Patent Publication Number: US-2023146629-A1

Title: Control apparatus, image pickup apparatus, lens apparatus, control method, and storage medium

Description:
BACKGROUND 
     Technical Field 
     The disclosure relates to control apparatuses, image pickup apparatuses, lens apparatuses, control methods, and storage media. 
     Description of the Related Art 
     An electronic image-stabilization method (EIS) that electronically corrects image blur and an optical image-stabilization method that optically corrects image blur are conventionally known. An optical image-stabilization method includes a lens shift type image stabilization method (OIS) that moves a correction lens constituting part of an imaging optical system in a direction that intersects an optical axis, and an image-sensor shift type image stabilization system (IIS) that moves an image sensor in a direction that intersects the optical axis. 
     Japanese Patent Laid-Open No. 11-101998 discloses a method of starting the IIS using the image sensor in a case where a correction amount of the correction lens in the OIS reaches a limit of the movable range. Japanese Patent No. 5197126 discloses an image pickup apparatus that performs image stabilization (IS) control by reducing a proportion of the OIS in a correction ratio and increasing a proportion of the IIS in the correction ratio, as the correction amount of the correction lens in the OIS increases. 
     The method disclosed in Japanese Patent Laid-Open No. 11-101998 discontinuously changes the correction ratio between the OIS and the IIS, causes overshoot in which the correction lens or the image sensor is moved beyond the command value, or an IS member to delay following the command value, and deteriorates the IS performance. At that time, shake and noise are generated, the IS quality is deteriorated, and the noise is recorded in a captured moving image. The image pickup apparatus disclosed in Japanese Patent No. 5197126 cannot make high-performance IS because when the correction lens contacts the movable end in the OIS, a proportion of the IIS using the image sensor in the correction ratio is not 100%. 
     SUMMARY 
     The disclosure provides a control apparatus, an image pickup apparatus, a lens apparatus, a control method, and a storage medium, each of which can perform high-quality and high-performance image stabilization using a plurality of image stabilization units. 
     A control apparatus according to one aspect of the disclosure configured to perform image stabilization using a first image stabilization unit and a second image stabilization unit includes at least one processor, and a memory coupled to the at least one processor, the memory having instructions that, when executed by the processor, perform operations as a determining unit configured to determine a correction ratio between the first image stabilization unit and the second image stabilization unit. The determining unit determines the correction ratio between the first image stabilization unit and the second image stabilization unit such that a proportion of the second image stabilization unit in the correction ratio increases as a distance to a movable end of the first image stabilization unit decreases. 
     A control method according to another aspect of the disclosure for performing image stabilization using a first image stabilization unit and a second image stabilization unit, the control method comprising a determination step of determining a correction ratio between the first image stabilization unit and the second image stabilization unit. The determination step determines the correction ratio between the first image stabilization unit and the second image stabilization unit such that a proportion of the second image stabilization unit in the correction ratio increases as a distance to a movable end of the first image stabilization unit decreases. A storage medium storing a program that causes a computer to execute the above control method also constitutes another aspect of the disclosure. 
     Further features of the disclosure will become apparent from the following description of exemplary embodiments with reference to the attached drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram of an imaging system according to a first embodiment. 
         FIGS.  2 A and  2 B  explain temporal changes in correction command values for OIS and IIS according to the first embodiment. 
         FIG.  3    explains the shortest distance to a movable end of the correction lens according to the first embodiment. 
         FIG.  4    illustrates a relationship between the shortest distance to the movable end of the OIS and the correction ratio according to the first embodiment. 
         FIG.  5    is a flowchart of image stabilization processing according to the first embodiment. 
         FIG.  6    explains temporal changes in correction command values for OIS and IIS according to a second embodiment. 
         FIG.  7    explains the shortest distance to the movable end of the image sensor according to the second embodiment. 
         FIG.  8    illustrates a relationship between the shortest distance to the movable end of the IIS and the correction ratio according to the second embodiment. 
         FIG.  9    is a flowchart of image stabilization processing according to the second embodiment. 
         FIG.  10    explains temporal changes in correction command values for OIS, IIS, and EIS according to a third embodiment. 
         FIGS.  11 A and  11 B  illustrate a relationship among the correction ratio, the shortest distance from the correction lens to the movable end, and the shortest distance from the image sensor to the movable end according to the third embodiment. 
         FIG.  12    is a flowchart of image stabilization processing according to the third embodiment. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     Referring now to the accompanying drawings, a detailed description will be given of embodiments according to the disclosure. 
     First Embodiment 
     Referring now to  FIG.  1   , a description will be given of an imaging system  10  according to a first embodiment of the disclosure.  FIG.  1    is a block diagram of an imaging system  10 . As illustrated in  FIG.  1   , the imaging system  10  includes a camera body (image pickup apparatus)  100  and an interchangeable lens (lens apparatus)  101 . The camera body  100  and the interchangeable lens  101  are attachable to and detachable from each other and connected to communicate with each other. However, this embodiment is not limited to this example, and is applicable to an image pickup apparatus in which a camera body and a lens apparatus are integrated with each other. 
     The camera body  100  includes a camera MPU  102 , an operation unit  103 , an image sensor  104 , a camera-side contact terminal  105 , a gyro sensor  106 , an image sensor actuator  107 , a position sensor  108 , and a rear display (unit)  120 . The camera MPU (control apparatus)  102  includes a computer that controls overall control of the camera body  100  and the interchangeable lens  101 , and controls various operations such as auto-exposure (AE), autofocus (AF), and imaging according to an input from an operation unit  103 , which will be described below. The MPU  102  includes at least one processor, and a memory coupled to the at least one processor. The memory has instructions that, when executed by the processor, perform various operations. The camera MPU  102  communicates various commands and information with a lens MPU (control apparatus)  109  as a computer through the camera-side contact terminal  105  and a lens-side contact terminal  111  provided on the interchangeable lens  101 . The camera-side contact terminal  105  and the lens-side contact terminal  111  also include power terminals for supplying power from the camera body  100  to the interchangeable lens  101 . 
     The operation unit  103  includes a mode dial for setting various imaging modes, a release button for instructing a start of an imaging preparation operation and an imaging operation, and the like. A half-press operation of the release button turns on a first switch SW 1 , and a full-press operation turns on a second switch SW 2 . When the first switch SW 1  is turned on, AE and AF are performed as imaging preparation operations, and when the second switch SW 2  is turned on, a start of an imaging (exposure) operation is instructed, and the imaging operation is started a predetermined time after this instruction. Turning off and on of the first switch SW 1  and the second switch SW 2  are notified from the camera MPU  102  to the lens MPU  109  through communication. 
     The image sensor  104  includes a photoelectric conversion element such as a CCD sensor or a CMOS sensor, and photoelectrically converts an object image (optical image) formed by the imaging optical system of the interchangeable lens  101  to generate an imaging signal (image data). The camera MPU  102  generates a still image and a moving image (video signal) using the imaging signal from the image sensor  104 . 
     A gyro sensor (camera-side gyro sensor)  106  is a shake sensor that detects angular shake (camera shake) of the camera body  100  due to manual shake or the like and outputs a camera shake detection signal as an angular velocity signal. The camera MPU  102  drives the image sensor actuator  107  based on the camera shake detection signal and a proportion of IIS in a correction ratio received from the interchangeable lens  101 , which will be described below, to move the image sensor  104  in a direction orthogonal to the optical axis of the imaging optical system. This configuration reduces (corrects) image blur caused by the camera shake. At this time, the camera MPU  102  feedback-controls the image sensor actuator  107  so that a position of the image sensor  104  detected by the position sensor (image sensor position sensor)  108  (a moving amount from the position on the optical axis as a moving center) approaches a target position. Thereby, IIS is performed by moving the image sensor  104 . In this embodiment, the image sensor  104  corresponds to a second image stabilization unit (second IS unit). The IIS is performed for camera shake in the vertical direction (pitch direction) and camera shake in the horizontal direction (yaw direction). 
     The rear display (display unit)  120  displays a moving image corresponding to the video signal generated by the camera MPU  102  based on the imaging signal from the image sensor  104 . Before imaging, the user can observe the displayed image as a viewfinder image (live-view image). After imaging, a still image or moving image for recording generated by imaging can be displayed on the rear display  120 . In this embodiment, “imaging” means imaging for recording. 
     The interchangeable lens  101  includes the lens MPU  109 , a gyro sensor  110 , the lens-side contact terminal  111 , a correction lens  113  that constitutes part of the imaging optical system, and a position sensor  114 . The gyro sensor (lens-side gyro sensor)  110  is a shake sensor that detects angular shake (lens shake) of the interchangeable lens  101  and outputs a lens-shake detection signal as an angular velocity signal. 
     The lens MPU  109  drives the lens actuator  112  based on the lens-shake detection signal and a proportion of OIS in the correction ratio, which will be described below, to move the correction lens (optical element)  113 , which constitutes the part of the imaging optical system, in a direction orthogonal to the optical axis of the imaging optical system. This configuration reduces (corrects) image blur caused by lens shake. At this time, the lens MPU  109  performs feedback control over the lens actuator  112  so that a position of the correction lens  113  detected by the position sensor (lens position sensor)  114  (a moving amount from the position on the optical axis as the moving center) approaches a target position. Thereby, OIS is performed by moving the correction lens  113 . In this embodiment, the correction lens  113  corresponds to a first image stabilization unit (first IS unit). 
     OIS is also performed for lens shake in the pitch direction and lens shake in the yaw direction, similar to the IIS. The correction lens  113  may be moved in a direction orthogonal to the optical axis (a direction intersecting the optical axis), may be translated in a plane perpendicular to the optical axis, or may be moved about a point on the optical axis as a center. 
     In this embodiment, the camera MPU  102  includes a calculating unit  102   a  and a determining unit  102   b,  and performs image stabilization using the correction lens (first IS unit)  113  and an image sensor (second IS unit)  104 . The calculating unit  102   a  calculates the shortest distance from the current position of the correction lens  113  to the position of the movable end. The determining unit  102   b  determines the correction ratio (proportion of OIS in the correction ratio and proportion of IIS in the correction ratio) between the correction lens  113  and the image sensor  104  so that a proportion of the image sensor  104  in the correction ratio increases as the shortest distance becomes shorter. 
     Referring now to  FIGS.  2 A and  2 B , a description will be given of temporal changes in correction command values for OIS and IIS.  FIG.  2 A  explains temporal changes in correction command values for OIS and IIS according to a comparative example, and  FIG.  2 B  explains the temporal changes in correction command values for OIS and IIS according to this embodiment. 
       FIG.  2 A  illustrates correction command values of OIS and IIS in a case where OIS using the correction lens  113  is preferentially performed and IIS is used to correct only blur (correction residue) that cannot be corrected when the correction lens  113  reaches the movable end. This control method provides control such that the correction command values of the OIS and the IIS are suddenly stopped and driven at the timing of starting and stopping driving the IIS. In the case where the correction command value is suddenly stopped, the position of an image stabilization member such as the correction lens  113  cannot actually stop, and an overshoot beyond the correction command value occurs. In this case, the correction member will perform an operation that is irrelevant to shake, and the image stabilization performance will be deteriorated. In a case where the image stabilization control is suddenly started, the image stabilization member cannot follow the correction command value at first and the image stabilization member is moved according to the correction command value after a predetermined time elapses. This case also leads to deterioration of the image stabilization performance. If OIS and IIS are to be suddenly stopped or driven, shake and noise are generated and impair the usability of the user and the noise is recorded in the captured video. In order to solve this problem, the following countermeasure is taken in this embodiment. 
       FIG.  2 B  illustrates correction command values for OIS and IIS according to this embodiment. Until the shortest distance to the movable end of the correction lens  113  in the OIS becomes equal to or less than a threshold, image stabilization (image stabilization control) is performed only by the OIS. On the other hand, when the shortest distance to the movable end of the correction lens  113  is equal to or less than the threshold, the IIS by the image sensor  104  is started. As the shortest distance to the movable end of the correction lens  113  becomes smaller, the proportion of the OIS in the correction ratio is decreased and the proportion of the IIS in the correction ratio is increased. Therefore, the proportion of the OIS in the correction ratio is made low before the correction lens  113  contacts the movable end, and a changing amount in the correction command value when the correction lens  113  actually contacts the movable end becomes small. As a result, overshoot is less likely to occur. In a case where the IIS is started, the correction command value of the IIS gradually increases from a small value, so a follow-up delay in the IIS is unlikely to occur. Since the correction lens  113  in the OIS and the image sensor  104  in the IIS are not suddenly stopped or driven, noise or shake can be prevented. 
     Referring now to  FIG.  3   , a description will be given of the shortest distance to the movable end of the correction lens  113  in OIS.  FIG.  3    explains the shortest distance to the movable end of the correction lens  113 . Reference numeral  301  denotes the movable range of the correction lens  113  in the OIS. Since the movable range  301  may change depending on a zoom state and a focus state of the imaging optical system in the interchangeable lens  101 , it is necessary to take this fact into account. Depending on the mechanical configuration, the movable range  301  may not be circular. Reference numeral  302  denotes the position of the correction lens  113  in the OIS. During the OIS, the correction lens  113  can be driven (moved) only within the movable range  301 . In a case where the correction lens  113  exists at the position  302 , a length  303  is the shortest distance to the movable end of the correction lens  113  (the shortest distance between the end of the movable range  301  of the correction lens  113  and the end of the position  302  of the correction lens  113 ). 
     Referring now to  FIG.  4   , a description will be given of a relationship between the shortest distance to the movable end of the correction lens  113  in the OIS (the shortest distance to the movable end of the OIS) and the correction ratio between the OIS and the IIS.  FIG.  4    illustrates a relationship between the shortest distance to the movable end of the OIS and the correction ratio. In  FIG.  4   , an abscissa axis indicates the shortest distance to the movable end of the OIS, and an ordinate axis indicates the correction ratio. 
     In a case where the shortest distance to the movable end of the correction lens  113  in the OIS is larger than a threshold Dt1, the proportion of the OIS in the correction ratio is set to 100%, and image stabilization control is performed only with the OIS. On the other hand, in a case where the shortest distance to the movable end of the correction lens  113  in the OIS becomes smaller than the threshold Dt1, driving of the image sensor  104  in the IIS is started. As the shortest distance to the movable end of the correction lens  113  in the OIS becomes smaller, the proportion of the IIS in the correction ratio is increased and the proportion of the OIS in the correction ratio is decreased. In a case where the shortest distance to the movable end of the correction lens  113  in the OIS becomes 0, that is, in a case where the correction lens  113  contacts the movable end (the correction lens  113  reaches the movable end), the proportion of the IIS in the correction ratio is set to 100%, and image stabilization control is performed only with the IIS. 
     The threshold Dt1 for starting the IIS (starting driving the image sensor  104 ) may be changed according to the control characteristics of the OIS and the IIS (such as an overshoot characteristic and a follow-up characteristic). For example, in a case where the control characteristics of the OIS and the IIS are such that overflow is less likely to occur and the follow-up characteristic is good, the threshold Dt1 may be made smaller and only the OIS may be used for image stabilization (image stabilization control) until the OIS becomes closer to the movable end. Although the proportion of the OIS in correction ratio and the proportion of the IIS in the correction ratio are linearly changed in  FIG.  4   , the disclosure is not limited to this example and they may be changed according to a nonlinear function, or stepwise, or the like. This is similarly applied to other embodiments. 
     Referring now to  FIG.  5   , a description will be given of image stabilization processing (control method) in the imaging system  10  according to this embodiment.  FIG.  5    is a flowchart of the image stabilization processing. The left side of  FIG.  5    illustrates processing to be performed by the camera body  100  (camera MPU  102 ), and the right side illustrates processing to be performed by the interchangeable lens  101  (lens MPU  109 ). The camera MPU  102  and lens MPU  109  execute the image stabilization processing according to a computer program. In a case where the camera body  100  is powered on, power is supplied to the interchangeable lens  101 , and communication between the camera MPU  102  and the lens MPU  109  is started, this processing is started in step S 501 . 
     First, in step S 501 , the lens MPU  109  notifies the camera body  100  of movable range information on the correction lens  113  in OIS. The movable range information includes information on a maximum correctable amount of the movable range of the correction lens  113  that varies according to the focus state and the zoom state of the interchangeable lens  101  and the like. 
     Next, in step S 502 , the camera MPU  102  calculates the shortest distance to the movable end of the correction lens  113  as described with reference to  FIG.  3   , based on the movable range information on the correction lens  113  in the OIS and the current position of the correction lens  113 . The current position of the correction lens  113  can be received as position information actually detected by the position sensor  114  from the interchangeable lens  101 . Alternatively, the current position may be set to a correction command value for the correction lens  113  transmitted to the interchangeable lens  101  immediately before in step S 505 . 
     Next, in step S 503 , the camera MPU  102  determines the correction ratio between the OIS and the IIS based on the shortest distance to the movable end of the correction lens  113 , as described with reference to  FIG.  4   . Next, in step S 504 , the camera MPU  102  calculates a command value (correction command value) for each of the OIS and the IIS based on the correction ratio between the OIS and the IIS determined in step S 503 . By multiplying all the correction command values by each proportion in the correction ratio, the correction command values of the OIS and the IIS can be acquired. Next, in step S 505 , the camera MPU  102  notifies the interchangeable lens  101  of the correction command value (OIS command value) for the OIS calculated in step S 504 . 
     Next, in step S 506 , the camera MPU  102  performs IIS (image stabilization control (IIS control) using the image sensor  104 ) in accordance with the correction command value (IIS command value) for the IIS calculated in step S 504 . In step S 507 , the lens MPU  109  performs OIS (image stabilization control (OIS control) using the correction lens  113 ) in accordance with the correction command value (OIS command value) of the OIS notified from the camera MPU  102  in step S 505 . 
     Cooperative image stabilization can be performed with the OIS and IIS by repeating the above steps at a high-speed period. This embodiment preferentially uses the OIS for image stabilization control, and uses the IIS to correct blur (correction residue) that cannot be completely corrected by the OIS alone. This configuration can provide image stabilization control that does not cause deterioration of image stabilization performance, noise, or shake. 
     In this embodiment, the second image stabilization unit includes the image sensor  104 , but is not limited to this example, and may include an electronic image stabilization unit of an electronic image stabilization method (EIS). 
     Second Embodiment 
     A description will now be given of a second embodiment according to the disclosure. In the first embodiment, in a case where image stabilization performance and the power consumption performance of OIS are higher than those of IIS, the OIS is preferentially used for image stabilization control, and the IIS is used to correct blur that cannot be corrected by the OIS. On the other hand, in the disclosure, IIS has image stabilization performance and power consumption performance higher than those of OIS, the IIS is preferentially used for image stabilization, and the OIS is used to correct blur that cannot be corrected by the IIS. That is, in this embodiment, the image sensor  104  corresponds to the first image stabilization unit, and the correction lens  113  corresponds to the second image stabilization unit. A basic configuration of the imaging system  10  (camera body  100  and interchangeable lens  101 ) according to this embodiment is similar to that of the first embodiment described with reference to  FIG.  1   , corresponding elements will be designated by the same reference numerals, and a description thereof will be omitted. 
     Referring now to  FIG.  6   , a description will be given of temporal changes in correction command values for OIS and IIS according to this embodiment.  FIG.  6    explains temporal changes in correction command values for OIS and IIS according to this embodiment. 
     Until the shortest distance to the movable end of the image sensor  104  in the IIS becomes equal to or less than a threshold, image stabilization (image stabilization control) is performed only by the IIS. On the other hand, in a case where the shortest distance to the movable end of the image sensor  104  is equal to or less than the threshold, the OIS using the correction lens  113  is started. As the shortest distance to the movable end of the image sensor  104  becomes smaller, the proportion of the IIS in the correction ratio is decreased and the proportion of the OIS in the correction ratio is increased. Therefore, the proportion of the IIS in the correction ratio is made smaller before the image sensor  104  contacts the movable end, and a changing amount in the correction command value becomes small when the image sensor  104  actually contacts the movable end. As a result, overshoot is less likely to occur. In addition, since the correction command value of the OIS gradually increases from a small value when the OIS is started, a follow-up delay in the OIS is less likely to occur. Since the image sensor  104  in the IIS and the correction lens  113  in the OIS are not suddenly stopped or driven, noise and shake can be prevented. 
     Referring now to  FIG.  7   , a description will be given of the shortest distance to the movable end of the image sensor  104  in IIS.  FIG.  7    explains the shortest distance to the movable end of the image sensor  104 . Reference numeral  701  denotes an image circle. The image circle  701  changes according to the focus state and the zoom state of the imaging optical system in the interchangeable lens  101 , the center position shifts depending on the interchangeable lens  101 , and thus it is necessary to receive information on these changes from the interchangeable lens  101  by communication. Reference numeral  702  denotes an effective diameter to be actually recorded as a captured image in the image sensor  104 . The size of the effective area  702  changes depending on a moving image capturing mode or the like. 
     In the camera body  100 , if the effective area  702  of the image sensor  104  protrudes outside the image circle  701 , light shielding will occur in a captured image. Therefore, in IIS, it is necessary to drive the image sensor  104  so that the effective area  702  of the image sensor  104  falls within the range of the image circle  701 . Reference numeral  703  denotes a range in which an effective area  702  of the image sensor  104  can exist in a case where the image sensor  104  is moved within a range in which the image sensor  104  can be driven mechanically and electrically in the IIS. As described above, the movable range of the image sensor  104  in the IIS is a range in which the effective area  702  of the image sensor  104  is within the range of the image circle  701  and inside the range  703 . In a case where the current position of the image sensor  104  is a position of the effective area  702  illustrated in  FIG.  7   , a length  704  becomes the shortest distance to the movable end of the image sensor  104  in the IIS (the shortest distance between the edge of the image circle  701  and the edge of the effective area  702  as the current position). 
     Referring now to  FIG.  8   , a description will be given of a relationship between the shortest distance to the movable end of the image sensor  104  in the IIS (the shortest distance to the movable end of IIS) and the correction ratio between the OIS and the IIS.  FIG.  8    illustrates a relationship between the shortest distance to the movable end of the IIS and the correction ratio. In  FIG.  8   , an abscissa axis indicates the shortest distance to the movable end of the IIS, and an ordinate axis indicates the correction ratio. 
     In a case where the shortest distance to the movable end of the image sensor  104  in the IIS is larger than a threshold Dt2, the proportion of the IIS in the correction ratio is set to 100%, and image stabilization control is performed only by the IIS. On the other hand, in a case where the shortest distance to the movable end of the image sensor  104  in the IIS is smaller than the threshold Dt2, driving of the correction lens  113  in the OIS is started. As the shortest distance to the movable end of the image sensor  104  in the IIS is smaller, the proportion of the OIS in the correction ratio is increased and the proportion of the IIS in the correction ratio is decreased. In a case where the shortest distance to the movable end of the image sensor  104  in the IIS becomes 0, that is, in a case where the image sensor  104  reaches the movable end, the proportion of the OIS in the correction ratio is set to 100%, and only the OIS is used for image stabilization control. Threshold Dt2 for starting the OIS (starting driving the correction lens  113 ) may be changed according to the control characteristics (such as an overshoot characteristic and a follow-up characteristic) of the OIS and the IIS. 
     Referring now to  FIG.  9   , a description will be given of image stabilization processing (control method) in the imaging system  10  according to this embodiment.  FIG.  9    is a flowchart of the image stabilization processing. The left side of  FIG.  9    illustrates processing to be performed by the camera body  100  (camera MPU  102 ), and the right side illustrates processing to be performed by the interchangeable lens  101  (lens MPU  109 ). The camera MPU  102  and lens MPU  109  execute the image stabilization processing according to a computer program. In a case where the camera body  100  is powered on, power is supplied to the interchangeable lens  101 , and communication between the camera MPU  102  and the lens MPU  109  is started, this processing is started in step S 901 . 
     First, in step S 901 , the lens MPU  109  notifies the camera body  100  of image circle information on the interchangeable lens  101 . The image circle information includes information on the radius of the image circle and the center position of the image circle. 
     Next, in step S 902 , the camera MPU  102  calculates the shortest distance to the movable end of the image sensor  104  in the IIS. The shortest distance is calculated based on the image circle information received from the lens MPU  109 , the information on the effective area of the image sensor  104 , and a stroke amount that can be mechanically and electrically driven in the IIS, as explained with reference to  FIG.  7   . 
     Next, in step S 903 , the camera MPU  102  determines the correction ratio between the OIS and the IIS, as described with reference to  FIG.  8   , based on the shortest distance to the movable end of the image sensor  104  calculated in the step S 902 . Next, in step S 904 , the camera MPU  102  calculates a command value (correction command value) for each of the OIS and the IIS based on the correction ratio between the OIS and the IIS determined in step S 903 . Next, in step S 905 , the camera MPU  102  notifies the interchangeable lens  101  of the correction command value (OIS command value) for the OIS calculated in step S 904 . 
     Next, in step S 906 , the camera MPU  102  performs the IIS (image stabilization control (IIS control) using the image sensor  104 ) in accordance with the correction command value (IIS command value) for the IIS calculated in step S 904 . In step S 907 , the lens MPU  109  performs the OIS (image stabilization control (OIS control) using the correction lens  113 ) in accordance with the correction command value (OIS command value) for the OIS notified from the camera MPU  102  in step S 905 . 
     Cooperative image stabilization can be performed with the OIS and IIS by repeating the above steps at a high-speed period. This embodiment preferentially uses the IIS for image stabilization control and uses the OIS to correct blur (correction residue) that cannot be completely corrected by the IIS alone. This configuration can provide image stabilization control that does not cause deterioration of image stabilization performance, noise, or shake. 
     In this embodiment, the second image stabilization unit includes the correction lens  113 , but it is not limited to this example, and may include the electronic image stabilization unit of the electronic image stabilization method (EIS). 
     Third Embodiment 
     A description will now be given of a third embodiment according to the disclosure. The first and second embodiments discuss the configuration for performing image stabilization control using OIS and IIS. On the other hand, this embodiment will discuss a configuration for performing image stabilization control using, an electronic image stabilization method (EIS) in addition to the OIS and the IIS. That is, in this embodiment, the correction lens (first image stabilization unit)  113 , the image sensor (second image stabilization unit)  104 , and the electronic image stabilization unit (third image stabilization unit) are used for image stabilization. This embodiment assumes that image stabilization performance is higher in order of OIS, IIS, and EIS. That is, a configuration will be described in which image stabilization control is performed using the OIS as the first priority, the IIS as the second priority, and the EIS for the blur residue. A basic configuration of the imaging system  10  (camera body  100  and interchangeable lens  101 ) according to this embodiment is similar to that of the first embodiment described with reference to  FIG.  1   , corresponding elements will be designated by the same reference numerals, and a description thereof will be omitted. 
     Referring now to  FIG.  10   , a description will be given of temporal changes in correction command values for OIS, IIS, and EIS in this embodiment.  FIG.  10    explains temporal changes in the correction command values for the OIS, IIS, and the EIS in this embodiment. Until the shortest distance to the movable end of the correction lens  113  in the OIS becomes equal to or less than a threshold, image stabilization control is made only with the OIS. In a case where the shortest distance to the movable end of the correction lens  113  in the OIS becomes equal to or less than the threshold, the IIS (driving of the image sensor  104 ) is started. As the shortest distance (second shortest distance) to the movable end of the correction lens  113  in the OIS becomes smaller, the proportion of the OIS in the correction ratio is decreased and the proportion of the IIS in the correction ratio is increased. 
     The EIS is not performed until the shortest distance to the movable end of the image sensor  104  in the IIS becomes equal to or less than a threshold. In a case where the shortest distance to the movable end of the image sensor  104  in IIS is equal to or less than the threshold, the EIS is started. As the shortest distance to the movable end of the image sensor  104  in the IIS becomes smaller, the proportion of the IIS in the correction ratio is decreased and the proportion of the EIS in the correction ratio is increased. 
     Referring now to  FIGS.  11 A and  11 B , a description will be given of a relationship among the shortest distance from the correction lens  113  to the movable end in the OIS (shortest distance to movable end of OIS), the shortest distance from the image sensor  104  to the movable end in the IIS (to movable end of IIS), and the correction ratio. 
       FIG.  11 A  illustrates a relationship between the shortest distance to the movable end of the OIS and the correction ratio. In  FIG.  11 A , an abscissa axis indicates the shortest distance to the movable end of the OIS, and an ordinate axis indicates the correction ratio. In a case where the shortest distance to the movable end of the OIS is larger than a threshold Dt3, the proportion of the OIS in the correction ratio is set to 100%, and image stabilization control is performed only with the OIS. In a case where the shortest distance to the movable end of the OIS becomes smaller than the threshold Dt3, the IIS and EIS are started. As the shortest distance to the movable end of the OIS becomes smaller, the proportion of the combination of the IIS and EIS in the correction ratio are increased, and the proportion of the OIS in the correction ratio is decreased. In a case where the OIS reaches the movable end, the proportion of the combination of the IIS and EIS in the correction ratio is set to 100%, and image stabilization control is performed only with the IIS and EIS. 
       FIG.  11 B  illustrates a relationship between the shortest distance (second shortest distance) to the movable end of the IIS and the correction ratio. In  FIG.  11 B , an abscissa axis indicates the shortest distance to the movable end of IIS, and an ordinate axis indicates the correction ratio. In a case where the shortest distance to the movable end of the IIS is larger than a threshold Dt4, the proportion of the IIS in the correction ratio is set to 100%, and image stabilization control is performed only with the IIS. On the other hand, in a case where the shortest distance to the movable end of the IIS becomes smaller than the threshold Dt4, the EIS is started. As the shortest distance to the movable end of the IIS becomes smaller, the proportion of the EIS in the correction ratio is increased and the proportion of the IIS in the correction ratio is decreased. In a case where the IIS reaches the movable end, the proportion of the EIS in the correction ratio is set to 100%, and image stabilization control is performed only with the EIS. 
     Referring now to  FIG.  12   , a description will be given of image stabilization processing (control method) in the imaging system  10  according to this embodiment.  FIG.  12    is a flowchart of the image stabilization processing. The left side of  FIG.  12    illustrates processing to be performed by the camera body  100  (camera MPU  102 ), and the right side illustrates processing to be performed by the interchangeable lens  101  (lens MPU  109 ). The camera MPU  102  and lens MPU  109  execute the image stabilization processing according to a computer program. In a case where the camera body  100  is powered on, power is supplied to the interchangeable lens  101 , and communication between the camera MPU  102  and the lens MPU  109  is started, this processing is started in step S 1201 . 
     First, in step S 1201 , the lens MPU  109  calculates the shortest distance from the current position of the correction lens to the movable end. At this time, since the movable end of the OIS changes according to the zoom state and focus state of the interchangeable lens  101 , it is necessary to take this fact into account. Next, in step S 1202 , the lens MPU  109  notifies the camera body  100  of the shortest distance to the movable end of the OIS calculated in step S 1201  and image circle information. 
     Next, in step S 1203 , the camera MPU  102  calculates the shortest distance to the movable end of the IIS based on the image circle information received from the lens MPU  109 , the effective area of the image sensor  104 , and information on a movable range that can be mechanically and electrically driven. Next, in step S 1204 , the camera MPU  102  determines the correction ratio among the OIS, IIS, and EIS. The correction ratio is determined, as described with reference to  FIGS.  11 A and  11 B , based on the shortest distance to the movable end of the OIS received from the lens MPU  109  in step S 1202  and the shortest distance to the movable end of the IIS calculated in step S 1203 . 
     Next, in step S 1205 , the camera MPU  102  calculates a correction command value for each of the OIS, IIS, and EIS based on their proportions in the correction ratio determined in step S 1204 . Next, in step S 1206 , the camera MPU  102  notifies the interchangeable lens  101  of the correction command value of the OIS. 
     Next, in step S 1207 , the camera MPU  102  performs image stabilization control using the EIS based on the correction command value (EIS command value) for the EIS calculated in step S 1206 . In step S 1208 , the camera MPU  102  performs image stabilization control using the IIS based on the correction command value (IIS command value) for the IIS calculated in step S 1206 . In step S 1209 , the lens MPU  109  performs image stabilization control using the OIS based on the correction command value (OIS command value) for the OIS calculated in step S 1206 . 
     Cooperative image stabilization can be performed with the OIS, IIS, and EIS by repeating the above steps at a high-speed period. This embodiment performs image stabilization control in the priority order the OIS and IIS, and image stabilization control is performed with the EIS for blur (correction residue) that cannot be completely corrected by the OIS and IIS. This configuration can provide image stabilization control that does not cause deterioration of image stabilization performance, noise, or shake. 
     In this embodiment, the calculating unit  102   a  calculates the second shortest distance from the current position of the image sensor (second image stabilization unit) to the position of the movable end. The determining unit  102   b  determines the correction ratio among the correcting lens (first image stabilization unit)  113 , the image sensor (second image stabilization unit), and the electronic image stabilization unit (third image stabilization unit). At this time, the determining unit  102   b  increases the proportion of the third image stabilization unit in the correction ratio as the second shortest distance becomes shorter. In this embodiment, the correction lens  113  corresponds to the first image stabilization unit, and the image sensor  104  corresponds to the second image stabilization unit, but the lens  113  may correspond to the second image stabilization unit. 
     Other Embodiments 
     Embodiment(s) of the disclosure can also be realized by a computer of a system or apparatus that reads out and executes computer-executable instructions (e.g., one or more programs) recorded on a storage medium (which may also be referred to more fully as a ‘non-transitory computer-readable storage medium’) to perform the functions of one or more of the above-described embodiment(s) and/or that includes one or more circuits (e.g., application specific integrated circuit (ASIC)) for performing the functions of one or more of the above-described embodiment(s), and by a method performed by the computer of the system or apparatus by, for example, reading out and executing the computer-executable instructions from the storage medium to perform the functions of one or more of the above-described embodiment(s) and/or controlling the one or more circuits to perform the functions of one or more of the above-described embodiment(s). The computer may comprise one or more processors (e.g., central processing unit (CPU), micro processing unit (MPU)) and may include a network of separate computers or separate processors to read out and execute the computer-executable instructions. The computer executable instructions may be provided to the computer, for example, from a network or the storage medium. The storage medium may include, for example, one or more of a hard disk, a random-access memory (RAM), a read-only memory (ROM), a storage of distributed computing systems, an optical disk (such as a compact disc (CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™), a flash memory device, a memory card, and the like. 
     As described above, in each embodiment, the determining unit  102   b  increases the proportion of the second image stabilization unit in the correction ratio as the shortest distance from the current position of the first image stabilization unit to the position of the movable end becomes shorter. In a case where the shortest distance is greater than a predetermined threshold (Dt1, Dt2, Dt3), the determining unit may perform image stabilization with the first image stabilization unit, and in a case where the shortest distance is less than the predetermined threshold, image stabilization may be performed by cooperatively controlling the first image stabilization unit and the second image stabilization unit. The determining unit may change the predetermined threshold based on at least one control characteristic (such as the overshoot characteristic and the follow-up characteristic) of the first image stabilization unit or the second image stabilization unit. The first image stabilization unit may have image stabilization performance (movable range, optical performance, image sensor performance, etc.) higher than that of the second image stabilization unit. The first image stabilization unit may consume power less than the second image stabilization unit. 
     Each embodiment can provide a control apparatus. an image pickup apparatus, a lens apparatus, a control method, and a storage medium (or program), each of which can perform (high-quality and high-performance) image stabilization while maintaining image stabilization performance without generating noise or shake using a plurality of image stabilization units. 
     For example, in each embodiment, the camera MPU  102  includes the calculating unit  102   a  and the determining unit  102   b,  but the lens MPU  109  or the like may perform at least part of at least one function of the calculating unit and the determining unit. 
     While the disclosure has been described with reference to exemplary embodiments, it is to be understood that the disclosure is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions. 
     This application claims the benefit of Japanese Patent Application No. 2021-183698, filed on Nov. 10, 2021, which is hereby incorporated by reference herein in its entirety.