Imaging apparatus, correction method for imaging apparatus, and correction program

Abstract

To provide an imaging apparatus capable of properly correcting a photographing direction for large translation shake / movement and a correction method for the imaging apparatus and a correction program.SOLUTION: An imaging apparatus 10 includes: a camera head part 11; a base part 16; panning / tilting direction drive mechanisms 14a and 14b; an acceleration sensor 20a; a lens control part 15a; a correction angle calculation part 19; and a control part 21. The base part 16 is attached in such a state that the camera head part 11 can be rotated. The panning / tilting direction drive mechanisms 14a and 14b adjust the direction of the camera head part 11 in panning and tilting directions. The acceleration sensor 20a acquires a translation movement distance with respect to a subject. The lens control part 15a acquires distance information up to the subject. The correction angle calculation part 19 calculates a correction angle on the basis of the movement distance and the distance information up to the subject. The control part 21 controls the panning / tilting direction drive mechanisms 14a and 14b on the basis of the correction angle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to, for example, an imaging device that captures video or the like, and a correction method and correction program for the imaging device. [Background technology]

[0002] In recent years, in imaging devices that capture video and the like, image stabilization devices that perform optical shake correction by shifting the lens or image sensor, or electronic shake correction by changing the cropping range of video captured over a wide range, have been used as methods for correcting rotational shake (yaw / pitch / roll) and translational shake (up / down / left / right) during video capture (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-139827 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-described conventional image stabilization device has the following problems. That is, the image stabilization device disclosed in the above publication has a problem in that, because there is a limit to the amount of shift and imaging range that can be achieved by electronic shake correction (limit to the correction angle), it is difficult to correct large translational shake / movement so that the shooting direction faces the direction of the subject.

[0005] An object of the present disclosure is to provide an imaging device, an imaging device correction method, and a correction program that can appropriately correct the shooting direction for large translational shake / movement. [Means for solving the problem]

[0006] The imaging device according to the present disclosure is an imaging device that captures images while moving translationally relative to a subject, and includes a camera unit, a base unit, an attitude adjustment mechanism, a movement distance information acquisition unit, a subject distance information acquisition unit, a correction angle calculation unit, and a control unit. The camera unit captures images of the subject. The camera unit is attached to the base unit in a rotatable state. The attitude adjustment mechanism adjusts the orientation of the camera unit in the pan direction and the tilt direction. The movement distance information acquisition unit acquires a translational movement distance relative to the subject. The subject distance information acquisition unit acquires distance information to the subject. The correction angle calculation unit calculates a correction angle for the camera unit to continue facing the direction of the subject based on the movement distance and the distance information to the subject. The control unit controls the attitude adjustment mechanism to correct the orientation of the camera unit in the pan direction and / or tilt direction based on the correction angle. [Effects of the Invention]

[0007] According to the imaging device according to the present disclosure, the shooting direction can be appropriately corrected for large translational shake / movement. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall perspective view showing a configuration of an imaging device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a control block diagram of the imaging device of FIG. 1. [Figure 3] 2 is a conceptual diagram showing a correction angle when the imaging device of FIG. 1 is translated left and right relative to the subject to capture the subject. [Figure 4A] 2 is a conceptual diagram showing adjustment of the zoom position when the imaging device in FIG. 1 is translated back and forth relative to the subject to photograph the subject. [Figure 4B] FIG. 4B is a conceptual diagram showing the imaging range obtained by adjusting the zoom position during the translational movement shown in FIG. 4A. [Figure 5] FIG. 3 is a control block diagram showing a configuration in which the location of the acceleration sensor mounted on the imaging device in FIG. 2 is changed to the outside of the camera head unit. [Figure 6A] 3 is a top view showing an example of the arrangement of acceleration sensors in the imaging device of FIG. 2. [Figure 6B] 6B is a top view showing the state in which the imaging device of FIG. 6A is rotated in the pan direction. [Figure 7A] 3 is a top view showing an example of the arrangement of acceleration sensors in the imaging device of FIG. 2. [Figure 7B] 7B is a top view showing the imaging device of FIG. 7A rotated in the tilt direction. FIG. [Figure 8A] 6B is a flowchart showing the flow of processing for a correction method for an imaging device in the pan / tilt direction in which the acceleration sensor shown in FIG. 6A etc. is provided in the camera head part. [Figure 8B] 6B is a flowchart showing the flow of processing of a correction method for an imaging device in the pan / tilt direction in an imaging device in which the acceleration sensor shown in FIG. 6A etc. is provided in a base part. [Figure 9A] 6B is a flowchart showing the flow of processing in a correction method for an imaging device in the zoom direction in which the acceleration sensor shown in FIG. 6A etc. is provided in a camera head section. [Figure 9B] 6B is a flowchart showing the flow of processing in a correction method for an imaging device in the zoom direction in an imaging device in which the acceleration sensor shown in FIG. 6A etc. is provided in a base part. [Figure 10] FIG. 10 is a control block diagram showing the configuration of an imaging device according to another embodiment of the present disclosure. [Figure 11] 11 is a flowchart showing the flow of processing of a correction method for the imaging device executed in the imaging device of FIG. [Figure 12] FIG. 10 is a control block diagram showing the configuration of an imaging device according to still another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. The applicant provides the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and does not intend for them to limit the subject matter described in the claims.

[0010] (Embodiment 1) An imaging device 10 according to an embodiment of the present disclosure will be described below with reference to FIGS. 1 to 9B. (1) Overall Configuration of the Imaging Device 10 An imaging device 10 according to this embodiment is installed, for example, in a photography studio, a conference hall, an event venue, a sports facility, etc., and is controlled by a controller such as a PC (Personal Computer) to perform various types of imaging. As shown in Fig. 1, the imaging device 10 performs imaging while switching the imaging direction among the pan direction, tilt direction, and roll direction. Also, as shown in Fig. 1, the imaging device 10 has a lens unit L including multiple optical lenses built into the camera head 11, and by controlling the relative positions of the optical lenses to change, the imaging range (zoom range) and focus position are changed to perform imaging.

[0011] The imaging device 10 of this embodiment performs imaging while correcting the orientation of the camera head unit 11 so that the imaging direction of the camera head unit 11 tracks the subject even when the imaging device 10 moves translationally. In this embodiment, translation includes movement in the forward / backward direction (zoom direction), movement in the left / right direction (pan direction), and movement in the up / down direction (tilt direction) relative to the subject.

[0012] As shown in Figures 1 and 2, the imaging device 10 includes a camera head unit 11, an imaging element 12, a rotation mechanism 13, a pan direction drive mechanism (attitude adjustment mechanism) 14a, a tilt direction drive mechanism (attitude adjustment mechanism) 14b, a lens drive unit 15, a lens control unit (subject distance information acquisition unit, correction amount calculation unit) 15a, a base unit 16, a rotation unit 17, a translational movement distance calculation unit (movement distance information acquisition unit) 18, a correction angle calculation unit 19, an acceleration sensor 20a, and a control unit 21.

[0013] The camera head unit 11 is a substantially cylindrical member that houses a lens unit L including multiple optical lenses and an image sensor 12. As shown in Fig. 1, the camera head unit 11 is driven to rotate in the pan direction by a pan direction drive mechanism 14a, and driven to change orientation up and down in the tilt direction by a tilt direction drive mechanism 14b. Furthermore, as shown in Fig. 1, the camera head unit 11 is driven to rotate in the roll direction by a rotation mechanism 13.

[0014] This allows the imaging device 10 to take pictures while switching the direction in which it takes pictures. As shown in FIG. 2, the image sensor 12 is provided in the camera head 11, and converts incident light through a lens unit L including multiple optical lenses such as zoom lenses into a signal to generate digital image data of the subject.

[0015] The rotation mechanism 13 rotates the camera head unit 11 around a roll axis 13a shown in Fig. 1. This allows the subject to be photographed while the image is being rotated. 1, the pan direction drive mechanism (attitude adjustment mechanism) 14a drives the camera head unit 11 and the swivel unit 17 to rotate relative to the base unit 16. This allows the subject to be photographed while changing the shooting direction in the left and right directions.

[0016] 1, the tilt direction driving mechanism (attitude adjustment mechanism) 14b drives the camera head unit 11 to rotate in the vertical direction relative to the swivel unit 17. This makes it possible to shoot an image while changing the shooting direction in the vertical direction relative to the subject. Lens driving unit 15 is included in camera head unit 11 and drives lens unit L, which includes multiple optical lenses such as zoom lenses, to change the relative position of the lens unit L. This makes it possible to adjust the focal position relative to the subject and change the shooting range (zoom range) including the subject.

[0017] Lens control unit (subject distance information acquisition unit, correction amount calculation unit) 15a controls lens driving unit 15 to adjust the position of lens unit L in the optical axis direction. Lens control unit 15a transmits the distance from imaging device 10 to the subject, calculated based on the in-focus position of lens unit L, to correction angle calculation unit 19. Lens control unit 15a also calculates the focal length correction amount to prevent the size of the subject from changing, based on the movement distance of imaging device 10 in the forward / backward direction relative to the subject and information on the distance from imaging device 10 to the subject. Then, lens control unit 15a controls lens driving unit 15 to correct the position of lens unit L based on the focal length correction amount.

[0018] As shown in FIG. 1, the base portion 16 is a member that constitutes the lower portion of the imaging device 10, and is configured so that a swivel portion 17 is swivelably driven relative to the base portion 16. As shown in FIG. 1, the swivel unit 17 is an arm-shaped member attached to the base unit 16 in a rotatable manner, and is connected to the base unit 16 at its lower part, and supports the camera head unit 11 in a rotatable manner at its upper part.

[0019] The translational movement distance calculation unit (movement distance information acquisition unit) 18 receives acceleration information indicating the movement of the camera head unit 11 from the acceleration sensor 20a and information on the rotation angles of the pan / tilt direction drive mechanisms 14a, 14b from the control unit 21, and calculates the movement distance in the translational directions (pan / tilt directions and forward / backward directions relative to the subject) of the imaging device 10. The correction angle calculation unit 19 calculates a correction angle for the camera head unit 11 to continue facing the direction of the subject (to continue tracking the subject) based on the movement distance in the translational direction calculated by the translational movement distance calculation unit 18, the distance from the imaging device 10 to the subject acquired from the lens control unit 15a, and the rotation angles of the pan / tilt direction drive mechanisms 14a, 14b received from the control unit 21.

[0020] As shown in FIG. 2, the acceleration sensor 20a is disposed in the camera head unit 11 of the imaging device 10, and measures the acceleration for calculating the movement distance of the camera head unit 11 in the translational direction. Based on the information on the correction angle received from the correction angle calculation unit 19, the control unit 21 controls the pan / tilt direction drive mechanisms 14a and 14b so that the imaging device 10 continues to track the subject when the imaging device 10 moves in the translational direction.

[0021] Here, as shown in FIG. 3, when the imaging device 10 is moved to the right in the drawing from a state in which the subject S1 is located in front of the imaging device 10, the correction angle θ calculated by the correction angle calculation unit 19 is expressed by the following relational expression (1), where d1 is the distance to the subject and d2 is the movement distance in the translational direction. tanθ=d2 / d1 (1) As a result, the correction angle calculation unit 19 calculates the correction angle θ in accordance with the movement of the imaging device 10 in the translational direction and transmits it to the control unit 21, so that the control unit 21 can control the pan direction drive mechanism 14a based on the correction angle θ that changes as the imaging device 10 moves in the translational direction.

[0022] Therefore, even when the imaging device 10 moves in the translational direction, the imaging device 10 can capture an image while tracking the subject. Furthermore, as shown in FIG. 4A, when the imaging device 10 is moved downward in the figure (away from the subject S1) from a state in which the subject S1 is located in front of the imaging device 10, if the distance to the subject is d1 and the movement distance in the translation direction is d3, the lens control unit 15a calculates the focal length correction amount according to the change in the movement distance d3 in the translation direction so that the subject S1 is photographed at approximately the same size, as shown in FIG. 4B, and moves the zoom lens included in the lens unit L to enlarge and photograph the subject.

[0023] As a result, even if the imaging device 10 is moved in the forward / backward direction (translation direction) relative to the subject, as shown in FIG. 4A, by controlling the lens driving unit 15 to adjust the zoom range according to the movement distance d3, it is possible to take an image with the size of the subject S1 remaining almost unchanged. <Control according to the location of the acceleration sensor> In the imaging device 10 of this embodiment, an acceleration sensor 20a is disposed in the camera head unit 11, as shown in FIG.

[0024] Here, the acceleration sensor is not limited to the arrangement shown in FIG. 2, and may be, for example, acceleration sensors 20b and 20c arranged at a position other than the camera head unit 11 (for example, the base unit 16 or the swivel unit 17), as shown in FIGS. 6A and 6B. In the imaging device 10 of this embodiment, for example, as shown in FIGS. 6A and 7A, when an acceleration sensor 20a is used that is arranged in the camera head unit 11 so that the sensor detection axis coincides with the optical axis of the lens unit L contained in the camera head unit 11 and the tilt axis of the tilt direction drive mechanism 14b, the pan / tilt direction drive mechanisms 14a and 14b are controlled according to the flowchart shown in FIG. 8A.

[0025] 8A, in step S11, acceleration sensor 20a disposed in camera head 11 detects the acceleration of imaging device 10. At this time, the detected acceleration component corresponds to the translation component of camera head 11. Next, in step S12, the translational movement distance calculation unit 18 integrates twice the acceleration detected by the acceleration sensor 20a to calculate the movement distance of the camera head unit 11 in the translational direction.

[0026] Next, in step S13, the lens control unit 15a calculates the distance from the imaging device 10 to the subject from the focus position (in-focus position) included in the lens unit L. Next, in step S14, the correction angle calculation unit 19 calculates a correction angle so that the camera head unit 11 faces the subject direction using the subject distance calculated in step S13 and the camera head translational movement distance calculated in step S12.

[0027] Next, in step S15, the control unit 21 controls the pan / tilt direction drive mechanisms 14a and 14b so that the camera head unit 11 is driven in the pan / tilt direction by the correction angle. This makes it possible to calculate a correction angle using acceleration sensor 20a arranged in camera head unit 11 so that the sensor detection axis coincides with the optical axis of lens unit L contained in camera head unit 11 and the tilt axis of tilt direction drive mechanism 14b, and to control pan / tilt direction drive mechanisms 14a, 14b to track the subject.

[0028] Next, as shown in FIGS. 6A and 7A, when the sensor detection axis of the sensor arranged in camera head unit 11 is offset from the optical axis of lens unit L and the tilt axis of tilt direction drive mechanism 14b, or when acceleration sensor 20b or 20c arranged in swivel unit 17 or base unit 16 is used, pan / tilt direction drive mechanisms 14a and 14b are controlled according to the flowchart shown in FIG. 8B.

[0029] That is, as shown in FIG. 8B, in step S21, the acceleration sensor 20b or the acceleration sensor 20c detects the acceleration of the imaging device 10. Next, in step S22, translational movement distance calculation unit 18 corrects the relative angle between the sensor detection axis of acceleration sensor 20b or acceleration sensor 20c and camera head unit 11. At this time, the detected acceleration component is converted into the translational direction of camera head unit 11 from the sensor deviation, pan angle (rotation angle), and tilt angle (rotation angle).

[0030] Specifically, when an acceleration sensor (not shown) is used that is arranged in the camera head unit 11 but whose sensor detection axis is offset from the optical axis of the lens unit L and the tilt axis of the tilt direction drive mechanism 14b, the amount of translational movement is calculated using a relative angle corresponding to the offset of the sensor axis. In addition, in the case of acceleration sensor 20c, as shown in Figures 6B and 7B, since it is placed on rotation unit 17, the component in the pan direction coincides with camera head unit 11, but the component in the tilt direction does not coincide with camera head unit 11, so the amount of movement in the translational direction is calculated using the tilt angle of tilt direction drive mechanism 14b.

[0031] Furthermore, in the case of acceleration sensor 20b, as shown in Figures 6B and 7B, since it is arranged on base unit 16, neither the components in the pan direction nor the tilt direction coincide with those of camera head unit 11, the amount of movement in the translational direction is calculated using the pan angle (rotation angle) of pan direction drive mechanism 14a and the tilt angle (rotation angle) of tilt direction drive mechanism 14b. Next, in step S23, the translational movement distance calculation unit 18 integrates twice the acceleration detected by the acceleration sensor 20b or 20c to calculate the movement distance of the camera head unit 11 in the translational direction.

[0032] Next, in step S24, the lens control unit 15a calculates the distance from the imaging device 10 to the subject from the focus position (in-focus position) of the focus lens included in the lens unit L. Next, in step S25, the correction angle calculation unit 19 calculates a correction angle so that the camera head unit 11 faces the subject direction using the subject distance calculated in step S24 and the camera head translational movement distance calculated in step S23.

[0033] Next, in step S26, the control unit 21 controls the pan / tilt direction drive mechanisms 14a and 14b so that the camera head unit 11 is driven in the pan / tilt direction by the correction angle. This makes it possible to calculate a correction angle using an acceleration sensor (not shown) arranged in the camera head unit 11, or acceleration sensor 20b arranged in the base unit 16, or acceleration sensor 20c arranged in the swivel unit 17, even when the sensor detection axis does not coincide with the optical axis of the lens unit L contained in the camera head unit 11 or the tilt axis of the tilt direction drive mechanism 14b, and control the pan / tilt direction drive mechanisms 14a, 14b to track the subject.

[0034] Similarly, the control in the zoom direction will be described below with reference to FIGS. 9A and 9B. For example, as shown in Figures 6A and 7A, when an acceleration sensor 20a is used that is arranged in the camera head unit 11 so that the sensor detection axis coincides with the optical axis of the lens unit L contained in the camera head unit 11 and the tilt axis of the tilt direction drive mechanism 14b, the drive of the lens unit L in the zoom direction is controlled according to the flowchart shown in Figure 9A.

[0035] 9A, in step S31, the acceleration sensor 20a disposed in the camera head unit 11 detects the acceleration of the imaging device 10. At this time, the detected acceleration component corresponds to the translation component of the camera head unit 11. Next, in step S32, the translational movement distance calculation unit 18 integrates twice the acceleration detected by the acceleration sensor 20a to calculate the movement distance of the camera head unit 11 in the translational direction.

[0036] Next, in step S33, the lens control unit 15a calculates the distance from the imaging device 10 to the subject from the focus position (in-focus position) included in the lens unit L. Next, in step S34, the lens control unit 15a calculates the focal length from the zoom position of the zoom lens included in the lens unit L. Next, in step S35, the focal length is calculated using the subject distance calculated in step S33, the translational movement distance of the camera head unit 11 calculated in step S32, and the zoom focal length calculated in step S34, so that the subject S1 appears to be the same size (shooting range).

[0037] Next, in step S36, the lens control unit 15a controls the lens driving unit 15 based on the corrected focal length calculated in step S35. This allows the correction focal length to be calculated using the acceleration sensor 20a arranged in the camera head unit 11 so that the sensor detection axis coincides with the optical axis of the lens unit L contained in the camera head unit 11 and the tilt axis of the tilt direction drive mechanism 14b, and the zoom range to be changed so that the size of the subject remains approximately the same, thereby controlling the lens drive unit 15.

[0038] Next, as shown in FIGS. 6A and 7A, when the sensor detection axis of the sensor arranged in camera head unit 11 is offset from the optical axis of lens unit L and the tilt axis of tilt direction drive mechanism 14b, or when acceleration sensor 20b or acceleration sensor 20c arranged in base unit 16 or swivel unit 17 is used, lens drive unit 15 is controlled according to the flowchart shown in FIG. 9B.

[0039] That is, as shown in FIG. 9B, in step S41, the acceleration sensor 20b or the acceleration sensor 20c detects the acceleration of the imaging device 10. Next, in step S42, translational movement distance calculation unit 18 corrects the relative angle between the sensor detection axis of acceleration sensor 20b or acceleration sensor 20c and camera head unit 11. At this time, the detected acceleration component is converted into the translational direction of camera head unit 11 from the sensor deviation, pan angle (rotation angle), and tilt angle (rotation angle).

[0040] Specifically, when an acceleration sensor (not shown) is used that is arranged in the camera head unit 11 but whose sensor detection axis is offset from the optical axis of the lens unit L and the tilt axis of the tilt direction drive mechanism 14b, the amount of translational movement is calculated using a relative angle corresponding to the offset of the sensor axis. In addition, in the case of acceleration sensor 20c, as shown in Figures 6B and 7B, since it is placed on rotation unit 17, the component in the pan direction coincides with camera head unit 11, but the component in the tilt direction does not coincide with camera head unit 11, so the amount of movement in the translational direction is calculated using the tilt angle of tilt direction drive mechanism 14b.

[0041] Furthermore, in the case of acceleration sensor 20b, as shown in Figures 6B and 7B, since it is arranged on base unit 16, neither the components in the pan direction nor the tilt direction coincide with those of camera head unit 11, the amount of movement in the translational direction is calculated using the pan angle (rotation angle) of pan direction drive mechanism 14a and the tilt angle (rotation angle) of tilt direction drive mechanism 14b. Next, in step S43, the translational movement distance calculation unit 18 integrates twice the acceleration detected by the acceleration sensor 20b or 20c to calculate the movement distance of the camera head unit 11 in the translational direction.

[0042] Next, in step S44, the lens control unit 15a calculates the distance from the imaging device 10 to the subject from the focus position (in-focus position) of the focus lens included in the lens unit L. Next, in step S45, the lens control unit 15a calculates the focal length from the zoom position of the zoom lens included in the lens unit L.

[0043] Next, in step S46, the lens control unit 15a uses the subject distance calculated in step S44 and the camera head translational movement distance calculated in step S43 to calculate a corrected focal length so that the subject appears to be the same size (shooting range) from the zoom focal position calculated in step S45. Next, in step S47, the control unit 21 causes the lens control unit 15a to control the lens driving unit 15 based on the corrected focal length calculated in step S46.

[0044] This allows the correction focal length to be calculated using the acceleration sensor 20a arranged in the camera head unit 11 so that the sensor detection axis coincides with the optical axis of the lens unit L contained in the camera head unit 11 and the tilt axis of the tilt direction drive mechanism 14b, and the zoom range to be changed so that the size of the subject remains approximately the same, thereby controlling the lens drive unit 15. Similarly, by integrating the acceleration detected by acceleration sensor 20b or acceleration sensor 20c twice to calculate the distance traveled in the translational direction of camera head unit 11, the zoom range can be changed so that the size of the subject remains approximately the same, thereby controlling lens driving unit 15.

[0045] <Major features> The imaging device 10 of this embodiment captures images of a subject while moving translationally relative to the subject, and as shown in FIG. 2, includes a camera head unit 11, a base unit 16, pan / tilt direction drive mechanisms 14a and 14b, an acceleration sensor 20a, a lens control unit 15a, a correction angle calculation unit 19, and a control unit 21. The camera head unit 11 captures images of the subject. The camera head unit 11 is attached to the base unit 16 in a rotatable state. The pan / tilt direction drive mechanisms 14a and 14b adjust the orientation of the camera head unit 11 in the pan direction and the tilt direction. The acceleration sensor 20a acquires the translational movement distance relative to the subject. The lens control unit 15a acquires distance information to the subject. The correction angle calculation unit 19 calculates a correction angle for the camera head unit 11 to continue facing the subject based on the movement distance and the distance information to the subject. The control unit 21 controls the pan / tilt direction drive mechanisms 14a and 14b so as to correct the orientation of the camera head unit 11 in the pan direction and / or tilt direction based on the correction angle.

[0046] As a result, the correction angle calculation unit 19 calculates the correction angle θ in accordance with the movement of the imaging device 10 in the translational direction and transmits it to the control unit 21, so that the control unit 21 can control the pan direction drive mechanism 14a based on the correction angle θ that changes as the imaging device 10 moves in the translational direction. Therefore, even when the imaging device 10 moves in the translational direction, the imaging device 10 can capture an image while tracking the subject.

[0047] As a result, the shooting direction can be appropriately corrected for large translational shake / movement. [Other embodiments] The above describes one embodiment of the present disclosure, but the present disclosure is not limited to the above embodiment, and various modifications and combinations with other embodiments below are possible within the scope of the gist of the disclosure.

[0048] (A) In the above embodiment, an example of the imaging device and the correction method therefor that realizes the present disclosure has been described, but the present disclosure is not limited to this. For example, the present disclosure may be realized as a correction program that causes a computer to execute the above-described method for correcting an imaging device.

[0049] This correction program is stored in a memory (storage unit) installed in the imaging device, and a CPU reads the correction program stored in the memory and causes the hardware to execute each step. More specifically, the CPU reads the correction program and executes each of the steps described above, thereby achieving the same effects as those described above. The present disclosure may also be realized as a recording medium storing a correction program for an imaging device.

[0050] (B) In the above embodiment, an example has been described in which the moving distance is calculated by integrating twice the acceleration detected by the acceleration sensor mounted on the imaging device, and the pan / tilt direction driving mechanisms 14a and 14b are controlled so that the shooting direction tracks the subject. However, the present disclosure is not limited to this.

[0051] For example, as shown in FIG. 10, information on the movement distance (position) of the imaging device 110 may be obtained from an external device (rail system 111), and the pan / tilt direction driving mechanisms 14a and 14b may be controlled so that the shooting direction tracks the subject. The rail system 111 is, for example, a system that moves the imaging device 110 in a translational manner in the left-right direction relative to the subject, and as shown in FIG. 10 , transmits information on the current position of the imaging device 110 (camera position information) to a translational movement distance calculation unit 18, and also transmits information on the distance to the subject to a correction angle calculation unit 19.

[0052] This makes it possible to obtain the movement distance of the imaging device 110 in the translation direction without using the acceleration sensors 20a, 20b, and 20c as in the above embodiment. (C) In the above embodiment, an example has been described in which distance information from the imaging device 10 to the subject is acquired from the focal position of the focus lens, but the present disclosure is not limited to this.

[0053] For example, the distance to the subject may be acquired from the outside (for example, the rail system 111). That is, as shown in FIG. 10, a rail system 111 may be configured to transmit to the correction angle calculation unit 19 information on the distance to the subject that has been transmitted from the lens control unit 15a.

[0054] In this case, the pan / tilt direction drive mechanisms 14a and 14b are controlled according to the flowchart shown in FIG. That is, in step S51, the translational movement distance calculation unit 18 acquires the current position of the camera installation unit on which the imaging device 110 is placed in the rail system 111, and calculates the movement distance from the difference from the previous position.

[0055] Next, in step S52, the correction angle calculation unit 19 corrects the relative angle between the camera installation unit and the base unit 16 for the movement distance in the translation direction calculated in step S51, and converts it into the translation direction of the camera head unit 11 from the sensor deviation, pan angle (rotation angle), and tilt angle (rotation angle). Specifically, when an acceleration sensor (not shown) is used that is arranged in the camera head unit 11 but whose sensor detection axis is offset from the optical axis of the lens unit L and the tilt axis of the tilt direction drive mechanism 14b, the amount of translational movement is calculated using a relative angle corresponding to the offset of the sensor axis.

[0056] In addition, in the case of acceleration sensor 20c, as shown in Figures 6B and 7B, since it is placed on rotation unit 17, the component in the pan direction coincides with camera head unit 11, but the component in the tilt direction does not coincide with camera head unit 11, so the amount of movement in the translational direction is calculated using the tilt angle of tilt direction drive mechanism 14b. Furthermore, in the case of acceleration sensor 20b, as shown in Figures 6B and 7B, since it is arranged on base unit 16, neither the components in the pan direction nor the tilt direction coincide with those of camera head unit 11, the amount of movement in the translational direction is calculated using the pan angle (rotation angle) of pan direction drive mechanism 14a and the tilt angle (rotation angle) of tilt direction drive mechanism 14b.

[0057] Next, in step S53, an external device such as the rail system 111 calculates the distance from the imaging device 110 to the subject. Next, in step S54, the correction angle calculation unit 19 calculates a correction angle so that the camera head unit 11 faces the subject direction using the subject distance calculated in step S53 and the translational movement distance calculated in step S52.

[0058] Next, in step S55, the control unit 21 controls the pan / tilt direction drive mechanisms 14a and 14b so that the camera head unit 11 is driven in the pan / tilt direction by the correction angle. This makes it possible to calculate a correction angle using the subject distance and position information of the imaging device 110 received from the rail system 111, and control the pan / tilt direction drive mechanisms 14a and 14b to track the subject.

[0059] (D) In the above embodiment, an example has been described in which distance information from the imaging device 10 to the subject is acquired from the focal position of the focus lens, but the present disclosure is not limited to this. For example, as shown in FIG. 12, it may be an imaging device 210 that acquires the distance to the subject from the outside (for example, a distance measuring sensor 211).

[0060] The distance measurement sensor 211 is, for example, a phase detection auto focus (PDAF) or a time of flight (ToF) sensor. As shown in Fig. 12, the distance measurement sensor 211 is provided in the camera head unit 11 and measures the distance from the imaging device 210 to a subject. As a result, by using the distance from the imaging device 210 to the subject obtained from the distance measurement sensor 211, the pan / tilt direction drive mechanisms 14a, 14b can be controlled to track the subject even when the imaging device 210 moves in the translational direction.

[0061] Furthermore, a distance measuring device such as a PDAF or ToF sensor may be used to calculate the movement distance in the translational direction of the imaging device. In FIG. 12, the translational movement distance calculation unit 18 calculates the movement distance in the translational direction of the imaging device 210 using the acceleration measured by the acceleration sensor 20b provided outside the camera head unit 11, but the configuration may also be such that the acceleration is measured using the acceleration sensor 20a provided in the camera head unit 11 instead of the acceleration sensor 20b.

[0062] (E) In the above embodiment, an example has been described in which distance information from the imaging device 10 to the subject is acquired from the focal position of the focus lens, but the present disclosure is not limited to this. For example, the distance to the subject may be acquired from an external device (video synthesis system).

[0063] This image synthesis system, like AR (Augmented Reality) or VR (Virtual Reality), synthesizes images captured by this imaging device with virtual images, and by using distance information about the subject in the virtual space (the virtual subject distance specified on the image synthesis system), it can correct the image to appear as if it is continuously capturing a virtual subject that does not exist in real space. This reduces the sense of incongruity that occurs when the images are synthesized.

[0064] Similarly, instead of calculating the translational movement distance using the acceleration sensor described in the above embodiment, the translational movement distance of the imaging device may be calculated using an image synthesis system. <Additional Notes> The above description of the embodiments discloses the following techniques.

[0065] (Technology 1) The imaging device according to Technology 1 is An imaging device that takes an image while moving in translation relative to a subject, a camera unit that takes an image of the subject; a base unit to which the camera unit is rotatably attached; an attitude adjustment mechanism that adjusts the orientation of the camera unit in a pan direction and a tilt direction; a movement distance information acquisition unit that acquires a translational movement distance of the subject; a subject distance information acquisition unit that acquires information about the distance to the subject; a correction angle calculation unit that calculates a correction angle for the camera unit to continue facing the direction of the subject based on the movement distance and information about the distance to the subject; a control unit that controls the attitude adjustment mechanism so as to correct an orientation of the camera unit in the pan direction and / or the tilt direction based on the correction angle; It is equipped with:

[0066] (Technology 2) The imaging device according to the second aspect of the present invention is the imaging device according to the first aspect of the present invention, a lens unit that moves to adjust a focal position relative to the subject; a lens driving unit that moves the lens unit back and forth in the optical axis direction of the lens unit; a correction amount calculation unit that calculates a focal length correction amount based on the movement distance and information about the distance to the subject; a lens control unit that controls the lens driving unit so as to correct the position of the lens unit based on the focal length correction amount; It also has:

[0067] (Technology 3) The imaging device according to the third aspect of the present invention is an imaging device according to the first or second aspect of the present invention, Further provided is an acceleration sensor for acquiring acceleration during movement, The travel distance information acquisition unit acquires a travel distance calculated by integrating twice the acceleration detected by the acceleration sensor.

[0068] (Technology 4) The imaging device according to Technology 4 is the imaging device according to Technology 3, the acceleration sensor is provided in the camera unit, The correction angle calculation unit calculates the correction angle using a rotation angle in the tilt direction. (Technology 5) The imaging device according to technology 5 is the imaging device according to technology 3, the acceleration sensor is provided on the base portion, The correction angle calculation unit calculates the correction angle using a rotation angle in the pan direction and / or tilt direction.

[0069] (Technology 6) The imaging device according to Technology 6 is an imaging device according to any one of Technology 1 to Technology 5, The travel distance information acquisition unit acquires the travel distance based on position information of the imaging device transmitted from an external device. (Technology 7) The imaging device according to Technology 7 is an imaging device according to any one of Technology 1 to Technology 6, The camera further includes a lens unit that moves to adjust the focal position to the subject, a lens driving unit that moves the lens unit back and forth in the optical axis direction, and a lens control unit that controls the lens driving unit to change the position of the lens unit, The subject distance information acquisition unit acquires information about the distance to the subject based on the focal position of the lens.

[0070] (Technology 8) The imaging device according to technology 8 is an imaging device according to any one of technology 1 to 7, Further, a distance measuring sensor is provided to measure the distance to the subject, The subject distance information acquisition unit acquires the distance to the subject measured by the distance measurement sensor.

[0071] (Technology 9) The imaging device according to Technology 9 is an imaging device according to any one of Technology 1 to Technology 8, The subject distance information acquisition unit acquires the distance to the subject based on position information of the imaging device transmitted from an external device. [Industrial Applicability]

[0072] The imaging device of the present disclosure has the effect of being able to appropriately correct the shooting direction for large translational shake / movement, and is therefore widely applicable to various imaging devices that take pictures while changing the shooting direction. [Explanation of symbols]

[0073] 10. Imaging device 11 Camera head unit (camera unit) 12 Image sensor 13 Rotation mechanism 13a Roll axis 14a Panning drive mechanism (attitude adjustment mechanism) 14b Tilt direction drive mechanism (attitude adjustment mechanism) 15 Lens drive unit 15a Lens control unit (subject distance information acquisition unit, correction amount calculation unit) 16 Base 17 Swivel section 18 Translational distance calculation unit (travel distance information acquisition unit) 19 Correction angle calculation section 20a, 20b, 20c Acceleration sensors 21 Control section 110 Imaging device 111 Rail System 210 Imaging device 211 Distance Sensor L lens unit

Claims

1. An imaging device that takes an image while moving in translation relative to a subject, a camera unit that takes an image of the subject; a base unit to which the camera unit is rotatably attached; an attitude adjustment mechanism that adjusts the orientation of the camera unit in a pan direction and a tilt direction; a movement distance information acquisition unit that acquires a translational movement distance of the subject; a subject distance information acquisition unit that acquires information about the distance to the subject; a correction angle calculation unit that calculates a correction angle for the camera unit to continue facing the direction of the subject based on the movement distance and information about the distance to the subject; a control unit that controls the attitude adjustment mechanism so as to correct an orientation of the camera unit in the pan direction and / or the tilt direction based on the correction angle; An imaging device comprising:

2. a lens unit that moves to adjust a focal position relative to the subject; a lens driving unit that moves the lens unit back and forth in the optical axis direction of the lens unit; a correction amount calculation unit that calculates a focal length correction amount to prevent a change in the size of the subject based on the movement distance and information about the distance to the subject; a lens control unit that controls the lens driving unit so as to correct the position of the lens unit based on the focal length correction amount; It further comprises: The imaging device according to claim 1 .

3. Further provided is an acceleration sensor for acquiring acceleration during movement, the travel distance information acquisition unit acquires a travel distance calculated by integrating twice the acceleration detected by the acceleration sensor; 3. The imaging device according to claim 1.

4. the acceleration sensor is provided in the camera unit, the correction angle calculation unit calculates the correction angle using a rotation angle in the tilt direction. The imaging device according to claim 3 .

5. the acceleration sensor is provided on the base portion, the correction angle calculation unit calculates the correction angle using a rotation angle in the pan direction and / or the tilt direction. The imaging device according to claim 3 .

6. the travel distance information acquisition unit acquires the travel distance based on position information of the imaging device transmitted from an external device; 3. The imaging device according to claim 1.

7. The camera further includes a lens unit that moves to adjust the focal position to the subject, a lens driving unit that moves the lens unit back and forth in the optical axis direction, and a lens control unit that controls the lens driving unit to change the position of the lens unit, the subject distance information acquisition unit acquires distance information to the subject based on the focal position of the lens unit; The imaging device according to claim 1 .

8. Further, a distance measuring sensor is provided to measure the distance to the subject, the subject distance information acquisition unit acquires the distance to the subject measured by the distance measurement sensor; 3. The imaging device according to claim 1.

9. the subject distance information acquisition unit acquires the distance to the subject based on position information of the imaging device transmitted from an external device; 3. The imaging device according to claim 1.

10. A correction method for an imaging device that captures an image while moving translationally relative to a subject, comprising: a step in which an attitude adjustment mechanism of the imaging device adjusts the orientation of a camera unit that captures an image of the subject in a pan direction and a tilt direction; a movement information acquisition unit of the imaging device acquiring a movement distance in a translational direction; a step in which a subject distance information acquisition unit of the imaging device acquires distance information to the subject; a step in which a correction angle calculation unit of the imaging device calculates a correction angle for the camera unit to continue facing the direction of the subject based on the movement distance and distance information to the subject; a control unit of the imaging device controlling the attitude adjustment mechanism so as to correct an orientation of the camera unit in a pan direction and / or a tilt direction based on the correction angle; A correction method for an imaging device comprising:

11. A correction program for an imaging device that takes an image while moving translationally relative to a subject, a step in which an attitude adjustment mechanism of the imaging device adjusts the orientation of a camera unit that captures an image of the subject in a pan direction and a tilt direction; a movement information acquisition unit of the imaging device acquiring a movement distance in a translational direction; a step in which a subject distance information acquisition unit of the imaging device acquires distance information to the subject; a step in which a correction angle calculation unit of the imaging device calculates a correction angle for the camera unit to continue facing the direction of the subject based on the movement distance and distance information to the subject; a control unit of the imaging device controlling the attitude adjustment mechanism so as to correct an orientation of the camera unit in a pan direction and / or a tilt direction based on the correction angle; A correction program that causes a computer to execute a correction method for an imaging device comprising:

Images