needed.

  Subsequently, in step S403, the camera MPU 107 performs distance measurement (focus detection), and calculates the drive amount (focus lens drive amount) of the focus lens 125 necessary for focusing on the subject. Subsequently, in step S404, the camera MPU 107 transmits data relating to the focus lens drive amount (focus lens drive command) to the interchangeable lens 102 (lens MPU 124). This data is transmitted, for example, as a drive target pulse amount of the focus encoder. When the focus lens driving is completed, in step S405, the camera MPU 107 performs distance measurement again.

  Subsequently, in step S406, the camera MPU 107 determines whether or not the focus state related to the subject is within the in-focus depth (in-focus state). If the focus state is within the in-focus depth, the process proceeds to step S407. On the other hand, if the focus state is not within the in-focus depth, the process returns to step S401.

  In step S407, since the focus state is within the focus depth, the camera MPU 107 performs focus display. For example, the camera MPU 107 performs focus display by changing the color of a distance measurement frame (focus detection frame) on the LCD 119 and generating sound. Similarly, in the LIVEVIEW state, the focus display is performed by changing the color of the distance measurement frame on the LCD 119 and generating a sound. Subsequently, in step S408, the camera MPU 107 acquires a photometric result (luminance), and calculates an exposure time Tv and an aperture value (aperture drive amount).

  Subsequently, in step S409, as described above, the camera MPU 107 uses the video signal processing circuit 117 to detect subject motion vector information based on an output signal (image data) from the imaging unit 112 (calculate a motion vector). To do). Subsequently, in step S410, the camera MPU 107 detects the position of the subject in the screen (in the image) based on the vector information detected in step S409 (calculates the subject position). Subsequently, in step S411, the camera MPU 107 calculates a panning reference angular velocity (subject velocity) based on the motion vector information detected in step S409. The camera MPU 107 transmits the subject speed calculated in step S411 to the lens MPU 124.

  Subsequently, in step S412, the camera MPU 107 determines whether or not the release switch of the operation unit 121 has been fully pressed (SW2 ON). If the release switch is fully pressed, the process proceeds to step S413. On the other hand, if the release switch is not fully pressed, the process returns to step S401.

  In step S413, the camera MPU 107 performs pre-exposure processing. The pre-exposure processing includes pre-processing for operating the focal plane shutter 110 and the like. Subsequently, in step S414, the camera MPU 107 transmits the aperture driving amount (aperture driving command) obtained in step S408 to the lens MPU 124. The lens MPU 124 drives the aperture 128 based on the aperture drive amount transmitted from the camera MPU 107. Subsequently, in step S415, the camera MPU 107 drives the front curtain shutter of the imaging unit 112. Subsequently, in step S416, the camera MPU 107 exposes the subject image to the imaging unit 112 and accumulates charges in each pixel. Subsequently, in step S417, when the exposure time has elapsed, the camera MPU 107 drives the rear curtain shutter and ends the exposure.

  Subsequently, in step S418, the camera MPU 107 performs charge transfer (reading of a captured image signal) from the imaging unit 112. Subsequently, in step S419, the captured image signal read in step S418 is converted into digital data through the CDS circuit 114, the gain control circuit 115, and the A / D converter 116, and stored in the buffer memory 118. .

  Subsequently, in step S420, the camera MPU 107 transmits an aperture opening command (aperture driving command) to the lens MPU 124, and returns the aperture 128 to the open state. Subsequently, in step S421, the camera MPU 107 performs an exposure end process. In step S422, the camera MPU 107 controls the video signal processing circuit 117 to perform image correction processing such as gamma correction and compression processing on the captured image signal. In step S423, the image data subjected to the image correction process is displayed on the LCD 119 and recorded on the memory card 120 (image display / recording). Thus, a series of shooting operations is completed. If there is a request for image blur correction interrupt during the operation shown in FIG. 4, the camera MPU 107 performs the interrupt processing. The image blur correction interrupt is a timer interrupt that is generated at regular intervals, and pitch direction (vertical direction) control and yaw direction (horizontal direction) image blur correction control are performed.

  Next, the operation of the interchangeable lens 102 will be described with reference to FIG. 5 or FIG. FIG. 5 is a flowchart showing the operation of the interchangeable lens 102. Each step in FIG. 5 is executed mainly based on a command from the lens MPU 124.

  When the interchangeable lens 102 is attached to the camera body 101, serial communication is performed from the camera MPU 107 to the lens MPU 124, and the operation starts from step S501 in FIG. First, in step S501, the lens MPU 124 performs initial settings for lens control and image blur correction control. Subsequently, in step S502, the lens MPU 124 detects the state of the switch 139 and also detects the position of the zoom lens 126 (zoom position) and the position of the focus lens 125 (focus position). The switch 139 includes, for example, a switch for switching between auto focus and manual focus, and an ON / OFF switch for an image blur correction function, but is not limited thereto.

  Subsequently, in step S <b> 503, the lens MPU 124 determines whether a focus drive command (focus drive request) has been received from the camera MPU 107. When the lens MPU 124 receives the focus drive command, the process proceeds to step S504. On the other hand, if the lens MPU 124 has not received the focus drive command, the process proceeds to step S508.

  In communication of the focus drive command, the lens MPU 124 receives the target drive amount (target pulse number) of the focus lens 125 from the camera MPU 107. In step S504, the lens MPU 124 detects the number of pulses (focus pulse) of the focus encoder of the focus control circuit 129. Then, the lens MPU 124 performs focus drive control so as to drive the focus lens 125 until the number of pulses of the focus encoder reaches the target number of pulses. In step S505, the lens MPU 124 determines whether or not the number of pulses of the focus encoder has reached the target number of pulses P. When the pulse number reaches the target pulse number P, the process proceeds to step S506. On the other hand, if the number of pulses has not reached the target number of pulses Pni, the process proceeds to step S507.

  In step S506, since the number of pulses has reached the target number of pulses, the lens MPU 124 stops driving the focus lens 125. On the other hand, in step S507, since the number of pulses has not reached the target number of pulses, the lens MPU 124 sets the speed of the focus lens driving motor 130 according to the number of remaining driving pulses. As the number of remaining drive pulses decreases, the speed of the focus lens drive motor 130 is reduced (decelerated).

  In step S508, when the image blur correction function ON / OFF switch OFF is detected in step S502, the lens MPU 124 locks the image blur correction lens 127 to the optical axis center (the center position of the image blur correction lens 127 is set to the center position). Fixed to the optical axis OA). When the lens MPU 124 detects that the image blur correction function ON / OFF switch is turned ON and detects that the release switch is half-pressed (SW1 ON) by status communication in step S402, the lens MPU 124 unlocks the image blur correction lens 127 ( Unlock). As a result, the image blur correction operation can be executed.

  Subsequently, in step S509, the lens MPU 124 determines whether or not a command to stop all driving (stop driving all actuators in the interchangeable lens 102) has been received from the camera MPU 107. When the lens MPU 124 receives the all drive stop command, the process proceeds to step S510. On the other hand, if the lens MPU 124 has not received the full drive stop command, the process returns to step S502. In the present embodiment, when the photographer does not perform any operation via the operation unit 121 of the camera body 101, a full drive stop command is transmitted from the camera MPU 107 to the lens MPU 124 after a while.

  In step S510, the lens MPU 124 performs full drive stop control. That is, the lens MPU 124 stops driving all the actuators and puts the lens MPU 124 into a sleep (stop) state. The lens MPU 124 also stops power supply to an image blur correction device such as the lens image blur correction control circuit 132. Thereafter, when the photographer performs any operation via the operation unit 121 of the camera body 101, the camera MPU 107 transmits a communication signal to the lens MPU 124, and the lens MPU 124 cancels the sleep state. Then, the process returns to step S502.

  During these operations, when the lens MPU 124 receives a serial communication interrupt request and a lens image blur correction control interrupt request by communication from the camera MPU 107, it performs respective interrupt processing. In the serial communication interrupt process, communication data is decoded, and various processes such as aperture driving and focus lens driving are performed according to the decoding result. The lens MPU 124 can determine SW1ON, SW2ON, shutter speed, camera model 101, and the like by decoding communication data. The lens image blur correction interrupt is a timer interrupt that occurs at regular intervals. In the lens image blur correction interruption process, pitch direction (vertical direction) control and yaw direction (lateral direction) image blur correction control are performed.

  Next, the serial communication interrupt will be described with reference to FIG. FIG. 6 is a flowchart showing the communication interruption operation of the interchangeable lens 102. Each step in FIG. 6 is mainly executed by the lens MPU 124.

  When the lens MPU 124 receives communication from the camera MPU 107, the lens MPU 124 starts a communication interrupt operation from step S601. First, in step S <b> 601, the lens MPU 124 analyzes a command (command) from the camera MPU 107. In the present embodiment, the command from the camera MPU 107 is a focus drive command, aperture drive command, status communication, panning correction information communication, or other command, and branches to processing according to the result of command analysis.

  In step S602, when the lens MPU 124 receives a focus drive command, the process proceeds to step S603. In step S603, the lens MPU 124 sets the speed of the focus lens driving motor 130 in accordance with the target number of drive pulses, and starts focus lens driving.

  In step S604, when the lens MPU 124 receives an aperture drive command, the process proceeds to step S605. In step S605, the lens MPU 124 sets the drive pattern of the stepping motor 138 in order to drive the aperture 128 based on the aperture drive data transmitted from the camera MPU 107. Then, the lens MPU 124 outputs the set drive pattern to the stepping motor 138 via the aperture control circuit 137 to drive the aperture 128.

  If the lens MPU 124 receives status communication (camera lens status communication) in step S606, the process proceeds to step S607. In step S607, the lens MPU 124 transmits the focal length information of the interchangeable lens 102, the image blur correction state (IS operation state), and the like to the camera MPU 107. The lens MPU 124 receives the status (release switch state, shooting mode, shutter speed, etc.) of the camera body 101 from the camera MPU 107.

  If the lens MPU 124 receives the panning correction information communication in step S608, the process proceeds to step S609. In step S609, the lens MPU 124 receives the panning reference angular velocity (subject velocity) from the camera MPU 107 and stores it in a RAM (storage unit) in the lens MPU 124. The lens MPU 124 transmits and receives other panning correction information.

  If the lens MPU 124 receives another command in step S610, the process proceeds to step S611. In step S611, the lens MPU 124 performs each process according to the command. In addition, the other command received in step S610 is, for example, focus sensitivity data communication or optical data communication regarding the interchangeable lens 102.

  Next, camera image blur correction interruption will be described with reference to FIG. FIG. 7 is a flowchart showing an image blur correction interruption operation (camera image blur correction control) of the camera body 101. Each step in FIG. 7 is mainly executed by the camera MPU 107.

  When an image blur correction interrupt occurs during the main operation of the camera MPU 107, the camera MPU 107 starts image blur correction control from step S701. First, in step S <b> 701, the camera MPU 107 performs A / D conversion on the output signal from the camera angular velocity sensor 105 by the ADC 106. In step S702, the camera MPU 107 determines whether the interchangeable lens 102 attached to the camera body 101 is a lens having an image blur correction function. If the interchangeable lens 102 having no image blur correction function is attached, the process proceeds to step S703. On the other hand, when the interchangeable lens 102 having the image blur correction function is attached, the process proceeds to step S708.

  In step S703, the camera MPU 107 determines whether or not the camera shake correction setting of the camera body 101 is ON. If the camera shake correction setting is ON, the process proceeds to step S704. On the other hand, if the camera shake correction setting is OFF, the process proceeds to step S707.

  In step S704, the camera MPU 107 performs high-pass filter calculation (HPF calculation) to cut low-frequency components. The camera MPU 107 switches the time constant of the high-pass filter for a predetermined time from the start of calculation, and performs an operation for quickly stabilizing the signal. Subsequently, in step S705, the camera MPU 107 performs an integration calculation using the calculation result of the high-pass filter as an input. This result is angular displacement data. Subsequently, in step S706, the camera MPU 107 reads out the image stabilization sensitivity corresponding to the zoom position and the focus position of the attached interchangeable lens 102, and calculates the target drive amount of the imaging unit 112.

  In step S707, since the camera shake correction setting of the camera body 101 is not ON, the camera MPU 107 sets the target drive amount of the imaging unit 112 to zero. Thereby, the imaging unit 112 is energized and held at the control center.

  In step S708, since the lens with the image blur correction function is attached, the camera MPU 107 determines whether the setting mode is the panning mode (that is, whether the setting mode is the panning mode or the normal image stabilization mode). Determine. When the setting mode is not the panning mode (when the setting mode is the normal image stabilization mode), the process proceeds to step S709. On the other hand, when the setting mode is the panning mode, the process proceeds to step S714.

  In step S709, since the normal image stabilization mode is set, the camera MPU 107 determines whether or not the camera shake correction SW of the interchangeable lens 102 is ON. When the camera shake correction SW of the interchangeable lens 102 is ON, the process proceeds to step S710. On the other hand, if the camera shake correction SW of the interchangeable lens 102 is OFF, the process proceeds to step S711.

  In step S710, since the camera shake correction SW of the interchangeable lens 102 is ON, the camera MPU 107 sets the target drive amount of the imaging unit 112 to zero. Thereby, the imaging unit 112 is energized and held at the control center.

  In step S711, since the camera shake correction SW of the interchangeable lens 102 is OFF, the camera MPU 107 performs a high-pass filter calculation (HPF calculation) to cut low frequency components. The camera MPU 107 switches the time constant of the high-pass filter for a predetermined time from the start of calculation, and performs an operation for quickly stabilizing the signal. Subsequently, in step S712, the camera MPU 107 performs an integration calculation using the calculation result of the high-pass filter as an input. This result is angular displacement data. Subsequently, in step S713, the camera MPU 107 reads out the image stabilization sensitivity corresponding to the zoom position and the focus position of the interchangeable lens 102 attached to the camera body 101, and calculates the target drive amount of the imaging unit 112.

  In step S714, since the panning mode is selected (set), the camera MPU 107 determines whether or not the panning mode reset has been completed. If the panning mode reset has been completed, the process proceeds to step S717. On the other hand, if the panning mode reset has not been completed, the process proceeds to step S715.

  In step S715, since the panning mode reset has not been completed, the camera MPU 107 resets the panning mode. The reset performed here is specifically a flag used in the panning mode or clearing of the counter to zero. Subsequently, in step S716, the camera MPU 107 completes the panning mode reset. Specifically, for example, a reset completion flag is prepared and the flag is set.

  In step S717, the camera MPU 107 determines whether SW2-1 is turned on, that is, whether an exposure operation is selected. If SW2-1 is OFF, the process proceeds to step S718. On the other hand, if SW2-1 is ON, the process proceeds to step S720. The SW2-1ON signal is a signal that always rises during exposure, and is a signal that rises when the exposure is completed and rises when the exposure operation is performed again.

  In step S718, the camera MPU 107 sets the target drive amount of the imaging unit 112 to zero. Thereby, the imaging unit 112 is energized and held at the control center. Subsequently, in step S719, the camera MPU 107 sets a state in which the panning mode reset is not completed (incomplete state). Specifically, for example, a reset completion flag is prepared and the flag is cleared.

  In step S720, the camera MPU 107 determines whether the SW2-2 is ON, that is, whether the exposure operation is selected and the camera body 101 is ready to start exposure. If SW2-2 is OFF, the process proceeds to step S721. On the other hand, if SW2-2 is ON, the process proceeds to step S722. The SW2-2ON signal is a signal that always rises during exposure, falls when the exposure is completed, and rises when the exposure operation is performed again and the exposure start preparation operation of the camera body 101 is completed.

  In step S721, if SW2-2 is OFF, the camera MPU 107 performs a panning mode process immediately before exposure in order to perform appropriate panning correction during exposure.

  In step S722, since SW2-2 ON, that is, exposure start preparation is completed, the camera MPU 107 calculates the difference between the calculated panning reference angular velocity and the cornering angular velocity obtained from the angular velocity sensor. Subsequently, in step S723, the camera MPU 107 integrates the angular velocity difference calculated in step S722 to calculate angular displacement data. Subsequently, in step S724, the camera MPU 107 reads out the image stabilization sensitivity corresponding to the zoom position and the focus position of the interchangeable lens 102 attached to the camera body 101, and calculates the target drive amount of the imaging unit 112. In this way, by driving the imaging unit 112 to cancel the deviation between the reference angular velocity of the panning shot and the current panning shooting speed, there is no subject blurring during panning shooting, and a high-precision panning image is obtained. It becomes possible to do.

  Subsequently, in step S725, the camera MPU 107 A / D converts the signal of the imaging unit encoder 108 that detects the amount of eccentricity of the imaging unit (imaging sensor) 112, and the signal after the A / D conversion is stored in the RAM ( Stored in the storage unit). Subsequently, in step S726, the camera MPU 107 performs feedback calculation. Subsequently, in step S727, the camera MPU 107 performs a phase compensation calculation in order to obtain a stable control system. Subsequently, in step S728, the camera MPU 107 outputs the calculation result of step S727 as a PWM to the port of the camera MPU 107, and the image blur correction interrupt ends. The camera MPU 107 outputs the output signal to a driver circuit in the camera image blur correction control circuit 103. As a result, the linear motor 104 drives the imaging unit 112 to perform image blur correction.

  Through the above processing, when the interchangeable lens 102 having the image blur correction function is attached to the camera body 101 having the image blur correction function and the panning mode is set, the target drive amount of the imaging unit 112 is not during exposure. When exposure is started, panning correction control is performed. As a result, driving for panning correction by the imaging unit 112 can be started with a sufficient correction angle.

  Next, lens image blur correction interruption will be described with reference to FIG. FIG. 8 is a flowchart showing an image blur correction interruption operation (lens image blur correction control) of the interchangeable lens 102. Each step in FIG. 8 is mainly executed by the lens MPU 124.

  If an image blur correction interrupt occurs during the main operation of the lens MPU 124, the lens MPU 124 starts image blur correction control from step S801. First, in step S <b> 801, the lens MPU 124 performs A / D conversion on the output signal from the lens angular velocity sensor 135 by the ADC 136. In step S802, the lens MPU 124 determines whether the camera body 101 to which the interchangeable lens 102 is attached has an image blur correction function. When the interchangeable lens 102 is attached to the camera body 101 that does not have the image blur correction function, the process proceeds to step S803. On the other hand, when the interchangeable lens 102 is attached to the camera body 101 having the image blur correction function, the process proceeds to step S808.

  In step S803, the lens MPU 124 determines whether or not the switch 139, that is, the camera shake correction SW of the interchangeable lens 102 is ON. If the camera shake correction SW is ON, the process proceeds to step S804. On the other hand, if the camera shake correction SW is OFF, the process proceeds to step S807.

  In step S804, the lens MPU 124 performs a high-pass filter calculation (HPF calculation) to cut low-frequency components. Further, the lens MPU 124 switches the time constant of the high-pass filter for a predetermined time from the start of calculation, and performs an operation for quickly stabilizing the signal. Subsequently, in step S805, the lens MPU 124 performs integration calculation using the calculation result of the high-pass filter as input. This result is angular displacement data. Subsequently, in step S806, the lens MPU 124 reads out the image stabilization sensitivity corresponding to the zoom position and the focus position of the interchangeable lens 102, and calculates the target drive amount of the image blur correction lens 127.

  In step S807, since the camera shake correction setting of the interchangeable lens 102 is not ON, the lens MPU 124 sets the target drive amount of the image blur correction lens 127 to zero. As a result, the image blur correction lens 127 is energized and held at the control center.

  In step S808, since the interchangeable lens 102 is attached to the camera body 101 having the image blur correction function, the lens MPU 124 determines whether or not the setting mode is the panning mode. If the setting mode is not the panning mode, the process proceeds to step S803. On the other hand, when the setting mode is the panning mode, the process proceeds to step S809.

  In step S809, since the panning mode is selected (set), the lens MPU 124 determines whether or not the panning mode reset has been completed. If the panning mode reset has been completed, the process proceeds to step S812. On the other hand, if the panning mode reset has not been completed, the process proceeds to step S810.

  In step S810, since the panning mode reset is not completed, the lens MPU 124 performs the panning mode reset. The reset performed here is specifically a flag used in the panning mode or clearing of the counter to zero. Subsequently, in step S811, the lens MPU 124 completes the panning mode reset. Specifically, for example, a reset completion flag is prepared and the flag is set.

  In step S812, the lens MPU 124 determines whether SW2-1 is turned on, that is, whether an exposure operation is selected. If SW2-1 is OFF, the process proceeds to step S813. On the other hand, if SW2-1 is ON, the process proceeds to step S817. The SW2-1ON signal is a signal that always rises during exposure, and is a signal that rises when the exposure is completed and rises when the exposure operation is performed again.

  In step S813, the lens MPU 124 performs a high-pass filter calculation (HPF calculation) to cut low-frequency components. Further, the lens MPU 124 switches the time constant of the high-pass filter for a predetermined time from the start of calculation, and performs an operation for quickly stabilizing the signal. Subsequently, in step S814, the lens MPU 124 performs an integration calculation using the calculation result of the high-pass filter as an input. This result is angular displacement data. Subsequently, in step S815, the lens MPU 124 reads out the image stabilization sensitivity corresponding to the zoom position and the focus position of the interchangeable lens 102, and calculates the target drive amount of the image blur correction lens 127. Subsequently, in step S816, the lens MPU 124 sets the state in which the panning mode reset has not been completed (incomplete state). Specifically, for example, a reset completion flag is prepared and the flag is cleared.

  In step S817, the lens MPU 124 determines whether or not SW2-2 is ON, that is, whether or not the exposure operation is selected and the camera body 101 is ready to start exposure. If SW2-2 is OFF, the process proceeds to step S818. On the other hand, if SW2-2 is ON, the process proceeds to step S819. The SW2-2ON signal is a signal that always rises during exposure, falls when the exposure is completed, and rises when the exposure operation is performed again and the exposure start preparation operation of the camera body 101 is completed.

  In step S818, when SW2-2 is OFF, the lens MPU 124 performs a panning mode immediately before exposure in order to perform appropriate panning correction during exposure. In step S819, the lens MPU 124 sets the target drive amount to the current position (current lens position). As a result, the image blur correction lens 127 is energized and held at the position of camera shake correction performed immediately before the start of the SW 2-1, and a large change in the angle of view can be prevented even when exposure is started.

  Subsequently, in step S820, the lens MPU 124 A / D converts the signal of the correction lens encoder 134 that detects the amount of eccentricity of the image blur correction lens 127, and the signal after the A / D conversion is stored in a RAM (storage unit) in the lens MPU 124. ). Subsequently, in step S821, the lens MPU 124 performs feedback calculation. Subsequently, in step S822, the lens MPU 124 performs a phase compensation calculation in order to obtain a stable control system. Subsequently, in step S823, the lens MPU 124 outputs the calculation result of step S822 as PWM to the port of the lens MPU 124, and the image blur correction interrupt ends. The lens MPU 124 outputs the output signal to the driver circuit in the lens image blur correction control circuit 132. As a result, the linear motor 133 drives the image blur correction lens 127 to perform image blur correction.

  With the above processing, when the camera body 101 and the interchangeable lens 102, each of which has an image blur correction function, are set to the panning mode, camera shake correction is performed by the image blur correction lens 127 except during exposure, and exposure starts. Holding is performed at the lens position at the start of exposure. This makes it possible to perform camera shake correction during aiming, so that it is easier to aim at the subject.

  By performing the image blur correction control shown in FIGS. 7 and 8 on each of the camera body 101 and the interchangeable lens 102, the camera shake correction is effective during aiming so that the subject can be aimed easily, and a sufficient correction angle is set during exposure. The panning correction can be started in a usable state. In the present embodiment, the normal camera shake correction control is performed as the lens image blur correction control in SW1, but the lens control may be selected by the photographer. In the present embodiment, the panning operation mode can be selected with a switch on the interchangeable lens side, a switch on the camera body side, or a menu.

  As described above, in the present embodiment, the first control unit (camera MPU 107) uses the reference angular velocity of the panning based on the blur and the motion vector detected by the blur detection unit (camera angular velocity sensor 105 or lens angular velocity sensor 135). Is detected. The first control means controls the one of the second optical axis eccentric means via the first optical axis eccentric means or the second control means based on the difference between the reference angular velocity and the shake. I do. The first control means performs second control for controlling the other of the second optical axis eccentric means via the first optical axis eccentric means or the second control means so as to correct the camera shake of the photographer. Do. Preferably, the first control means performs the second control during aiming and performs the first control during exposure. More preferably, after performing the second control during aiming, the first control means does not return the position of the lens (image blur correction lens 127) or the image sensor decentered by the second control to the center position. The first control is performed during exposure in a fixed state (without centering). Further preferably, the first control means performs the second control by controlling the second optical axis decentering means during aiming, and controls the first optical axis decentering means during the exposure to control the first optical axis decentering means. Control.

  Preferably, the first control unit switches between the first optical axis decentering unit and the second optical axis decentering unit in the first control according to the imaging condition. More preferably, the photographing condition includes at least one of lens information such as a focal length at the time of photographing, an exposure time, a subject speed, or a lens ID. More preferably, the first control means controls the second optical axis decentering means via the second control means based on the difference between the reference angular velocity and the shake when the focal length is larger than the predetermined focal length. Thus, the first control is performed. On the other hand, the first control means performs the first control by controlling the first optical axis decentering means based on the difference between the reference angular velocity and the shake when the focal length is also smaller than the predetermined focal length. Also preferably, the subject speed is at least one of a panning speed or a magnitude of a motion vector.

  In this embodiment, when calculating the panning reference angular velocity while correcting image blur during aiming, it is necessary to calculate the panning reference angular velocity in consideration of the amount of image blur correction. For this reason, it is necessary to take measures such as transmitting the lens position at the time of lens image blur correction control to the camera side and calculating the panning reference angular velocity. Further, in this embodiment, the panning mode operation when a lens with a camera shake correction function is mounted has been described. However, when the panning mode is set by the camera side setting, the panning correction using the imaging unit 112 is performed. Also good. In the present embodiment, the description has been made so that the camera shake correction is performed by the imaging unit 112 without depending on the state of the lens camera shake correction SW. However, the present invention is not limited to this. For example, when the lens camera shake correction SW state is OFF, the camera shake correction by the imaging unit 112 may be turned off.

  In this embodiment, camera shake correction during aiming is performed by lens image blur correction, and panning correction during exposure is performed by camera image blur correction (imaging unit), but the present invention is not limited to this. The relationship between the camera image blur correction control and the lens image blur correction control may be reversed. Since the motion vector based on the image information is detected on the camera body side, communication information can be reduced and the processing can be simplified when the panning correction during exposure is performed by camera image blur correction control.

(Other embodiments)
The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program It is also possible to implement this process. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

  According to the present embodiment, it is possible to provide an imaging device, a lens device, an imaging system, an imaging device control method, and a program capable of performing highly accurate panning shooting while performing effective camera shake correction. it can. Further, in the interchangeable lens imaging system, when the panning speed error correction during exposure is performed using the camera optical axis decentering means, it is possible to reduce the communication amount and the communication frequency.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to these embodiment, A various deformation | transformation and change are possible within the range of the summary.

101 Camera body (imaging device)
103 Camera image blur correction control circuit (first optical axis decentering means)
104 linear motor (first optical axis eccentric means)
105 Camera angular velocity sensor (blur detection means)
107 Camera MPU (first control means)
112 Imaging unit (imaging device)
117 Video signal processing circuit (motion vector detecting means)

Claims (14)

An imaging device in which a lens device is detachable,
An image sensor that photoelectrically converts an optical image formed through the lens device and outputs image data; and
Blur detecting means for detecting blur of the imaging device;
Motion vector detecting means for detecting a motion vector based on the image data;
First optical axis decentering means for driving the image sensor to decenter the optical axis;
First control means for controlling the first optical axis decentering means,
The lens device includes a lens, a second optical axis eccentric unit that drives the lens to decenter the optical axis, and a second control unit that controls the second optical axis eccentric unit,
The first control means includes
A reference angular velocity for panning is detected based on the blur and the motion vector, and the first optical axis decentering means or the second control means is detected based on a difference between the reference angular velocity and the blur. A first control for controlling one of the second optical axis decentering means;
And a second control for controlling the other of the second optical axis decentering means via the first optical axis decentering means or the second control means so as to correct a camera shake of the photographer. An imaging device that is characterized. The first control means includes
Performing the second control during aiming;
The imaging apparatus according to claim 1, wherein the first control is performed during exposure.   The first control means, after performing the second control during the aiming, in a state where the position of the lens or the image sensor decentered by the second control is fixed without returning to the center position, The imaging apparatus according to claim 2, wherein the first control is performed during the exposure. The first control means includes
Performing the second control by controlling the second optical axis eccentric means during the aiming;
The imaging apparatus according to claim 2, wherein the first control is performed by controlling the first optical axis decentering means during the exposure.   The first control means switches between controlling the first optical axis decentering means and the second optical axis decentering means in the first control in accordance with an imaging condition. The imaging device according to any one of claims 1 to 4.   The imaging apparatus according to claim 5, wherein the imaging condition includes at least one of a focal length at the time of imaging, an exposure time, a subject speed, or lens information. The first control means includes
When the focal length is larger than a predetermined focal length, the first control is performed by controlling the second optical axis decentering means via the second control means,
The imaging apparatus according to claim 6, wherein when the focal length is also smaller than the predetermined focal length, the first control is performed by controlling the first optical axis decentering unit.   The imaging apparatus according to claim 6, wherein the subject speed is at least one of a panning speed and a magnitude of the motion vector.   The imaging apparatus according to claim 1, wherein the blur detection unit is an angular velocity sensor that detects an angular velocity of the imaging apparatus as the blur.   The image pickup apparatus according to claim 1, wherein the motion vector detection unit detects a moving speed of the subject based on the motion vector of the subject included in the image data. An image sensor that photoelectrically converts an optical image formed through the lens device and outputs image data, a motion vector detection unit that detects a motion vector based on the image data, and a blur that detects blur applied to the image pickup device. Removable to an imaging apparatus having detection means, first optical axis eccentric means for driving the imaging device to decenter the optical axis, and first control means for controlling the first optical axis eccentric means. A lens device,
A lens,
Second optical axis decentering means for driving the lens to decenter the optical axis;
And second control means for controlling the second optical axis decentering means,
The second control means, based on a command from the first control means, a reference angular velocity of panning detected by the first control means based on the shake and the motion vector, and the blur. Based on the difference between the first optical axis decentering means and the second control for controlling the second optical axis decentering means so as to correct the camera shake of the photographer. The lens apparatus characterized by performing control. An image sensor that photoelectrically converts an optical image formed via the imaging optical system and outputs image data; and
Blur detection means for detecting blur applied to the imaging system;
Motion vector detecting means for detecting a motion vector based on the image data;
First optical axis decentering means for driving the image sensor to decenter the optical axis;
Second optical axis decentering means for driving the lens of the imaging optical system to decenter the optical axis;
Control means for controlling the first optical axis eccentric means and the second optical axis eccentric means,
The control means includes
A reference angular velocity for panning is detected based on the blur and the motion vector, and the first optical axis decentering means or the second optical axis decentering means is detected based on a difference between the reference angular velocity and the blur. A first control for controlling one;
And a second control for controlling the other of the first optical axis decentering means or the second optical axis decentering means so as to correct a camera shake of a photographer. Using an image sensor to photoelectrically convert an optical image formed via an imaging optical system and outputting image data;
Detecting blur applied to the imaging system;
Detecting a motion vector based on the image data;
Controlling first optical axis decentering means for driving the image sensor to decenter the optical axis, and second optical axis decentering means for driving the correction lens of the imaging optical system to decenter the optical axis. And having
The step of controlling the first optical axis eccentric means and the second optical axis eccentric means includes:
A reference angular velocity for panning is detected based on the blur and the motion vector, and the first optical axis decentering means or the second optical axis decentering means is detected based on a difference between the reference angular velocity and the blur. A first control step for controlling one;
And a second control step of controlling the other of the first optical axis decentering means or the second optical axis decentering means so as to correct a camera shake of a photographer. .   A program for causing a computer to execute the control method for an imaging apparatus according to claim 13.