Camera device, electronic device and control method thereof

Abstract

The present invention provides an imaging device, an electronic device, and a control method thereof. A imaging device capable of determining that the imaging device has accidentally fallen is provided. The imaging device includes: a movable unit having an imaging unit; a fixed unit configured to support the movable unit in a relatively displaceable manner; a drive unit configured to drive the movable unit to shift relative to the fixed unit; a first detector configured to detect an inclination angle of the imaging device; a second detector configured to detect movement of the imaging device; and a control unit configured to control the imaging device when it falls based on the inclination angle detected by the first detector and frequency information and amplitude information of the movement detected by the second detector.

Description

Technical Field

[0001] The present invention relates to an imaging device that drives a movable unit to be displaced relative to a fixed unit, an electronic device that drives a movable unit to be displaced relative to a fixed unit, and a control method thereof. Background Art

[0002] Conventionally, imaging devices are known as electronic devices that drive a movable unit to shift relative to a fixed unit. For example, some imaging devices, such as digital cameras, can be driven rotationally in the pan and tilt directions of the camera to perform subject search and the like. In such imaging devices, a person can be detected using a face detection function or a human body detection function that detects the face or body of a person included in the subject, and focus control, exposure control, or subject tracking using pan and tilt rotation can be performed based on information about the detected person.

[0003] Japanese Patent Application Laid-Open No. 2019-106694 discloses an automatic subject search and tracking device utilizing a pan and tilt rotation mechanism, as well as an imaging device that performs automatic shooting. Furthermore, some conventional imaging devices are equipped with an image vibration correction device. For example, this device can suppress image vibration of the image on the image plane by moving the lens and imaging element in a plane perpendicular to the optical axis according to the amount of camera vibration, and performs image vibration correction by rotationally driving the lens barrel that includes the shooting optical system and imaging element.

[0004] Japanese Patent Application Laid-Open No. 2008-116836 discloses an imaging apparatus having a rotating unit (movable unit) that holds a lens barrel including a photographing optical system and an imaging element, a main body unit (fixed unit) that holds the rotating unit so that the lens barrel can rotate in at least two axial directions, and a vibration detection unit that is provided on the main body unit and detects rotational vibration in three axial directions. The imaging apparatus calculates a target value for vibration correction based on the rotational vibration detected by the vibration detection unit and the relative angle between the main body unit and the rotating unit, and performs vibration correction by rotationally driving the rotating unit in accordance with the target value.

[0005] However, when the movable unit is driven to automatically shift relative to the fixed unit, the following issues arise. First, when automatically searching for, tracking, and photographing a subject, the camera is typically installed at a location away from the user for photographing. For example, if a child or pet pushes the camera, or the camera falls due to wind, etc., the user may not realize that the camera has fallen for a long time if they are away from the camera.

[0006] When a camera in a fallen position is automatically searched and tracked using the pan and tilt rotation mechanisms, or when the rotation mechanism is driven by image stabilization control, the camera may roll if the movable unit is driven while in contact with the mounting surface on which the camera has fallen. If the camera rolls, there is a risk of it falling from the table and being damaged. Furthermore, the rotation mechanism may not be properly driven to the target position due to friction or resistance with the mounting surface on which the camera has fallen, and may continue to generate a driving force with high torque and output. In this case, there is also a risk of damage to the rotation mechanism or waste of power.

[0007] Furthermore, considering the case where the camera is mounted and used in a state in which it is tilted relative to the direction of gravity, or the case where the camera is handheld, it is difficult to determine whether the camera is in a fallen state by using only the camera's tilt information. Summary of the Invention

[0008] The present invention provides a camera device capable of determining that the camera device has fallen down unintentionally, an electronic device capable of determining that the electronic device has fallen down unintentionally, and a control method thereof.

[0009] Therefore, the present invention provides a camera device, comprising: a movable unit having a camera unit; a fixed unit configured to support the movable unit in a manner capable of relative displacement; a driving unit configured to drive the movable unit to shift relative to the fixed unit; a first detector configured to detect the tilt angle of the camera device; a second detector configured to detect the movement of the camera device; and a control unit configured to control the camera device when it falls down based on the tilt angle detected by the first detector and the frequency information and amplitude information of the movement detected by the second detector.

[0010] An electronic device comprises: a movable unit; a fixed unit configured to support the movable unit in a manner capable of relative displacement; a driving unit configured to drive the movable unit to shift relative to the fixed unit; and a control unit configured to stop driving control of the driving unit according to movement of the electronic device when the driving unit is driven in a state where the tilt angle of the electronic device exceeds a first tilt angle.

[0011] A control method for a camera device, the camera device comprising: a movable unit having a camera unit; a fixed unit configured to support the movable unit in a manner capable of relative displacement; a driving unit configured to drive the movable unit to shift relative to the fixed unit; a first detector configured to detect an inclination angle of the camera device; and a second detector configured to detect movement of the camera device, the control method comprising the following steps: controlling the camera device when it falls down based on the inclination angle detected by the first detector and the frequency information and amplitude information of the movement detected by the second detector.

[0012] A control method for an electronic device, the electronic device comprising: a movable unit; a fixed unit configured to support the movable unit in a manner capable of relative displacement; and a drive unit configured to drive the movable unit to shift relative to the fixed unit, the control method comprising the steps of stopping drive control of the drive unit according to movement of the electronic device when the drive unit is driven in a state where the tilt angle of the electronic device exceeds a first tilt angle.

[0013] According to the present invention, it can be determined that the device has fallen down unintentionally.

[0014] Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A 、 1B 1C is a schematic perspective view showing an imaging apparatus.

[0016] Figure 2 is a block diagram showing a camera.

[0017] Figure 3 is a diagram showing a structural example of a wireless communication system.

[0018] Figure 4 is a flowchart showing the shooting mode process.

[0019] Figure 5 is a flowchart showing a fall detection process.

[0020] Figure 6 : is a flowchart showing the camera impact determination process.

[0021] Figure 7 : is a flowchart showing the scroll determination process.

[0022] Figure 8 It is a diagram showing a camera in a fallen state.

[0023] Figure 9 is a diagram illustrating a notification mode in a wireless communication system.

[0024] Figure 10 is a diagram showing three graphs illustrating respective vibration amounts in three axial directions when the camera is rolling.

[0025] Figure 11 : is a flowchart showing the scroll determination process. DETAILED DESCRIPTION

[0026] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings showing embodiments of the present invention.

[0027] Figure 1A 1 is a schematic perspective view of an imaging device according to an embodiment of the present invention. Although the imaging device is configured as a camera 101 capable of capturing still images, for example, the imaging device (camera 101) can also capture moving images. The camera 101 includes a fixed unit 103 serving as a camera body and a lens barrel 102 serving as a lens barrel. The lens barrel 102 includes a shooting lens group and an imaging element. An optical axis 108 is the imaging optical axis of the imaging optical system in the lens barrel 102. An angular velocity meter 106 and an accelerometer 107 are mounted on the fixed unit 103. The camera 101 is provided with various operating components such as a power switch.

[0028] The fixed unit 103 supports the lens barrel 102 as a movable unit in a relatively displaceable manner. Specifically, the lens barrel 102 is connected to the fixed unit 103 via the pitch rotation unit 104 and the pan rotation unit 105. The pitch rotation unit 104 and the pan rotation unit 105 are collectively referred to as the "pan and pitch rotation mechanism". Hereinafter, as the three axial directions, the rotation directions around the X-axis, Y-axis, and Z-axis (in Figure 1A ) are defined as the pitch direction, the yaw direction, and the roll direction, respectively.

[0029] The tilt rotation unit 104 is a motor drive mechanism that rotationally drives the lens barrel 102 in the tilt direction. The pan rotation unit 105 is a motor drive mechanism that rotationally drives the lens barrel 102 in the yaw direction. Figure 1B and 1C The lens barrel 102 is shown rotating to tilt. The camera 101 detects the vibration state of the camera 101 based on the detection results obtained by the angular velocity meter 106 and the accelerometer 107, and drives and controls the tilt rotation unit 104 and the pan rotation unit 105 based on the detected vibration angle. This makes it possible to correct the vibration of the lens barrel 102 as a movable unit and correct the tilt of the lens barrel 102.

[0030] Figure 2is a block diagram illustrating the camera 101. Within the lens barrel 102, a zoom unit 201 includes a zoom lens for zooming. A zoom drive control unit 202 drives and controls the zoom unit 201. A focus unit 203 includes a lens for adjusting focus. A focus drive control unit 204 drives and controls the focus unit 203. An imaging unit 206 includes an imaging element, which receives light incident through each lens group and generates information related to electric charge corresponding to the amount of light as analog image data. This analog image data is output to an image processing unit 207.

[0031] In the fixed unit 103, the control unit 223 includes, for example, a CPU (Central Processing Unit) (MPU (Microprocessor Unit)), memory (DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory)), and non-volatile memory (EEPROM (Electrically Erasable Programmable Read-Only Memory). The control unit 223 executes various processes (programs) to control each block of the camera 101 and to control data transfer between blocks. The non-volatile memory 216 is a memory that can be electrically erased and recorded, and stores constants and programs used for the operation of the control unit 223.

[0032] The image processing unit 207 converts the analog image data input from the imaging unit 206 into digital image data through A / D conversion. The image processing unit 207 applies image processing such as distortion correction, white balance adjustment, and color interpolation processing to the digital image data and outputs the digital image data to which the image processing is applied. The digital image data output from the image processing unit 207 is converted into a recording format such as JPEG format by the image recording unit 208 and then sent to the memory 215 and the video output unit 217.

[0033] The lens barrel rotation drive unit 205 is a drive unit for driving the pitch rotation unit 104 and the pan rotation unit 105, and rotationally drives the lens barrel 102 in the pitch direction and the pan direction. The lens barrel rotation drive unit 205 is driven and controlled by the control unit 223. The device vibration detection unit 209 includes an angular velocity meter 106 and an accelerometer 107 ( Figure 1A The angular velocity meter 106 is composed of a gyro sensor or the like and detects the angular velocity of the camera 101 in the three axial directions. The angular velocity meter 106 serves as a second detector. The accelerometer 107 is composed of an acceleration sensor or the like and detects the acceleration in the three axial directions of the camera 101. The rotation angle of the camera 101, the offset amount of the camera 101, and the like are calculated based on the detection signals output from the angular velocity meter 106 and the accelerometer 107.

[0034] The operation unit 210 can be operated by the user and includes a power button and buttons for changing camera settings. When the power button is operated, power is supplied to the entire camera 101 in accordance with the intended use, and the camera 101 is activated. The audio input unit 213 obtains audio signals from the surrounding area of ​​the camera 101 from a microphone provided in the camera 101, performs analog-to-digital conversion on the obtained audio signals, and then transmits them to the audio processing unit 214. The audio processing unit 214 performs audio-related processing, such as optimizing the input digital audio signals. The audio signals processed by the audio processing unit 214 are then transmitted by the control unit 223 to the memory 215. The memory 215 temporarily stores the image signals obtained by the image processing unit 207 and the audio signals obtained by the audio processing unit 214.

[0035] Image processing unit 207 reads the image signal temporarily stored in memory 215, encodes the image signal, and generates a compressed image signal. Furthermore, audio processing unit 214 reads the audio signal temporarily stored in memory 215, encodes the audio signal, and generates a compressed audio signal. Control unit 223 transmits the compressed image signal and compressed audio signal to recording and reproducing unit 220.

[0036] The recording and reproducing unit 220 records the compressed image signal generated by the image processing unit 207, the compressed audio signal generated by the audio processing unit 214, and other control data related to shooting, etc., on the recording medium 221. In addition, when the audio signal is not compression-encoded, the control unit 223 transmits the audio signal generated by the audio processing unit 214 and the compressed image signal generated by the image processing unit 207 to the recording and reproducing unit 220, and then causes the recording and reproducing unit 220 to record them on the recording medium 221.

[0037] Although the recording medium 221 is a recording medium built into the camera 101, the recording medium 221 may be a removable recording medium. Various data generated by the camera 101, such as compressed image signals, compressed audio signals, and audio signals, can be recorded on the recording medium 221. Therefore, a medium having a larger capacity than the non-volatile memory 216 is generally used as the recording medium 221. For example, the recording medium 221 may be any recording medium such as a hard disk, an optical disk, an optical magnetic disk, a CD-R (Compact Disc Recordable), a DVD-R (Digital Versatile Disc Recordable), a magnetic tape, a non-volatile semiconductor memory, a flash memory, or the like.

[0038] The recording and reproducing unit 220 reads (reproduces) the compressed image signal, compressed audio signal, audio signal, various data, and programs recorded on the recording medium 221. The control unit 223 then transmits the read compressed image signal and the read compressed audio signal to the image processing unit 207 and the audio processing unit 214. The image processing unit 207 and the audio processing unit 214 temporarily store the compressed image signal and the compressed audio signal in the memory 215, decode them according to a predetermined process, and transmit the decoded signals to the video output unit 217.

[0039] The audio output unit 218 outputs a predetermined audio pattern from the speaker 901, for example, when shooting. The LED (light emitting diode) control unit 224 controls the LED 902 to light up and blink in a predetermined pattern, for example, when shooting. The video output unit 217 includes, for example, a video output terminal, and transmits an image signal to display a video on a connected external display or the like. Furthermore, the audio output unit 218 and the video output unit 217 may include a single combined terminal, for example, an HDMI (registered trademark) (High-Definition Multimedia Interface) terminal or the like.

[0040] The communication unit 222 communicates between the camera 101 and external devices, transmitting and receiving data such as audio signals, image signals, compressed audio signals, and compressed image signals. Furthermore, when the camera 101 detects an abnormal state, the communication unit 222 transmits information notifying the external device of the camera's internal state, such as error information. The communication unit 222 includes, for example, an infrared communication module, a Bluetooth (registered trademark) communication module, a wireless LAN (Local Area Network) communication module, a wireless USB (Universal Serial Bus) module, and a GPS (Global Positioning System) receiver. Furthermore, the fixed unit 103 includes a learning processing unit 219.

[0041] Figure 3 1 is a diagram showing a configuration example of a wireless communication system including a camera 101 and an external device. The external device is, for example, a smart device 301 including a Bluetooth communication module and a wireless LAN communication module.

[0042] The camera 101 and the smart device 301 can communicate with each other through communication 302 and communication 303. Communication 302 is, for example, wireless LAN communication conforming to the IEEE 802.11 standard series. Communication 303 is, for example, communication with a master-slave relationship between a control station and a slave station, such as Bluetooth Low Energy (hereinafter referred to as "BLE").

[0043] Furthermore, wireless LAN and BLE are examples of communication methods, and other communication methods may be used. The camera 101 and the smart device 301 may each have two or more communication functions, and, for example, one communication function that performs communication between a control station and a slave station may control the other communication function. Note that, without loss of generality, the first communication method, such as wireless LAN, can perform higher-speed communication than the second communication method, such as BLE, and the second communication method is at least one of the following: the second communication consumes less power than the first communication; and the second communication has a shorter communicable distance than the first communication.

[0044] Figure 4 2 is a flowchart showing the shooting mode process. This shooting mode process is implemented by the CPU included in the control unit 223 reading out a program stored in a storage unit such as a ROM included in the control unit 223 and executing the program. In addition, when a shooting mode that automatically performs panning and tilting drive (such as automatic tracking) is set and the shooting mode is executed at fixed time intervals, this shooting mode process is started.

[0045] In step S401, the control unit 223 performs image recognition processing. First, the control unit 223 generates image data by causing the image processing unit 207 to perform image processing on the signal for subject detection captured by the imaging unit 206. The control unit 223, acting as a subject detection unit, then performs subject detection, such as person detection and object detection, based on the generated image data. When the control unit 223 detects a person, it detects the face or body of the subject. In face detection processing, a predetermined pattern is used to identify a person's face, and the portion of the captured image that matches this pattern is detected as the person's facial image. Simultaneously, a reliability level is calculated, indicating the certainty of the subject's face. This reliability level is calculated based on, for example, the size of the facial region within the image and the degree of consistency with the facial pattern. Similarly, in object recognition, objects that match a preregistered pattern are identified. The control unit 223 calculates an evaluation value for each image region of the identified subject and determines the image region of the subject with the highest evaluation value as the primary subject region.

[0046] In step S402, the control unit 223 calculates the image vibration correction amount. Specifically, the control unit 223 first calculates the vibration angle based on the angular velocity information and acceleration information obtained by the device vibration detection unit 209. The control unit 223 then calculates the image stabilization angle for moving the pitch rotation unit 104 and pan rotation unit 105 in the angular direction to offset the vibration angle, and sets the obtained image stabilization angle as the image vibration correction amount.

[0047] In step S403, the control unit 223 performs camera state determination processing to determine the camera state. That is, the control unit 223 determines the vibration / movement state of the camera 101 based on the camera angle and camera movement amount detected from angular velocity information, acceleration information, GPS position information, etc.

[0048] For example, when capturing images while the camera 101 is installed in a vehicle, subject information such as the surrounding scenery varies significantly depending on the distance traveled. Here, the control unit 223 determines whether the camera 101 is in a "vehicle-moving state," where the camera 101 is installed in a vehicle or the like and moving at high speed. This can be used for automatic subject search, which will be described later. Furthermore, the control unit 223 determines whether the camera 101 is in a "stationary shooting state," where there is little angular vibration of the camera 101, based on the magnitude of the change in camera angle. If the camera 101 is in a "stationary shooting state," since it can be assumed that the camera 101's angle has not changed, the control unit 223 can perform a subject search for stationary shooting. Furthermore, if the change in camera angle is relatively large, the control unit 223 determines that the camera 101 is in a "handheld state," and can perform a handheld subject search.

[0049] The camera state determined in step S403 also includes the determination of the fallen state / non-fallen state by fall detection. In other words, the state of the camera 101 is also determined to be the fallen state or the non-fallen state. The method for determining the fallen state / non-fallen state will be described later.

[0050] In step S404, the control unit 223 performs a subject search process. When a state in which the subject to be photographed is not detected continues for a predetermined time, the control unit 223 determines that there is no subject within the angle of view of the current pan and tilt angle position. Then, in order to search for a subject that may currently be beyond the angle of view, the control unit 223 calculates a target angle for driving pan and tilt to search for the subject. When a subject to be photographed is detected during the search operation, the control unit 223 calculates a target angle for tracking control that keeps the subject at a predetermined position (e.g., center) of the image by pan and tilt drive. When the automatic shooting operation to be described later is performed a predetermined number of times, the control unit 223 drives pan and tilt to search for different subjects, and calculates a target angle for searching for the different subjects.

[0051] In step S405, the control unit 223 performs pan and tilt drive. Specifically, the control unit 223 calculates the pan and tilt drive amounts by adding the image vibration correction amount calculated in step S402 to the pan and tilt search / tracking target angles calculated in step S404. The control unit 223 then controls the lens barrel rotation drive unit 205 to drive and control the tilt rotation unit 104 and the pan rotation unit 105 by the respective pan and tilt drive amounts.

[0052] In step S406, the control unit 223 controls the zoom unit 201 to perform zoom drive. Specifically, the control unit 223 drives the zoom according to the state of the subject to be searched, which was determined in step S404. For example, in the case where the subject to be searched is a person's face, if the face on the image is too small, the face will not be detected because it is smaller than the minimum detectable size and there is a risk of it being lost. In this case, the control unit 223 controls to increase the size of the face on the image by zooming in the telephoto direction. On the other hand, if the face on the image is too large, the subject is likely to deviate from the perspective due to the movement of the subject and the camera itself. In this case, the control unit 223 controls to reduce the size of the face on the image by zooming in the wide-angle direction. By performing zoom control in this way, a state suitable for tracking the subject can be maintained.

[0053] In step S407, the control unit 223 determines whether a manual shooting instruction has been issued. A manual shooting instruction can be given by pressing the shutter button, by tapping (tap) the camera housing with a finger, etc., or by inputting a voice command. In addition, the manual shooting instruction can be an instruction from an external device. A shooting instruction by a tap operation is a shooting instruction method in which when the user taps the camera housing, the device vibration detection unit 209 detects continuous high-frequency acceleration for a short period of time and triggers shooting. Inputting a voice command is a shooting instruction method in which when the user issues a command to instruct a predetermined shooting (for example, "Take a picture"), the audio processing unit 214 recognizes the user's voice and triggers shooting. An instruction from an external device is a shooting instruction method in which shooting is triggered by a shutter instruction signal, which is sent from, for example, a smartphone connected to the camera via Bluetooth via a dedicated application.

[0054] As a result of the determination in step S407, if a manual shooting instruction has been issued, the control unit 223 proceeds to step S410. If no manual shooting instruction has been issued, the control unit 223 proceeds to step S408. In step S408, the control unit 223 performs automatic shooting determination processing. In other words, the control unit 223 determines whether automatic shooting is to be performed on the detected subject. For example, the control unit 223 detects a specific human subject and determines that automatic shooting is to be performed if the facial expression or posture meets preset conditions.

[0055] In step S409, if it is determined in step S408 that automatic shooting is to be performed, the control unit 223 advances the process to step S410, and if it is not determined in step S408 that automatic shooting is to be performed, the control unit 223 ends the process. Figure 4 Shooting mode processing shown.

[0056] In step S410, the control unit 223 starts shooting. At this time, the control unit 223 performs automatic focus control via the focus drive control unit 204. Furthermore, the control unit 223 uses an aperture control unit (not shown), a sensor gain control unit (not shown), and a shutter control unit (not shown) to perform exposure control so that the subject has appropriate brightness. Furthermore, after shooting, the control unit 223 performs various known image processing, such as automatic white balance processing, noise reduction processing, and gamma correction processing, via the image processing unit 207 to generate an image.

[0057] In step S411, the control unit 223 performs editing processing, such as processing the image generated in step S410 and adding it to the moving image. Specifically, the image processing mentioned here includes cropping processing based on the face and focus position of the character, image rotation processing, HDR (high dynamic range) effect, blur effect, and color conversion filter effect. In addition, in the image processing, a plurality of images can be generated based on the image generated in step S410 by a combination of the above-mentioned processing, and the plurality of images can be stored separately from the image generated in step S410. In addition, in the moving image processing, a captured moving image or a captured still image can be added to the edited moving image that has been generated, and special effect processing such as sliding processing, zoom processing, and fade-in and fade-out processing can be added.

[0058] In step S412, the control unit 223 updates the past shooting information. For example, the control unit 223 sets a count for each of the following items: the number of captured images of each person registered for personal authentication and as a subject to be captured, the number of captured images of each subject identified through general object recognition, and the number of captured images of each scene determined through scene determination. The control unit 223 then increments the count corresponding to the image captured this time by 1 and uses the updated count value in the subject search process in step S404 and the automatic shooting determination process in step S408.

[0059] Figure 5 is a flow chart showing the fall detection process. Figure 5 The fall detection process is started by executing the camera state judgment process of step S403, and then repeated in a predetermined cycle until it is completed. Figure 4 In this fall detection process, the control unit 223 functions as a determination unit and a control unit in the present invention.

[0060] In this fall detection process, the state variable "state" is used as a condition indicating the state (state related to the posture) of the camera 101. The state variable "state" is set to the fall state or the non-fall state, and the initial value of the state variable "state" is set to the non-fall state. In step S501, the control unit 223 determines whether the state variable "state" is set to the non-fall state. If the state variable "state" is the non-fall state, the control unit 223 can determine that the camera 101 is not currently falling, so the control unit 223 advances the process to step S502. On the other hand, if the state variable "state" is the fall state, the control unit 223 can determine that the camera 101 is currently falling, so the control unit 223 advances the process to step S514.

[0061] In step S502, the control unit 223 determines whether the tilt angle of the camera 101 is greater than a predetermined value A (first tilt angle). Here, the tilt angle of the camera 101 is defined with the direction perpendicular to the direction of gravity as a 0 reference. The tilt angle of the camera 101 can be calculated based on the output value of the three-axis acceleration sensor of the accelerometer 107 mounted on the fixing unit 103. The accelerometer 107 serves as a first detector. The value of the predetermined value A is within a range greater than 0 degrees and equal to or less than 180 degrees, and for example, the value of the predetermined value A is 60 degrees. In the case where the tilt angle of the camera 101 exceeds the predetermined value A, the control unit 223 causes the processing to enter step S503, and in the case where the tilt angle of the camera 101 is equal to or less than the predetermined value A, the control unit 223 ends. Figure 5 The fall detection process is shown.

[0062] In step S503, the control unit 223 serving as the impact detection unit executes camera impact determination processing ( Figure 6 ). Figure 6 5 is a flowchart illustrating the camera impact determination process executed in step S503.

[0063] First, in step S601 , the control unit 223 calculates the absolute value of a value obtained by subtracting gravitational acceleration “ag” from a scalar calculated based on the three-axis acceleration output from the accelerometer 107 as an acceleration scalar value “as” by using Equation 1.

[0064] [Formula 1]

[0065]

[0066] In the case where the camera 101 falls and hits the table, since the acceleration scalar value "as" is only the component of the impact acceleration from which the acceleration due to gravity is removed, the impact force can be determined by the magnitude of the acceleration scalar value "as". In step S602, the control unit 223 determines whether the acceleration scalar value "as" is equal to or greater than a predetermined value. In the case where the acceleration scalar value "as" is equal to or greater than the predetermined value, in step S603, the control unit 223 sets a mark indicating that there is an impact on the camera (i.e., there is a camera impact), and simultaneously records the time point. On the other hand, in the case where the acceleration scalar value "as" is less than the predetermined value, in step S604, the control unit 223 sets a mark indicating that there is no impact on the camera (i.e., there is no camera impact), and simultaneously records the time point. After step S603 and step S604, the control unit 223 ends each step. Figure 6 The camera impact determination process is shown.

[0067] exist Figure 5 In step S504, the control unit 223 refers to Figure 6 The control unit 223 checks the flag set in the camera impact determination process shown in FIG5 and determines whether there has been an impact on the camera 101. If there has been no impact on the camera 101, the control unit 223 advances the process to step S506. On the other hand, if there has been an impact on the camera 101, the control unit 223 temporarily stops controlling and energizing the pan and tilt rotation mechanisms (the tilt rotation unit 104 and the pan rotation unit 105) in step S505. This is because there is a possibility that the camera 101 may accidentally fall and hit a table or the like. After step S505, the control unit 223 advances the process to step S506.

[0068] In step S506, the control unit 223 determines whether a predetermined time has elapsed since the determination in step S504 that an impact has been applied to the camera 101. If the predetermined time has not elapsed since the determination in step S504 that an impact has been applied to the camera 101, the control unit 223 advances the process to step S508. However, if the predetermined time has elapsed since the determination in step S504 that an impact has been applied to the camera 101, the control unit 223 deactivates control and energization of the pan and tilt mechanisms in step S507, returns drive control to an active state, and then advances the process to step S508. Therefore, after the determination in step S504 that an impact has been applied to the camera 101, the pan and tilt mechanisms are deactivated for at least the predetermined time.

[0069] In step S508, the control unit 223 executes (reference will be made later) Figure 7 (The aforementioned rolling determination process is described.) In general, if the movable unit has a slightly rounded shape, the camera is prone to rolling when it falls sideways on a table. Furthermore, if the rotating mechanism is driven while the camera is already fallen and image stabilization control is applied, the rotating mechanism may not be properly driven to the target position due to friction or resistance with the mounting surface on which the camera has fallen, and may continue to generate a driving force with high torque and high output. In this case, there is a risk of damage to the rotating mechanism or waste of power.

[0070] For example, Figure 8 As shown, consider the case where a camera 101 having a circular cross-sectional shape and perpendicular to the Y-axis falls onto a mounting surface 801. Assume that the pan and tilt mechanisms are driven while the camera 101 has fallen, and image stabilization control is applied. In this case, although the lens barrel 102 attempts to pan, it cannot reach the target control angle due to friction with the mounting surface 801. Therefore, the control unit 223 controls to increase the driving force for pan rotation. As a result of the increased driving force for pan rotation, the fixed unit 103 rotates, and the angular velocity meter 106 outputs a high angular velocity. Consequently, the target angle value is set to a higher value through image stabilization control. However, due to friction with the mounting surface 801, the target position cannot be reached, and the rotation drive amount increases, causing the camera 101 to roll due to movement of the pan mechanism. Depending on the external shape of the camera 101, there are situations where camera 101 may or may not roll, and there are directions where camera 101 may or may not roll.

[0071] As explained above, since the camera 101 may be unintentionally rolled due to the control of the pan and tilt rotation mechanism, in order to avoid malfunction and wasteful power consumption, the control unit 223 performs the roll determination processing ( Figure 7 ). The scroll judgment process judges whether it is "scrolling" or "not scrolling".

[0072] In step S509, based on the result of the roll determination process, the control unit 223 determines whether the camera 101 is rolling. If the roll determination process results in "rolling," the camera 101 is determined to be in a "rolling state." "Rolling" means the camera 101 is rotating. If "rolling," the control unit 223 sets the state variable "state" to the down state in step S511, and proceeds to step S512.

[0073] In step S512, in order to avoid problems such as the falling of the camera 101, malfunction due to the high load on the rotation mechanism, and power consumption, the control unit 223 limits the drive control and energization of the pan and tilt rotation mechanism (the pitch rotation unit 104 and the pan rotation unit 105) as control when falling. In the present embodiment, although the drive control and energization of the pan and tilt rotation mechanism are stopped, any one of the speed of the drive control, the drive range of the drive control, and the amount of energization may be reduced. In step S513, as control when falling, the control unit 223 notifies that the camera 101 has fallen and the drive control of the pan and tilt rotation mechanism has stopped. An example of this notification is shown in FIG. Figure 9 Shown in.

[0074] Figure 9 is a diagram showing a mode of notifying the smart device 301 in a wireless communication system. First, as a first notification, the control unit 223 outputs a predetermined lighting and flashing pattern from the LED 902 of the camera 101, and outputs a predetermined error notification sound from the speaker 901 of the camera 101. As a result, in a case where the user approaches the camera 101, it can be immediately notified that the camera 101 has fallen. In addition, as a second notification, the control unit 223 notifies the smart device 301 of event information indicating that the camera 101 has fallen by using a wireless LAN or BLE, and displays the event information on a monitor provided in the smart device 301. For example, a message 903 indicating that the camera is falling is displayed. As a result, even in a case where the user is not close to the camera 101, if the user carries the smart device 301, the user can immediately know that the camera 101 has fallen. In addition, the modes of notification are not limited to these examples, and any one of them may be used alone, or a plurality of combinations may be used. After step S513, the control unit 223 ends Figure 5 The fall detection process is shown.

[0075] If the camera 101 is not rolling as determined in step S509, the control unit 223 determines in step S510 whether the camera 101 is stationary. For example, the control unit 223 compares the signals of the three axes of the angular velocity meter 106 with corresponding predetermined thresholds and determines whether the camera 101 is stationary or moving based on the number of counts exceeding the predetermined thresholds within a predetermined time, or the number of counts falling below the predetermined thresholds within a predetermined time. Alternatively, the control unit 223 may determine whether the camera 101 is stationary based on the signal from the accelerometer 107. Furthermore, the control unit 223 may determine whether the camera 101 is stationary based on a signal obtained by extracting specific frequencies using a filter such as an HPF (high-pass filter).

[0076] This determination is made to distinguish whether the camera 101 is stationary on a table or the like, or whether the camera 101 is in a state where it is moving with the user (such as a handheld state or a wearable state). Since the camera 101 is determined to be tilted in step S502, if it is determined to be stationary in step S510, there is a possibility that the camera 101 remains unintentionally fallen on the table or the like. Therefore, in this case, the control unit 223 advances the process to step S511. Therefore, even if the rolling stops, when the camera 101 is stationary in the tilted state, the state variable "state" is set to the fallen state.

[0077] On the other hand, if it is determined in step S510 that the camera 101 is not stationary, since the camera 101 is neither rolling nor stationary, it can be estimated that the camera 101 is in a handheld state or a wearable state. Therefore, the control unit 223 ends Figure 5 The fall detection process shown does not update the state variable "state".

[0078] Therefore, in the case where the camera 101 is not stationary, the state variable "state" is maintained in the non-fallen state. The reason for this is as follows. First, generally speaking, in the case of shooting while operating the camera in a handheld state, when the operation of the rotation mechanism is frequently stopped, it is impossible to correctly perform automatic search, tracking and image stabilization control in some cases. In addition, when the camera angle changes significantly in the handheld state, frequent notifications (such as sounds, etc.) may cause discomfort. Therefore, when the camera has fallen on a table or the like, it is best to stop the drive of the pan and tilt rotation mechanism, but on the other hand, when the camera is in a handheld state, it is best not to stop the drive of the pan and tilt rotation mechanism.

[0079] After the state variable "state" is set to the fallen state in step S511, the process transfers from step S501 to step S514. In step S514, the control unit 223 determines whether the tilt angle of the camera 101 is less than a predetermined value B (a second tilt angle). Furthermore, the predetermined value B is greater than 0 degrees and less than the predetermined value A. For example, the predetermined value B is 20 degrees.

[0080] In the case where the tilt angle of the camera 101 is less than the predetermined value B, it is very likely that the user has corrected the camera 101 from the fallen state to the normal position. Therefore, in step S516, the control unit 223 sets the state variable "state" to the non-fallen state. In step S517, the control unit 223 releases the drive control and power supply of the pan and tilt rotation mechanism (the pitch rotation unit 104 and the pan rotation unit 105). That is, the control unit 223 enables the drive control of the pan and tilt rotation mechanism, and restarts the drive control. Thereafter, the control unit 223 ends Figure 5 The fall detection process is shown.

[0081] On the other hand, if the tilt angle of the camera 101 is not less than the predetermined value B, the control unit 223 determines that the fallen state of the camera 101 continues, so the process proceeds to step S515. In step S515, the control unit 223 determines whether the subject to be captured is detected within the angle of view of the camera 101. In other words, the control unit 223 determines whether the subject set as the capture target can be detected from the captured image.

[0082] As a result of this judgment, if a subject is detected within the viewing angle of the camera 101, there is a high probability that the user intentionally tilted the camera 101 for installation. For example, it can be imagined that the camera 101 is intentionally installed downward to photograph a baby in a crib. Therefore, in this case, in step S516, the control unit 223 sets the state variable "state" to a non-falling state. However, if a subject has not yet been detected within the viewing angle of the camera 101, since it can be determined that the falling state of the camera 101 continues, the control unit 223 ends the process. Figure 5 The fall detection process is shown.

[0083] Figure 7 It is shown in Figure 5This is a flowchart of the roll determination process executed in step S508 of FIG. In step S701, the control unit 223 obtains the triaxial angular velocity sensor output of the angular velocity meter 106. Then, in step S702, the control unit 223 calculates the frequency and amplitude of the angular velocity in a predetermined direction. The predetermined direction is the roll rotation direction, which corresponds to the drive direction of the tilt rotation unit 104 and the drive direction of the pan rotation unit 105 by the lens barrel rotation drive unit 205 and is predetermined based on the external shape of the camera 101. For example, the direction that is easiest to rotate is set as the predetermined direction. For example, if the lens barrel 102 has a shape that easily rotates in the yaw direction, the predetermined direction is the yaw rotation direction.

[0084] The control unit 223 calculates the frequency and amplitude in each direction using an FFT (Fast Fourier Transform) using angular velocity values ​​over a predetermined period of time as input. Furthermore, the control unit 223 calculates the yaw rate, pitch rate, and roll rate. A method for calculating the amplitude and frequency can be employed, which uses a simple process with reduced processing time, as described below.

[0085] Figure 10 Graphs are shown showing three graphs illustrating the respective vibration amounts in the three axial directions when the camera 101 is rolling. The control unit 223 measures time periods T1, T2, and T3 corresponding to one cycle for the yaw angular velocity, referring to the sign reversal timing (+ to -, - to +), and calculates the frequency based on these time periods. Furthermore, the control unit 223 stores the peak values ​​of the yaw angular velocity during time periods T1, T2, and T3 as the amplitude corresponding to each time period. The control unit 223 also performs the same processing for each of the pitch angular velocity and the roll angular velocity.

[0086] Next, in step S703, the control unit 223 determines whether the image stabilization function for the rotation drive is on (valid). The conditions for turning the image stabilization function on / off will be described. First, if the rotation mechanism is not temporarily stopped because no impact is determined to have occurred on the camera 101 in step S504, the image stabilization function is set to the on state. Furthermore, if the temporary stop of the rotation mechanism is released in step S507 after an impact is determined to have occurred on the camera 101, and if the output of the angular velocity meter 106 is sufficiently high and camera vibration is determined to have occurred, the image stabilization control is set to the on state.

[0087] On the other hand, if the temporary stop of the rotating mechanism in step S505 continues, the image stabilization control is set to the OFF state. In addition, even if the rotating mechanism is not in the stopped state, if the output of the angular velocity meter 106 is very small and it is determined that the camera is stationary, the image stabilization control is set to the OFF state.

[0088] As a result of the determination in step S703, if the image stabilization control is on, the control unit 223 advances the process to step S704. On the other hand, if the image stabilization control is off (invalid), the control unit 223 advances the process to step S705. In step S704, the control unit 223 sets a parameter used when the image stabilization function is on as a threshold parameter for determining scroll, and then advances the process to step S706. In step S705, the control unit 223 sets a parameter used when the image stabilization function is off as a threshold parameter, and then advances the process to step S706. The parameters used when the image stabilization function is on and the parameters used when the image stabilization function is off are pre-stored in the non-volatile memory 216.

[0089] Because the roll characteristics of the camera 101 differ depending on whether the image stabilization function is on or off, the threshold parameters used when the image stabilization function is on differ from those used when the image stabilization function is off. When the image stabilization function is off (power-off), the amount of vibration is determined by the shape of the camera 101, and in most cases, the amount of roll vibration is small. However, when the image stabilization function is on (power-on), the amount of roll vibration may become significantly large due to malfunctioning of the image stabilization control due to the influence of friction.

[0090] In step S706, the control unit 223 determines whether the amplitude and frequency of the angular velocity calculated in step S702 satisfy a predetermined condition to be described later. As a result of the determination in step S706, if the amplitude and frequency of the angular velocity satisfy the predetermined condition, in step S707, the control unit 223 sets the determination result of the scroll determination process to "scrolling". On the other hand, if the amplitude and frequency of the angular velocity do not satisfy the predetermined condition, in step S708, the control unit 223 sets the determination result of the scroll determination process to "not scrolling". After steps S707 and S708, the control unit 223 ends the respective Figure 8 The scroll determination process shown.

[0091] The control unit 223 determines whether the camera 101 is rolling based on the respective amplitudes and frequencies of the pitch, yaw, and roll angular velocities calculated in step S702.

[0092] First, if Figure 8 As shown, it is assumed that the fixed unit 103 has a cylindrical shape, and both the lens barrel 102 and the fixed unit 103, which are orthogonal to the Y axis, have circular cross-sectional shapes. In this case, the axis that is greatly affected when the camera 101 is rolling is the Y axis, and the amount of vibration in the yaw rotation direction around the Y axis becomes large. In addition, since the yaw rotation direction coincides with the driving direction of the rotation mechanism in the pan direction, when the Figure 8 When the image stabilization control in the pan direction is performed in the fallen state shown, the amount of vibration in the yaw direction becomes extremely large because the image stabilization control may malfunction due to the influence of the friction described above.

[0093] At this time, the amount of rolling vibration in the pitch and roll directions is significantly smaller than in the yaw direction. Furthermore, the frequency band (frequency range) during rolling is determined by factors such as the camera's shape and weight. If the lens barrel 102, as a movable unit, is heavy, the rolling frequency will be on the low side. Therefore, the control unit 223 compares the amplitude of the yaw angular velocity within a specific frequency range (e.g., 1-3 Hz) (hereinafter referred to as the "former") with the amplitude of the yaw angular velocity within a frequency range other than the specific frequency range (hereinafter referred to as the "latter"). If the difference between the former and latter exceeds a first predetermined difference and the amplitude difference between the pitch and yaw angular velocities, or the amplitude difference between the roll and yaw angular velocities, exceeds a second predetermined difference, the control unit 223 can determine that the camera 101 is rolling.

[0094] If the amplitude difference in yaw angular velocity between the specific frequency range and frequency ranges other than the specific frequency range is small, the camera 101 is likely to be in a vibrating state, such as being handheld, and the control unit 223 can determine that the camera 101 is not rolling. Furthermore, if the amplitude difference between the pitch angular velocity and the yaw angular velocity, or the amplitude difference between the roll angular velocity and the yaw angular velocity, is small, the camera 101 is likely to be in a vibrating state, such as being handheld, and the control unit 223 can determine that the camera 101 is not rolling. Furthermore, the threshold parameters set in steps S704 and S705 include parameters such as the specific frequency range, the first predetermined difference, and the second predetermined difference. Therefore, these parameters can differ between when the image stabilization function is on and when it is off.

[0095] These can be summarized as follows. The "first condition" is that the difference between the amplitude of the angular velocity in a predetermined direction (here, the yaw direction) within a specific frequency range (first frequency band) and the amplitude of the angular velocity in the predetermined direction within a frequency band other than the specific frequency range (excluding the first frequency band) exceeds a first predetermined difference. The "second condition" is that the difference between the amplitude of the angular velocity in the predetermined direction and the amplitude of the angular velocity in a direction other than the predetermined direction (here, the pitch and roll directions) exceeds a second predetermined difference. When both the first and second conditions are met, the predetermined conditions are satisfied, and it is determined that the camera 101 is rolling. The amplitude used for comparison can be either a maximum value or an average value.

[0096] In addition, other scroll determination methods may be employed.

[0097] If the frequency with the highest amplitude detected within a predetermined time period at the yaw angular velocity is within a specific frequency range (e.g., 1 to 3 Hz), the highest amplitude exceeds a first predetermined value, and the amplitudes of the pitch angular velocity and the roll angular velocity are less than a second predetermined value, it can be determined that the camera 101 is rolling. Furthermore, the threshold parameters set in steps S704 and S705 include parameters such as the specific frequency range, the first predetermined value, and the second predetermined value. Therefore, these parameters may differ between when the image stabilization function is on and when it is off.

[0098] These can be summarized as follows. The "third condition" is that the amplitude of the angular velocity in a predetermined direction (here, the yaw direction) reaches a maximum value in the first frequency band, and that the maximum value exceeds a first predetermined value. The "fourth condition" is that the amplitudes of the angular velocities in directions other than the predetermined direction (here, the pitch and roll directions) are less than a second predetermined value. When both the third and fourth conditions are met, the predetermined conditions are satisfied, and the camera 101 is determined to be rolling. The amplitude used in the fourth condition can be either a maximum value or an average value.

[0099] In addition, instead of Figure 7 The method shown can be used Figure 11 Other scroll determination methods shown. Figure 11 It is shown in Figure 5 Flowchart of the scroll determination process executed in step S508 of FIG.

[0100] In step S1101, the control unit 223 obtains the three-axis angular velocity sensor output of the angular velocity meter 106. In step S1102, the control unit 223 calculates the correlation between the angular velocities (between the plurality of angular velocities). There are a number of possible methods for calculating the correlation, but first, a first correlation calculation method will be described.

[0101] The first correlation calculation method is a method using coherence as a correlation value in the frequency domain. Figure 10 The time series data of the angular velocity of each axis shown is Fourier transformed, the power spectrum is calculated, and the coherence is calculated based on Equation 2.

[0102] [Formula 2]

[0103]

[0104] In Equation 2, f is the frequency, and N is the number of frequency samples. X(f) and Y(f) are the Fourier transforms of the time series data xi and yi of the pitch angular velocity and yaw angular velocity, respectively. X*(f) and Y*(f) are the complex conjugates of X(f) and Y(f), respectively. Coh represents coherence. Control unit 223 calculates the coherence of several frequencies f set around a specific frequency range (e.g., 1 to 3 Hz).

[0105] If the roll and yaw directions of the angular velocity meter do not completely match, the camera 101 will rotate at the same angular velocity in the pitch direction and the same angular velocity in the roll direction. Therefore, the control unit 223 obtains the coherence between the yaw angular velocity and the pitch angular velocity, and the coherence between the yaw angular velocity and the roll angular velocity, respectively, and determines whether the camera 101 is rolling based on whether phase correlation exists.

[0106] In step S1106, the control unit 223 determines whether the angular velocities are correlated. That is, when the coherence in a specific frequency range is greater than the coherence threshold, the control unit 223 determines that it is correlated with the rotation due to the rolling influence, that is, it is determined that the angular velocities are correlated. On the other hand, when the coherence is equal to or less than the coherence threshold, the control unit 223 determines that it is not correlated with the rotation due to the rolling influence, that is, it is determined that the angular velocities are not correlated. As a result of the judgment in step S1106, in the case where the angular velocities are correlated, in step S1107, the control unit 223 performs the same processing as in step S707, and ends Figure 11 If there is no correlation between the angular velocities, in step S1108, the control unit 223 performs the same processing as in step S708 and ends the process. Figure 11 The scroll determination process shown.

[0107] The method for determining whether the angular velocities are correlated can be summarized as follows. The "fifth condition" is that the correlation between the angular velocity in a predetermined direction (here, the yaw direction) and the angular velocity in directions different from the predetermined direction (here, the pitch and roll directions) exceeds a predetermined correlation. The fifth condition is satisfied if the coherence within a specific frequency range is greater than a coherence threshold. When the fifth condition is satisfied, the aforementioned predetermined condition is satisfied, and it is determined that the camera 101 is rolling.

[0108] Next, a second correlation calculation method will be described. The second correlation calculation method is a method of performing calculation by a simple process with a shortened processing time.

[0109] like Figure 10 As shown, if the deviation in the sign reversal timing between the yaw rate and the pitch rate is within the allowable value, and if each of the time periods T1, T2, and T3 is within the allowable value, the control unit 223 can determine that there is phase correlation. In this case, when the fifth condition is met, the above-mentioned predetermined condition is met.

[0110] Alternatively, the control unit 223 may always calculate the mutual correlation coefficient in a predetermined time period by using Formula 3, obtain a correlation value, and determine whether there is a correlation.

[0111] [Formula 3]

[0112]

[0113] In Equation 3, Xi and Yi represent the time-series data for the pitch angular velocity and yaw angular velocity, respectively. Rxy represents the cross-correlation coefficient between the time-series data Xi and Yi. The control unit 223 calculates the cross-correlation coefficient for the roll angular velocity and yaw angular velocity in the same manner. If the correlation value is greater than a predetermined value, the fifth condition is satisfied. If the fifth condition is satisfied, the predetermined condition is satisfied, and it is determined that the camera 101 is rolling.

[0114] Furthermore, the first to fifth conditions described above may be applied in combination as appropriate, as long as there are no conflicts. For example, when both the first and fifth conditions are satisfied, the predetermined condition is satisfied, and it can be determined that the camera 101 is rolling. Alternatively, when both the second and fifth conditions are satisfied, the predetermined condition is satisfied, and it can be determined that the camera 101 is rolling.

[0115] According to this embodiment, if the control unit 223 determines that the camera 101 is in a fallen state during the drive control of the lens barrel rotation drive unit 205, it stops the drive control of the lens barrel rotation drive unit 205. This makes it possible to determine that the device has unintentionally fallen. In addition, if the camera 101 has unintentionally fallen, the drive control can be stopped to avoid the occurrence of malfunctions due to malfunctions and wasteful power consumption.

[0116] In particular, when it is determined that the camera 101 is rolling with the tilt angle of the camera 101 being greater than a predetermined value A (first tilt angle), the camera 101 is determined to be in a fallen state (step S509). As a result, it is possible to prevent the camera 101 from continuing to roll without reaching the target position.

[0117] Furthermore, if the tilt angle of the camera 101 exceeds the predetermined value A and the camera 101 is determined to be stationary, the camera 101 is determined to be in a fallen state (step S510). As a result, the drive control of the lens barrel rotation drive unit 205 can be prevented from continuing while the camera 101 remains in the fallen state, and the occurrence of a malfunction and power consumption can be suppressed.

[0118] On the other hand, even when the tilt angle of the camera 101 exceeds the predetermined value A and the camera 101 is not rolling, if it is determined that the camera 101 is not stationary, it is not determined that the camera 101 is in the fallen state (step S510). Therefore, even when the camera 101 is tilted, the drive control of the lens barrel rotation drive unit 205 is continued in the handheld state or the wearable state, thereby improving usability.

[0119] In addition, after stopping the drive control of the lens barrel rotation drive unit 205, when the state of the camera 101 changes from the fallen state to the non-fallen state, the control unit 223 releases the stop of the drive control of the lens barrel rotation drive unit 205 (step S517). As a result, under appropriate conditions, the drive control is automatically resumed without the user performing a drive control resumption operation, thereby improving usability.

[0120] For example, after the camera 101 has fallen down, if the tilt angle of the camera 101 is less than a predetermined value B, the state of the camera 101 is switched from the fallen down state to the non-fallen state (step S514). As a result, if the user returns the camera 101 to its normal position, the drive control stop can be automatically released. In addition, for example, after the camera 101 has fallen down, if a predetermined subject is detected in the captured image, the state of the camera 101 is switched from the fallen down state to the non-fallen state (step S515). As a result, if the user intentionally tilts the camera 101, the drive control stop can be automatically released.

[0121] Furthermore, if the tilt angle of the camera 101 exceeds a predetermined value A and an impact is detected, the drive control of the lens barrel rotation drive unit 205 is stopped for a predetermined period of time, regardless of whether the camera 101 is in a fallen state or in a non-fallen state (steps S504 and S505). However, in this case, the comparison value of the tilt angle of the camera 101 is not limited to the predetermined value A and may be a third tilt angle different from the predetermined value A. Furthermore, a process for temporarily stopping the drive control of the lens barrel rotation drive unit 205 upon detection of an impact may be provided immediately before step S501, between step S501 and step S502, or between step S501 and step S514. Furthermore, the process for temporarily stopping the drive control of the lens barrel rotation drive unit 205 upon detection of an impact is optional.

[0122] Furthermore, in this embodiment, the camera 101 is an imaging device having two rotational axes, but may be an imaging device having at least one rotational axis. Furthermore, in this embodiment, the relative displacement of the movable unit relative to the fixed unit is rotational displacement, but the relative displacement of the movable unit relative to the fixed unit may be linear displacement. That is, the present invention is not limited to rotational mechanisms and can be applied to mobile mechanisms that move in a linear direction.

[0123] Furthermore, in the present embodiment, in order to determine whether the state of the camera device is a fallen state or a non-fallen state, although various information is used, the determination can be made based on at least the pitch information and angular velocity information of the camera device, and the processing based on other information can be omitted. Furthermore, the stop processing of the rotation mechanism and the fall notification processing performed when it is determined that the state of the camera device is a fallen state can be omitted. Furthermore, if there is a mechanism that automatically recovers from a fallen state to a normal position, the recovery processing can be performed when it is determined that the state of the camera device is a fallen state. Furthermore, the method for determining whether the state of a device is a fallen state or a non-fallen state described in the present embodiment can be applied to any device other than a camera device, as long as the device is an electronic device having an angular velocity meter and an accelerometer, and a movable unit that can be displaced relative to a fixed unit by a driving component (driving unit).

[0124] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention 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.

[0125] This application claims the benefit of Japanese Patent Application No. 2020-198082, filed November 30, 2020, which is hereby incorporated by reference herein in its entirety.

Claims

1. A camera device comprising: a movable unit having a camera unit; a fixed unit configured to support the movable unit in a relatively displaceable manner; a driving unit configured to drive the movable unit to be displaced relative to the fixed unit; a first detector configured to detect a tilt angle of the imaging device; a second detector configured to detect movement of the imaging device; as well as a control unit configured to control the falling of the imaging device based on the tilt angle detected by the first detector and the frequency information and amplitude information of the movement detected by the second detector; Wherein, the control unit: Calculate from the movement detected by the second detector: frequency information and amplitude information of an angular velocity in a predetermined direction corresponding to the driving direction of the driving unit, or the correlation between the angular velocity in the predetermined direction and the angular velocity in a direction different from the predetermined direction, determining whether the camera is rolling based on the calculated frequency information and the calculated amplitude information, or the calculated correlation, and The control during the fall is performed when the tilt angle of the imaging apparatus exceeds a first tilt angle and the imaging apparatus is rolling.

2. The imaging device according to claim 1, in, The control unit controls the driving unit and restricts driving control of the driving unit as the control during the fall.

3. The imaging device according to claim 2, in, When the state of the imaging apparatus changes to a fallen state during the drive control of the drive unit, the control unit stops the drive control of the drive unit as the fall-down control.

4. The imaging device according to claim 3, in, The control unit cancels the stop of the drive control of the drive unit when the state of the image pickup apparatus changes from the fallen state to the non-fallen state after the drive control of the drive unit is stopped.

5. The imaging device according to claim 1, in, The control unit notifies that the imaging apparatus is in a fallen state as the control at the time of the fall.

6. The imaging device according to claim 1, in, The control unit performs the control during the fall when the tilt angle of the imaging apparatus exceeds the first tilt angle and the imaging apparatus is stationary.

7. The imaging device according to claim 1, in, When the tilt angle of the imaging apparatus exceeds the first tilt angle and the imaging apparatus is not rolling and is not stationary, the control unit does not perform the control during the fall.

8. The imaging device according to claim 6, in, The control unit ends the control at the time of falling down when the tilt angle of the imaging apparatus becomes smaller than a second tilt angle smaller than the first tilt angle after the imaging apparatus is in the fallen down state.

9. The imaging device according to claim 1, further comprising: a subject detection unit configured to detect a subject set as a photographing target from the image photographed by the imaging unit, and In the case where the subject is detected after the state of the imaging device changes to a fallen state, the control unit ends the control during the fall.

10. The imaging device according to claim 1, in, The control unit performs the control during the fall when the difference between the amplitude of the angular velocity in the predetermined direction in a first frequency band and the amplitude of the angular velocity in the predetermined direction in a frequency band other than the first frequency band exceeds a first predetermined difference, and the difference between the amplitude of the angular velocity in the predetermined direction and the amplitude of the angular velocity in a direction different from the predetermined direction exceeds a second predetermined difference.

11. The imaging device according to claim 1, in, The control unit performs the control during the fall when the amplitude of the angular velocity in the predetermined direction reaches a maximum value in a first frequency band and the maximum value exceeds a first predetermined value, and the amplitude of the angular velocity in a direction different from the predetermined direction is smaller than a second predetermined value.

12. The imaging device according to claim 1, in, The control unit performs the control during the fall when the correlation between the angular velocity in the predetermined direction and the angular velocity in a direction different from the predetermined direction exceeds a predetermined correlation.

13. The imaging device according to claim 1, in, The control unit performs the control during the fall when the correlation between the angular velocity in the predetermined direction and the angular velocity in a direction different from the predetermined direction exceeds a predetermined correlation, and the difference between the amplitude of the angular velocity in the predetermined direction in a first frequency band and the amplitude of the angular velocity in a frequency band other than the first frequency band exceeds a first predetermined difference.

14. The imaging device according to claim 1, in, The control unit performs the control during the fall when the correlation between the angular velocity in the predetermined direction and the angular velocity in a direction different from the predetermined direction exceeds a predetermined correlation, and the difference between the amplitude of the angular velocity in the predetermined direction and the amplitude of the angular velocity in a direction different from the predetermined direction exceeds a second predetermined difference.

15. The imaging device according to claim 10, in, The shape of a cross section parallel to a driving direction of the imaging device is circular.

16. The imaging device according to claim 1, further comprising: an impact detection unit configured to detect an impact on the imaging device, and Here, when the tilt angle of the imaging apparatus exceeds a third tilt angle and an impact on the imaging apparatus is detected, the control unit stops the driving control of the driving unit for a certain period of time.

17. The imaging device according to claim 1, in, The relative displacement of the movable unit with respect to the fixed unit is a rotational displacement.

18. The imaging device according to claim 1, in, The first detector and the second detector are provided on the fixing unit.

19. A method for controlling a camera device, the camera device comprising: a movable unit having a camera unit; a fixed unit configured to support the movable unit in a relatively displaceable manner; a driving unit configured to drive the movable unit to be displaced relative to the fixed unit; a first detector configured to detect a tilt angle of the imaging device; as well as a second detector configured to detect movement of the imaging device, The control method comprises the following steps: Control of the falling of the imaging device is performed based on the tilt angle detected by the first detector and the frequency information and amplitude information of the movement detected by the second detector. Wherein, in the control method, Calculate from the movement detected by the second detector: frequency information and amplitude information of an angular velocity in a predetermined direction corresponding to the driving direction of the driving unit, or the correlation between the angular velocity in the predetermined direction and the angular velocity in a direction different from the predetermined direction, determining whether the camera is rolling based on the calculated frequency information and the calculated amplitude information, or the calculated correlation, and The control during the fall is performed when the tilt angle of the imaging apparatus exceeds a first tilt angle and the imaging apparatus is rolling. 20 . A computer-readable storage medium storing a program for causing a computer to execute each step of the control method according to claim 19 . 21 . A computer program product comprising a program for causing a computer to execute the steps of the control method according to claim 19 .

Images