# Patent

## Title
Anti-shake apparatus

## Abstract

An anti-shake apparatus for image stabilizing comprises an angular velocity sensor and a controller. The angular velocity sensor detects an angular velocity. The controller controls the angular velocity sensor and performs an anti-shake operation on the basis of an output signal from the angular velocity sensor. The controller performs a reduction of the value of the output signal during a predetermined period of the anti-shake operation, and does not perform the reduction except for during the predetermined period.

## Background
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an anti-shake apparatus for a photographing apparatus, and in particular to the reduction of an output signal from the angular velocity sensor in a predetermined period of the anti-shake operation.
2. Description of the Related Art
An anti-shake apparatus for a photographing apparatus is proposed. The anti-shake apparatus corrects for hand-shake effect by moving a hand-shake correcting lens or an imaging device on a plane that is perpendicular to the optical axis, corresponding to the amount of hand-shake which occurs during the imaging process.
Japanese unexamined patent publication (KOKAI) No. 2003-43544 discloses an anti-shake apparatus that includes a detection apparatus that detects oscillation based on the shock caused by the OPEN/CLOSE operation of the shutter and that correctly detects the hand-shake quantity considering this shock.
However, in this case it is necessary to include detection apparatus which detects the oscillation other than an angular velocity sensor, which causes the construction of the anti-shake apparatus to become complicated.
SUMMARY OF THE INVENTION
Therefore, an object of the present invention is to provide an anti-shake apparatus (an image stabilizing apparatus) that correctly detects the hand-shake quantity during a predetermined period of the anti-shake operation without complicating the construction of the anti-shake apparatus.
According to the present invention, an anti-shake apparatus for image stabilizing comprises an angular velocity sensor and a controller. The angular velocity sensor detects an angular velocity. The controller controls the angular velocity sensor and performs an anti-shake operation on the basis of an output signal from the angular velocity sensor. The controller performs a reduction of the value of the output signal during a predetermined period of the anti-shake operation, and does not perform the reduction except for during the predetermined period.



BRIEF DESCRIPTION OF THE DRAWINGS
The objects and advantages of the present invention will be better understood from the following description, with reference to the accompanying drawings in which:
FIG. 1 is a perspective rear view of the first and second embodiments of the photographing apparatus viewed from the back side;
FIG. 2 is a front view of the photographing apparatus;
FIG. 3 is a circuit construction diagram of the photographing apparatus in the first embodiment;
FIG. 4 is a flowchart that shows the main operation of the photographing apparatus in the first and second embodiments;
FIG. 5 is a flowchart that shows the detail of the interruption process of the timer in the first embodiment;
FIG. 6 is a figure that shows calculations in the anti-shake operation in the first and second embodiments;
FIG. 7 is a flowchart that shows the detail of the shock gain calculation in the first embodiment;
FIG. 8 is a circuit construction diagram of the photographing apparatus in the second embodiment;
FIG. 9 is a flowchart that shows the detail of the interruption process of the timer in the second embodiment; and
FIG. 10 is a flowchart that shows the detail of the DLPF calculation in the second embodiment.



DESCRIPTION OF THE PREFERRED EMBODIMENTS
The present invention is described below with reference to the first and second embodiments shown in the drawings. In the first and second embodiments, the photographing apparatus 1 is a digital single-lens reflex camera. A camera lens 67 of the photographing apparatus 1 has an optical axis LX.
In order to explain the direction in the first and second embodiments, a first direction x, a second direction y, and a third direction z are defined (see FIG. 1). The first direction x is a direction which is perpendicular to the optical axis LX. The second direction y is a direction which is perpendicular to the optical axis LX and the first direction x. The third direction z is a direction which is parallel to the optical axis LX and perpendicular to both the first direction x and the second direction y.
The first embodiment is explained as follows.
The imaging part of the photographing apparatus 1 comprises a PON button 11, a PON switch 11a, a photometric switch 12a, a release button 13, a release switch 13a, an anti-shake button 14, an anti-shake switch 14a, an indicating unit 17 such as an LCD monitor etc., a mirror-aperture-shutter unit 18, a DSP 19, a CPU 21, an AE (automatic exposure) unit 23, an AF (automatic focus) unit 24, an imaging unit 39a in the anti-shake unit 30, and a camera lens 67 (see FIGS. 1, 2, and 3).
Whether the PON switch 11a is in the ON state or the OFF state, is determined by the state of the PON button 11, so that the ON/OFF states of the photographing apparatus 1 correspond to the ON/OFF states of the PON switch 11a. 
The photographic subject image is captured as an optical image through the camera lens 67 by the imaging unit 39a, and the captured image is displayed on the indicating unit 17. The photographic subject image can be optically observed by the optical finder (not depicted).
When the release button 13 is partially depressed by the operator, the photometric switch 12a changes to the ON state so that the photometric operation, the AF sensing operation, and the focusing operation are performed.
When the release button 13 is fully depressed by the operator, the release switch 13a changes to the ON state so that the imaging operation by the imaging unit 39a (the imaging apparatus) is performed, and the image, which is captured, is stored.
In the first embodiment, the anti-shake operation is performed from the point when the release switch 13a is set to the ON state, to the point when the release sequence operation (the photographing operation) is finished.
The mirror-aperture-shutter unit 18 is connected to port P7 of the CPU 21 and performs an UP/DOWN operation of the mirror 18a (a mirror-up operation and a mirror-down operation), an OPEN/CLOSE operation of the aperture, and an OPEN/CLOSE operation of a shutter 18b all of which correspond to the ON state of the release switch 13a. 
While the mirror-up operation of the mirror 18a is being performed, or while the mirror up switch (not depicted) is set to the ON state so that the movement of the front curtain of the shutter 18b is performed, a front curtain movement signal (not depicted) is set to the ON state.
The DSP 19 is connected to port P9 of the CPU 21, and it is connected to the imaging unit 39a. Based on a command from the CPU 21, the DSP 19 performs the calculation operations, such as the image processing operation etc., on the image signal obtained by the imaging operation of the imaging unit 39a. 
The CPU 21 is a control apparatus that controls each part of the photographing apparatus 1 regarding the imaging operation and the anti-shake operation (i.e. the image stabilizing operation). The anti-shake operation includes both the movement of the movable unit 30a and position-detection efforts.
Further, the CPU 21 stores a value of the anti-shake parameter IS that determines whether the photographing apparatus 1 is in anti-shake mode or not, a value of the shock gain parameter GAIN, a value of the first time counter MR that is related to the shock of the mirror-up operation of the mirror 18a, a value of the second time counter ST that is related to the shock of the OPEN operation of the shutter 18b, and a value of the release state parameter RP.
The value of the release state parameter RP changes with respect to the release sequence operation. When the release sequence operation is performed, the value of the release state parameter RP is set to 1 (see steps S21 to S30 in FIG. 4), and when the release sequence operation is finished, the value of the release state parameter RP is set (reset) to 0 (see steps S13 and S30 in FIG. 4).
The first time counter MR is a time counter of the elapsed time from the point when the mirror-up operation of the mirror 18a commences, which functions by increasing the value of the first time counter MR by 1, with every interruption process that occurs at a predetermined time interval of 1 ms, under a predetermined condition (see step S80 in FIG. 7).
The second time counter ST is a time counter of the elapsed time from the point when the movement of the front curtain of the shutter 18b commences, which functions by increasing the value of the second time counter ST by 1, with every interruption process that occurs at a predetermined time interval of 1 ms, under a predetermined condition (see step S90 in FIG. 7).
The shock gain parameter GAIN is a value of gain that is used to calculate the first and second digital angular velocity signals Vxn and Vyn by adjusting the gain corresponding to the shock (impact) caused by the mirror-up operation and the mirror-down operation of the mirror 18a and the OPEN/CLOSE operation of the shutter 18b, from the first and second before-gain digital angular velocity signals BVxn and BVyn. In other words, in the adjustment of gain, the values of the first and second before-gain digital angular velocity signals BVxn and BVyn are reduced (shrunk), so that the values of the first and second digital angular velocity signals Vxn and Vyn are respectively reduced values of the first and second before-gain digital angular velocity signals BVxn and BVyn.
In the first embodiment, the first digital angular velocity signal Vxn is calculated by performing the adjustment of gain on the first before-gain digital angular velocity signal BVxn that is based on the first angular velocity vx.
Similarly, the second digital angular velocity signal Vyn is calculated by performing the adjustment of gain on the second before-gain processing digital angular velocity signal BVyn that is based on the second angular velocity vy.
The adjustment of the gain using the shock gain parameter GAIN is performed when the value of the first time counter MR is less than or equal to a first reference time SMT for the mirror-up operation, or when the value of the second time counter ST is less than or equal to a second reference time SST for the movement of the front curtain of the shutter 18b. 
The value of the shock gain parameter GAIN (value of gain) is set corresponding to the value of the first time counter MR, the value of the second time counter ST, the temperatures of the first and second angular velocity sensors 26a and 26b (for the calculation of the shock gain, see step S52 in FIG. 5).
Specifically, when the value of the first time counter MR is less than or equal to the first reference time SMT and when the temperatures of the first and second angular velocity sensors 26a and 26b are higher than a first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄4 (see step S76 in FIG. 7).
When the value of the first time counter MR is less than or equal to the first reference time SMT and when the temperatures of the first and second angular velocity sensors 26a and 26b are higher than a second temperature T2 and are lower than or equal to the first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄8 (see step S78 in FIG. 7).
When the value of the first time counter MR is less than or equal to the first reference time SMT and when the temperatures of the first and second angular velocity sensors 26a and 26b are lower than or equal to the second temperature T2, the value of the shock gain parameter GAIN is set to 1/16 (see step S79 in FIG. 7).
When the value of the second time counter ST is less than or equal to the second reference time SST and when the temperatures of the first and second angular velocity sensors 26a and 26b are higher than a first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄4 (see step S86 in FIG. 7).
When the value of the second time counter ST is less than or equal to the second reference time SST and when the temperatures of the first and second angular velocity sensors 26a and 26b are higher than a second temperature T2 and are lower than or equal to the first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄8 (see step S88 in FIG. 7).
When the value of the second time counter ST is less than or equal to the second reference time SST and when the temperatures of the first and second angular velocity sensors 26a and 26b are lower than or equal to the second temperature T2, the value of the shock gain parameter GAIN is set to 1/16 (see step S89 in FIG. 7).
The first reference time SMT is defined as a first time which elapses from the point when the mirror-up operation of the mirror 18a commences to when the mirror-up operation of the mirror 18a is finished (to the point when the oscillation caused by the mirror-up operation of the mirror 18a is stabilized).
The second reference time SST is defined as a second time which elapses from the point when the movement of the front curtain of the shutter 18b commences to the point when the movement of the front curtain of the shutter 18b is finished (to the point when the oscillation caused by the movement of the front curtain of the shutter 18b is stabilized).
However, the second reference time SST may be defined as a third time which elapses from the point when a predetermined time has elapsed, after movement of the front curtain of the shutter 18b commences to the point when the movement of the front curtain of the shutter 18b is finished.
In the first embodiment, the first temperature T1 is set to 10° C. and the second temperature T2 is set to 0° C.
The value of the first temperature T1, the value of the second temperature T2, the value of the first reference time SMT, and the value of the second reference time SST are fixed values and are stored in the CPU 21.
The shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b in the release sequence operation propagates to the first and second angular velocity sensors 26a and 26b. In this case, the first and second angular velocity sensors 26a and 26b detect oscillations (angular velocities) including the oscillation based on the shock of the mirror-up operation and the movement of the front curtain, so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b cannot be performed correctly.
Further, because the response characteristic of the angular velocity sensor increases as the temperature rises, the quantity of oscillation that is detected by the angular velocity sensor changes with temperature so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b cannot be performed correctly.
However, in the first embodiment, the adjustment of the gain of the digital angular velocity signal is performed corresponding to the temperatures of the first and second angular velocity sensors 26a and 26b, during the mirror-up operation and the movement of the front curtain. Therefore, the anti-shake operation can be performed correctly, even if an oscillation that is different from the oscillation corresponding to the hand-shake is detected by the first and second angular velocity sensors 26a and 26b. 
The CPU 21 performs the release sequence operation after the release switch 13a is set to the ON state.
Further, the CPU 21 stores values of a first before-gain digital angular velocity signal BVxn, a second before-gain digital angular velocity signal BVyn, a first initial value of the digital angular velocity signal IVx, a second initial value of the digital angular velocity signal IVy, a first digital angular velocity signal Vxn, a second digital angular velocity signal Vyn, a first digital angular velocity VVxn, a second digital angular velocity VVyn, a digital displacement angle Bxn, a second digital displacement angle Byn, a coordinate of position Sn in the first direction x: Sxn, a coordinate of position Sn in the second direction y: Syn, a first driving force Dxn, a second driving force Dyn, a coordinate of position Pn after A/D conversion in the first direction x: pdxn, a coordinate of position Pn after A/D conversion in the second direction y: pdyn, a first subtraction value exn, a second subtraction value eyn, a first proportional coefficient Kx, a second proportional coefficient Ky, a sampling cycle θ of the anti-shake operation, a first integral coefficient Tix, a second integral coefficient Tiy, a first differential coefficient Tdx, and a second differential coefficient Tdy.
The AE unit (an exposure calculating unit) 23 performs the photometric operation and calculates the photometric values, based on the subject being photographed. The AE unit 23 also calculates the aperture value and the time length of the exposure, with respect to the photometric values, both of which are needed for imaging. The AF unit 24 performs the AF sensing operation and the corresponding focusing operation, both of which are needed for imaging. In the focusing operation, the camera lens 67 is re-positioned along the optical axis in the LX direction.
The anti-shake part (the anti-shake apparatus) of the photographing apparatus 1 comprises an anti-shake button 14, an anti-shake switch 14a, an indicating unit 17, a CPU 21, an angular velocity detection unit 25, a driver circuit 29, an anti-shake unit 30, a hall-element signal-processing unit 45 (a magnetic-field change-detecting element), and the camera lens 67.
When the anti-shake button 14 is depressed by the operator, the anti-shake switch 14a is changed to the ON state so that the anti-shake operation, in which the angular velocity detection unit 25 and the anti-shake unit 30 are driven independently of the other operations which include the photometric operation etc., is carried out at the predetermined time interval. When the anti-shake switch 14a is in the ON state, in other words in the anti-shake mode, the anti-shake parameter IS is set to 1 (IS=1). When the anti-shake switch 14a is not in the ON state, in other words in the non-anti-shake mode, the anti-shake parameter IS is set to 0 (IS=0). In the first embodiment, the value of the predetermined time interval is set to 1 ms.
The various output commands corresponding to the input signals of these switches are controlled by the CPU 21.
The information regarding whether the photometric switch 12a is in the ON state or OFF state is input to port P12 of the CPU 21 as a 1-bit digital signal. The information regarding whether the release switch 13a is in the ON state or OFF state is input to port P13 of the CPU 21 as a 1-bit digital signal. The information regarding whether the anti-shake switch 14a is in the ON state or OFF state is input to port P14 of the CPU 21 as a 1-bit digital signal.
The AE unit 23 is connected to port P4 of the CPU 21 for inputting and outputting signals. The AF unit 24 is connected to port P5 of the CPU 21 for inputting and outputting signals. The indicating unit 17 is connected to port P6 of the CPU 21 for inputting and outputting signals.
Next, the details of the input and output relationships between the CPU 21 and the angular velocity detection unit 25, the driver circuit 29, the anti-shake unit 30, and the hall-element signal-processing unit 45 are explained.
The angular velocity detection unit 25 has a first angular velocity sensor 26a, a second angular velocity sensor 26b, a first temperature sensor 26c, a second temperature sensor 26d, a first high-pass filter circuit 27a, a second high-pass filter circuit 27b, a first amplifier 28a and a second amplifier 28b. 
The first angular velocity sensor 26a detects the angular velocity of a rotary motion (the yawing) of the photographing apparatus 1 about the axis of the second direction y (the velocity-component in the first direction x of the angular velocity of the photographing apparatus 1). The first angular velocity sensor 26a is a gyro sensor that detects a yawing angular velocity.
The second angular velocity sensor 26b detects the angular velocity of a rotary motion (the pitching) of the photographing apparatus 1 about the axis of the first direction x (detects the velocity-component in the second direction y of the angular velocity of the photographing apparatus 1). The second angular velocity sensor 26b is a gyro sensor that detects a pitching angular velocity.
The first high-pass filter circuit 27a reduces a low frequency component of the signal output from the first angular velocity sensor 26a, because the low frequency component of the signal output from the first angular velocity sensor 26a includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake.
The second high-pass filter circuit 27b reduces a low frequency component of the signal output from the second angular velocity sensor 26b, because the low frequency component of the signal output from the second angular velocity sensor 26b includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake.
The first amplifier 28a amplifies a signal regarding the yawing angular velocity, whose low frequency component has been reduced, and outputs the analog signal to the A/D converter A/D 0 of the CPU 21 as a first angular velocity vx.
The second amplifier 28b amplifies a signal regarding the pitching angular velocity, whose low frequency component has been reduced, and outputs the analog signal to the A/D converter A/D 1 of the CPU 21 as a second angular velocity vy.
The reduction of the low frequency signal component is a two-step process; the primary part of the analog high-pass filter processing operation is performed first by the first and second high-pass filter circuits 27a and 27b, followed by the secondary part of the digital high-pass filter processing operation that is performed by the CPU 21.
The cut off frequency of the secondary part of the digital high-pass filter processing operation is higher than that of the primary part of the analog high-pass filter processing operation.
In the digital high-pass filter processing operation, the value of a time constant (a first high-pass filter time constant hx and a second high-pass filter time constant hy) can be easily changed.
The first temperature sensor 26c detects the temperature of the first angular velocity sensor 26a. The second temperature sensor 26d detects the temperature of the second angular velocity sensor 26b. 
Information regarding temperature of the first angular velocity sensor 26a which is detected by the first temperature sensor 26c is input to the A/D converter A/D 4 of the CPU 21. Similarly, information regarding temperature of the second angular velocity sensor 26b which is detected by the second temperature sensor 26d is input to the A/D converter A/D 5 of the CPU 21. However, the angular velocity detection unit 25 may have only one temperature sensor that detects the temperature of at least one of the first and second angular velocity sensors 26a and 26b. 
Further, regarding the value of the temperature of the first and second angular velocity sensors 26a and 26b, the value of the temperature of the photographing apparatus 1 may be used because the value of the temperature of the photographing apparatus 1 is obtained in the photometric operation of the AE unit 23 or in the AF sensing operation of the AF unit 24. In this case, the first and second temperature sensors 26c and 26d are unnecessary.
The detection of the temperature of the first and second angular velocity sensors 26a and 26b may be performed at every predetermined time interval of 1 ms corresponding to the interruption process which is performed at every predetermined time interval of 1 ms, or may be performed only one time at the point when the anti-shake operation commences (when the release sequence operation commences, see step S21 in FIG. 4).
The supply of electric power to the CPU 21 and each part of the angular velocity detection unit 25 begins after the PON switch 11a is set to the ON state (the main power supply is set to the ON state). The calculation of a hand-shake quantity begins after the PON switch 11a is set to the ON state.
The CPU 21 converts the first angular velocity vx, which is input to the A/D converter A/D 0, to a first before-gain digital angular velocity signal BVxn (A/D conversion operation); calculates a first digital angular velocity signal Vxn (with the adjustment of gain corresponding to the shock caused by the mirror-up operation of the mirror 18a, the shock caused by the movement of the front curtain of the shutter 18b, and the temperature of the first and second angular velocity sensors 26a and 26b); calculates a first digital angular velocity VVxn by reducing a low frequency component of the first digital angular velocity signal Vxn (the digital high-pass filter processing operation) because the low frequency component of the first digital angular velocity signal Vxn includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake; and calculates a hand shake quantity (a hand shake displacement angle: a first digital displacement angle Bxn) by integrating the first digital angular velocity VVxn (the integration processing operation).
Similarly the CPU 21 converts the second angular velocity vy, which is input to the A/D converter A/D 1, to a second before-gain digital angular velocity signal BVyn (A/D conversion operation); calculates a second digital angular velocity signal Vyn (with the adjustment of gain corresponding to the shock caused by the mirror-up operation of the mirror 18a, the shock caused by the movement of the front curtain of the shutter 18b, and the temperature of the first and second angular velocity sensors 26a and 26b); calculates a second digital angular velocity VVyn by reducing a low frequency component of the second digital angular velocity signal Vyn (the digital high-pass filter processing operation) because the low frequency component of the second digital angular velocity signal Vyn includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake; and calculates a hand shake quantity (a hand shake displacement angle: a second digital displacement angle Byn) by integrating the second digital angular velocity VVyn (the integration processing operation).
Accordingly, the CPU 21 and the angular velocity detection unit 25 use a function to calculate the hand-shake quantity, as explained above.
The value “n” is an integer that is greater than 1, and indicates a length of time (ms) which elapses from the point when the interruption process of the timer commences, (t=1, and see step S12 in FIG. 4) to the point when the latest anti-shake operation is performed (t=n).
The adjustment of the gain in the first direction x, that is a calculation of the first digital angular velocity signal Vxn (see “calculation” of (1) in FIG. 6), is performed with a calculation based on the first before-gain digital angular velocity signal BVxn, the first initial value of the digital angular velocity signal IVx, and the shock gain parameter GAIN (Vxn=(BVxn−IVx)×GAIN+IVx, see step S91 in FIG. 7).
Similarly, the adjustment of the gain in the second direction y, that is a calculation of the second digital angular velocity signal Vyn, is performed with a calculation based on the second before-gain digital angular velocity signal BVyn, the second initial value of the digital angular velocity signal IVy, and the shock gain parameter GAIN (Vyn=(BVyn−IVy)×GAIN+IVy).
The value of the first initial value of the digital angular velocity signal IVx is set to the value of the first digital angular velocity signal Vxn when the mirror-up operation commences, i.e. MR=0 or when the movement of the front curtain commences, i.e. ST=0 (see steps S73 and S83 in FIG. 7).
Similarly, the value of the second initial value of the digital angular velocity signal IVy is set to the value of the second digital angular velocity signal Vyn when the mirror-up operation commences, i.e. MR=0 or when the movement of the front curtain commences, i.e. ST=0.
The adjustment of the gain is not performed except for (at a time other than) when the mirror-up operation or the movement of the front curtain is performed.
In the digital high-pass filter processing operation regarding the first direction x, the first digital angular velocity VVxn is calculated by dividing the summation of the first digital angular velocity VVx1 to VVxn-1 calculated by the interruption process of the timer before the 1 ms predetermined time interval (before the latest anti-shake operation is performed), by the first high-pass filter time constant hx, and then subtracting the resulting quotient from the first digital angular velocity signal Vxn (VVxn=Vxn−(ΣVVxn-1)÷hx, see (1) in FIG. 6).
In the digital high-pass filter processing operation regarding the second direction y, the second digital angular velocity VVyn is calculated by dividing the summation of the second digital angular velocity VVy1 to VVyn-1 calculated by the interruption process of the timer before the 1 ms predetermined time interval (before the latest anti-shake operation is performed), by the second high-pass filter time constant hy, and then subtracting the resulting quotient from the second digital angular velocity signal Vyn (VVyn=Vyn−(ΣVVyn-1)÷hy).
In the first embodiment, the angular velocity detection operation in (portion of) the interruption process of the timer includes a process in the angular velocity detection unit 25 and a process of inputting process of the first and second angular velocities vx and vy from the angular velocity detection unit 25 to the CPU 21.
In the integration processing operation regarding the first direction x, the first digital displacement angle Bxn is calculated by the summation from the first digital angular velocity vvx1 at the point when the interruption process of the timer commences, t=1, (see step S12 in FIG. 4) to the first digital angular velocity VVxn at the point when the latest anti-shake operation is performed (t=n), (Bxn=ΣVVxn, see (3) in FIG. 6).
Similarly, in the integration processing operation regarding the second direction y, the second digital displacement angle Byn is calculated by the summation from the second digital angular velocity VVyn at the point when the interruption process of the timer commences to the second digital angular velocity VVyn at the point when the latest anti-shake operation is performed (Byn=ΣVVyn).
The CPU 21 calculates the position Sn where the imaging unit 39a (the movable unit 30a) should be moved, corresponding to the hand-shake quantity (the first and second digital displacement angles Bxn and Byn) calculated for the first direction x and the second direction y, based on a position conversion coefficient zz (a first position conversion coefficient zx for the first direction x and a second position conversion coefficient zy for the second direction y).
The coordinate of position Sn in the first direction x is defined as Sxn, and the coordinate of position Sn in the second direction y is defined as Syn. The movement of the movable unit 30a, which includes the imaging unit 39a, is performed by using electro-magnetic force and is described later.
The driving force Dn drives the driver circuit 29 in order to move the movable unit 30a to the position Sn. The coordinate of the driving force Dn in the first direction x is defined as the first driving force Dxn (after D/A conversion: a first PWM duty dx). The coordinate of the driving force Dn in the second direction y is defined as the second driving force Dyn (after D/A conversion: a second PWM duty dy).
In a positioning operation regarding the first direction x, the coordinate of position Sn in the first direction x is defined as Sxn, and is the product of the latest first digital displacement angle Bxn and the first position conversion coefficient zx (Sxn=zx×Bxn, see (3) in FIG. 6).
In a positioning operation regarding the second direction y, the coordinate of position Sn, in the second direction y is defined as Syn, and is the product of the latest second digital displacement angle Byn and the second position conversion coefficient zy (Syn=zy×Byn).
The anti-shake unit 30 is an apparatus that corrects for hand-shake effect by moving the imaging unit 39a to the position Sn, by canceling the lag of the photographing subject image on the imaging surface of the imaging device of the imaging unit 39a, and by stabilizing the photographing subject image displayed on the imaging surface of the imaging device, during the exposure time and when the anti-shake operation is performed (IS=1).
The anti-shake unit 30 has a fixed unit 30b, and a movable unit 30a which includes the imaging unit 39a and can be moved about on the xy plane.
During the exposure time when the anti-shake operation is not performed (IS=0), the movable unit 30a is fixed to (held at) a predetermined position. In the first embodiment, the predetermined position is at the center of the range of movement.
The anti-shake unit 30 does not have a fixed-positioning mechanism that maintains the movable unit 30a in a fixed position when the movable unit 30a is not being driven (drive OFF state).
The driving of the movable unit 30a of the anti-shake unit 30, including movement to a predetermined fixed (held) position, is performed by the electro-magnetic force of the coil unit for driving and the magnetic unit for driving, through the driver circuit 29 which has the first PWM duty dx input from the PWM 0 of the CPU 21 and has the second PWM duty dy input from the PWM 1 of the CPU 21 (see (5) in FIG. 6).
The detected-position Pn of the movable unit 30a, either before or after the movement effected by the driver circuit 29, is detected by the hall element unit 44a and the hall-element signal-processing unit 45.
Information regarding the first coordinate of the detected-position Pn in the first direction x, in other words a first detected-position signal px, is input to the A/D converter A/D 2 of the CPU 21 (see (2) in FIG. 6). The first detected-position signal px is an analog signal that is converted to a digital signal by the A/D converter A/D 2 (A/D conversion operation). The first coordinate of the detected-position Pn in the first direction x, after the A/D conversion operation, is defined as pdxn and corresponds to the first detected-position signal px.
Information regarding the second coordinate of the detected-position Pn in the second direction y, in other words a second detected-position signal py, is input to the A/D converter A/D 3 of the CPU 21. The second detected-position signal py is an analog signal that is converted to a digital signal by the A/D converter A/D 3 (A/D conversion operation). The second coordinate of the detected-position Pn in the second direction y, after the A/D conversion operation, is defined as pdyn and corresponds to the second detected-position signal py.
The PID (Proportional Integral Differential) control calculates the first and second driving forces Dxn and Dyn on the basis of the coordinate data for the detected-position Pn (pdxn, pdyn) and the position Sn (Sxn, Syn) following movement.
The calculation of the first driving force Dxn is based on the first subtraction value exn, the first proportional coefficient Kx, the sampling cycle θ, the first integral coefficient Tix, and the first differential coefficient Tdx (Dxn=Kx×{exn+θ÷Tix×Σexn+Tdx÷θ×(exn−exn-1)}, see (4) in FIG. 6). The first subtraction value exn is calculated by subtracting the first coordinate of the detected-position Pn in the first direction x after the A/D conversion operation, pdxn, from the coordinate of position Sn in the first direction x, Sxn (exn=Sxn−pdxn).
The calculation of the second driving force Dyn is based on the second subtraction value eyn, the second proportional coefficient Ky, the sampling cycle θ, the second integral coefficient Tiy, and the second differential coefficient Tdy (Dyn=Ky×{eyn+θ÷Tiy×Σeyn+Tdy÷θ×(eyn−eyn-1)}). The second subtraction value eyn is calculated by subtracting the second coordinate of the detected-position Pn in the second direction y after the A/D conversion operation, pdyn, from the coordinate of position Sn in the second direction y, Syn (eyn=Syn−pdyn).
The value of the sampling cycle θ is set to a predetermined time interval of 1 ms.
Driving the movable unit 30a to the position Sn, (Sxn, Syn) corresponding to the anti-shake operation of the PID control, is performed when the photographing apparatus 1 is in the anti-shake mode (IS=1) where the anti-shake switch 14a is set to the ON state.
When the anti-shake parameter IS is 0, the PID control that does not correspond to the anti-shake operation is performed so that the movable unit 30a is moved to the center of the range of movement (the predetermined position).
The movable unit 30a has a coil unit for driving that is comprised of a first driving coil 31a and a second driving coil 32a, an imaging unit 39a that has the imaging device, and a hall element unit 44a as a magnetic-field change-detecting element unit. In the first embodiment, the imaging device is a CCD; however, the imaging device may be another imaging device such as a CMOS etc.
The fixed unit 30b has a magnetic unit for driving that is comprised of a first position-detecting and driving magnet 411b, a second position-detecting and driving magnet 412b, a first position-detecting and driving yoke 431b, and a second position-detecting and driving yoke 432b. 
The fixed unit 30b movably supports the movable unit 30a in the first direction x and in the second direction y.
When the center area of the imaging device is intersected by the optical axis LX of the camera lens 67, the relationship between the position of the movable unit 30a and the position of the fixed unit 30b is arranged so that the movable unit 30a is positioned at the center of its range of movement in both the first direction x and the second direction y, in order to utilize the full size of the imaging range of the imaging device.
A rectangle shape, which is the form of the imaging surface of the imaging device, has two diagonal lines. In the first embodiment, the center of the imaging device is at the intersection of these two diagonal lines.
The first driving coil 31a, the second driving coil 32a, and the hall element unit 44a are attached to the movable unit 30a. 
The first driving coil 31a forms a seat and a spiral shaped coil pattern. The coil pattern of the first driving coil 31a has lines which are parallel to the second direction y, thus creating the first electro-magnetic force to move the movable unit 30a that includes the first driving coil 31a, in the first direction x.
The first electro-magnetic force occurs on the basis of the current direction of the first driving coil 31a and the magnetic-field direction of the first position-detecting and driving magnet 411b. 
The second driving coil 32a forms a seat and a spiral shaped coil pattern. The coil pattern of the second driving coil 32a has lines which are parallel to the first direction x, thus creating the second electromagnetic force to move the movable unit 30a that includes the second driving coil 32a, in the second direction y.
The second electromagnetic force occurs on the basis of the current direction of the second driving coil 32a and the magnetic-field direction of the second position-detecting and driving magnet 412b. 
The first and second driving coils 31a and 32a are connected to the driver circuit 29, which drives the first and second driving coils 31a and 32a, through the flexible circuit board (not depicted). The first PWM duty dx is input to the driver circuit 29 from the PWM 0 of the CPU 21, and the second PWM duty dy is input to the driver circuit 29 from the PWM 1 of the CPU 21. The driver circuit 29 supplies power to the first driving coil 31a that corresponds to the value of the first PWM duty dx, and to the second driving coil 32a that corresponds to the value of the second PWM duty dy, to drive the movable unit 30a. 
The first position-detecting and driving magnet 411b is attached to the movable unit side of the fixed unit 30b, where the first position-detecting and driving magnet 411b faces the first driving coil 31a and the horizontal hall element hh10 in the third direction z.
The second position-detecting and driving magnet 412b is attached to the movable unit side of the fixed unit 30b, where the second position-detecting and driving magnet 412b faces the second driving coil 32a and the vertical hall element hv10 in the third direction z.
The first position-detecting and driving magnet 411b is attached to the first position-detecting and driving yoke 431b, under the condition where the N pole and S pole are arranged in the first direction x. The first position-detecting and driving yoke 431b is attached to the fixed unit 30b, on the side of the movable unit 30a, in the third direction z.
The second position-detecting and driving magnet 412b is attached to the second position-detecting and driving yoke 432b, under the condition where the N pole and S pole are arranged in the second direction y. The second position-detecting and driving yoke 432b is attached to the fixed unit 30b, on the side of the movable unit 30a, in the third direction z.
The first and second position-detecting and driving yokes 431b, 432b are made of a soft magnetic material.
The first position-detecting and driving yoke 431b prevents the magnetic-field of the first position-detecting and driving magnet 411b from dissipating to the surroundings, and raises the magnetic-flux density between the first position-detecting and driving magnet 411b and the first driving coil 31a, and between the first position-detecting and driving magnet 411b and the horizontal hall element hh10.
The second position-detecting and driving yoke 432b prevents the magnetic-field of the second position-detecting and driving magnet 412b from dissipating to the surroundings, and raises the magnetic-flux density between the second position-detecting and driving magnet 412b and the second driving coil 32a, and between the second position-detecting and driving magnet 412b and the vertical hall element hv10.
The hall element unit 44a is a single-axis unit that contains two magnetoelectric converting elements (magnetic-field change-detecting elements) utilizing the Hall Effect to detect the first detected-position signal px and the second detected-position signal py specifying the first coordinate in the first direction x and the second coordinate in the second direction y, respectively, of the present position Pn of the movable unit 30a. 
One of the two hall elements is a horizontal hall element hh10 for detecting the first coordinate of the position Pn of the movable unit 30a in the first direction x, and the other is a vertical hall element hv10 for detecting the second coordinate of the position Pn of the movable unit 30a in the second direction y.
The horizontal hall element hh10 is attached to the movable unit 30a, where the horizontal hall element hh10 faces the first position-detecting and driving magnet 411b of the fixed unit 30b in the third direction z.
The vertical hall element hv10 is attached to the movable unit 30a, where the vertical hall element hv10 faces the second position-detecting and driving magnet 412b of the fixed unit 30b in the third direction z.
When the center of the imaging device intersects the optical axis LX, it is desirable to have the horizontal hall element hh10 positioned on the hall element unit 44a facing an intermediate area between the N pole and S pole of the first position-detecting and driving magnet 411b in the first direction x, as viewed from the third direction z. In this position, the horizontal hall element hh10 utilizes the maximum range in which an accurate position-detecting operation can be performed based on the linear output-change (linearity) of the single-axis hall element.
Similarly, when the center of the imaging device intersects the optical axis LX, it is desirable to have the vertical hall element hv10 positioned on the hall element unit 44a facing an intermediate area between the N pole and S pole of the second position-detecting and driving magnet 412b in the second direction y, as viewed from the third direction z.
The hall-element signal-processing unit 45 has a first hall-element signal-processing circuit 450 and a second hall-element signal-processing circuit 460.
The first hall-element signal-processing circuit 450 detects a horizontal potential-difference x10 between the output terminals of the horizontal hall element hh10 that is based on an output signal of the horizontal hall element hh10.
The first hall-element signal-processing circuit 450 outputs the first detected-position signal px, which specifies the first coordinate of the position Pn of the movable unit 30a in the first direction x, to the A/D converter A/D 2 of the CPU 21, on the basis of the horizontal potential-difference x10.
The second hall-element signal-processing circuit 460 detects a vertical potential-difference y10 between the output terminals of the vertical hall element hv10 that is based on an output signal of the vertical hall element hv10.
The second hall-element signal-processing circuit 460 outputs the second detected-position signal py, which specifies the second coordinate of the position Pn of the movable unit 30a in the second direction y, to the A/D converter A/D 3 of the CPU 21, on the basis of the vertical potential-difference y10.
Next, the main operation of the photographing apparatus 1 in the first embodiment is explained by using the flowchart in FIG. 4.
When the photographing apparatus 1 is set to the ON state, the electrical power is supplied to the angular velocity detection unit 25 so that the angular velocity detection unit 25 is set to the ON state in step S11.
In step S12, the interruption process of the timer at the predetermined time interval (1 ms) commences. In step S13, the value of the release state parameter RP is set to 0. The detail of the interruption process of the timer in the first embodiment is explained later by using the flowchart in FIG. 5.
In step S14, it is determined whether the photometric switch 12a is set to the ON state. When it is determined that the photometric switch 12a is not set to the ON state, the operation returns to step S14 and the process in step S14 is repeated. Otherwise, the operation continues on to step S15.
In step S15, it is determined whether the anti-shake switch 14a is set to the ON state. When it is determined that the anti-shake switch 14a is not set to the ON state, the value of the anti-shake parameter IS is set to 0 in step S16. Otherwise, the value of the anti-shake parameter IS is set to 1 in step S17.
In step S18, the AE sensor of the AE unit 23 is driven, the photometric operation is performed, and the aperture value and exposure time are calculated.
In step S19, the AF sensor and the lens control circuit of the AF unit 24 are driven to perform the AF sensing and focus operations, respectively.
In step S20, it is determined whether the release switch 13a is set to the ON state. When the release switch 13a is not set to the ON state, the operation returns to step S14 and the process in steps S14 to S19 is repeated. Otherwise, the operation continues on to step S21 and then the release sequence operation commences.
In step S21, the value of the release state parameter RP is set to 1.
In step S22, the value of the first time counter MR and the value of the second time counter ST are set to 0.
In step S23, the mirror-up operation of the mirror 18a and the aperture closing operation corresponding to the aperture value that is either preset or calculated, are performed by the mirror-aperture-shutter unit 18.
After the mirror-up operation is finished, the opening operation of the shutter 18b (the movement of the front curtain of the shutter 18b) commences in step S24.
In step S25, the exposure operation, or in other words the electric charge accumulation of the imaging device (CCD etc.), is performed. After the exposure time has elapsed, the closing operation of the shutter 18b (the movement of the rear curtain in the shutter 18b), the mirror-down operation of the mirror 18a, and the opening operation of the aperture are performed by the mirror-aperture-shutter unit 18, in step S26.
In step S27, the electric charge which has accumulated in the imaging device during the exposure time is read. In step S28, the CPU 21 communicates with the DSP 19 so that the image processing operation is performed based on the electric charge read from the imaging device. The image, on which the image processing operation is performed, is stored to the memory in the photographing apparatus 1. In step S29, the image that is stored in the memory is displayed on the indicating unit 17. In step S30, the value of the release state parameter RP is set to 0 so that the release sequence operation is finished, and the operation then returns to step S14, in other words the photographing apparatus 1 is set to a state where the next imaging operation can be performed.
Next, the interruption process of the timer in the first embodiment, which commences in step S12 in FIG. 4 and is performed at every predetermined time interval (1 ms) independent of the other operations, is explained by using the flowchart in FIG. 5.
When the interruption process of the timer commences, the first angular velocity vx, which is output from the angular velocity detection unit 25, is input to the A/D converter A/D 0 of the CPU 21 and converted to the first before-gain digital angular velocity signal BVxn, in step S51. The second angular velocity vy, which is also output from the angular velocity detection unit 25, is input to the A/D converter A/D 1 of the CPU 21 and converted to the second before-gain digital angular velocity signal BVyn (the angular velocity detection operation).
In step S52, the shock gain calculation is performed. Specifically, gains for the first and second before-gain digital angular velocity signals BVxn and BVyn are adjusted corresponding to the shock caused by the mirror-up operation of the mirror 18a, the shock caused by the movement of the front curtain of the shutter 18b, and the temperatures of the first and second angular velocity sensors 26a and 26b. Subsequently, the first and second digital angular velocity signals Vxn and Vyn are calculated. However, except for when the mirror-up operation of the mirror 18a is being performed and when the movement of the front curtain of the shutter 18b is being performed, adjustment of the gain is not performed, and the values of the first and second digital angular velocity signals Vxn and Vyn are set to the same as the values of the first and second before-gain digital angular velocity signals BVxn and BVyn, respectively. The detail of the shock gain calculation in the first embodiment is explained later by using the flowchart in FIG. 7.
The low frequencies of the first and second digital angular velocity signals Vxn and Vyn are reduced in the digital high-pass filter processing operation (the first and second digital angular velocities VVxn and VVyn).
In step S53, it is determined whether the value of the release state parameter RP is set to 1. When it is determined that the value of the release state parameter RP is not set to 1, driving the movable unit 30a is set to OFF state, or the anti-shake unit 30 is set to a state where the driving control of the movable unit 30a is not performed in step S54. Otherwise, the operation proceeds directly to step S55.
In step S55, the hall element unit 44a detects the position of the movable unit 30a, and the first and second detected-position signals px and py are calculated by the hall-element signal-processing unit 45. The first detected-position signal px is then input to the A/D converter A/D 2 of the CPU 21 and converted to a digital signal pdxn, whereas the second detected-position signal py is input to the A/D converter A/D 3 of the CPU 21 and also converted to a digital signal pdyn, both of which thus determine the present position Pn (pdxn, pdyn) of the movable unit 30a. 
In step S56, it is determined whether the value of the anti-shake parameter IS is 0. When it is determined that the value of the anti-shake parameter IS is 0 (IS=0), in other words when the photographing apparatus is not in anti-shake mode, the position Sn (Sxn, Syn) where the movable unit 30a (the imaging unit 39a) should be moved is set at the center of the range of movement of the movable unit 30a, in step S57. When it is determined that the value of the anti-shake parameter IS is not 0 (IS=1), in other words when the photographing apparatus is in anti-shake mode, the position Sn (Sxn, Syn) where the movable unit 30a (the imaging unit 39a) should be moved is calculated on the basis of the first and second angular velocities vx and vy, in step S58.
In step S59, the first driving force Dxn (the first PWM duty dx) and the second driving force Dyn (the second PWM duty dy) of the driving force D, which moves the movable unit 30a to the position Sn, are calculated on the basis of the position Sn (Sxn, Syn) that was determined in step S57, or step S58, and the present position Pn (pdxn, pdyn).
In step S60, the first driving coil unit 31a is driven by applying the first PWM duty dx to the driver circuit 29, and the second driving coil unit 32a is driven by applying the second PWM duty dy to the driver circuit 29, so that the movable unit 30a is moved to position Sn (Sxn, Syn).
The process of steps S59 and S60 is an automatic control calculation that is used with the PID automatic control for performing general (normal) proportional, integral, and differential calculations.
Next, the detail of the shock gain calculation in step S52 in FIG. 5 is explained by using the flowchart in FIG. 7. When the shock gain calculation commences, it is determined whether the mirror up switch (not depicted) for the mirror-up operation of the mirror 18a is set to the ON state, in step S71.
When it is determined that the mirror up switch is set to the ON state, the operation continues to step S72. Otherwise, the operation proceeds directly to step S81.
In step S72, it is determined whether the value of the first time counter MR is set to 0. When it is determined that the value of the first time counter MR is set to 0, then in step S73, the value of the first initial value of the digital angular velocity signal IVx is set to the value of the first digital angular velocity signal Vxn and the value of the second initial value of the digital angular velocity signal IVy is set to the value of the second digital angular velocity signal Vyn. Then the operation continues to step S74. Otherwise, the operation proceeds directly to step S74.
In step S74, it is determined whether the value of the first time counter MR is less than or equal to the first reference time SMT. When it is determined that the value of the first time counter MR is less than or equal to the first reference time SMT, the operation continues to step S75. Otherwise, the operation proceeds directly to step S81.
In step S75, it is determined whether the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the first temperature T1. When it is determined that the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄4 in step S76, and the operation proceeds directly to step S80.
Otherwise, in step S77, it is determined whether the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the second temperature T2. When it is determined that the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the second temperature T2, the value of the shock gain parameter GAIN is set to 1⁄8 in step S78, and the operation proceeds directly to step S80.
Otherwise, the value of the shock gain parameter GAIN is set to 1/16 in step S79, and the operation continues to step S80.
In step S80, the value of the first time counter MR is increased by the value of 1, and the operation proceeds directly to step S91.
In step S81, it is determined whether the front curtain movement signal (not depicted), which indicates the movement of the front curtain of the shutter 18b, is set to the ON state.
When it is determined that the front curtain movement signal is set to the ON state, the operation continues to step S82. Otherwise, the operation (the shock gain calculation) is finished.
In step S82, it is determined whether the value of the second time counter ST is set to 0. When it is determined that the value of the second time counter ST is set to 0, the value of the first initial value of the digital angular velocity signal IVx is set to the value of the first digital angular velocity signal Vxn and the value of the second initial value of the digital angular velocity signal IVy is set to the value of the second digital angular velocity signal Vyn, in step S83, and the operation continues to step S84. Otherwise, the operation proceeds directly to step S84.
In step S84, it is determined whether the value of the second time counter ST is less than or equal to the second reference time SST. When it is determined that the value of the second time counter ST is less than or equal to the second reference time SST, the operation continues to step S85. Otherwise, the operation (the shock gain calculation) is finished.
In step S85, it is determined whether the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the first temperature T1. When it is determined that the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the first temperature T1, the value of the shock gain parameter GAIN is set to 1⁄4 in step S86, and the operation proceeds directly to step S90.
Otherwise, in step S87, it is determined whether the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the second temperature T2. When it is determined that the temperatures of the first and second angular velocity sensors 26a and 26b are higher than the second temperature T2, the value of the shock gain parameter GAIN is set to 1⁄8 in step S88, and the operation proceeds directly to step S90.
Otherwise, the value of the shock gain parameter GAIN is set to 1/16 in step S89, and the operation continues to step S90.
In step S90, the value of the second time counter ST is increased by a value of 1, and the operation proceeds directly to step S91.
In step S91, the first digital angular velocity signal Vxn is calculated on the basis of the first before-gain digital angular velocity signal BVxn, the first initial value of the digital angular velocity signal IVx, and the shock gain parameter GAIN (Vxn=(BVxn−IVx)×GAIN+IVx).
Similarly, the second digital angular velocity signal Vyn is calculated on the basis of the second before-gain digital angular velocity signal BVyn, the second initial value of the digital angular velocity signal IVy, and the shock gain parameter GAIN (Vyn=(BVyn−IVy)×GAIN+IVy). Then the operation (the shock gain calculation) is finished.
In the first embodiment, when the mirror-up operation of the mirror 18a is being performed or when the movement of the front curtain of the shutter 18b is being performed, the gain of the digital angular velocity signal is adjusted on the basis of the temperatures of the first and second angular velocity sensors 26a and 26b. 
The shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b in the release sequence operation propagates to the first and second angular velocity sensors 26a and 26b. In this case, the first and second angular velocity sensors 26a and 26b detect oscillation (angular velocities), including an oscillation based on the shock of the mirror-up operation and the movement of the front curtain, so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b (the detection of the hand-shake quantity) cannot be performed correctly.
However, in the first embodiment, an adjustment of gain of the digital angular velocity signal is performed during the mirror-up operation and the movement of the front curtain. Therefore, the anti-shake operation can be performed correctly, even if an oscillation differing from the oscillation caused by hand-shake is detected by the first and second angular velocity sensors 26a and 26b. 
Further, in the first embodiment, the detection of the oscillation caused by shock differing from the oscillation caused by hand-shake is not detected by any detection apparatus except for the angular velocity sensor. Therefore, it is unnecessary to include detection apparatus aside from the angular velocity sensor, in order that the anti-shake operation can be performed correctly, even if an oscillation differing from the oscillation caused by hand-shake is detected by the first and second angular velocity sensors 26a and 26b, and to avoid complicating the construction of the anti-shake apparatus.
Further, because the response characteristic of the angular velocity sensor increases as the temperature rises, the quantity of oscillation that is detected by the angular velocity sensor changes with temperature so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b (the detection of the hand-shake quantity) cannot be performed correctly.
However, in the first embodiment, an adjustment of gain is performed considering the temperature of the angular velocity sensors by using the temperature sensors. Therefore, the anti-shake operation can be performed correctly.
Next, the second embodiment is explained. In the first embodiment, in order to perform the anti-shake operation correctly, an adjustment of gain of the digital angular velocity signal is performed. In the second embodiment, in order to perform the anti-shake operation correctly (to detect the hand-shake quantity correctly), a low-pass filter processing operation is performed on the digital angular velocity signal. The points that differ from the first embodiment are explained as follows.
The first time counter MR is the time counter of an elapsed time from the point when the mirror-up operation of the mirror 18a commences, which functions by increasing the value of the first time counter MR by 1, with every interruption process that occurs at a predetermined time interval of 1 ms, under a predetermined condition (see step S174 in FIG. 10).
The second time counter ST is the time counter of an elapsed time from the point when the movement of the front curtain of the shutter 18b commences, which functions increasing the value of the second time counter ST by 1, with every interruption process that occurs at a predetermined time interval of 1 ms, under a predetermined condition (see step S179 in FIG. 10).
The first reference time SMT is defined as a first time which elapses from the point when the mirror-up operation of the mirror 18a commences to the point when the mirror-up operation of the mirror 18a is finished (to the point when the oscillation caused by the mirror-up operation of the mirror 18a is stabilized).
The second reference time SST is defined as a second time which elapses from the point when the movement of the front curtain of the shutter 18b commences to the point when the movement of the front curtain of the shutter 18b is finished (to the point when the oscillation caused by the movement of the front curtain of the shutter 18b is stabilized).
However, the second reference time SST may also be defined as a third time which elapses from the point when a predetermined time has elapsed, after movement of the front curtain of the shutter 18b commences to the point when the movement of the front curtain of the shutter 18b is finished.
The value of the first reference time SMT, and the value of the second reference time SST are fixed values and are stored in the CPU 21.
Further, the CPU 21 stores values of a first before-DLPF processing digital angular velocity signal CVxn, a second before-DLPF processing digital angular velocity signal CVyn, a first mirror-shock reference value MVx, a second mirror-shock reference value MVy, a first shutter-shock reference value SVx, a second shutter-shock reference value SVy, a first digital angular velocity signal Vxn, a second digital angular velocity signal Vyn, a first digital angular velocity VVxn, a second digital angular velocity VVyn, a digital displacement angle Bxn, a second digital displacement angle Byn, a coordinate of position Sn in the first direction x: Sxn, a coordinate of position Sn in the second direction y: Syn, a first driving force Dxn, a second driving force Dyn, a coordinate of position Pn after A/D conversion in the first direction x: pdxn, a coordinate of position Pn after A/D conversion in the second direction y: pdyn, a first subtraction value exn, a second subtraction value eyn, a first proportional coefficient Kx, a second proportional coefficient Ky, a sampling cycle θ of the anti-shake operation, a first integral coefficient Tix, a second integral coefficient Tiy, a first differential coefficient Tdx, and a second differential coefficient Tdy.
In the second embodiment, the first digital angular velocity signal Vxn is calculated by performing the digital low-pass filter processing operation on the first before-DLPF processing digital angular velocity signal CVxn that is based on the first angular velocity vx.
Similarly, the second digital angular velocity signal Vyn is calculated by performing the digital low-pass filter processing operation on the second before-DLPF processing digital angular velocity signal CVyn that is based on the second angular velocity vy.
In the digital low-pass filter processing operation, the output corresponding to the shock (impact) caused by the mirror-up operation and the mirror-down operation of the mirror 18a and the OPEN/CLOSE operation of the shutter 18b is damped down; i.e. the high frequency component corresponding to the shock in the digital output signal is reduced. In other words, in the digital low-pass filter processing operation, the values of the first and second before-DLPF processing digital angular velocity signals CVxn and CVyn are reduced, so that the values of the first and second digital angular velocity signals Vxn and Vyn are respectively reduced by the high-frequency components from the values of the first and second before-DLPF processing digital angular velocity signals CVxn and CVyn.
The digital low-pass filter processing operation is performed when the value of the first time counter MR is less than or equal to a first reference time SMT for the mirror-up operation, or when the value of the second time counter ST is less than or equal to a second reference time SST for the movement of the front curtain of the shutter 18b. 
The shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b in the release sequence operation propagates to the first and second angular velocity sensors 26a and 26b. In this case, the first and second angular velocity sensors 26a and 26b detect oscillation (angular velocities) including the oscillation based on the shock of the mirror-up operation and the movement of the front curtain, so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b cannot be performed correctly.
However, in the second embodiment, the digital low-pass filter processing operation is performed during the mirror-up operation and the movement of the front curtain. Therefore, the anti-shake operation can be performed correctly, even if an oscillation differing from the oscillation caused by the hand-shake is detected by the first and second angular velocity sensors 26a and 26b. 
As shown in FIG. 8, the angular velocity detection unit 25 has a first angular velocity sensor 26a, a second angular velocity sensor 26b, a first high-pass filter circuit 27a, a second high-pass filter circuit 27b, a first amplifier 28a and a second amplifier 28b. 
The CPU 21 converts the first angular velocity vx, which is input to the A/D converter A/D 0, to a first before-DLPF processing digital angular velocity signal CVxn (A/D conversion operation); calculates a first digital angular velocity signal Vxn (the digital low-pass filter processing operation corresponding to the shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b); calculates a first digital angular velocity VVxn by reducing a low frequency component of the first digital angular velocity signal Vxn (the digital high-pass filter processing operation) because the low frequency component of the first digital angular velocity signal Vxn includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake; and calculates a hand shake quantity (a hand shake displacement angle: a first digital displacement angle Bxn) by integrating the first digital angular velocity VVxn (the integration processing operation).
Similarly the CPU 21 converts the second angular velocity vy, which is input to the A/D converter A/D 1, to a second before-DLPF processing digital angular velocity signal CVyn (A/D conversion operation); calculates a second digital angular velocity signal Vyn (the digital low-pass filter processing operation corresponding to the shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b); calculates a second digital angular velocity VVYn by reducing a low frequency component of the second digital angular velocity signal Vyn (the digital high-pass filter processing operation) because the low frequency component of the second digital angular velocity signal Vyn includes signal elements that are based on a null voltage and a panning-motion, neither of which are related to hand-shake; and calculates a hand shake quantity (a hand shake displacement angle: a second digital displacement angle Byn) by integrating the second digital angular velocity VVyn (the integration processing operation).
Accordingly, the CPU 21 and the angular velocity detection unit 25 use a function to calculate the hand-shake quantity.
The digital low-pass filter processing operation corresponding to the shock caused by the mirror-up operation in the first direction x, that is a calculation of the first digital angular velocity signal Vxn (see “calculation” of (1) in FIG. 6), is performed with a calculation based on the first before-DLPF processing digital angular velocity signal CVxn and the first mirror-shock reference value MVx (Vxn=(CVxn+MVx)÷2, see step S173 in FIG. 10).
Similarly, the digital low-pass filter processing operation corresponding to the shock caused by the mirror-up operation in the second direction y, that is a calculation for the second digital angular velocity signal Vyn, is performed with a calculation based on the second before-DLPF processing digital angular velocity signal CVyn and the second mirror-shock reference value MVy (Vyn=(CVyn+MVy)÷2).
The value of the first mirror-shock reference value MVx is set to the value of the first digital angular velocity signal Vxn that is calculated immediately before the interruption process of the timer (a predetermined time of 1 ms before; see steps S173 and S175 in FIG. 10).
Similarly, the value of the second mirror-shock reference value MVy is set to the value of the second digital angular velocity signal Vyn that is calculated immediately before the interruption process of the timer (a predetermined time of 1 ms before).
The digital low-pass filter processing operation corresponding to the shock caused by the movement of the front curtain in the first direction x, that is a calculation for the first digital angular velocity signal Vxn (see “calculation” of (1) in FIG. 6), is performed with a calculation based on the first before-DLPF processing digital angular velocity signal CVxn and the first shutter-shock reference value SVx (Vxn=(CVxn+SVx)÷2, see step S178 in FIG. 10).
Similarly, the digital low-pass filter processing operation corresponding to the shock caused by the movement of the front curtain in the second direction y, that is a calculation for the second digital angular velocity signal Vyn, is performed with a calculation based on the second before-DLPF processing digital angular velocity signal CVyn and the second shutter-shock reference value SVy (Vyn=(CVyn+SVy)÷2).
The value of the first shutter-shock reference value SVx is set to the value of the first digital angular velocity signal Vxn that is calculated immediately before the interruption process of the timer (a predetermined time of 1 ms before; see steps S178 and S180 in FIG. 10).
Similarly, the value of the second shutter-shock reference value SVy is set to the value of the second digital angular velocity signal Vyn that is calculated immediately before the interruption process of the timer (a predetermined time of 1 ms before).
The digital low-pass filter processing operation is not performed except for when the mirror-up operation or the movement of the front curtain is performed.
The main operation of the photographing apparatus 1 in the second embodiment is the same as that in the first embodiment in FIG. 4.
Next, the interruption process of the timer in the second embodiment, which commences in step S12 in FIG. 4 and is performed at every predetermined time interval (1 ms) independent of the other operations, is explained by using the flowchart in FIG. 9.
When the interruption process of the timer commences, the first angular velocity vx, which is output from the angular velocity detection unit 25, is input to the A/D converter A/D 0 of the CPU 21 and converted to the first before-DLPF processing digital angular velocity signal CVxn, in step S151. The second angular velocity vy, which is also output from the angular velocity detection unit 25, is input to the A/D converter A/D 1 of the CPU 21 and converted to the second before-DLPF processing digital angular velocity signal CVyn (the angular velocity detection operation).
In step S152, the DLPF (Digital Low-Pass Filter) calculation is performed; specifically the high frequency component of the first and second before-DLPF processing digital angular velocity signals CVxn and CVyn are reduced corresponding to the shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b, and the first and second digital angular velocity signals Vxn and Vyn are subsequently calculated. However, except for when the mirror-up operation of the mirror 18a is being performed and when the movement of the front curtain of the shutter 18b is being performed, the DLPF calculation is not performed, so that the values of the first and second digital angular velocity signals Vxn and Vyn are respectively set to the same as the values of the first and second before-DLPF processing digital angular velocity signals CVxn and CVyn. The detail of the DLPF calculation in the second embodiment is explained later by using the flowchart in FIG. 10.
The low frequencies of the first and second digital angular velocity signals Vxn and Vyn are reduced in the digital high-pass filter processing operation (the first and second digital angular velocities VVxn and VVyn).
In step S153, it is determined whether the value of the release state parameter RP is set to 1. When it is determined that the value of the release state parameter RP is not set to 1, driving the movable unit 30a is set to OFF state, or the anti-shake unit 30 is set to a state where the driving control of the movable unit 30a is not performed in step S154. Otherwise, the operation proceeds directly to step S155.
In step S155, the hall element unit 44a detects the position of the movable unit 30a, and the first and second detected-position signals px and py are calculated by the hall-element signal-processing unit 45. The first detected-position signal px is then input to the A/D converter A/D 2 of the CPU 21 and converted to a digital signal pdxn, whereas the second detected-position signal py is input to the A/D converter A/D 3 of the CPU 21 and also converted to a digital signal pdyn, both of which thus determine the present position Pn (pdxn, pdyn) of the movable unit 30a. 
In step S156, it is determined whether the value of the anti-shake parameter IS is 0. When it is determined that the value of the anti-shake parameter IS is 0 (IS=0), in other words when the photographing apparatus is not in anti-shake mode, the position Sn (Sxn, Syn) where the movable unit 30a (the imaging unit 39a) should be moved is set at the center of the range of movement of the movable unit 30a, in step S157. When it is determined that the value of the anti-shake parameter IS is not 0 (IS=1), in other words when the photographing apparatus is in anti-shake mode, the position Sn (Sxn, Syn) where the movable unit 30a (the imaging unit 39a) should be moved is calculated on the basis of the first and second angular velocities vx and vy, in step S158.
In step S159, the first driving force Dxn (the first PWM duty dx) and the second driving force Dyn (the second PWM duty dy) of the driving force Dn, which moves the movable unit 30a to the position Sn, are calculated on the basis of the position Sn (Sxn, Syn) that was determined in step S57, or step S158, and the present position Pn (pdxn, pdyn).
In step S160, the first driving coil unit 31a is driven by applying the first PWM duty dx to the driver circuit 29, and the second driving coil unit 32a is driven by applying the second PWM duty dy to the driver circuit 29, so that the movable unit 30a is moved to position Sn (Sxn, Syn).
The process of steps S159 and S160 is an automatic control calculation that is used with the PID automatic control for performing general (normal) proportional, integral, and differential calculations.
Next, the detail of the DLPF calculation (the digital low-pass filter processing operation) in step S152 in FIG. 9 is explained using the flowchart in FIG. 10. When the DLPF calculation commences, it is determined whether the mirror up switch (not depicted) for the mirror-up operation of the mirror 18a is set to the ON state, in step S171.
When it is determined that the mirror up switch is set to the ON state, the operation continues to step S172. Otherwise, the operation proceeds directly to step S175.
In step S172, it is determined whether the value of the first time counter MR is less than or equal to the first reference time SMT. When it is determined that the value of the first time counter MR is less than or equal to the first reference time SMT, the operation continues to step S173. Otherwise, the operation proceeds directly to step S175.
In step S173, the first digital angular velocity signal Vxn is calculated on the basis of the first before-DLPF processing digital angular velocity signal CVxn and the first mirror-shock reference value MVx (Vxn=(CVxn+MVx)÷2); subsequently the value of the first mirror-shock reference value MVx is set to the value of the first digital angular velocity signal Vxn that is calculated in this step S173.
Similarly, the second digital angular velocity signal Vyn is calculated on the basis of the second before-DLPF processing digital angular velocity signal CVyn and the second mirror-shock reference value MVy (Vyn=(CVyn+MVy)÷2); subsequently the value of the second mirror-shock reference value MVy is set to the value of the second digital angular velocity signal Vyn that is calculated in this step S173.
In step S174, the value of the first time counter MR is increased by a value of 1, then the operation proceeds directly to step S176.
In step S175, it is determined that the mirror-up operation is not being performed, then the value of the first mirror-shock reference value MVx is set to the value of the first digital angular velocity signal Vxn and the second mirror-shock reference value MVy is set to the value of the second digital angular velocity signal Vyn.
In step S176, it is determined whether the front curtain movement signal (not depicted) for the movement of the front curtain of the shutter 18b is set to the ON state.
When it is determined that the front curtain movement signal is set to the ON state, the operation continues to step S177. Otherwise, the operation proceeds directly to step S180.
In step S177, it is determined whether the value of the second time counter ST is less than or equal to the second reference time SST. When it is determined that the value of the second time counter ST is less than or equal to the second reference time SST, the operation continues to step S178. Otherwise, the operation proceeds directly to step S180.
In step S178, the first digital angular velocity signal Vxn is calculated on the basis of the first before-DLPF processing digital angular velocity signal CVxn and the first shutter-shock reference value SVx (Vxn=(CVxn+SVx)÷2); subsequently the value of the first shutter-shock reference value SVx is set to the value of the first digital angular velocity signal Vxn that is calculated in this step S178.
Similarly, the second digital angular velocity signal Vyn is calculated on the basis of the second before-DLPF processing digital angular velocity signal CVyn and the second shutter-shock reference value SVy (Vyn=(CVyn+SVy)÷2); subsequently the value of the second shutter-shock reference value SVy is set to the value of the second digital angular velocity signal Vyn that is calculated in this step S178.
In step S179, the value of the second time counter ST is increased by a value of 1, and the operation (the DLPF calculation) is finished.
In step S180, it is determined that the movement of the front curtain is not being performed, then the value of the first shutter-shock reference value SVx is set to the value of the first digital angular velocity signal Vxn and the second shutter-shock reference value SVy is set to the value of the second digital angular velocity signal Vyn. Then the operation (the DLPF calculation) is finished.
In the second embodiment, when the mirror-up operation of the mirror 18a is being performed or when the movement of the front curtain of the shutter 18b is being performed, the digital low-pass filter processing operation of the digital angular velocity signal is also performed.
The shock caused by the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b in the release sequence operation propagates to the first and second angular velocity sensors 26a and 26b. In this case, the first and second angular velocity sensors 26a and 26b detect oscillation (angular velocities) including an oscillation based on the shock of the mirror-up operation and the movement of the front curtain, so that the angular velocity detection operation of the first and second angular velocity sensors 26a and 26b (the detection of the hand-shake quantity) cannot be performed correctly.
However, in the second embodiment, the digital low-pass filter processing operation on the digital angular velocity signal in order to damp down the output corresponding to the shock (by reducing the high frequency component corresponding to the shock, in the digital output signal) is performed during the mirror-up operation and the movement of the front curtain. Therefore, the anti-shake operation can be performed correctly, even if an oscillation differing from the oscillation caused by the hand-shake is detected by the first and second angular velocity sensors 26a and 26b. 
Further, in the second embodiment, the detection of an oscillation caused by the shock differing from the oscillation caused by the hand-shake is not detected by any detection apparatus except for the angular velocity sensor. Therefore, it is unnecessary to include a detection apparatus aside from the angular velocity sensor, in order that the anti-shake operation can be performed correctly, even if an oscillation differing from the oscillation caused by hand-shake is detected by the first and second angular velocity sensors 26a and 26b, and to avoid complicating the construction of the anti-shake apparatus.
In the second embodiment, the digital low-pass filter processing operation is explained as the low-pass filter processing operation for the output signal from the angular velocity sensor. However, an analog low-pass filter, and a switch that switches whether the analog low-pass filter processing operation is performed or not, may be used in the low-pass filter processing operation on the output signal from the angular velocity sensor. In this case, the low-pass filter processing operation is performed before A/D conversion at A/D 0 and A/D 1 of the CPU 21.
In the first and second embodiments, it is explained that the CPU 21 reduces the output signal from the angular velocity sensor during the mirror-up operation of the mirror 18a and the movement of the front curtain of the shutter 18b, in order to reduce the effect of a shock differing from the shock from hand-shake. However, this reduction of the output signal from the angular velocity sensor may be performed in another period that includes another large shock differing from the shock from hand-shake.
Further, it is explained that the movable unit 30a has the imaging device; however, the movable unit 30a may have a hand-shake correcting lens instead of the imaging device.
Further, it is explained that the hall element is used for position detection as the magnetic-field change-detecting element. However, another detection element, an MI (Magnetic Impedance) sensor such as a high-frequency carrier-type magnetic-field sensor, a magnetic resonance-type magnetic-field detecting element, or an MR (Magneto-Resistance effect) element may be used for position detection purposes. When one of either the MI sensor, the magnetic resonance-type magnetic-field detecting element, or the MR element is used, the information regarding the position of the movable unit can be obtained by detecting the magnetic-field change, similar to using the hall element.
Although the embodiments of the present invention have been described herein with reference to the accompanying drawings, obviously many modifications and changes may be made by those skilled in this art without departing from the scope of the invention.
The present disclosure relates to subject matter contained in Japanese Patent Application Nos. 2006-192357 (filed on Jul. 13, 2006) and 2006-192640 (filed on Jul. 13, 2006), which are expressly incorporated herein by reference, in their entirety.

## Claims

1. An anti-shake apparatus for image stabilizing, comprising:
an angular velocity sensor that detects an angular velocity; and
a controller that controls said angular velocity sensor and performs an anti-shake operation on the basis of an output signal from said angular velocity sensor; said controller performing a reduction of a value of said output signal during a predetermined period of said anti-shake operation in accordance with the value of the output signal that is detected before the predetermined period starts.

2. The anti-shake apparatus according to claim 1, wherein said predetermined period is a time period when a mirror-up operation of a mirror of a photographing apparatus that includes said anti-shake apparatus is being performed.

3. The anti-shake apparatus according to claim 1, wherein said predetermined period is a time period when a movement of a front curtain of a shutter of a photographing apparatus that includes said anti-shake apparatus is being performed.

4. The anti-shake apparatus according to claim 1, wherein said controller adjusts a gain of said output signal to perform said reduction.

5. The anti-shake apparatus according to claim 4, wherein a value of said gain is set corresponding to temperature of said angular velocity sensor.

6. The anti-shake apparatus according to claim 1, wherein said controller performs a low-pass filter processing operation of said output signal to perform said reduction.

7. The anti-shake apparatus according to claim 1, wherein said controller does not perform said reduction except for during said predetermined period.

8. A photographing apparatus comprising:
an angular velocity sensor that detects an angular velocity; and
a controller that controls said angular velocity sensor and performs an anti-shake operation for image stabilizing on the basis of an output signal from said angular velocity sensor; said controller performing a reduction of a value of said output signal during a predetermined period of said anti-shake operation of a photographing operation in accordance with a value of the output signal that is detected before the predetermined period starts.

9. The photographing apparatus according to claim 8, further comprising a mirror,
wherein said predetermined period is a time period when a mirror-up operation of the mirror is being performed.

10. The photographing apparatus according to claim 8, further comprising a front curtain of a shutter,
wherein said predetermined period is a time period when a movement of the front curtain of the shutter is being performed.

11. The photographing apparatus according to claim 8, wherein said controller adjusts a gain of said output signal to perform said reduction.

12. The photographing apparatus according to claim 11, wherein a value of said gain is set corresponding to temperature of said angular velocity sensor.

13. The photographing apparatus according to claim 8, wherein said controller performs a low-pass filter processing operation of said output signal to perform said reduction.

14. The photographing apparatus according to claim 8, wherein said controller does not perform said reduction except for during said predetermined period.

15. An anti-shake method for image stabilizing on a photographing apparatus, comprising:
detecting, by an angular velocity sensor, an angular velocity; and
controlling the angular velocity sensor and performing an anti-shake operation on the basis of an output signal from the angular velocity sensor,
wherein the controlling performs a reduction of a value of the output signal during a predetermined period of the anti-shake operation in accordance with the value of the output signal that is detected before the predetermined period starts.

16. The anti-shake method according to claim 15, wherein the predetermined period is a time period when a mirror-up operation of a mirror of the photographing apparatus is being performed.

17. The anti-shake method according to claim 15, wherein the predetermined period is a time period when a movement of a front curtain of a shutter of the photographing apparatus is being performed.

18. The anti-shake method according to claim 15, wherein the controlling adjusts a gain of the output signal to perform the reduction.

19. The anti-shake method according to claim 15, wherein the controlling performs a low-pass filter processing operation of the output signal to perform the reduction.

20. The anti-shake a method according to claim 15, wherein the controlling does not perform the reduction except for during the predetermined period.