Blurring amount acquisition device and blurring amount acquisition method

Abstract

To resolve such a difficulty that a reference value of detection means is calculated during the movement of panning / tilting.SOLUTION: A blurring amount acquisition device includes: first acquisition means for acquiring a blurring detection result from blurring detection means which is provided at a rotation part 10 rotationally driven relative to a base 40 so as to detect blurring; second acquisition means for acquiring a drive speed of the rotation part 10; and reference value calculation means for calculating a reference value of the blurring detection means on the basis of the blurring detection result and the drive speed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a shake amount acquisition device and a shake amount acquisition method. [Background technology]

[0002] Conventionally, in a camera shake correction system mounted on an imaging device such as a camera, for example, a sensor that detects acceleration, angular acceleration, angular velocity, angular displacement, etc. detects vibration applied to the camera, and optically or electronically corrects the detected vibration. As a sensor for detecting camera vibration, a gyro sensor that detects angular velocity is generally used. However, the gyro sensor is greatly affected by DC offset and drift caused by temperature change, etc., and a mechanism for removing these offset components from the reference value is required. As a method for removing the offset component of the gyro sensor, Patent Document 1 discloses a method of calculating the output average of the gyro sensor and using it as a reference value, and a method of separately detecting a motion vector signal and feeding it back to the reference value calculation. In addition, Patent Document 2 discloses a method in which, since it is difficult to calculate a reference value during panning, it is determined whether panning is in progress based on the amount of change over time in the DC component of the angular velocity, and the DC component in a state where it is determined that panning is not in progress is used as a reference value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-151542 A [Patent Document 2] JP 2013-178503 A Summary of the Invention [Problem to be solved by the invention]

[0004] As described in Patent Document 2, it is difficult to calculate a reference value during panning. Therefore, if the reference value of the angular velocity sensor fluctuates during slow panning, the difference between the reference value acquired before panning and the actual reference value becomes large immediately after panning.

[0005] The present invention has been made in consideration of the above problems, and has an object to provide a shake amount acquisition device that is capable of calculating a reference value even during a panning / tilting operation. [Means for solving the problem]

[0006] In order to achieve the above object, a shake amount acquisition device according to one aspect of the present invention is characterized in that it is provided on a rotating part that is driven to rotate with respect to a base, and includes a first acquisition means for acquiring a shake detection result from a shake detection means that detects shake, a second acquisition means for acquiring a drive speed of the rotating part, and a reference value calculation means for calculating a reference value of the shake detection means based on the shake detection result and the drive speed. Other features of the present invention will be described in the description of the embodiment of the invention. Effect of the Invention

[0007] According to the present invention, it is possible to calculate the reference value for the shake detection means even during a panning / tilting operation. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an imaging apparatus according to an embodiment of the present invention. [Diagram 2] 5 is a flowchart showing control of reference value calculation in the first embodiment. [Diagram 3] 10 is a flowchart showing control of reference value calculation in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each drawing, the same reference numerals are used for the same components, and duplicated descriptions will be omitted. The following embodiments do not limit the invention according to the claims. Although the embodiments describe a number of features, not all of these features are essential to the invention, and the features may be combined in any manner.

[0010] <First embodiment> 1 is a diagram showing the system configuration of an image capture device 100 having an image shake correction function according to this embodiment. Fig. 1(a) is an external view of the image capture device 100, and Fig. 1(b) is a system block diagram including the image capture device 100.

[0011] 1(a), the imaging device 100 includes a base unit 40 and a rotation unit 10 configured to be capable of pan driving and tilt driving rotational drive relative to the base unit 40. The base unit 40 and the rotation unit 10 are connected via a tilt rotation unit 115 and a pan rotation unit 116. The tilt rotation unit 115 and the pan rotation unit 116 each include an actuator and a rotation mechanism, and are configured to be capable of tilt driving and pan driving by driving the respective actuators by a rotation drive circuit 114 described later.

[0012] A system configuration including the imaging device 100 will be described in more detail with reference to FIG. 1(b). The rotating unit 10 has an optical unit 101 and an angular velocity sensor 131. The optical unit 101 includes a lens barrel 117 and an imaging element 106. The lens barrel 117 has an imaging optical system including a variable magnification lens group (zoom lens) 102 that changes the focal length to change the magnification, a blur correction lens group (shift lens) 103 that moves in a direction perpendicular to the optical axis to correct blur, an aperture 104 that adjusts the amount of light, and a lens group (focus lens) 105 that has both a focus adjustment function and a so-called compensating function that corrects the movement of the focal plane due to the magnification change. The imaging element 106 captures an object image formed through the lens groups 102, 103, 104, and 105 of the imaging optical system. The image sensor 106 is, for example, a CCD or CMOS, and is an image sensor that receives light from an image pickup optical system, converts the received optical signal into an electrical signal by photoelectric conversion, and outputs the electrical signal as an analog image signal.

[0013] The output signal of the imaging element 106 is transmitted to a camera signal processing circuit 107. The camera signal processing circuit 107 is a processing circuit that acquires the output signal and performs image signal processing, and has an analog signal processing circuit and a digital signal processing circuit. The analog signal processing circuit performs predetermined processing on the signal obtained by the imaging element 106 to generate an analog imaging signal. For example, it is composed of a CDS (co-related double sampling) circuit, an AGC (automatic gain control) circuit, etc. The digital signal processing circuit converts the analog imaging signal into a digital signal by an A / D converter, and generates a digital video signal that has undergone predetermined signal processing such as gamma correction and white balance.

[0014] The recorder unit 108 has a recording device (not shown) that records a video signal on a recording medium (memory card, hard disk, DVD, magnetic tape, etc.), a display device (not shown) such as a liquid crystal panel or a viewfinder that outputs and displays the video signal, and control circuits for them, etc. In this embodiment, the camera signal processing circuit 107 and the recorder unit 108 are installed inside the base unit 40, but their positions are not particularly important, and some or all of them may be provided in the rotating unit 10.

[0015] The entire image capturing apparatus 100 is controlled by a microcomputer 109. The microcomputer 109 is connected to a client device (not shown) via a network 110, and is capable of communicating with each other. The client device is a device equipped with a controller that allows a user to instruct the image capturing apparatus 100 to rotate the rotating unit 10 and record an image (whether a still image or a moving image), a monitor for the user to check the captured image, and the like. The network 110 is realized by, for example, the Internet, a wired LAN, a wireless LAN, or a WAN. Note that, in this embodiment, a case where the image capturing apparatus and the client device are connected via the network 110 will be described, but the connection may be made via an interface other than a network, and the method of controlling the image capturing apparatus 100 is not limited to these.

[0016] The functional blocks inside the microcomputer 109 will now be described. The microcomputer 109 has a communication control unit 111, which receives instructions and commands for the imaging device 100 from a client device via a network 110. Specifically, these are lens operation commands such as zoom / focus, image recording operation commands such as recording / stopping, and still image capture. As one of these commands, the microcomputer 109 receives a rotation drive command for the rotating unit 10 having the optical unit 101.

[0017] The drive amount determination unit 112 determines a drive target value and a rotation drive amount in the pan-tilt drive of the rotation unit 10 based on a rotation drive command such as a rotation angle, a rotation speed, and a drive time received from a client device by the communication control unit 111. The drive target value is time-series data representing a target position of the rotation unit 10, and the rotation drive amount is time-series data representing a drive angular velocity of the rotation unit 10. The rotation control unit 113 acquires the drive target value and the rotation drive amount from the drive amount determination unit 112, and generates a control command for controlling the rotation drive of the rotation unit 10 based on the acquired information. The rotation drive circuit 114 generates a drive signal for driving the tilt rotation unit 115 and the pan rotation unit 116 according to the control command from the rotation control unit 113, and transmits a drive vibration to each unit. In this embodiment, the drive amount determination unit 112, the rotation control unit 113, and the rotation drive circuit 114 function as a rotation control means for controlling the rotation drive of the rotation unit 10.

[0018] The tilt rotation unit 115 is a rotation mechanism equipped with a tilting drive motor that rotates the rotation unit 10 around a horizontal axis (pitch direction) to move it vertically. The pan rotation unit 116 is a rotation mechanism equipped with a panning drive motor that rotates the rotation unit 10 around a vertical axis (yaw direction) to move it horizontally. The rotation mechanism of the tilt rotation unit 115 and the pan rotation unit 116 is driven based on the drive signal generated by the rotation drive circuit 114, so that the rotation unit 10 performs panning and tilting rotation operations.

[0019] The angular velocity sensor 131 is a sensor capable of detecting the shaking of the optical unit 101 as an angular velocity, and is, for example, a vibration gyroscope. The angular velocity sensor 131 is attached to the rotating unit 10 in order to detect the movement of the optical unit 101 included in the rotating unit 10. An angular velocity signal, which is a result of the shake detection detected by the angular velocity sensor 131, is transmitted to an amplifier 132, which amplifies the angular velocity signal and outputs it to an A / D converter 133. The A / D converter 133 converts the angular velocity signal, which is an analog output signal amplified by the amplifier 132, into a digital signal to be processed in the microcomputer 109. The angular velocity signal converted into a digital signal is output to an angular velocity integration circuit 134. The angular velocity integration circuit 134 calculates angle information by integrating an A / D conversion value of the amplified signal of the angular velocity signal, which is a result of the shake detection by the angular velocity sensor 131.

[0020] The reference value calculation circuit 135 calculates a reference value (sensor output in a stable state) that is an offset voltage of the angular velocity sensor 131 based on the angle information indicating the shaking of the rotating unit 10 output from the angular velocity integration circuit 134 and the rotation drive speed of the rotating unit 10. Note that the rotation drive speed in the present invention and this specification is not necessarily limited to one conforming to the international unit, and may be, for example, a rotation angle per control period. In this embodiment, the reference value calculation circuit 135 determines the stability of the imaging device 1 based on the angle information calculated by the angular velocity integration circuit 134, calculates a reference value of the angular velocity sensor 131, and updates the set reference value with the calculated reference value. Details of the calculation method of the reference value will be described later.

[0021] The subtractor 130 subtracts the reference value calculated and updated by the reference value calculation circuit 135 from the angular velocity signal (digital) output from the A / D converter 133. This calculates an angular velocity signal from which offset components and drift components have been removed. This angular velocity signal from which offset components and drift components have been removed represents the amount of shake of the rotating unit 10, and the subtractor 130 functions as a shake amount calculation means.

[0022] The angular velocity signal from which the offset and drift components have been removed is output to a variable high-pass filter (HPF) 136 having a function capable of varying the frequency characteristic, which outputs a signal from which low-frequency components have been cut off. A focal length calculation circuit 137 converts the angular velocity signal that has passed through the variable HPF 136 into an optical axis eccentric angle according to the focal length. A variable low-pass filter (LPF) 138 having a function capable of varying the frequency characteristic plays the role of an integrator that pseudo-integrates the optical axis eccentric angle output from the focal length calculation circuit 137 after focal length conversion, and outputs the amount of angular displacement.

[0023] The panning determination circuit 139 determines whether or not the optical unit 101 in the rotation section 10 is panning / tilting based on the offset-removed angular velocity signal output from the subtractor 130 and the amount of angular displacement output from the variable LPF 138. At this time, the presence or absence of the panning operation is determined based on the offset-removed angular velocity signal in the panning direction (left and right direction of the imaging device) and the output from the variable LPF 138 in which the angular velocity signal in the panning direction has been processed. Similarly, the presence or absence of the tilting operation is determined based on the offset-removed angular velocity signal in the tilting direction (up and down direction of the imaging device) and the output from the variable LPF 138 in which the angular velocity signal has been processed.

[0024] Then, when it is determined that a panning operation is being performed, panning control is performed by changing the frequency characteristics of the variable HPF 136 and the variable LPF 138 that process the angular velocity signal in the panning direction. The frequency characteristics are changed by removing (reducing) the angular velocity resulting from the panning operation of the optical unit 101 from the angular velocity signal in the panning direction from which the offset has been removed, using the variable HPF 136 and the variable LPF, so that the angular velocity is not output to the correction amount calculation circuit 140. In other words, panning control is performed by changing the frequency characteristics so that the calculated shake correction amount in the panning direction hardly contains the influence of the angular velocity resulting from the panning operation of the optical unit 101. Similarly, when it is determined that a tilting operation is being performed, tilting control is performed by changing the frequency characteristics of the variable HPF 136 and the variable LPF 138 that process the angular velocity signal in the tilting direction. This control is also performed by changing the frequency characteristics of the variable HPF 136 and the variable LPF 138 so that the calculated shake correction amount in the tilting direction hardly contains the influence of the angular velocity resulting from the tilting operation of the optical unit 101.

[0025] The correction amount calculation circuit 140 calculates a correction amount (correction target value) based on the panning determination result from the panning determination circuit 139 and the angular displacement amount output from the variable LPF 138.

[0026] The position detection sensor 151 is a sensor for detecting the position of the motion compensation lens 103, and is, for example, a Hall sensor. The sensor signal of the position detection sensor 151 is amplified by the amplifier 152 and output to the A / D converter 153. The A / D converter 153 converts the analog signal from the amplifier 152 into a digital signal to be processed in the microcomputer 109. The motion compensation lens control circuit 154 calculates the control amount of the motion compensation lens 103 from the difference between the correction target value from the correction amount calculation circuit 140 and the current position of the motion compensation lens 103 obtained via the A / D converter 153, and drives the motion compensation lens group 103 based on this. In this way, the motion compensation lens control circuit 154 functions as a motion compensation control means. The PWM 155 outputs the control signal from the motion compensation lens control circuit 154 in analog form. The drive circuit 156 drives the motion compensation lens 103 based on the control signal from the motion compensation lens control circuit 155. The motor 157 is an actuator for driving the motion compensation lens 103 in accordance with the output of the drive circuit 156, and is, for example, a VCM (voice coil motor).

[0027] In FIG. 1, an optical drive block related to driving of the optical unit 101, a blur correction amount calculation block that calculates a correction amount from blur detection detected by the angular velocity sensor 131, and a correction block that controls the blur correction lens 103 are controlled in a single microcomputer 109. However, each block may be controlled by communicating with each other as a separate microcomputer system, or one or two blocks may be controlled as a single microcomputer system. Each block may be realized by a plurality of microcomputers. In this embodiment, the microcomputer 109 is installed inside the base unit 40, but the positions of these are not particularly important, and some or all of them may be provided in the rotating unit 10.

[0028] Next, a method for obtaining the amount of blur in this embodiment will be described with reference to Fig. 2. Fig. 2 is a flowchart showing a method for calculating a reference value in this embodiment. This flow is repeatedly executed at a predetermined cycle (for example, an image capture cycle, etc.).

[0029] First, in step S1001, the drive amount determination unit 112 calculates the pan / tilt drive amount of the rotation unit 10. As described above, in this embodiment, the drive amount determination unit 112 determines the rotation drive amount based on a drive command issued to the imaging device 100 via an interface such as the network 110, and outputs the information to the reference value calculation circuit 135.

[0030] Next, in step S1002, a reference value of the angular velocity sensor 131 is calculated. Here, the reference value is calculated based on the angle information obtained from the angular velocity integration circuit 134 and the rotation drive amount acquired in step S1001, and the stored reference value is updated with the newly calculated reference value. The method of calculating the reference value will be described later.

[0031] Next, in step S1003, a shake correction amount is calculated based on the shake amount detected by angular velocity sensor 131 and the reference value calculated in step S1002. Here, an angular velocity signal (after removing offset and drift components) is obtained by subtracting the reference value updated in step S1002 from the detected shake amount of angular velocity sensor 131, i.e., the digital output signal of A / D converter 133 by subtracting the offset and drift components from the angular velocity signal. Then, the angular velocity signal (after removing offset and drift components) is input in sequence to variable HPF 136, focal length calculation circuit 137, and variable LPF, and then the shake correction amount is calculated by correction amount calculation circuit 140. Also, in this step, panning (tilting) is determined, and if it is determined that panning (tilting) is in progress, the frequency characteristics of variable HPF 136 and variable LPF 138 are changed as described above. As a result, the components due to panning (tilting) are removed from the angular velocity signal output from subtractor 130, and then the shake correction amount is calculated.

[0032] Note that, although one example of a method for calculating the amount of shake correction has been shown here, if the offset and drift components contained in the shake detection result are removed using the reference value calculated in S1002, the effects of these components can be reduced, and other methods for calculating the amount of shake correction are not particularly limited.

[0033] The method of calculating the reference value performed in step S1002 will be described in detail. The angular velocity sensor 131 is provided in the rotating unit 40 together with the optical unit 101. Therefore, when the rotating unit 40 performs the panning / tilting rotational drive, the angular velocity sensor 131 detects not only the shake of the imaging device 100 itself but also the angular velocity due to the rotational drive of the rotating unit 40 in the shake detection result. The shake of the imaging device 100 itself is a movement that is also applied to the base 40, and refers to the shake that is applied due to the influence of wind, etc., even if the imaging device is fixed to a vehicle such as a ship or a building. The shake detection result of the angular velocity sensor 131 includes a drift component and an offset component of the reference value due to the influence of temperature, so that the correct calculation of the reference value is the correct calculation of the shake component. In this embodiment, the angular velocity component due to the rotational drive of the rotating unit 10 is subtracted from the angular velocity signal, which is the shake detection result detected by the angular velocity sensor 131, so that the reference value can be calculated without the influence of the rotational component even if the rotating unit 10 is being rotated. The reference value during rotational driving can be calculated by the following formula if simplified. Angular velocity sensor reference value = Detected angular velocity (shake detection result) - Pan / tilt rotation angular velocity In addition, when rotational driving is not being performed, the rotational angular velocity of the optical unit 101 is 0, so if the pan / tilt rotational angular velocity in the above formula is calculated as 0, the reference value can be calculated based on the above formula even when rotational driving is not being performed. However, when a panning / tilting operation is determined and rotational driving is not being performed, the calculation may be switched so that the reference value of the angular velocity sensor is equal to the angular velocity signal of the angular velocity sensor 131.

[0034] However, in the calculation of the reference value, it is desired that there are few error factors in order to improve the calculation accuracy. Therefore, instead of calculating the angular velocity using the digital output of the A / D converter 133 as it is, an average value for a predetermined time or a value obtained by extracting low-frequency components by applying an LPF (low-pass filter) may be used as the output of the angular velocity. This makes it possible to reduce the influence of error components (e.g., blur components applied to the imaging device) other than the offset components and drift components contained in the shake detection result of the angular velocity sensor 131. A method for calculating the reference value using the average value or a value processed by an LPF in this way is described in Patent Document 1 and the like, so a detailed description will be omitted. In general, since the shake component is an amplitude motion having a predetermined frequency, the offset component and drift component can be calculated more accurately by removing the components caused by this amplitude motion using the average value or low-frequency components. When the average value for a predetermined time is used as the "detected angular velocity" in the above formula, it is preferable to use the average value for the same time as the "pan / tilt rotation angular velocity". Similarly, when using a value obtained by extracting low-frequency components through LPF processing as the "detected angular velocity" in the above formula, it is preferable to also perform LPF processing with the same time characteristics for the "pan / tilt rotation angular velocity" and use a value obtained by extracting low-frequency components.

[0035] As described above, in the system shown in this embodiment, even when the rotating unit 10 is being rotated by panning and tilting, the influence of panning and tilting can be reduced and the reference value can be calculated with high accuracy. This makes it possible to improve the accuracy of processing using the shake detection result, such as shake correction, even during the rotational driving by panning and tilting.

[0036] <Second embodiment> Next, a second embodiment will be described. This embodiment differs from the first embodiment in that the reference value is not calculated when the pan / tilt drive speed of the rotating part is fast. The system configuration in this embodiment can be the same as that of the first embodiment shown in FIG. 1, so the description will be omitted.

[0037] The operation flow of calculating and updating the reference value performed by the reference value calculation circuit 135 in this embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing the reference value calculation method in this embodiment. This flow is repeatedly executed at a predetermined cycle (for example, an image capture cycle) in the same manner as in the first embodiment.

[0038] First, in step S2001, the drive amount determination unit 112 calculates the pan / tilt drive amount of the rotation unit 10. Here, similar to the first embodiment, the drive amount determination unit 112 determines the rotation drive amount based on a drive command issued to the imaging device 100 via an interface such as the network 110, and outputs the information to the reference value calculation circuit 135.

[0039] Next, in step S2002, the speed of the pan / tilt drive is determined. Here, it is determined whether or not the drive angular velocity is greater than a predetermined threshold value based on the rotation drive amount determined by drive amount determination unit 112. If the drive angular velocity is equal to or less than the predetermined threshold value, the process proceeds to step S2003, and if the drive angular velocity is greater than the predetermined threshold value, the process proceeds to step S2004. This determination may be performed for each of the pan direction and the tilt direction, and if the drive angular velocity in only one of the directions is greater than the predetermined threshold value, the process may proceed to step S2004 only in the direction in which the drive angular velocity is greater than the predetermined threshold value. Also, even if only one of the pan direction and the tilt direction is greater, the process may proceed to step S2004 in calculating the reference values ​​for both the pan direction and the tilt direction.

[0040] Next, in step S2003, a reference value of the angular velocity sensor 131 is calculated. In this embodiment, as in the first embodiment, the reference value is calculated based on the angle information obtained from the angular velocity integration circuit 134 and the rotation drive amount acquired in step S2002, the stored reference value is updated with the newly calculated reference value, and the process proceeds to step S2005. On the other hand, in step S2004, the reference value is neither calculated nor updated, and the set reference value is maintained, and the process proceeds to step S2005.

[0041] Next, in step S2005, the shake correction amount is calculated based on the shake amount detected by the angular velocity sensor 131 and the reference value calculated in step S2003. Here, an angular velocity signal is obtained by subtracting the currently set reference value calculated in step S2003 this time or the previous time from the detected shake amount of the angular velocity sensor 131, i.e., the digital output signal of the A / D converter 133, in the subtracter 130. Then, the shake correction amount is calculated in the correction amount calculation circuit 140 based on the angular velocity signal output from the subtracter 130. In this step, as in step S1003, panning (tilting) is determined, and if panning (tilting) is in progress, the component caused by the driving is removed and then the shake correction amount is calculated. Also, as in step S1003, the calculation method of the shake correction amount described here is merely one example of the calculation method of the shake correction amount.

[0042] In this embodiment, in step S2002, it is determined whether or not the pan / tilt drive speed is greater than a predetermined threshold value, and if it is greater than the threshold value, the reference value is not updated. The reason for this is as follows.

[0043] In panning and tilting operations, it is expected that the (unintended) vibrations occurring when the rotating unit 10 is driven will increase as the driving speed increases. In this way, the vibration components occurring when the rotating unit 10 is driven will also be included in the output of the angular velocity sensor 131. In image stabilization, it is desirable to correct these vibration components, but these will become an error factor in the calculation of the reference value. Therefore, as a condition for calculating the reference value, if the driving speed of the pan / tilt of the rotating unit 10 is greater than a predetermined threshold value, a new reference value is not calculated, and the reference value is calculated and updated only when the driving speed is equal to or less than the predetermined threshold value. This makes it possible to avoid the influence of error components due to high-speed driving, thereby improving the accuracy of the reference value calculation.

[0044] As described above, in the system shown in this embodiment, the reference value is calculated according to the driving speed state when the lens barrel is rotated by panning and tilting, thereby improving the accuracy of the reference value. This makes it possible to improve the accuracy of the shake correction even during the rotational driving of panning and tilting.

[0045] <Other embodiments and modifications> Although the present invention has been described in detail based on the preferred embodiments, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Parts of the above-described embodiments may be combined as appropriate.

[0046] In the above-mentioned first and second embodiments, an example was described in which a value obtained by subtracting the pan / tilt rotation angular velocity from the output of the angular velocity sensor is used as a method of calculating the reference value, but the reference value calculation method is not limited to this. The reference value calculation circuit 135 calculates the reference value based on at least the output of the angular velocity sensor and the driving speed of the rotating part, so that the reference value can be calculated even if the angular velocity sensor is arranged on the rotating part and the rotating part is panning / tilting. There is no particular restriction on the method of calculating the reference value, and a method using a motion vector as described in Patent Document 1 may be used. For example, the imaging device 100 acquires a motion vector from an image captured by the optical unit 101 by a vector acquisition means. Then, the acquired motion vector may be converted into an angular velocity, and the difference between the result of subtracting the rotation angular velocity of the rotating part from the output of the angular velocity sensor (the left side of the formula for calculating the reference value described in the first embodiment) and the motion vector (converted into angular velocity) may be used as the reference value. When a motion vector is used, if blur correction is performed optically by moving a shift lens or an image sensor in a direction perpendicular to the optical axis, this affects the motion vector. Therefore, when optical image stabilization is performed, the reference value is calculated taking into consideration the amount of image stabilization, as described in, for example, JP 2012-037778 A. In this way, by using the result of subtracting the rotational angular velocity of the rotating part from the output of the angular velocity sensor instead of the output of the angular velocity sensor in the known reference value calculation method, the reference value can be calculated with high accuracy even while the angular velocity sensor is performing pan / tilt drive.

[0047] In the above-described first and second embodiments, the drive target value and rotation drive amount in the pan / tilt drive of the rotating unit 10 are obtained from the drive amount determination unit 112, and the angular velocity of the pan / tilt drive is obtained based on this. However, if a position detection sensor that detects the rotation drive of the rotating unit 10 relative to the base unit 40 is provided, the pan / tilt rotation angular velocity may be obtained based on the output of the position detection sensor. In other words, the position detection sensor and the drive speed calculation circuit may serve as a drive speed acquisition means that acquires the drive amount per time.

[0048] In the first and second embodiments, the reference value is calculated within the imaging device 100 body. However, the reference value may be acquired by another device connected to the network. In this case, the device functions as a shake amount acquisition device. When the reference value is calculated by another device, the output of the angular velocity sensor and the angular velocity of the pan / tilt drive are transmitted to the device via the communication control unit 111. When the device is a client device that transmits a drive instruction to the imaging device 100, the client device may acquire the angular velocity of the pan / tilt drive based on the drive instruction. Even when the reference value is calculated by a device other than the client device, the output of the angular velocity sensor may be received from the imaging device 100, and the angular velocity of the pan / tilt drive may be received from the client device. When the reference value is calculated outside the imaging device 100, the device that calculates the reference value may calculate the amount of shake based on the shake detection result and the reference value, or may transmit the calculated reference value to the imaging device 100. In this case, the imaging device 100 calculates the amount of shake based on the shake detection result and the reference value.

[0049] In the above-mentioned first and second embodiments, the pan-tilt camera with an integrated lens is described as an example, but the configuration of the imaging device is not limited to this as long as at least one of pan and tilt can be driven. For example, the present invention can be applied to a pan / tilt camera with an interchangeable lens or a gimbal camera capable of pan / tilt driving. In addition, the present invention can be applied to any purpose, and can be a so-called surveillance camera, a camera used for video production, or a shooting system configured by combining a camera with a pan head or gimbal capable of pan / tilt driving. The pan / tilt driving can be performed in real time based on a user's instruction, or can be performed at a preset time or time interval with a preset drive, or can be a camera that automatically tracks a subject and performs pan / tilt driving.

[0050] In the first and second embodiments described above, the panning judgment (including tilting) is performed based on the output of the angular velocity sensor 131, but this is not limiting. When the image capturing device 100 is fixed to a building or placed on a desk, and the movement of the image capturing device 100 itself can be ignored, the panning judgment may be performed based on a drive instruction and the drive amount based thereon.

[0051] In the above-mentioned first and second embodiments, the output of the angular velocity sensor is used to perform blur correction, but the use of the output of the angular velocity sensor is not limited to this. For example, the output of the angular velocity sensor may be used to accurately obtain the attitude (attitude angle) of a rotating part. In the field of VFX and the like, it is required to accurately obtain the attitude of an imaging device, and the present invention can be applied to such fields as well.

[0052] The present invention also includes cases where a software program that realizes the functions of the above-described embodiments is supplied to a system or device having a computer capable of executing the program directly from a recording medium or via wired / wireless communication, and the program is executed.

[0053] Therefore, the program code itself that is supplied to and installed in a computer to realize the functional processing of the present invention also realizes the present invention. In other words, the computer program itself for realizing the functional processing of the present invention is also included in the present invention.

[0054] In this case, so long as the program has the functions of a program, the form of the program is not important, such as object code, a program executed by an interpreter, or script data supplied to an OS.

[0055] The recording medium for supplying the program may be, for example, a hard disk, a magnetic recording medium such as a magnetic tape, an optical / magneto-optical storage medium, or a non-volatile semiconductor memory.

[0056] As a method of supplying the program, a method is also conceivable in which the computer program constituting the present invention is stored in a server on a computer network, and a connected client computer downloads the computer program to program it.

Claims

1. a first acquisition means provided on a rotating section that is driven to rotate with respect to the base and configured to acquire a shake detection result from a shake detection means that detects shake; A second acquisition means for acquiring a drive speed of the rotating part; a reference value calculation unit that calculates a reference value for the shake detection unit based on the shake detection result and the drive speed.

2. 2. The shake amount acquisition device according to claim 1, further comprising: a shake amount calculation unit that calculates an amount of shake based on the shake detection result and the reference value.

3. the rotating unit has an image pickup element that captures a subject image formed by an image pickup optical system; a correction amount calculation means for calculating a blur correction amount based on the amount of blur calculated by the blur amount calculation means; a blur correction control unit that controls a blur correction unit that corrects blur in an image captured by the imaging element, 3. The shake amount acquisition device according to claim 2, wherein the shake correction control means controls the shake correction means based on the shake correction amount.

4. the vibration detection means is capable of detecting an angular velocity of the rotating part, 2. The shake amount acquisition device according to claim 1, wherein the reference value calculation means calculates the reference value based on a value obtained by subtracting an angular velocity of the rotational drive of the rotating part from the angular velocity detected by the shake detection means.

5. 2. The shake amount acquisition device according to claim 1, wherein the reference value calculation means calculates the reference value when the drive speed is equal to or lower than a predetermined threshold value.

6. 5. The shake amount acquisition device according to claim 4, wherein the reference value calculation means calculates the reference value based on a value obtained by subtracting a low-frequency component of the drive speed from a low-frequency component included in the shake detection result.

7. the rotating unit has an image pickup element that captures a subject image formed by an image pickup optical system; a motion vector acquisition means for acquiring a motion vector based on an image captured by the imaging element, 2. The blur amount acquisition device according to claim 1, wherein the reference value calculation means calculates the reference value based on the blur detection result, the drive speed, and the motion vector.

8. a blur amount calculation means for calculating a blur amount based on the blur detection result and the reference value; a correction amount calculation means for calculating a blur correction amount based on the amount of blur calculated by the blur amount calculation means; a blur correction control unit that controls a blur correction unit that corrects blur in an image captured by the imaging element, 8. The shake amount acquisition device according to claim 7, wherein the shake correction control means controls the shake correction means based on the shake correction amount.

9. The shake amount acquisition device according to claim 1 , further comprising: an attitude angle calculation unit that calculates an attitude angle of the rotating part based on the shake detection result and the reference value.

10. A shake amount acquisition device according to any one of claims 1 to 9, the rotating unit including an image sensor for capturing an object image formed by an image capturing optical system and the blur detection means; The base; A rotation drive means for rotating the rotating portion relative to the base; and a rotation control unit that controls the rotation drive by the rotation drive unit.

11. 11. The imaging apparatus according to claim 10, wherein the second acquisition means acquires the drive speed from the rotation control means.

12. 11. The imaging device according to claim 10, wherein the second acquisition means acquires the drive speed based on an output from a position detection means that detects a position of the rotating portion caused by the rotation drive means.

13. A shake amount acquisition device according to any one of claims 1 to 9, a communication means for communicating with an imaging device including the rotating unit and the base, the rotating unit including an imaging element that captures a subject image formed by an imaging optical system and the blur detection means, The control device for an imaging device, wherein the first acquisition means and the second acquisition means each acquire the blur detection result and information indicating the drive speed via the communication means.

14. A shake amount acquisition device according to any one of claims 1 to 9, a communication means for communicating with an imaging device including the rotating unit and the base, the rotating unit including an imaging element that captures a subject image formed by an imaging optical system and the blur detection means, each of the first acquisition means and the second acquisition means acquires the shake detection result and information indicating the drive speed via the communication means; The control device for an image capture device, wherein the communication means transmits the reference value calculated by the reference value calculation means to the image capture device.

15. acquiring a shake detection result from a shake detection means provided on a rotating part that is rotated relative to a base and detects shake; acquiring a drive speed of the rotating part; calculating a reference value for the shake detection means based on the shake detection result and the drive speed.

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