JP7299385B2 - ACTUATOR DRIVER, IMAGING DEVICE USING THE SAME, AND IMAGING METHOD - Google Patents

Description

The present invention relates to an actuator driver, an imaging device using the same, and an imaging method.

In recent years, an increasing number of camera modules installed in smartphones and the like incorporate a function that detects the position of the imaging lens and feeds back this positional information to control the position of the imaging lens with high accuracy and speed. ing. In particular, by incorporating feedback control into optical image stabilization (OIS), high-precision image stabilization is possible. is expected to continue to increase. In a camera with an OIS function that incorporates such feedback control, the gyro sensor detects the angular velocity of camera shake, and by integrating this, the amount of angular shake is calculated, while detecting the position of the lens. Camera shake is corrected by displacing the lens according to the amount of angular shake.

As described above, since the angular blur amount is obtained by integrating the angular velocity, the DC component generated by the integration may accumulate. In other words, the DC component accumulates while the AC operation of camera shake correction is repeated, and when the DC component accumulates, the position of the lens is offset because of feedback control, and sufficient displacement can be given on the biased side. Gone.

Japanese Patent Application Laid-Open No. 2002-200001 discloses that when the limit range of camera shake correction is likely to be exceeded during OIS operation, a centering operation is performed to return the lens to a predetermined position. Further, Japanese Patent Application Laid-Open No. 2002-200000 discloses that centering is performed at the timing of the end of split exposure when optical and additive image stabilization are combined.

JP-A-2001-154226 JP 2010-78635 A

When the DC component of the accumulated angular shake signal is refreshed and returned to zero level as in Patent Document 1, the position detection signal of the lens is also returned to the initial state and centering is performed. This means that the position of ( ) moves abruptly, and the sudden change in the image may cause the user to feel uncomfortable when shooting a series of moving images. If the centering is performed slowly enough that the user does not feel a sense of discomfort, the movable range may become insufficient during the centering, and the camera shake correction may fail.

As in Japanese Patent Application Laid-Open No. 2002-200002, when performing additive split exposure while performing optical camera shake correction, when the position of the lens approaches the limit of the movable range, the split exposure is finished and centering is performed. Then, it takes time to calculate the pixel shift amount for alignment by comparing images before and after centering.

The present invention has been made in view of such circumstances, and one exemplary object of certain aspects thereof is to provide an imaging apparatus capable of suppressing an image shift caused by a centering operation.

One aspect of the present invention relates to an imaging device. The imaging device includes an imaging lens, an imaging element that captures an image that has passed through the imaging lens, blur detection means that detects blur, an actuator that positions the imaging lens, and an actuator that responds to a blur detection signal from the blur detection means. and an actuator driver for controlling the The image pickup apparatus corrects an image shift that occurs when the position of the image pickup lens is forcibly changed by shifting the effective pixel area of the image pickup device according to the amount of forced shift of the position of the image pickup lens.

According to this aspect, when the position of the imaging lens is deviated from the predetermined position, when forcibly approaching the original predetermined position, the effective pixel area of the imaging device is also shifted according to the shift of the image. As a result, sudden image shift is not visible on the monitor screen viewed by the user or on the recorded image, and the user can perform centering without feeling it.

The imaging device may calculate the amount of forced change in the position of the imaging lens from the amount of change in the drive signal to the actuator.
Since the amount of change in the position of the imaging lens corresponds to the amount of change in the drive signal for driving the actuator, appropriate correction is possible.

The imaging device may further include position detection means for generating a position detection signal indicating the position of the imaging lens. The actuator driver may feedback-control the position of the imaging lens based on the position detection signal. The imaging device may calculate the amount of forced change in the position of the imaging lens from the amount of change in the DC component of the position detection signal.
By converting the amount of change in the DC component of the position detection signal into the amount of displacement of the image on the pixel, the shift amount and direction of the effective pixel area can be determined.

The imaging device may calculate the amount of forced change in the position of the imaging lens from the amount of change in the DC component of the shake detection signal.
The shift amount and direction of the effective pixel area can be determined by converting the amount of change in the DC component of the blur detection signal into the amount of displacement of the image on the pixel.

The imaging apparatus may further include pan/tilt detection means, and may forcibly change the position of the imaging lens when it is determined that the pan/tilt operation is performed.
As a result, it is possible to quickly eliminate the DC component of the lens position accumulated until it is determined that the pan/tilt has occurred, so that the shift of the image can be accurately corrected.

The imaging device may gradually release the shift of the effective pixel area.
If the effective pixel area remains shifted, there will be no pixel margin for the next shift of the effective pixel area. , the user need hardly realize that the image is moving.

The imaging apparatus may perform the operation of canceling the shift of the effective pixel area by the next timing of forcibly changing the position of the imaging lens.
As a result, by the time the effective pixel area is shifted next time, the bias of the previous effective pixel area can be canceled, so that the pixels can be effectively used and the correction range can be widened.

Another aspect of the present invention relates to an actuator driver that drives an actuator that positions an imaging lens for correcting image blur. The actuator driver can forcibly change the DC component of the lens position based on the positional information of the imaging lens. or the shift amount of the effective pixel area based on it.

Accordingly, the image sensor or the processor that processes the output of the image sensor can appropriately set the effective pixel area based on the information from the actuator driver.

The lens position information may be obtained from the drive current of the actuator. Further, the position information of the lens may be obtained from a position detection signal from a position detection means provided in the actuator.

The actuator driver may include a calculator that calculates a blur angle based on the angular velocity information from the blur detection means, and may forcibly change the lens position by changing the DC component of the blur angle.

The actuator driver may include pan/tilt detection means, and may change the DC component of the lens position when it is determined that the pan/tilt operation is performed.

It should be noted that arbitrary combinations of the above-described constituent elements and mutually replacing the constituent elements and expressions of the present invention in methods, devices, systems, etc. are also effective as aspects of the present invention.

Furthermore, the description of the Summary of the Invention does not describe all the essential features, and thus subcombinations of those described features can also be the invention.

According to the present invention, image shift due to centering operation can be suppressed.

1 is a diagram showing the basic configuration of an imaging device with a camera shake correction function according to an embodiment; FIG. It is a figure explaining accumulation of a DC component. 3A to 3C are diagrams for explaining the centering process. FIG. 3 is a diagram showing the relationship between raw data _GD1 and image data _GD2 ; 2 is an operation waveform diagram of the camera module of FIG. 1; FIG. 3 is a block diagram showing the configuration of an actuator driver; FIG. It is a figure which shows an imaging device. 3 is a block diagram showing a specific configuration of part of the lens control device; FIG. FIGS. 9(a) to 9(e) are diagrams for explaining the movement of an image due to centering and image shift. FIG. 10 is a flow chart illustrating the process of an image correction method by centering and image shifting; FIG. FIG. 10 is a diagram illustrating the flow of a centering trigger and a method for calculating a lens displacement amount due to centering in various embodiments;

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent constituent elements, members, and processes shown in each drawing are denoted by the same reference numerals, and duplication of description will be omitted as appropriate. Moreover, the embodiments are illustrative rather than limiting the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention.

Also, the dimensions (thickness, length, width, etc.) of each member shown in the drawings may be appropriately scaled for easier understanding. Furthermore, the dimensions of a plurality of members do not necessarily represent their size relationship. It can be thinner than

In this specification, "a state in which member A is connected to member B" refers to a case in which member A and member B are physically directly connected, and that member A and member B are electrically connected to each other. It also includes the case of being indirectly connected through other members that do not substantially affect the physical connection state or impair the functions and effects achieved by their combination.

Similarly, "the state in which member C is provided between member A and member B" refers to the case where member A and member C or member B and member C are directly connected, as well as the case where they are electrically connected. It also includes the case of being indirectly connected through other members that do not substantially affect the physical connection state or impair the functions and effects achieved by their combination.

FIG. 1 is a diagram showing a basic configuration of an imaging device 1000 with a camera shake correction function according to an embodiment. The imaging device 1000 is a camera module built into a digital camera, a digital video camera, a smart phone, or a tablet terminal. FIG. 1 shows only blocks related to camera shake correction, and blocks related to autofocus are omitted.

The imaging apparatus 1000 includes an imaging element 1002, an imaging lens 1004, an actuator 1006, an actuator driver 1100, a position detection element 1010, a blur detection means 1012, and a processor 1014 for image processing.

An imaging lens 1004 is provided on an incident optical path to the imaging element 1002 . The imaging lens 1004 is supported so as to be positioned within a plane perpendicular to its optical axis (a plane parallel to the imaging surface of the imaging element 1002). Specifically, the imaging lens 1004 can be independently positioned in a first direction (X direction) along one side of the imaging device 1002 and in a second direction (Y direction) perpendicular thereto.

Actuator 1006 is configured to be able to position imaging lens 1004 . As described above, the imaging lens 1004 can be positioned independently in the X and Y directions, and therefore two actuators 1006 are provided, one for the X axis and one for the Y axis. Only the X-axis is shown in FIG. 1 for ease of understanding.

The shake detection means 1012 is, for example, a gyro sensor, and detects shake of the imaging device 1000 . Actuator driver 1100 receives shake detection signal _S1 indicating the amount of shake detected by shake detection means 1012, and controls actuator 1006 so as to cancel the shake. Specifically, the imaging lens 1004 is positioned in the X-axis direction based on the shake detection signal _S1 in the yaw direction, and the imaging lens 1004 is positioned in the Y-axis direction based on the shake detection signal _S1 in the pitch direction. .

Since camera shake correction requires accurate positioning of the imaging lens 1004, feedback control (closed-loop control) is employed. The position detection element 1010 is, for example, a magnetic detection element such as a Hall sensor, and generates a position detection signal (Hall signal) _S2 indicating displacement of the imaging lens 1004 .

The actuator driver 1100 feedback-controls the drive signal _S5 so that the position of the imaging lens 1004 indicated by the position detection signal _S2 matches the target position corresponding to the shake angle. For example, the actuator driver 1100 performs linear control between the angular shake amount θ and the displacement of the imaging lens 1004 .

When a gyro sensor is used as the shake detection means 1012, the shake detection signal _S1 has the dimension of angular velocity. The actuator _driver 1100 calculates the angular shake amounts θ _P and θ _Y by integrating the shake detection signal _{S 1} for each of the yawing direction and the pitch direction. is displaced.

When the actuator driver 1100 repeats the integration of the shake detection signal _S1 , the DC component is accumulated. FIG. 2 is a diagram for explaining the accumulation of DC components. θ _Y ′ indicates the angular velocity in the yaw direction, and θ _Y indicates the yaw angle (angular shake amount). When the yaw angular velocity θ _Y ' includes the DC component indicated by the dashed line, the DC component of the angular shake amount θ _Y obtained by integrating it increases with time. When the displacement amount of the imaging lens 1004 in the X-axis direction is linearly controlled with respect to the angular shake amount _θY , the position of the imaging lens 1004 shifts with time. When the position of the imaging lens 1004 reaches the movable range, the camera shake correction process fails. A similar problem arises in the pitch direction.

Therefore, the actuator driver 1100 shifts the position of the imaging lens 1004 to the reference position when the DC component of the angular shake amount _θY increases to some extent, in other words, when the offset amount from the reference position (for example, X=0) of the imaging lens 1004 increases to some extent. is forcibly changed in the direction of approaching . This processing is called centering processing. The centering process may be performed (i) based on the position detection signal _S2 from the position detection element 1010, or (ii) based on the shake detection signal _S1 from the shake detection means 1012. (iii) based on the output (driving current or driving voltage) of the driver section 1112; For example, the centering process may be performed with the fact that the DC component of the position detection signal _S2 deviates from a predetermined range as a trigger. Further, it is possible to arbitrarily set the amount of angular blurring and the amount of offset for centering, and for example, fine centering may be performed for each frame.

3A to 3C are diagrams for explaining the centering process. It is desirable to change the position of the imaging lens 1004 here in a short period of time. Time _t0 is the timing of the centering process. Here, centering processing occurs when the DC component of the position X of the imaging lens 1004 reaches the threshold DC _MAX . As shown in FIG. 3A, the actuator driver 1100 may reset the position of the imaging lens 1004 to the reference position (X=0). In the centering process, the position of the imaging lens 1004 may be changed by changing the angular blur amount θ.

As shown in FIG. 3B, the actuator driver 1100 may shift the imaging lens 1004 by a predetermined amount ΔX toward the reference position (X=0).

As shown in FIG. 3C, the actuator driver 1100 moves the imaging lens 1004 to the reference position (X=0) by the amount of change obtained by multiplying the position immediately before resetting (or the amount of offset of the position immediately before resetting) by a predetermined coefficient. You can shift towards

Return to FIG. The imaging device 1002 captures an image transmitted through an imaging lens 1004 and generates raw data _GD1 . A processor 1014 processes the raw data _GD1 captured by the image sensor 1002 and outputs image data _GD2 . FIG. 4 is a diagram showing the relationship between raw data _GD1 and image data _GD2 . Raw data _GD1 , which is the output of the image sensor 1002, may include luminance data of all pixels of the image sensor 1002 for one frame. On the other hand, the finally generated image data _GD2 is obtained by extracting the pixels within the effective pixel area A _EFF from all the pixels, and the data outside the effective pixel area A _EFF is discarded. The processor 1014 is configured to shift the effective pixel area A _EFF in the X and Y directions based on the control signal S _CNT from the actuator driver 1100 . The functionality of processor 1014 may be implemented in image sensor 1002 . The effective pixel area A _EFF may be shifted using the same processing as in the electronic camera shake correction.

Return to FIG. 1 again. In this way, the actuator driver 1100 is configured to forcefully change the DC component of the position of the imaging lens 1004 . When the position of the imaging lens 1004 is forcibly changed, as information for shifting the effective pixel area A _EFF by the processor 1014, the forcible change amount ΔX of the lens position or the effective pixel area A based on it is used. It outputs a control signal S-- _CNT indicating the shift amount of _EFF . Processor 1014 shifts effective pixel area A _EFF in response to control signal S _CNT .

That is, the imaging apparatus 1000 corrects the image shift that occurs when the position of the imaging lens 1004 is forcibly changed by shifting the effective pixel area A _EFF according to the forcible change amount ΔX of the position of the imaging lens 1004. .

The above is the basic configuration of the imaging apparatus 1000 . FIG. 5 is an operation waveform diagram of the imaging apparatus 1000 of FIG. FIG. 5 shows centering processing in the yaw direction, and shows, from top to bottom, the amount of displacement of the imaging lens 1004 in the X direction and the x coordinate (for example, center coordinate) of the reference point of the effective pixel area A _EFF . The upper dashed line represents the DC offset component. Before time _t0 , the DC component of the angular velocity signal is accumulated, thereby increasing the DC offset of the X coordinate of the imaging lens 1004 . Centering occurs when the DC offset component reaches the threshold DC _MAX at time _t0 . At this time, the actuator driver 1100 supplies the processor 1014 with a control signal S _CNT corresponding to the amount of change in the position of the imaging lens 1004 . As a result, processor 1014 shifts the reference point of the effective pixel area A _EFF in a direction and amount depending on control signal S _CNT . After that, the processor 1014 gradually cancels the shift of the effective pixel area A _EFF over time.

Next, a configuration example of the actuator driver 1100 will be described. FIG. 6 is a block diagram showing the configuration of the actuator driver 1100. As shown in FIG. The actuator driver 1100 includes an interface circuit 1102 , an A/D converter 1104 , a correction circuit 1106 , a gyro controller 1107 and a centering processing section 1114 . The actuator driver 1100 may be a functional IC integrated on one semiconductor substrate. Only the blocks related to yaw blur and corresponding control of the X-axis actuator 1006 are shown in FIG.

The interface circuit 1102 receives the digital angular velocity signal S ₁ from the shake detection means 1012 . The A/D converter 1104 converts the position detection signal _S2 from the position detection element 1010 into a digital detection code _D2 . An amplifier may be provided before the A/D converter 1104 . If the position detection signal _S2 is a digital signal, the A/D converter 1104 can be omitted.

The correction circuit 1106 converts the detection code _D2 into a detection code _D3 having a linear relationship with the actual displacement of the imaging lens 1004 (linear compensation). Correction circuit 1106 may perform temperature compensation. The correction circuit 1106 may be omitted.

The gyro controller 1107 generates a target code _D1 that indicates the amount of displacement (target position) of the imaging lens 1004 based on the angular velocity signal _S1 . For example, the gyro controller 1107 may integrate the angular velocity signal _S1 , generate angle information, and multiply the angle information by a coefficient to obtain the target code _D1 .

The control circuit 1108 controls the actuator 1006 so that the corrected detection code _D3 approaches the target code _D1 . Control circuitry 1108 includes a controller 1110 and a driver section 1112 . The controller 1110 generates the control command value _S4 so that the error between the detected code _D3 and the target code _D1 after correction approaches zero. Driver section 1112 supplies drive signal _S5 to actuator 1006 according to control command value _S4 .

A centering processing unit 1114 executes the centering processing described above. Then, the centering processing unit 1114 executes the centering processing, and when the position of the imaging lens 1004 is forcibly changed, the processor 1014 uses the information for shifting the effective pixel area A _EFF as the forcibly changed lens position. It outputs a control signal S-- _CNT indicating the amount of change .DELTA.X or the amount of shift of the effective pixel area A-- _EFF based thereon. The control signal _SCNT is generated for each of the X direction (yawing) and the Y direction (pitch direction).

Actuator driver 1100 may comprise a processor core (embedded processor) 1120 . The controller 1110, correction circuit 1106, gyro controller 1107, and centering processing section 1114 described above may be implemented by a combination of the processor core 1120 and a program.

The present invention extends to various devices and circuits derived from the above description, and is not limited to any particular configuration. Hereinafter, more specific embodiments and modifications will be described not for narrowing the scope of the present invention, but for helping to understand the essence of the invention and circuit operation, and clarifying them.

FIG. 7 is a diagram showing the imaging device 300. As shown in FIG. The imaging device 300 is a camera module built into a digital camera, a digital video camera, a smart phone, or a tablet terminal. The imaging device 300 includes an imaging device 302 , an imaging lens 304 , a processor 306 and a lens controller 400 . The imaging lens 304 is arranged on the optical axis of light incident on the imaging element 302 . The lens control device 400 positions the imaging lens 304 based on a position command value (also called a target code) P _REF from the processor 306 and the like.

In the AF operation, the lens control device 400 displaces the imaging lens 304 in the optical axis direction (Z-axis direction). The processor 306 generates the position command value P _REF so that the contrast of the image captured by the imaging device 302 is high (contrast AF). Alternatively, the position command value P _REF may be generated based on an output from an AF sensor provided outside the imaging device 302 or embedded in the imaging surface (phase difference AF).

In the OIS operation, the lens control device 400 displaces the imaging lens 304 in a plane parallel to the imaging element 302 and in a direction perpendicular to the optical axis (X-axis and/or Y-axis direction). The output of the gyro sensor 308 is input to the actuator driver 500 . The angular velocity is integrated into the angle in the actuator driver, a position command value _PREF is generated so as to give a lens displacement corresponding to the angular shake amount, and the actuator is driven to displace the lens to a target position. Note that if the gyro sensor 308 is installed in a mobile phone or smart phone body for joint use with an application, the position command value P _REF may be generated via the processor 306 .

Lens controller 400 controls actuator 402 by position feedback. Specifically, the lens control device 400 includes an actuator 402 , a position detection element (AF, OIS) 404 , a temperature detection element (AF, OIS) 406 and an actuator driver IC (Integrated Circuit) 500 . Actuator 402 is, for example, a voice coil motor. The imaging lens 304 is mounted on a holder 310 and supported movably in the Z-axis direction. An AF coil 312 is wound around the holder 310 , and a permanent magnet 314 is arranged to face the AF coil 312 . By energizing the AF coil 312 , the imaging lens 304 and the holder 310 are integrally driven in the Z-axis direction by magnetic interaction with the permanent magnet 314 . On the other hand, the entire AF drive mechanism including the permanent magnet 314 is movably supported in the X-axis and/or Y-axis directions. The interaction drives the imaging lens 304, holder 310, permanent magnet 314, etc. in the X-axis and/or Y-axis directions. A fixed portion of the voice coil motor is fixed to the housing of the imaging device 300 .

Magnetic detection means such as Hall elements are often used as the position detection elements 404, and the Hall elements will be described here. A permanent magnet 318 is attached to the AF movable portion of the voice coil motor, for example, the holder 310, and an AF hall element 320 is attached to a portion that does not move in AF. A position detection element 404 for AF is formed by a combination of these. On the other hand, a Hall element 322 for OIS is attached to the fixed portion facing the permanent magnet 314 . The combination of these forms the position detection element 404 for OIS. Although only the Hall element 322 for the X-axis is shown in FIG. 7, there is also a Hall element for the Y-axis at a position that is hidden in the figure and cannot be seen. The position detection element 404 generates an electric signal (hereinafter referred to as a position detection signal _PFB ) corresponding to the current position of the imaging lens 304, and the position detection signal _PFB is fed back to the actuator driver IC500.

The actuator driver IC 500 is a functional IC integrated on one semiconductor substrate. "Integration" here includes the case where all circuit components are formed on a semiconductor substrate and the case where the main components of a circuit are integrally integrated. Other resistors, capacitors, and the like may be provided outside the semiconductor substrate. By integrating the circuits on one chip, the circuit area can be reduced and the characteristics of the circuit elements can be kept uniform.

The actuator driver IC 500 feedback-controls the actuator 402 so that the fed-back position detection signal P _FB matches the position command value P _REF .

By detecting the position of the imaging lens 304 in this way and feeding it back for use in position control, it is possible to suppress transient vibration in the step response, speed up convergence, and improve positioning accuracy to the target position.

Ideally, the relationship between the output of the position detection element 404 (that is, the position detection signal P _FB ) or the corresponding position command value P _REF and the actual displacement of the imaging lens 304 is linear and unchanged with respect to temperature fluctuations, etc. There should also be no variability. However, in reality, this relationship is non-linear, varies for each imaging device 300 , and further varies depending on the temperature of the position detection element 404 . Linear compensation and temperature compensation may be performed when non-linearity and temperature change deteriorate positioning accuracy. Linear compensation is realized by correcting the value of the position detection signal _PFB so as to convert the function indicating the relationship between _the position detection signal PFB and the actual displacement into an ideal linear function (straight line). . Temperature compensation is realized by correcting the slope and offset of the relationship between the position detection signal _PFB and the actual displacement, which change with temperature changes, for each temperature.

Image information from the imaging device 302 may be used as the image displacement detection device 408 to obtain information on actual displacement. By multiplying the information on how many pixels the image of the specific pattern has moved by the pixel pitch, the amount of displacement of the image can be obtained. The amount of displacement of the image can be converted into the amount of displacement of the lens using information such as the focal length of the optical system. On the other hand, the Hall elements 320 and 322 can be used as the temperature detection element 406 for temperature information. Temperature detection is performed using the temperature-dependent change in the internal resistance of the Hall element. Detected temperature information T is input to the actuator driver IC 500 . The actuator driver IC 500 corrects drive control of the actuator 402 based on the temperature information T. FIG.

Next, a specific configuration example of the lens control device 400 will be described.

FIG. 8 is a specific block diagram of part of the lens control device 400. As shown in FIG. FIG. 8 shows only a portion corresponding to one axis of OIS, and similar configurations are prepared for other axes of OIS and AF. The position detection element 404 is a Hall element 322 that generates Hall voltages V+ and V− according to the displacement of the movable portion of the actuator 402 and supplies them to Hall detection pins (HP, HN) of the actuator driver IC 500 .

The position detection unit 510 generates a digital position detection value _PFB indicating the position (displacement) of the movable portion of the actuator 402 based on the Hall voltages V+ and V−. The position detection unit 510 includes a Hall amplifier 512 that amplifies the Hall voltage, and an A/D converter 514 that converts the output of the Hall amplifier 512 into a digital position detection value _PFB .

Temperature detection unit 520 generates a temperature detection value T that indicates temperature. The temperature desirably indicates the temperature of the position detection element 404 . In FIG. 8, the Hall element 322 which is the position detection element 404 is also used as the temperature detection element 406 . This utilizes the fact that the internal resistance r of the Hall element 322 has temperature dependence. The temperature detection unit 520 measures the internal resistance r of the Hall element 322 and uses it as information indicating the temperature.

Temperature detection unit 520 includes a constant current circuit 522 and an A/D converter 524 . A constant current circuit 522 supplies a predetermined bias current I _BIAS to the Hall element 322 . This bias current I _BIAS is also a power supply signal required to operate the Hall element 322, so the constant current circuit 522 can be understood as a Hall bias circuit.

A voltage drop I _BIAS ×r is generated across the Hall element 322 . This voltage drop is input to the Hall bias pin (HB). A/D converter 524 converts the HB pin voltage V _HB (=I _BIAS ×r) to a digital value T. Since the bias current I _BIAS is known and constant, the digital value T is a signal proportional to the internal resistance r and therefore contains the temperature information of the Hall element 322 . The relationship between the internal resistance r and the temperature is measured in advance, converted into a function, or tabulated, and the digital value T is converted into temperature information in the subsequent correction section 530 .

A signal from the gyro sensor 308 is input to a gyro DSP (Digital Signal Processor) 540 . The gyro DSP 540 cuts the low frequency range of the angular velocity signal, which is the output of the gyro sensor 308, with a high-pass filter, integrates this to convert it into a shake angle, and amplifies this signal to generate a position command value P _REF . .

Correction section 530 corrects the position detection value _PFB from position detection section 510 . Specifically, the corrector 530 includes a linear compensator 532 , a temperature compensator 534 and a memory 536 . A linear compensator 532 corrects the linearity of the relationship between the detected position value _PFB and the actual displacement. A temperature compensator 534 corrects changes in the relationship between the detected position value _PFB and the actual displacement due to changes in temperature. The memory 536 stores parameters necessary for these corrections. The memory 536 may be a nonvolatile memory such as ROM or flash memory, or may be a volatile memory that temporarily holds data supplied from an external ROM each time the circuit is started.

The controller 560 receives the position command value P _REF and the position detection value P _FBCMP corrected by the correction unit 530 . Controller 560 generates control command value S _REF such that position detection value P _FBCMP matches position command value P _REF . When the actuator 402 is a voice coil motor, the control command value S _REF is the command value of the drive current to be supplied to the voice coil motor. Controller 560 includes, for example, error detector 562 and PID controller 564 . The error detector 562 generates a difference (error) ΔP between the position detection value P _FBCMP and the position command value P _REF . The PID controller 564 generates a control command value S _REF by PID (proportional, integral, differential) calculation. Instead of the PID controller 564, a PI controller may be used, or non-linear control may be employed. A gain circuit 566 that multiplies a predetermined coefficient may be provided after the PID controller 564 . Driver section 570 supplies drive current to actuator 402 in accordance with control command value _SREF .

As described above, when the angular velocity signal from the gyro sensor 308 is integrated, the DC component of the angle may accumulate. Due to the applied current, there is a risk that the range of motion for OIS operation may not be sufficient on one side. In order to prevent this, the gyro DSP 540 needs to refresh the angle signal at a predetermined timing. However, if refresh is performed abruptly, the lens position also abruptly returns to its original position (the position when there is no DC component) (centering), so the image changes abruptly and camera shake occurs even if there is no camera shake. This will generate an image that looks like this. In order to correct this by image shift (shift of the effective pixel area), the actuator driver IC outputs a signal _SCNT that serves as a reference for the amount of image shift.

One example of a signal that serves as a reference for image shift is the amount of change in angle signal before and after refresh, which is provided to the processor (CPU) 306 . The angle signals before and after the refresh may be provided to the processor 306 as the control signal _SCNT , and the processor 306 may calculate the amount of change. FIG. 8 shows this example. If the amount of change in the angle signal is known, it can be converted into the amount of change in the corresponding lens position detection signal, and if the amount of change in the lens position detection signal is known, the target pixel shift amount can be calculated. Processor 306 shifts the active area of pixels based on the calculated pixel shift amount to obscure image shifts associated with centering. The gyro DSP 540 in FIG. 8 can be grasped as a block that integrates the functions of the gyro controller 1107 and the centering processing section 1114 in FIG.

The reference signal for image shift returned to the processor 306 is not limited to this. The lens may be centered to the initial position at the timing when the DC component of the position detection signal of the lens exceeds a predetermined value. It is desirable to refresh the angle signal at the same time as the centering. The DC component of the position detection signal before and after centering is provided to the processor 306, or the amount of change in the DC component is provided to the processor 306. FIG. The processor 306 calculates a pixel shift amount corresponding to the amount of change in the position detection signal, and shifts the effective area of pixels based on the calculated pixel shift amount to make the shift of the image due to centering invisible.

The drive current of the actuator may be used as the reference signal. When the DC component of the drive current for the actuator exceeds a predetermined value, centering is performed so that the DC component becomes zero. It is desirable to refresh the angle signal at the same time as the centering. The DC component of the actuator drive current before and after centering is provided to the processor 306, or the amount of change in the DC component is provided to the processor 306. The processor 306 converts the amount of change in the DC component of the drive current into the amount of displacement of the lens using the value of the drive sensitivity of the actuator, and if the amount of displacement of the lens is known, calculates the target pixel shift amount. can. Processor 306 shifts the active area of pixels based on the calculated pixel shift amount to obscure image shifts associated with centering.

In order to calculate the amounts of change in various DC components and provide them to the processor 306 as described above, it is desirable to mount a CPU in the actuator driver IC 500 as well. If there is a CPU in the actuator driver IC 500, it is possible to calculate not only the DC component change amount but also the final pixel shift amount, and provide the result to the processor 306. Therefore, the processor can perform only pixel shift. good.

The lens control devices corresponding to the X, Y, and Z axes may be chipped for each axis, or may be integrated into one or two chips as a whole.

Words such as "refresh" and "centering" are associated with "set to 0" or "set to the center", but are not necessarily limited to these terms. A case where the signal does not become 0 as a result of refreshing or a case where deviation from the center remains is also included. "Center" has various possibilities such as the center of the movable range, the center of the current value, etc. Centering is not necessarily the center in the strict sense. In short, for convenience of explanation, the terms such as "refresh" and "centering" are used.

In the following, the movement of the image and the correction method when the displacement of the image caused by the refresh of the angle signal or the centering of the lens position is corrected by the pixel shift will be described with reference to the first embodiment. Also, an example of changing various conditions such as what trigger to use when performing centering will be described with reference to the second embodiment.

<First embodiment>
A first embodiment of the present invention will be described with reference to FIGS. 9(a) to (e) to FIG. FIGS. 9(a) to 9(e) are diagrams for explaining the movement of an image due to centering and image shift. FIG. 10 is a flowchart illustrating the process of an image correction method by centering and image shifting.

The movement of the image will be described with reference to FIGS. 9(a) to 9(e). 1 indicates the entire pixel (GD ₁ in FIG. 4) and 2 indicates the effective pixel area therein (A _EFF in FIG. 4). The size of the effective pixel area 2 is set slightly smaller than the size of the entire pixel 1, forming a margin for pixel shift. 3 is a subject image.

FIG. 9(a) shows the initial state, in which the subject image 3 is positioned at the center of the entire pixels 1 and at the center of the effective pixel area 2. FIG. The position of the effective pixel area 2 with respect to the entire pixel 1 is a well-balanced position.

In FIG. 9(b), while the camera shake correction operation is repeated, a DC offset component is accumulated in the shake angle detection signal, and the lens is shifted using this as an error signal, and the subject image 3 is the center of the entire pixel 1. It shows a state shifted from the center of the effective pixel area 2 . In this state, for example, if the object image 3 is at a biased position as shown in the figure, the movable range of the lens on the upper and left sides of the image is narrow, and there is a risk that sufficient camera shake correction will not be possible. For example, when it is recognized that the DC offset component of the blurring angle exceeds a predetermined threshold, it is desirable to perform an operation to restore the lens position.

FIG. 9(c) shows a state in which the DC offset component of the shake angle is refreshed, the lens position is centered at the initial position accordingly, and the subject image 3 becomes equivalent to that in FIG. 9(a). The object image 3 before centering is shown in light gray. When such abrupt centering is performed, the subject image 3 is also abruptly shifted, and the user feels as if the camera is shaken.

FIG. 9(d) shows a state in which the effective pixel area 2 is changed, that is, a pixel shift is performed in order to remove this discomfort. In the effective pixel area 2, the subject image 3 is in the same position as before centering, and the user does not feel a sharp shift of the image. However, in this state, the effective pixel area 2 remains biased with respect to the entire pixel 1 .

If the difference between the total pixels 1 and the effective pixel area 2 is sufficiently large, or if the movie shooting ends at this point, the bias of the effective pixel area can be left as it is and the initial state can be restored while the shooting is stopped. Although it is good, if moving image shooting is continued as it is, the effective pixel area 2 will eventually become unable to be shifted. Therefore, as shown in FIG. 9E, the shift of the effective pixel area 2 is restored. At this time, the effective pixel area is gradually shifted to return to the state shown in FIG. 9(a).

"Gradually" means slowly to the extent that the user does not misunderstand it as camera shake. That is, the speed is such that the user can misunderstand that the pan/tilt operation is performed by moving his or her hand. It is the time to slowly return to the state shown in FIG. 9(a), but it is desirable to finish it before the next centering operation is performed.

Next, the flow of processing will be described with reference to the flowchart of FIG. In processing S100, it is determined whether or not the DC offset component of the shake angle after integrating the angular velocity signal from the gyro sensor has reached a predetermined value (DC _MAX ). If it does not exceed the predetermined value (N of S100), the camera shake correction operation is continued, and if it exceeds (Y of S100), the refresh operation and the centering operation are started.

In step S102, the lens position information at the start of the refresh operation and the centering operation, that is, the X and Y Hall output signals are obtained. In step S104, the difference between the lens position information obtained in step S102 and the initial position information is calculated. The initial position information is used because it is assumed that the shake signal is refreshed to 0 at once. Usually, the hall signal is calibrated when the shake signal is 0, and the hall output signal in this state is set to 0, so the initial position information represents the hall signal 0. When the DC offset component of the blurring angle is gradually reduced, the initial value of the lens position is the Hall output (latest Hall output) after the blurring angle is reduced. According to the difference from the Hall output at the start of the refresh operation, it is preferable to calculate the shift amount of the pixel each time and shift the pixel (shift the effective pixel area).

In processing S106, a pixel shift amount corresponding to the difference in lens position information is calculated. The ratio of the amount of movement of the object on the pixel to the amount of change in Hall output is calculated in advance. It may be calculated for each individual, or if the variation is small, a representative value such as an average value may be used collectively.

In processing S108, the shake angle signal is refreshed. Here, it is assumed that the value is set to 0 all at once. The gradual change is as described above. When the DC offset component of the shake angle signal becomes 0, the error signal disappears (at least the DC component), so in step S110 the lens position returns to the initial position (calibration position).

In process S112, pixels are shifted by the pixel shift amount calculated in process S106. Specifically, the effective pixel area 2 within the entire pixel 1 is moved. As a result, it is possible to prevent the object image from being abruptly shifted even when the lens is centered abruptly.

In step S114, the once shifted effective pixel area is gradually restored. By gradually returning the camera, it will not be recognized that camera shake is occurring, and the subject will not be recognized as moving, or even if it is recognized, the subject image will be shifted by panning and tilting. You can get the illusion that the position has moved. When the user holds the camera in his/her hand, it creates this kind of illusion, but when the camera is placed on a tripod, the camera may not be moving, so the operation to restore the effective pixel area If you don't have to do it, there's nothing better than that.

<Second embodiment>
A second embodiment of the present invention will be described with reference to FIG. FIG. 11 is a diagram for explaining an example of changing various conditions, such as what trigger to use when performing centering.

FIG. 11 also includes the case described in the first embodiment. The DC component of the shake angle signal exceeds a predetermined value→the DC component of the shake angle signal is changed→the change in the DC component of the position detection signal in response to the change in the DC component of the shake angle signal→the amount of change in the DC component of the position detection signal is multiplied by the position detection sensitivity→calculation of the amount of lens displacement associated with centering→calculation of the amount of pixel shift based on the focal length of the lens, etc.→correction by the pixel shift. In this embodiment, other cases will be mainly described.

First, as a trigger for performing centering, it may be detected that the DC current for driving the lens exceeds a predetermined value. The DC current is used here because it is assumed that the actuator is a VCM, and other actuators may not be DC current. When the DC current exceeds a predetermined value, the DC current is returned to zero, for example. The amount of displacement of the lens can be calculated by multiplying the amount of change in the DC current at this time by the drive sensitivity of the actuator. The rest is the same as the processing of the first embodiment. Such a method may be used when the actuator does not have position detection means and performs feedforward control according to the amount of angular shake.

Next, the case where the actuator has position detection means and performs feedback control will be described. As a trigger for centering, it may be detected that the DC component of the position detection signal exceeds a predetermined value. When the DC component of the position detection signal exceeds a predetermined value, the DC component of the position detection signal is forcibly set to 0, for example. At the same time, the DC component of the shake angle signal should also be refreshed to 0. By multiplying the amount of change in the DC component of the position detection signal by the position detection sensitivity, the amount of lens displacement associated with centering can be calculated. The rest is the same as the processing of the first embodiment.

As in the first embodiment, the centering is triggered when the DC component of the shake angle signal exceeds a predetermined value. A change in the drive current of the actuator corresponding to the change command is detected, and the lens displacement amount is calculated by multiplying this by the drive sensitivity of the actuator.

Finally, the case where pan/tilt is detected will be described. Judgment of pan/tilt operation is based on the fact that the DC component of the shake angle signal exceeds a predetermined value, which is similar to the other cases, but other factors such as angular velocity are used as judgment materials. In some cases, it is conceivable that the trigger criteria may be different from other conditions. Normally, the pan/tilt determination is performed with a DC value lower than the threshold value of the DC offset component of the camera shake signal, so the centering operation can be performed before a large amount of the DC component is accumulated. When panning and tilting, the lens moves continuously in one direction as described above. If panning and tilting operations are repeated, set a larger amount to return the position of the lens by centering, and extend the full movable range of the actuator. You can use it more effectively.

It is also possible to use only the DC offset component of the shake angle as the refresh determination criterion, regardless of pan/tilt detection. When the pan/tilt is determined, the cutoff frequency of a high-pass filter or the like is increased to suppress the accumulation of the DC offset component of the shake angle. Refresh may be performed when the accumulation of offset components increases.

The lens control device as described above is used in camera modules for mobile phones and the like. In particular, one of the preferred applications of the lens control device of the present invention is an imaging device having an optical image stabilization (OIS) function. By using the present invention, the user does not recognize the sudden shift of the subject image after performing the refresh operation and the centering operation, and high-quality shooting with less image blurring even during continuous moving image shooting. Therefore, it is preferable to apply the present invention to an imaging apparatus having an OIS function.

The following techniques are disclosed in this specification.
One disclosure relates to imaging devices. The imaging device includes an imaging lens, an imaging element, an actuator for driving the imaging lens, and blur detection means for detecting image blur, and drives the imaging lens according to the output of the blur detection means. An image pickup apparatus that corrects image blur by correcting an image shift that occurs when the DC offset component of the position of the imaging lens is changed by pixel shifting according to the amount of change in the DC offset component of the position of the imaging lens. It is characterized by

According to the above configuration, when the position of the imaging lens is deviated from the predetermined position, when the imaging lens is forcibly returned to the original predetermined position (centering operation), the image sharply shifts. Since the effective area of the pixels is also shifted, sudden image shifts are not visible on the monitor screen viewed by the user or on the recorded image, and the user can perform centering without feeling it.

In the image pickup apparatus, the amount of change in the DC offset component of the position of the image pickup lens may be calculated from the amount of change in the drive signal for driving the image pickup lens.

According to the above configuration, the amount of change in the DC offset component of the position of the imaging lens is calculated by multiplying the drive sensitivity of the actuator from the drive signal for driving the imaging lens, such as the amount of change in the current value. can be corrected by image shift.

Further, the imaging apparatus includes position detection means for detecting the position of the imaging lens, and feedback-controls the position of the imaging lens according to the output of the position detection means, wherein the DC offset component of the output of the position detection means is The amount of change in the DC offset component of the position of the imaging lens may be calculated from the amount of change in .

According to the above configuration, the centering operation can be performed according to the output signal of the position detection means, and the pixel shift amount and direction are determined by converting the change in the position detection signal into the displacement of the image on the pixel. Therefore, the user can perform centering without recognizing sudden image shift.

Further, in a certain imaging apparatus, the amount of change in the DC offset component of the position of the imaging lens may be calculated from the amount of change in the DC offset component of the output of the shake detection means.

According to the above configuration, feedback control is performed by returning to zero (refreshing) the DC component accumulated when obtaining the shake angle information by integrating the angular velocity signal detected by the shake detection means such as the gyro sensor. The imaging lens returns to its original position (initial setting position), but by converting the amount of displacement of the lens at that time into displacement on the pixel, the amount and direction of pixel shift can be determined. Centering can be done without knowing the .

Further, an imaging apparatus may include pan/tilt detection means, and may change the DC offset component of the position of the imaging lens when it is determined that the pan/tilt operation is performed.

According to the above configuration, the DC component of the lens position accumulated until it is determined to be pan/tilt can be quickly eliminated and centered, so that the image shift caused by the centering operation can be accurately corrected. If pan/tilt is determined, the cutoff frequency of the filter is changed to prevent DC components from accumulating any more, and a centering operation is performed. Since the pan/tilt determination is normally made with a DC value that is lower than the threshold value of the DC offset component of the camera shake signal, the centering operation can be performed more quickly.

Also, in some imaging devices, image shift caused by pixel shift may be gradually released.

According to the above configuration, there is no pixel margin for the next pixel shift if the pixel shift is left as it is. Since the image is gradually restored, the user does not have to realize that the image is moving. That is, "gradually" as used here means slowly to the extent that the user cannot feel it, or does not feel discomfort or discomfort.

Further, in the image pickup apparatus, the operation of canceling the image shift may be performed before the next timing of changing the DC offset component of the position.

According to the above configuration, since the bias of the effective pixels caused by the pixel shift can be canceled by the next centering, the pixels can be effectively utilized and the correction range can be widened.

The present disclosure also includes the following actuator drivers. The actuator driver is an actuator driver for driving a lens actuator that corrects image blur, and can forcibly change the DC offset component of the lens position based on the lens position information. When it is set to , it is characterized by outputting a change in the DC offset component or a pixel shift amount based thereon as information for pixel shift.

According to the above configuration, when the position of the imaging lens is deviated from the predetermined position, when the imaging lens is forcibly returned to the original predetermined position (centering operation), the image sharply shifts. Since the effective area of pixels can also be shifted, sudden image shifts are not visible on the monitor screen viewed by the user or on the recorded image, and centering can be performed without the user actually feeling it.

In the actuator driver, lens position information may be obtained from the drive current of the actuator.

Further, in the actuator driver, the positional information of the lens may be obtained from the signal of the position detecting means provided in the actuator.

Further, the actuator driver may include means for calculating a blur angle based on the angular velocity information from the blur detection means, and may be able to change the position of the lens by changing the DC offset component of the blur angle.

Further, the actuator driver may include pan/tilt detection means, and change the DC offset component of the position of the imaging lens when it is determined that the pan/tilt operation is performed.

The present disclosure includes the following image correction methods. The image correction method is an image correction method in an image pickup apparatus capable of correcting image blur by changing the position of the image pickup lens with an actuator in response to the blurring that has occurred, wherein the image pickup lens is moved at a predetermined timing. A process of forcibly changing the DC offset component of the position, a process of storing the position information of the imaging lens immediately before forcibly changing the DC offset component of the position of the imaging lens, and imaging after the forcible change. Image shift due to forced changes in the position of the imaging lens is corrected by a process of calculating the difference between the lens position information and the stored position information, and shifting the effective pixel area of the image sensor according to the calculated difference. and a process for performing.

According to the above configuration, when the position of the imaging lens is deviated from the predetermined position, when the imaging lens is forcibly returned to the original predetermined position (centering operation), the image sharply shifts. Since the effective pixel area is also shifted, abrupt image shift is not visible on the monitor screen viewed by the user or on the recorded image, and the user can perform centering without feeling it.

Further, in the image correction method, the position information of the imaging lens may be obtained from a drive signal for an actuator for driving the imaging lens.

Further, in the image correction method, the position information of the imaging lens may be obtained from a signal of a position detection means provided in an actuator for driving the imaging lens.

Further, the image correction method may further include a process of gradually canceling the image shift after correcting the image shift due to the forced positional change of the imaging lens.

Further, in the image correction method, the operation of canceling the image shift may be performed before the next timing of forcibly changing the DC offset component of the position of the imaging lens.

DESCRIPTION OF SYMBOLS 1000... Camera module 1002... Imaging element 1004... Imaging lens 1006... Actuator 1010... Position detecting element 1012... Shaking detection means 1014... Processor 1100... Actuator driver 1102... Interface circuit 1104... A/D Converter 1106 Correction circuit 1107 Gyro controller 1108 Control circuit 1110 Controller 1112 Driver unit 1114 Centering unit 1120 Processor core 1 Entire pixel 2 Effective pixel area 3 Subject image 300 Imaging device 302 Imaging device 304 Imaging lens 306 Processor 308 Gyroscope 310 Holder 312 AF coil 314 Permanent magnet 316 OIS coil 318 Permanent magnet , 320, 322... Hall element 400... Lens control device 402... Actuator 404... Position detection element 406... Temperature detection element 408... Image displacement detection element 500... Actuator driver 510... Position detection unit 512... Hall amplifier 514 A/D converter 520 Temperature detector 522 Constant current circuit 524 A/D converter 530 Corrector 532 Linear compensator 534 Temperature compensator 536 Memory 540... Gyro DSP, 560... Controller, 562... Error detector, 564... PID controller, 570... Driver unit.

Claims (17)

an imaging lens;
an imaging element that captures an image that has passed through the imaging lens;
blur detection means for detecting blur;
an actuator that positions the imaging lens;
an actuator driver capable of forcibly changing the position of the imaging lens while controlling the actuator according to a blur detection signal from the blur detection means;
a processor that processes the output of the imaging device;
with
The processor shifts the effective pixel area of the image pickup device according to the amount of forced change in the position of the image pickup lens to shift the image that occurs when the actuator forcibly changes the position of the image pickup lens. can be corrected by
The actuator driver is configured to output to the processor position information of the imaging lens before and after the forced positional change for calculating a forced change amount of the position of the imaging lens. Device. 2. The image pickup apparatus according to claim 1, wherein the position information of the image pickup lens before and after the forced positional change is a drive signal for the actuator. Further comprising position detection means for generating a position detection signal indicating the position of the imaging lens,
The actuator driver feedback-controls the position of the imaging lens based on the position detection signal,
2. The imaging apparatus according to claim 1, wherein the position information of the imaging lens before and after the forced position change is a DC component of the position detection signal. 4. The imaging apparatus according to claim 2, wherein the positional information of the imaging lens before and after the forced positional change is a DC component of the shake detection signal. 2. The image pickup apparatus according to claim 1, further comprising pan/tilt detection means, wherein the actuator driver is configured to forcibly change the position of the image pickup lens when the pan/tilt operation is determined. . 2. The imaging device of claim 1, wherein the processor is configured to gradually release the shift of the effective pixel area. 7. The imaging apparatus according to claim 6, wherein the processor is configured to perform the operation of canceling the shift of the effective pixel area by the next timing of forcibly changing the position of the imaging lens. An actuator driver that drives an actuator that positions an imaging lens for correcting image blur,
Based on the position information of the imaging lens, the DC component of the position of the imaging lens can be forcibly changed. an actuator driver for outputting position information of the imaging lens before and after each positional change to a processor for extracting an image within an effective pixel area. 9. The actuator driver according to claim 8, wherein position information of said imaging lens before and after said forced position change is obtained from a drive current of said actuator. 9. The actuator driver according to claim 8, wherein position information of said imaging lens before and after said forced positional change is obtained from a position detection signal from position detection means provided in said actuator. a calculation unit for calculating a shake angle based on angular velocity information from the shake detection means;
The actuator driver according to claim 9 or 10, configured to forcibly change the position of the imaging lens by changing the DC component of the shake angle. A pan/tilt detection means is provided,
9. The actuator driver according to claim 8, configured to change the DC component of the position of the imaging lens when it is determined that the pan/tilt operation is performed. a step of capturing an image that has passed through an imaging lens with an imaging device;
detecting blur;
an actuator driver driving an actuator in accordance with the shake to displace the imaging lens positioned by the actuator ;
the actuator driver driving the actuator to forcibly change the position of the imaging lens;
The actuator driver stores both the position information of the imaging lens immediately before forcibly changing the position of the imaging lens and the position information of the imaging lens after forcibly changing the position of the imaging lens within an effective pixel area. outputting the image to a processor for extraction;
calculating an amount of change in the forced position based on the position information of the imaging lens before and after the forced position change;
a step of shifting an effective pixel area of the imaging device according to the amount of forced positional change;
An imaging method comprising: 14. The imaging method according to claim 13, wherein the positional information of said imaging lens before and after said forced positional change is obtained from a driving current of said actuator. 14. The imaging method according to claim 13, further comprising the step of generating the position information of said imaging lens before and after said forced positional change from a position detection signal from position detection means provided in said actuator. 14. The imaging method according to claim 13, further comprising the step of gradually canceling the effective pixel area after shifting the effective pixel area of the imaging element. 17. The imaging method according to claim 16, wherein the operation of canceling the shift of the effective pixel area is performed by the next timing for forcibly changing the position of the imaging lens.

Images