Imaging system and program

Abstract

To provide a control method and imaging system capable of correcting, for example, shaking applied to an image sensor or imaging lens according to factors related to a moving body.SOLUTION: The imaging system includes a processor in an imaging system equipped with a moving object and an imaging apparatus. The processor acquires movement information regarding the position of the moving object and varies the shutter speed of the imaging apparatus according to the movement information.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The technology of the present disclosure relates to an imaging system and a program. [Background technology]

[0002] Patent Document 1 discloses an optical device that includes a calculation means that calculates a subject angular velocity based on a captured image, and a control means that corrects image blur associated with a subject during panning by driving a correction means based on the calculated subject angular velocity, in which the control means determines a correction position for image blur associated with the subject in accordance with the shooting scene based on subject information including the shooting scene, and drives the correction means based on the subject angular velocity calculated based on the image blur correction position.

[0003] Patent Document 2 discloses an imaging device capable of panning, which includes a first calculation means for calculating the angular velocity of the subject relative to the imaging device based on a motion vector of the subject and the movement of the imaging device, which are based on temporally consecutive images; a second calculation means for calculating the angular acceleration of the subject relative to the imaging device based on multiple angular velocities calculated by the first calculation means; a determination means for determining the angular velocity of the subject relative to the imaging device during exposure in accordance with the angular acceleration calculated by the second calculation means; and a correction means for correcting image blur of the subject by moving a correction element based on the angular velocity determined by the determination means, wherein the determination means changes the angular acceleration used to determine the angular velocity of the subject relative to the imaging device during exposure in accordance with whether the angular acceleration calculated by the second calculation means is included in a range corresponding to the angular velocity calculated by the first calculation means.

[0004] Patent Document 3 discloses a camera shake prevention device comprising: image blur detection means for detecting image blur based on the output of an image sensor; mechanical blur detection means for detecting blur based on the output of a mechanical sensor provided inside the camera and calculating the resulting image blur; subject movement speed detection means for detecting information related to the movement speed of the subject from the output of the image blur detection means and the mechanical blur detection means; blur correction amount calculation means for calculating the amount of blur correction during exposure from the movement speed of the subject and exposure time; initial position setting means for presetting an initial position of the camera's blur correction mechanism based on the amount of blur correction; and blur correction control means for controlling the blur correction mechanism based on the outputs of the image blur detection means and the mechanical blur detection means. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-082932 [Patent Document 2] Japanese Patent Publication No. 2019-092037 [Patent Document 3] Japanese Patent Application Publication No. 04-163535 Summary of the Invention

[0006] One embodiment of the technique of the present disclosure provides, for example, an imaging system and a program that can correct shaking applied to an image sensor or an imaging lens in accordance with factors related to a moving object. [Means for solving the problem]

[0007] A first aspect of the technology of the present disclosure is an imaging system including a moving object and an imaging device, the imaging system including a processor, the processor acquiring movement information regarding the position of the moving object, and varying the shutter speed of the imaging device according to the movement information.

[0008] A second aspect of the technology of the present disclosure is a program for causing a computer to execute processing including acquiring movement information regarding the position of a moving object and varying the shutter speed of an imaging device according to the movement information. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view illustrating an example of an imaging system. [Figure 2] FIG. 2 is a side view showing an example of an imaging device and an aircraft. [Figure 3] FIG. 2 is a block diagram showing an example of the hardware configuration of an aircraft. [Figure 4] FIG. 2 is a block diagram illustrating an example of a hardware configuration of the imaging apparatus. [Figure 5] FIG. 2 is a block diagram showing an example of the functional configuration of a CPU installed in the imaging device. [Figure 6] FIG. 10 is a block diagram illustrating an example of the operation of an acquisition unit. [Figure 7] FIG. 10 is a block diagram illustrating an example of the operation of an estimation unit. [Figure 8] FIG. 4 is a block diagram illustrating an example of a first operation of a setting unit. [Figure 9] FIG. 10 is a block diagram illustrating an example of a second operation of the setting unit. [Figure 10] FIG. 10 is a block diagram illustrating an example of a first operation of the adjustment processing unit. [Figure 11] FIG. 10 is a block diagram illustrating an example of a second operation of the adjustment processing unit. [Figure 12] FIG. 4 is a block diagram illustrating an example of the operation of an imaging processing unit. [Figure 13] FIG. 10 is a block diagram illustrating an example of a first operation of the correction processing unit. [Figure 14] FIG. 10 is a block diagram illustrating an example of a second operation of the adjustment processing unit. [Figure 15] FIG. 10 is a block diagram illustrating an example of the operation of a data output unit. [Figure 16] 10 is a flowchart illustrating an example of the flow of an imaging support process. [Figure 17] FIG. 10 is a block diagram showing a first modified example of an acquisition unit. [Figure 18] FIG. 10 is a block diagram showing a second modified example of the acquisition unit. [Figure 19] FIG. 10 is a block diagram showing a third modified example of the acquisition unit. [Figure 20] FIG. 10 is a block diagram showing a modified example in which an estimation unit different from the estimation unit described above is added. [Figure 21] 10 is a flowchart showing a modified example of the flow of the imaging support process. [Figure 22] FIG. 10 is a block diagram showing a modified example of another estimation unit. [Figure 23] FIG. 10 is a block diagram showing a modified example of the image stabilization function and adjustment processing unit of the imaging device. [Figure 24] FIG. 10 is a block diagram showing a modified example of the image stabilization function and correction processing unit of the imaging device. [Figure 25] FIG. 10 is a block diagram showing a modified example of the imaging system, the acquisition unit, and the adjustment processing unit. [Figure 26] FIG. 10 is a block diagram showing a modified example of the imaging system, the acquisition unit, and the correction processing unit. [Figure 27] FIG. 10 is a block diagram showing a modified example of the imaging system. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an example of an embodiment of a control method and an imaging device according to the technique of the present disclosure will be described with reference to the accompanying drawings.

[0011] 1, an imaging system S is a system capable of capturing an image of an object 2, and includes an aircraft 10, an imaging device 50, a transmitter 150, and an anemometer 160. The aircraft 10 is an example of a "moving object" according to the technology of the present disclosure. The object 2 is an example of a "subject" according to the technology of the present disclosure.

[0012] The aircraft 10 is, for example, an unmanned aerial vehicle such as a drone. The aircraft 10 has a plurality of rotors 12. By adjusting the rotation speed of the plurality of rotors 12, the aircraft 10 can move vertically, move horizontally, turn, hover, and the like. FIG. 1 shows, as an example, the aircraft 10 moving horizontally along an object 2.

[0013] The imaging device 50 is mounted on the flying object 10. The imaging device 50 is, for example, a digital camera. The imaging device 50 is oriented so as to capture an image of the area in front of the flying object 10. As the flying object 10 moves horizontally along the target 2, the imaging device 50 captures images of the target 2 multiple times, thereby performing a panning shot of the target 2.

[0014] The transmitter 150 is communicatively connected to the flying object 10 and the imaging device 50. When the transmitter 150 receives a flight instruction from the user 4, it transmits flight instruction information 200 indicating the flight instruction to the flying object 10. The flight instruction information 200 is instruction information for causing the flying object 10 to move vertically, move horizontally, turn, hover, etc. The flight instruction information 200 includes instruction information regarding the speed and direction in which the flying object 10 will move. The flying object 10 flies based on the flight instruction information 200.

[0015] Furthermore, when the transmitter 150 receives an image capture instruction from the user 4, it transmits image capture instruction information 202 indicating the image capture instruction to the image capture device 50. The image capture instruction information 202 is instruction information for causing the image capture device 50 to capture an image of a subject (for example, the target object 2). The image capture device 50 captures an image of the subject based on the image capture instruction information 202.

[0016] The anemometer 160 is communicably connected to the imaging device 50. The anemometer 160 is installed in the environment in which the flying object 10 flies (hereinafter referred to as the flight environment). The anemometer 160 detects the speed of the wind 6 (hereinafter referred to as the wind speed) occurring in the flight environment, and transmits wind information 208 corresponding to the detected wind speed to the imaging device 50. The wind information 208 is an example of "wind information" according to the technology of the present disclosure.

[0017] As an example, as shown in FIG. 2, the aircraft 10 includes a gimbal mechanism 14. The gimbal mechanism 14 supports the imaging device 50 relative to the aircraft 10. As an example, the gimbal mechanism 14 is a three-axis gimbal mechanism configured to absorb vibrations occurring around three axes. The gimbal mechanism 14 is attached to the imaging device 50 in an orientation in which the three axes of the gimbal mechanism 14 coincide with the yaw axis, pitch axis, and roll axis of the imaging device 50. As an example, the axis Y, axis P, and axis R shown in FIG. 2 indicate the yaw axis, pitch axis, and roll axis of the imaging device 50, respectively. The yaw axis, pitch axis, and roll axis of the imaging device 50 coincide with the yaw axis, pitch axis, and roll axis of the aircraft 10, respectively.

[0018] The gimbal mechanism 14 may be a mechanical gimbal mechanism that absorbs vibrations using a mechanical configuration, or an electric gimbal mechanism that absorbs vibrations using an electric actuator. The gimbal mechanism 14 may also be a two-axis gimbal mechanism. When the gimbal mechanism 14 is a two-axis gimbal mechanism, a first of the two axes of the gimbal mechanism 14 coincides with one of the yaw axis, pitch axis, and roll axis, and a second of the two axes of the gimbal mechanism 14 coincides with the remaining of the yaw axis, pitch axis, and roll axis. The gimbal mechanism 14 is an example of a "gimbal mechanism" according to the technology of the present disclosure.

[0019] As an example, as shown in FIG. 3, the flying object 10 includes a computer 20, a flight device 22, an acceleration sensor 24, a positioning unit 26, a communication I / F (Interface) 28, and an input / output I / F 30.

[0020] The computer 20 includes a CPU (Central Processing Unit) 32, an NVM (Non-volatile memory) 34, and a RAM (Random Access Memory) 36. The CPU 32, the NVM 34, and the RAM 36 are connected to one another via a bus 38, and the bus 38 is connected to the input / output I / F 30.

[0021] The NVM 34 is a non-transitory storage medium that stores various parameters and programs. For example, the NVM 34 is a flash memory (e.g., an EEPROM (Electrically Erasable and Programmable Read Only Memory)). However, this is merely an example, and a hard disk drive (HDD) or the like may also be used as the NVM 34 in addition to the flash memory. The RAM 36 temporarily stores various information and is used as a work memory.

[0022] The CPU 32 reads out the necessary programs from the NVM 34 and executes the read programs on the RAM 36. The CPU 32 controls the entire aircraft 10 in accordance with the programs executed on the RAM 36.

[0023] The flight device 22 has a plurality of rotors 12, a plurality of motors 42, and a motor driver 44. In the example shown in FIG. 3, the number of the rotors 12 is, for example, four. The number of the motors 42 is the same as the number of the rotors 12. The motor driver 44 is connected to the CPU 32 via the input / output I / F 30 and the bus 38. The motor driver 44 controls the plurality of motors 42 individually in accordance with instructions from the CPU 32. A rotor 12 is fixed to the rotation shaft of each motor 42. Each motor 42 rotates the rotor 12.

[0024] The acceleration sensor 24 detects acceleration in the pitch, yaw, and roll directions of the flying object 10. The acceleration sensor 24 outputs acceleration information 220 corresponding to the acceleration of the flying object 10 in each axial direction.

[0025] The positioning unit 26 detects the position of the aircraft 10. The positioning unit 26 has a receiver 46. The receiver 46 receives, for example, position information (not shown) transmitted from a Global Navigation Satellite System (GNSS). An example of a GNSS is a Global Positioning System (GPS). The positioning unit 26 detects the position of the aircraft 10 based on the position information received by the receiver 46, and outputs positioning information 222 corresponding to the position of the aircraft 10.

[0026] The communication I / F 28 is communicatively connected to the transmitter 150 and the imaging device 50. The communication I / F 28 may be communicatively connected to the transmitter 150 and the imaging device 50 using a default wireless communication standard, or may be communicatively connected to the transmitter 150 and the imaging device 50 using a default wired communication standard. An example of the default wireless communication standard is Bluetooth (registered trademark). Note that other wireless communication standards (e.g., Wi-Fi or 5G) may also be used. The communication I / F 28 receives information transmitted from the transmitter 150 and outputs the received information to the CPU 32 via the bus 38. The communication I / F 28 also transmits information to the imaging device 50 in response to a request from the CPU 32.

[0027] 4, an image capturing device 50 includes an image capturing device main body 52 and a lens unit 54. The image capturing device main body 52 includes a mechanical shutter 56, a shutter actuator 58, a shutter driver 60, an image sensor 62, an image sensor driver 64, a blur correction mechanism 66, a blur correction driver 68, a lens driver 70, an acceleration sensor 72, a computer 74, an image memory 76, a communication I / F 78, and an input / output I / F 80.

[0028] The shutter driver 60 , the image sensor driver 64 , the shake correction driver 68 , the lens driver 70 , the acceleration sensor 72 , the computer 74 , the image memory 76 , and the communication I / F 78 are connected to an input / output I / F 80 .

[0029] The computer 74 includes a CPU 82, an NVM 84, and a RAM 86. The CPU 82, the NVM 84, and the RAM 86 are connected via a bus 88, and the bus 88 is connected to the input / output I / F 80.

[0030] The NVM 84 is a non-transitory storage medium that stores various parameters and programs. For example, the NVM 84 is a flash memory (e.g., an EEPROM). However, this is merely an example, and a HDD or the like may also be used as the NVM 84 in addition to the flash memory. The RAM 86 temporarily stores various information and is used as a working memory.

[0031] The CPU 82, which is a processor, reads out necessary programs from the NVM 84 and executes the read programs in the RAM 86. The CPU 82 controls the entire imaging device 50 in accordance with the programs executed in the RAM 86. In the example shown in Fig. 4, the shutter driver 60, the image sensor driver 64, the shake correction driver 68, the lens driver 70, the acceleration sensor 72, the image memory 76, and the communication I / F 78 are controlled by the CPU 82.

[0032] The image sensor 62 is, for example, a CMOS (Complementary Metal Oxide Semiconductor) image sensor. Here, a CMOS image sensor is exemplified as the image sensor 62, but the technology of the present disclosure is not limited to this, and the technology of the present disclosure also applies even if the image sensor 62 is another type of image sensor, such as a CCD (Charge Coupled Device) image sensor.

[0033] An image sensor driver 64 is connected to the image sensor 62. The image sensor driver 64 supplies an imaging timing signal, which defines the timing of imaging performed by the image sensor 62, to the image sensor 62 in accordance with an instruction from the CPU 82. The image sensor 62 performs resetting, exposure, and output of an electrical signal in accordance with the imaging timing signal supplied from the image sensor driver 64. A moving mechanism 90 is assembled to the image sensor 62, and the image sensor 62 is fixed to the moving mechanism 90. The moving mechanism 90 is, for example, a holder that supports the image sensor 62. The moving mechanism 90 is an example of a "moving mechanism" according to the technology of the present disclosure.

[0034] Subject light is incident on the imaging lens 96. The subject light is focused by the imaging lens 96 onto the light receiving surface 62A of the image sensor 62. The image sensor 62 has a signal processing circuit (not shown). The signal processing circuit digitizes analog image data to generate digital image data 232 and outputs the image data 232.

[0035] The image memory 76 is, for example, an EEPROM. However, this is merely an example, and instead of or together with the EEPROM, an HDD or an SSD (Solid State Drive) may be used as the image memory 76. The image memory 76 stores image data 232 generated by the image sensor 62. The CPU 82 acquires the image data 232 from the image memory 76 and executes various processes using the acquired image data 232.

[0036] The mechanical shutter 56 is, for example, a focal plane shutter, and is disposed between the aperture 104 and the light receiving surface 62A. The mechanical shutter 56 includes a front curtain 56A and a rear curtain 56B. The shutter actuator 58 opens and closes the front curtain 56A and the rear curtain 56B. Note that the imaging device 50 may have an electronic shutter function instead of the mechanical shutter 56.

[0037] The acceleration sensor 72 detects acceleration in each of the axial directions of the pitch axis, yaw axis, and roll axis of the image capture device 50. The acceleration sensor 72 outputs acceleration information 230 corresponding to the acceleration of the image capture device 50 in each axial direction.

[0038] The blur correction mechanism 66 is a mechanism that corrects image blur by moving the image sensor 62 together with the movement mechanism 90 in a direction that corrects image blur when blur occurs in the image obtained by capturing an image using the image sensor 62 due to vibration of the imaging device 50.

[0039] The shake correction mechanism 66 includes a position sensor 92 and a shake correction actuator 94. The position sensor 92 includes, for example, a Hall element and a sensor magnet, and detects the position of the image sensor 62 in the yaw axis direction, the position of the pitch axis direction, and the position around the pitch axis. The position sensor 92 outputs position information corresponding to the position of the image sensor 62 in the yaw axis direction, the position of the pitch axis direction, and the position around the pitch axis. The yaw axis, pitch axis, and roll axis of the image sensor 62 coincide with the yaw axis, pitch axis, and roll axis of the imaging device 50.

[0040] The shake correction actuator 94 includes, for example, a voice coil motor or a piezoelectric element, and is driven in response to a drive signal output from the shake correction driver 68. The shake correction actuator 94 moves the image sensor 62 in the yaw axis direction and the pitch axis direction, and rotates the image sensor 62 around the pitch axis. The shake correction driver 68 controls the shake correction actuator 94 in accordance with instructions from the CPU 82. The shake correction actuator 94 applies power to the movement mechanism 90. The movement mechanism 90 moves the image sensor 62 based on the power applied from the shake correction actuator 94. The movable ranges of the image sensor 62 and the movement mechanism 90 are limited by the movable range of the shake correction actuator 94.

[0041] It should be noted that "shake of the imaging device 50" refers to a phenomenon in which the positional relationship between the optical axis OA of the imaging lens 96 and the light receiving surface 62A in the imaging device 50 fluctuates. When shake of the imaging device 50 occurs, image blur occurs. Examples of images include an image obtained by being captured by the image sensor 62, or an optical image obtained by being focused on the light receiving surface 62A (hereinafter, also simply referred to as "image" or "subject image").

[0042] "Image blur" refers to a phenomenon in which the subject image is displaced from the reference position due to tilting of the optical axis OA caused by vibration, i.e., a phenomenon in which the subject image is displaced from the reference position due to relative movement of the optical axis OA with respect to the subject. The vibration phenomenon refers to a phenomenon in which the imaging lens 96 vibrates due to vibration transmitted to the imaging lens 96 from outside the imaging device 50 (e.g., wind, the flying object 10, etc.). Furthermore, "tilting of the optical axis OA" means, for example, tilting of the optical axis OA with respect to a reference axis (e.g., the optical axis OA before the vibration phenomenon occurs (i.e., the optical axis OA when the imaging device 50 is stationary)). Furthermore, the "reference position" refers, for example, to the position of the subject image obtained when no vibration is applied to the imaging lens 96 (e.g., the position of the subject image within the light receiving surface 62A).

[0043] Furthermore, "correcting image blur" not only means matching the position of an image blurred by shaking of the imaging device 50 to the position of the image before shaking of the imaging device 50 occurred, but also includes bringing the position of an image blurred by shaking of the imaging device 50 closer to the position of the image before shaking of the imaging device 50 occurred.

[0044] The communication I / F 78 is communicatively connected to the flying object 10, the transmitter 150, and the anemometer 160. The same technology as the communication I / F 28 can be applied to the communication I / F 78. The communication I / F 78 receives information transmitted from the flying object 10 and outputs the received information to the CPU 82 via the bus 88. The communication I / F 78 also receives information transmitted from the transmitter 150 and outputs the received information to the CPU 82 via the bus 88. The communication I / F 78 also receives information transmitted from the anemometer 160 and outputs the received information to the CPU 82 via the bus 88.

[0045] The lens unit 54 includes an imaging lens 96. The imaging lens 96 includes, for example, an objective lens 98, a focus lens 100, a zoom lens 102, and an aperture 104.

[0046] The lens unit 54 also includes a lens driver 70, a first actuator 108, a second actuator 110, a third actuator 112, a first position sensor 114, a second position sensor 116, and an aperture amount sensor 118. The lens driver 70 controls the first actuator 108, the second actuator 110, and the third actuator 112 in accordance with instructions from the CPU 82.

[0047] The first position sensor 114 detects the position of the focus lens 100 on the optical axis OA and outputs first position information corresponding to the detected position of the focus lens 100 to the CPU 82 via the lens driver 70. The second position sensor 116 detects the position of the zoom lens 102 on the optical axis OA and outputs second position information corresponding to the detected position of the zoom lens 102 to the CPU 82 via the lens driver 70. The aperture amount sensor 118 detects the size of the aperture (i.e., the aperture amount) and outputs third position information corresponding to the detected size of the aperture to the CPU 82 via the lens driver 70. Potentiometers are examples of the first position sensor 114, the second position sensor 116, and the aperture amount sensor 118.

[0048] 5 as an example, an imaging support program 120 is stored in the NVM 84 of the imaging device 50. The imaging support program 120 is an example of a "program" according to the technology of the present disclosure. The CPU 82 reads the imaging support program 120 from the NVM 84 and executes the read imaging support program 120 on the RAM 86. The CPU 82 performs imaging support processing in accordance with the imaging support program 120 executed on the RAM 86. The imaging support processing is executed by the CPU 82 operating as an acquisition unit 122, an acquisition determination unit 124, an estimation unit 126, a setting unit 128, an adjustment processing unit 130, an imaging processing unit 132, a correction processing unit 134, and a data output unit 136 in accordance with the imaging support program 120.

[0049] As an example, as shown in FIG. 6, the acquisition unit 122 acquires factor information 204A. The factor information 204A includes movement information 206, wind information 208, distance information 210, and gimbal information 212. The movement information 206 includes speed information 206A related to the speed at which the flying object 10 is moving and direction information 206B related to the direction in which the flying object 10 is moving. The wind information 208 is information related to the wind speed in the flight environment. The distance information 210 is information related to the distance L between the image capture device 50 and the target object 2. The gimbal information 212 is information related to the gimbal mechanism 14. The acquisition unit 122 acquires the movement information 206, wind information 208, distance information 210, and gimbal information 212 in the following manner.

[0050] The transmitter 150 transmits flight instruction information 200 regarding the speed and direction of the aircraft 10 to the aircraft 10 in accordance with instructions from the user 4. The aircraft 10 transmits the received flight instruction information 200 to the imaging device 50 as movement information 206. The acquisition unit 122 acquires the movement information 206 received by the imaging device 50. In other words, the movement information 206 is information based on the flight instruction information 200 regarding the speed and direction input from the transmitter 150 to the aircraft 10. The flight instruction information 200 is an example of "instruction information" related to the technology of the present disclosure.

[0051] The anemometer 160 detects the wind speed in the flight environment and transmits wind information 208 corresponding to the detected wind speed to the image capture device 50. The acquisition unit 122 acquires the wind information 208 received by the image capture device 50. The wind information 208 is an example of "wind information" according to the technology of the present disclosure.

[0052] First position sensor 114 detects the position of focus lens 100 on optical axis OA, and outputs first position information 240 corresponding to the detected position of focus lens 100 to CPU 82. Acquisition unit 122 acquires distance information 210 based on first position information 240.

[0053] Specifically, the acquisition unit 122 calculates the object distance as an example of the distance L between the imaging device 50 and the object 2. The object distance is the distance along the depth direction from the principal point of the imaging lens 96 to a subject (for example, the object 2) in a focused state. The acquisition unit 122 acquires distance information 210 indicating the object distance by calculating the object distance based on first position information 240 indicating the position of the focus lens 100 detected by the first position sensor 114. The distance information 210 is an example of "distance information" according to the technology of the present disclosure.

[0054] The NVM 84 stores gimbal information 212 in advance. As an example, the gimbal information 212 includes axis information 212A and frequency band information 212B. The axis information 212A is information relating to the axes of the gimbal mechanism 14. As an example, the axis information 212A is information relating to the number of axes of the gimbal mechanism 14. The frequency band information 212B is information relating to a frequency band that can be corrected by the gimbal mechanism 14 for vibrations transmitted from the aircraft 10 to the imaging device 50. Note that the gimbal information 212 does not necessarily have to include the axis information 212A or the frequency band information 212B. The gimbal information 212 is an example of "gimbal information" according to the technology of the present disclosure.

[0055] 7, the acquisition determination unit 124 determines whether the acquisition unit 122 has successfully acquired the movement information 206. For example, when the acquisition unit 122 acquires the movement information 206, if the CPU 82 obtains normal communication information (not shown) indicating that the communication state between the air vehicle 10 and the image capture device 50 is normal, the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206. On the other hand, for example, when the acquisition unit 122 acquires the movement information 206, if the CPU 82 obtains abnormal communication information (not shown) indicating that the communication state between the air vehicle 10 and the image capture device 50 is abnormal, the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206. FIG. 7 illustrates a case in which the communication state between the air vehicle 10 and the image capture device 50 is abnormal, and the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206.

[0056] When the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the estimation unit 126 estimates movement information 236, which is estimated information regarding the speed and direction of the aircraft 10, for example, in the following manner.

[0057] That is, the estimation unit 126 acquires acceleration information 230 from the acceleration sensor 72 of the imaging device 50. Then, the estimation unit 126 acquires first velocity information 216A related to the velocity of the flying object 10 by integrating the acceleration indicated by the acceleration information 230. The estimation unit 126 also acquires first direction information 216B related to the direction of the flying object 10 based on the direction of the acceleration indicated by the acceleration information 230. This results in first movement information 216 including the first velocity information 216A and the first direction information 216B.

[0058] Furthermore, the estimation unit 126 sequentially acquires first image data 232A and second image data 232B from the image memory 76. The first image data 232A and second image data 232B are the most recent and second most recent image data of the multiple image data 232 recorded in the image memory 76. The estimation unit 126 then acquires second speed information 226A relating to the speed of the aircraft 10 based on the time interval between the recording of the first image data 232A and the second image data 232B and the travel distance of the aircraft 10 derived based on the first image data 232A and the second image data 232B. The estimation unit 126 also acquires second direction information 226B relating to the direction of the aircraft 10 based on the change in the position of the aircraft 10 indicated by the first image data 232A and the second image data 232B. This results in the acquisition of second movement information 226 including the second speed information 226A and the second direction information 226B.

[0059] Then, for example, the estimation unit 126 acquires speed information 236A, which is estimated information regarding the speed of the flying object 10, by calculating the average value of the first speed indicated by the first speed information 216A and the second speed indicated by the second speed information 226A. Furthermore, for example, the estimation unit 126 acquires direction information 236B, which is estimated information regarding the direction of the flying object 10, by calculating the average value of the azimuth angle of the first direction indicated by the first direction information 216B and the azimuth angle of the second direction indicated by the second direction information 226B. In this manner, movement information 236, which is estimated information regarding the speed and direction of the flying object 10, is estimated.

[0060] The estimation unit 126 may acquire the movement information 236, which is estimated information, based on the first movement information 216 obtained from the acceleration information 230. The estimation unit 126 may also acquire the movement information 236, which is estimated information, based on the second movement information 226 obtained from the first image data 232A and the second image data 232B. The acceleration information 230 from the acceleration sensor 72 of the imaging device 50 is an example of "second acceleration sensor information" according to the technology of the present disclosure. The first image data 232A and the second image data 232B obtained by capturing an image using the image sensor 62 are an example of "second image information" according to the technology of the present disclosure. The movement information 236 estimated by the estimation unit 126 is an example of "second movement information" according to the technology of the present disclosure.

[0061] 8, when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206, the setting unit 128 sets the shutter speed for a main exposure period, which will be described later, based on the factor information 204A acquired by the acquisition unit 122. As an example, the setting unit 128 changes the shutter speed, which was set based on the imaging conditions acquired from the imaging device 50, based on the factor information 204A.

[0062] For example, if the movement speed of the flying object 10 indicated by the movement information 206 is equal to or greater than a predetermined speed, the setting unit 128 sets the shutter speed to a value shorter than the set value set based on the image capture conditions. Generally, the higher the movement speed of the flying object 10, the greater the image blur. The predetermined speed is, for example, defined as the lower limit of a speed range in which image blur cannot be corrected by the correction processing unit 134 (described later) even if the position of the image sensor 62 is adjusted in advance by the adjustment processing unit 130 (described later). If the movement speed of the flying object 10 is equal to or greater than the predetermined speed, setting the shutter speed to a value shorter than the set value set based on the image capture conditions makes it possible to suppress image blur compared to when the shutter speed is maintained at the set value set based on the image capture conditions.

[0063] Furthermore, for example, when the object distance indicated by the distance information 210 is equal to or shorter than a predetermined distance, the setting unit 128 sets the shutter speed to a value shorter than the set value set based on the image capturing conditions. Generally, the shorter the object distance, the more easily image blur is perceived. The predetermined distance is, for example, defined as the upper limit of a distance range in which image blur cannot be corrected by the correction processing unit 134 (described later) even if the position of the image sensor 62 is adjusted in advance by the adjustment processing unit 130 (described later). When the object distance is equal to or shorter than the predetermined distance, setting the shutter speed to a value shorter than the set value set based on the image capturing conditions makes it possible to make image blur less perceptible than when the shutter speed is maintained at the set value set based on the image capturing conditions.

[0064] Furthermore, for example, when the frequency band indicated by the frequency band information 212B included in the gimbal information 212 is less than the default frequency, the setting unit 128 sets the shutter speed to a value shorter than the set value set based on the imaging conditions. The frequency band correctable by the correction processing unit 134 (described later) is higher than the frequency band correctable by the gimbal mechanism 14. When the frequency band correctable by the correction processing unit 134 (hereinafter referred to as the high frequency band) and the frequency band correctable by the gimbal mechanism 14 (hereinafter referred to as the low frequency band) differ from each other, image blurring becomes greater in the intermediate frequency band between the high frequency band and the low frequency band than when the high frequency band and the low frequency band are continuous. The default frequency is, for example, defined as the lower limit of the above-mentioned high frequency band. When the frequency band indicated by the frequency band information 212B included in the gimbal information 212 is less than the default frequency, setting the shutter speed to a value shorter than the set value set based on the imaging conditions makes it possible to suppress image blurring compared to when the shutter speed is maintained at the set value set based on the imaging conditions.

[0065] Furthermore, for example, when the number of axes of the gimbal mechanism 14 indicated by the axis information 212A included in the gimbal information 212 is less than a predetermined number, the setting unit 128 sets the shutter speed to a value shorter than the set value set based on the image capturing conditions. Generally, the fewer the number of axes of the gimbal mechanism 14, the lower the vibration absorption performance of the gimbal mechanism 14, resulting in greater image blur. The set number is set to, for example, 3, which corresponds to a three-axis gimbal mechanism. When the number of axes of the gimbal mechanism 14 is less than the predetermined number, setting the shutter speed to a value shorter than the set value set based on the image capturing conditions makes it possible to suppress image blur compared to when the shutter speed is maintained at the set value set based on the image capturing conditions.

[0066] Furthermore, for example, when the wind speed indicated by the wind information 208 is equal to or greater than a predetermined wind speed, the setting unit 128 sets the shutter speed to a value shorter than the setting value set based on the image capture conditions. Generally, the higher the wind speed in the flight environment, the stronger the vibrations generated in the flying object 10, resulting in greater image blur. The predetermined wind speed is set, for example, to the lower limit of a wind speed range at which image blur cannot be corrected by the correction processing unit 134 (described later) even if the position of the image sensor 62 is adjusted in advance by the adjustment processing unit 130 (described later). When the wind speed in the flight environment is equal to or greater than the predetermined wind speed, setting the shutter speed to a value shorter than the setting value set based on the image capture conditions makes it possible to reduce image blur compared to when the shutter speed is maintained at the setting value set based on the image capture conditions.

[0067] The setting unit 128 calculates the focal length of the imaging lens 96 based on the second position information 241 indicating the position of the zoom lens 102 detected by the second position sensor 116, and may set the shutter speed shorter than the set value set based on the imaging conditions if the focal length is equal to or longer than the default focal length. Generally, the longer the focal length (i.e., the more telephoto the focal length), the more easily image blur is perceived. The default focal length is defined, for example, as the lower limit of the focal length range in which image blur cannot be corrected by the correction processing unit 134 (described later) even if the position of the image sensor 62 is adjusted in advance by the adjustment processing unit 130 (described later). If the focal length is equal to or longer than the default focal length, setting the shutter speed to a value shorter than the set value set based on the imaging conditions makes it possible to make image blur less perceptible than when the shutter speed is maintained at the set value set based on the imaging conditions.

[0068] Furthermore, when the shutter speed is changed by the setting unit 128, change information 242 indicating that the shutter speed has been changed may be transmitted to the transmitter 150. Then, text or the like indicating that the shutter speed has been changed or that an error has occurred may be displayed on the display 152 of the transmitter 150 based on the change information 242.

[0069] 9, when the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the setting unit 128 sets a shutter speed for a main exposure period (described later) based on factor information 204B obtained by adding movement information 236 estimated by the estimation unit 126 to distance information 210, wind information 208, and gimbal information 212 acquired by the acquisition unit 122. When the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the setting unit 128 sets a shutter speed for the main exposure period based on the factor information 204B in the same manner as when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206 (see FIG. 8). Note that, hereinafter, when there is no need to distinguish between the factor information 204A (see FIG. 8) and the factor information 204B (see FIG. 9), the factor information 204A and the factor information 204B will each be referred to as factor information 204.

[0070] 10 , the adjustment processing unit 130 adjusts the position of the movement mechanism 90 that moves the image sensor 62 by controlling the blur correction actuator 94 via the blur correction driver 68. The position of the image sensor 62 is adjusted by adjusting the position of the movement mechanism 90. As an example, when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 based on the factor information 204A acquired by the acquisition unit 122.

[0071] The adjustment processing unit 130 adjusts the position of the movement mechanism 90 based on the direction indicated by the movement information 206 (i.e., the direction in which the aircraft 10 moves). For example, when the aircraft 10 moves along the pitch axis, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 in the same direction as the direction in which the aircraft 10 moves along the pitch axis. Furthermore, for example, when the aircraft 10 moves along the yaw axis, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 in the same direction as the direction in which the aircraft 10 moves along the yaw axis. As an example, FIG. 10 shows how the position of the movement mechanism 90 is adjusted in the same direction as the direction in which the aircraft 10 moves along the pitch axis in response to the aircraft 10 moving along the pitch axis.

[0072] If the direction in which the aircraft 10 moves is inclined with respect to the pitch axis in a plan view, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 in the same direction as the movement component of the aircraft 10 in the pitch axis direction. If the direction in which the aircraft 10 moves is inclined with respect to the yaw axis and pitch axis in a front view, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 in the same direction as the movement component of the aircraft 10 in the yaw axis direction and the same direction as the movement component of the aircraft 10 in the pitch axis direction.

[0073] The adjustment processing unit 130 adjusts the position of the moving mechanism 90 with respect to the central axis C of the image sensor 62. The central axis C of the image sensor 62 is an axis that passes through the center of the image sensor 62 before the position of the moving mechanism 90 is adjusted by the adjustment processing unit 130 and the correction processing unit 134.

[0074] As an example, the adjustment processing unit 130 changes the amount by which the position of the moving mechanism 90 is adjusted (hereinafter referred to as the position adjustment amount) based on the factor information 204A. The position adjustment amount of the moving mechanism 90 corresponds to the amount of change in the position of the moving mechanism 90 relative to the central axis.

[0075] For example, the adjustment processing unit 130 sets a larger amount of position adjustment for the movement mechanism 90 as the movement speed of the aircraft 10 indicated by the movement information 206 increases. Generally, the higher the movement speed of the aircraft 10, the longer the movement distance of the aircraft 10 during the main exposure period. By setting a larger amount of position adjustment for the movement mechanism 90 as the movement speed of the aircraft 10 indicated by the movement information 206 increases, the distance that the image sensor 62 can move in the direction opposite to the direction in which the aircraft 10 moves during the main exposure period (hereinafter referred to as the blur correction distance) increases. This ensures a blur correction distance that corresponds to the movement speed of the aircraft 10.

[0076] Furthermore, for example, the adjustment processing unit 130 sets a larger amount of position adjustment for the moving mechanism 90 as the object distance indicated by the distance information 210 becomes shorter. Generally, the shorter the object distance, the longer the distance that the subject moves relative to the image capture device 50 during the main exposure period. By setting a larger amount of position adjustment for the moving mechanism 90 as the object distance indicated by the distance information 210 becomes shorter, the blur correction distance for the image sensor 62 during the main exposure period becomes longer. This ensures a blur correction distance that corresponds to the object distance.

[0077] Furthermore, for example, when the frequency band indicated by the frequency band information 212B included in the gimbal information 212 is below a predetermined frequency, the adjustment processing unit 130 sets the position adjustment amount of the moving mechanism 90 to be larger than when the frequency band is equal to or greater than the predetermined frequency. As described above, when the high frequency band correctable by the correction processing unit 134 is different from the low frequency band correctable by the gimbal mechanism 14, image blur is greater in the intermediate frequency band between the high frequency band and the low frequency band than when the high frequency band and the low frequency band are continuous. When the frequency band indicated by the frequency band information 212B included in the gimbal information 212 is below the predetermined frequency, the adjustment amount of the position of the moving mechanism 90 is set to be larger than when the frequency band is equal to or greater than the predetermined frequency. This increases the blur correction distance of the image sensor 62 during the main exposure period compared to when the frequency band is equal to or greater than the predetermined frequency. This ensures a blur correction distance appropriate for the vibration absorption performance of the gimbal mechanism 14.

[0078] Furthermore, for example, when the number of axes of the gimbal mechanism 14 indicated by the axis information 212A included in the gimbal information 212 is less than a predetermined number, the adjustment processing unit 130 sets a larger amount of position adjustment for the moving mechanism 90 compared to when the number of axes of the gimbal mechanism 14 is equal to or greater than the predetermined number. As described above, the fewer the number of axes of the gimbal mechanism 14, the lower the vibration absorption performance of the gimbal mechanism 14, resulting in greater image blur. When the number of axes of the gimbal mechanism 14 indicated by the axis information 212A included in the gimbal information 212 is less than the predetermined number, the blur correction distance of the image sensor 62 during the main exposure period is longer compared to when the number of axes of the gimbal mechanism 14 is equal to or greater than the predetermined number. This ensures a blur correction distance that corresponds to the vibration absorption performance of the gimbal mechanism 14.

[0079] Furthermore, for example, the adjustment processing unit 130 sets a larger amount of position adjustment for the moving mechanism 90 as the wind speed indicated by the wind information 208 increases. Generally, the higher the wind speed in the flight environment, the stronger the vibrations that occur in the flying object 10, resulting in greater image blur. By setting a larger amount of position adjustment for the moving mechanism 90 as the wind speed indicated by the wind information 208 increases, the blur correction distance for the image sensor 62 during the main exposure period increases. This ensures a blur correction distance that corresponds to the wind speed in the flight environment.

[0080] For example, the adjustment processing unit 130 may set a larger amount of position adjustment for the moving mechanism 90 as the acceleration indicated by the acceleration information 220 from the acceleration sensor 24 of the flying object 10 increases. Generally, the higher the acceleration acting on the flying object 10, the stronger the vibrations occurring in the flying object 10, resulting in greater image blur. By setting a larger amount of position adjustment for the moving mechanism 90 as the acceleration indicated by the acceleration information 220 increases, the blur correction distance for the image sensor 62 during the main exposure period becomes longer. This ensures a blur correction distance that corresponds to the acceleration acting on the flying object 10.

[0081] Similarly, for example, the adjustment processing unit 130 may set a larger amount of position adjustment for the moving mechanism 90 as the acceleration indicated by the acceleration information 230 from the acceleration sensor 72 of the imaging device 50 increases.

[0082] The adjustment processing unit 130 may also acquire wind direction information (not shown) relating to the direction of wind 6 occurring in the flight environment, and change the position adjustment amount of the movement mechanism 90 based on the acquired wind direction information.

[0083] Furthermore, the adjustment processing unit 130 may adjust the position of the movement mechanism 90 so that the image sensor 62 moves to the end of the movable range, regardless of the cause information 204.

[0084] When the position of the moving mechanism 90 is adjusted by the adjustment processing unit 130 in the above manner, the position of the moving mechanism 90 is maintained until a correction process is performed by the correction processing unit 134, which will be described later.

[0085] 11 , when the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the adjustment processing unit 130 adjusts the position of the moving mechanism 90 based on factor information 204B obtained by adding movement information 236 estimated by the estimation unit 126 to distance information 210, wind information 208, and gimbal information 212 acquired by the acquisition unit 122. When the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the adjustment processing unit 130 adjusts the position of the moving mechanism 90 based on factor information 204B in the same manner as when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206 (see FIG. 10 ).

[0086] 12 as an example, the imaging instruction information 202 transmitted from the transmitter 150 is received by the imaging device 50. When the imaging instruction information 202 is received by the imaging device 50, the CPU 82 of the imaging device 50 controls the shutter actuator 58 via the shutter driver 60 to open and close the front curtain 56A and the rear curtain 56B, thereby performing the main exposure. In this case, the CPU 82 performs the main exposure based on the shutter speed set by the setting unit 128. When the main exposure is performed, the object 2 is imaged by the image sensor 62, thereby generating one frame of image data 232. The image data 232 generated by the image sensor 62 is stored in the image memory 76.

[0087] The CPU 82 acquires image data 232 from the image memory 76 and performs various processes on the acquired image data 232. Then, the CPU 82 records the image data 232 that has been subjected to the various processes in the NVM 84. Note that, if a memory card (not shown) is connected to the imaging device 50, the CPU 82 may record the image data 232 that has been subjected to the various processes in the memory card.

[0088] The imaging processing unit 132 determines whether or not the main exposure has started. When the CPU 82 has started the main exposure, the imaging processing unit 132 determines that the main exposure has started. The imaging processing unit 132 also determines whether or not the main exposure has ended. When the CPU 82 has ended the main exposure, the imaging processing unit 132 determines that the main exposure has ended.

[0089] 13 as an example, the correction processing unit 134 performs processing to correct image blur (hereinafter referred to as correction processing) when the main exposure is performed. In other words, the correction processing unit 134 performs correction processing so that image blur is corrected along with the main exposure. The correction processing unit 134 starts the correction processing when the image capture processing unit 132 determines that the main exposure has started, and ends the correction processing when the image capture processing unit 132 determines that the main exposure has ended. The period during which the correction processing is performed may overlap with the entire period of the main exposure, or may overlap with a portion of the period of the main exposure.

[0090] As a correction process, the correction processing unit 134 uses the movement mechanism 90 to correct the shake applied to the image sensor 62. That is, the correction processing unit 134 controls the shake correction actuator 94 via the shake correction driver 68 to move the image sensor 62 in a direction in which the image shake is corrected. As an example, when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206, the correction processing unit 134 moves the image sensor 62 in a direction in which the image shake is corrected, based on the cause information 204A acquired by the acquisition unit 122.

[0091] The correction processing unit 134 moves the image sensor 62 based on the direction indicated by the movement information 206. For example, when the aircraft 10 moves along the pitch axis, the correction processing unit 134 moves the image sensor 62 in a direction opposite to the direction in which the aircraft 10 moves along the pitch axis. Furthermore, when the aircraft 10 moves along the yaw axis, the correction processing unit 134 moves the image sensor 62 in a direction opposite to the direction in which the aircraft 10 moves along the yaw axis. As an example, FIG. 13 shows the image sensor 62 moving in a direction opposite to the direction in which the aircraft 10 moves along the pitch axis in response to the aircraft 10 moving along the pitch axis.

[0092] If the direction in which the aircraft 10 moves is inclined with respect to the pitch axis in a plan view, the correction processing unit 134 moves the image sensor 62 in a direction opposite to the component of movement of the aircraft 10 in the pitch axis direction. If the direction in which the aircraft 10 moves is inclined with respect to the yaw axis and pitch axis in a front view, the correction processing unit 134 moves the image sensor 62 in a direction opposite to the component of movement of the aircraft 10 in the yaw axis direction and opposite to the component of movement of the aircraft 10 in the pitch axis direction.

[0093] Furthermore, for example, when the correction processing unit 134 moves the image sensor 62 based on the direction indicated by the movement information 206, the correction processing unit 134 acquires acceleration information 230 from the acceleration sensor 72 of the imaging device 50 and calculates the amount of blur of the imaging device 50 based on the acceleration information 230. Then, the correction processing unit 134 adjusts the direction and amount of movement of the image sensor 62 based on the amount of blur of the imaging device 50.

[0094] The correction processing unit 134 may acquire acceleration information 220 from the acceleration sensor 24 of the flying object 10, and calculate the amount of blur of the flying object 10 based on the acceleration information 220. Then, the correction processing unit 134 may adjust the direction and amount of movement of the image sensor 62 based on the amount of blur of the flying object 10.

[0095] In addition, when moving the image sensor 62 based on the direction indicated by the movement information 206, the correction processing unit 134 may calculate the amount of blurring of the imaging device 50 based on the distance information 210, the wind information 208, or the gimbal information 212, and the acceleration information 230, and adjust the direction and amount of movement of the image sensor 62 based on the calculated amount of blurring of the imaging device 50.

[0096] Furthermore, when moving the image sensor 62 based on the direction indicated by the movement information 206, the correction processing unit 134 may acquire wind direction information (not shown) relating to the wind direction in the flight environment. Then, the correction processing unit 134 may calculate the amount of blurring of the image capture device 50 based on the wind direction information, the wind information 208, and the acceleration information 230, and adjust the direction and amount of movement of the image sensor 62 based on the calculated amount of blurring of the image capture device 50.

[0097] 14 , when the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the correction processing unit 134 moves the image sensor 62 in a direction in which image blur is corrected based on factor information 204B obtained by adding movement information 236 estimated by the estimation unit 126 to distance information 210, wind information 208, and gimbal information 212 acquired by the acquisition unit 122. When the acquisition determination unit 124 determines that the acquisition unit 122 has failed to acquire the movement information 206, the correction processing unit 134 moves the image sensor 62 in a direction in which image blur is corrected based on factor information 204B, in the same manner as when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206 (see FIG. 13 ).

[0098] 15, when the transmitter 150 does not receive an image capture instruction from the user 4, the transmitter 150 does not transmit image capture instruction information (not shown) to the image capture device 50. In this case, the image capture processing unit 132 determines that the main exposure has not started.

[0099] If the image capture processing unit 132 determines that the main exposure has not started, the data output unit 136 generates live view image data 250 based on the image data 232 stored in the image memory .

[0100] The transmitter 150 is provided with a display 152, and the data output unit 136 outputs the generated live view image data 250 to the display 152. The display 152 displays a live view image based on the live view image data 250. The display 152 is an example of a "display device" according to the technology of the present disclosure.

[0101] When the data output process is performed by the data output unit 136 in this way, shaking applied to the imaging device 50 is corrected by the gimbal mechanism 14. Furthermore, when the data output unit 136 performs the process of generating and outputting live view image data 250, the position of the movement mechanism 90 is maintained under the control of the shake correction driver 68.

[0102] When the data output process is performed by the data output unit 136, image blur may be corrected by EIS (Electronic Image Stabilization). Also, the live view image data 250 may be output to a display device other than the display 152 provided in the transmitter 150.

[0103] Next, the operation of the imaging device 50 according to this embodiment will be described with reference to Fig. 16. Fig. 16 shows an example of the flow of imaging support processing according to this embodiment.

[0104] 16, first, in step ST10, the acquisition unit 122 acquires factor information 204A including movement information 206, wind information 208, distance information 210, and gimbal information 212. After the processing of step ST10 is executed, the imaging support processing proceeds to step ST11. Step ST10 is an example of an "acquisition step" according to the technology of the present disclosure. The processing executed by the acquisition unit 122 is an example of an "acquisition process" according to the technology of the present disclosure.

[0105] In step ST11, the acquisition determination unit 124 determines whether or not the acquisition unit 122 has successfully acquired the movement information 206. If the acquisition unit 122 has failed to acquire the movement information 206 in step ST11, the determination is negative, and the imaging support process proceeds to step ST12. If the acquisition unit 122 has successfully acquired the movement information 206 in step ST11, the determination is positive, and the imaging support process proceeds to step ST13.

[0106] In step ST12, the estimation unit 126 estimates movement information 236 related to the speed and direction of the flying object 10, for example, based on acceleration information 230 from the acceleration sensor 72 of the imaging device 50. This results in obtaining factor information 204B that adds the movement information 236 estimated by the estimation unit 126 to the distance information 210, wind information 208, and gimbal information 212 acquired by the acquisition unit 122. After the processing of step ST12 is executed, the imaging support processing proceeds to step ST13. Step ST12 is an example of a "second estimation step" according to the technology of the present disclosure.

[0107] In step ST13, the setting unit 128 sets the shutter speed for the main exposure period based on the factor information 204A acquired in step ST10 or the factor information 204B acquired in step ST12. After the processing of step ST13 is performed, the imaging support processing proceeds to step ST14. Step ST13 is an example of a "setting step" according to the technique of the present disclosure. The processing performed by the setting unit 128 is an example of a "setting process."

[0108] In step ST14, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 that moves the image sensor 62 based on the factor information 204A acquired in step ST10 or the factor information 204B acquired in step ST12. After the processing of step ST14 is executed, the imaging support processing proceeds to step ST15. Step ST14 is an example of an "adjustment step" according to the technique of the present disclosure. The processing executed by the adjustment processing unit 130 is an example of an "adjustment process."

[0109] In step ST15, the imaging processing unit 132 determines whether or not the main exposure has started. If the main exposure has started in step ST15, the determination is affirmative, and the imaging support processing proceeds to step ST16. If the main exposure has not started in step ST15, the determination is negative, and the imaging support processing proceeds to step ST18. Step ST15 and step ST17, which will be described later, are examples of an "imaging step" according to the technology of the present disclosure. The processing performed by the imaging processing unit 132 is an example of an "imaging process."

[0110] In step ST16, the correction processing unit 134 corrects the shaking applied to the image sensor 62 using the movement mechanism 90 based on the factor information 204A acquired in step ST10 or the factor information 204B acquired in step ST12. After the processing of step ST16 is performed, the imaging support processing proceeds to step ST17. Step ST16 is an example of a "correction step" according to the technique of the present disclosure. The processing performed by the correction processing unit 134 is an example of a "correction process."

[0111] In step ST17, the imaging processing unit 132 determines whether or not the main exposure has ended. If the main exposure has not ended in step ST17, the determination is negative, and the imaging support processing proceeds to step ST16. If the main exposure has ended in step ST17, the determination is positive, and the imaging support processing proceeds to step ST20.

[0112] In step ST18, the data output unit 136 generates live view image data 250 based on the image data 232 stored in the image memory 76. After the processing of step ST18 is executed, the imaging support processing proceeds to step ST19.

[0113] In step ST19, the data output unit 136 outputs the live view image data 250 generated in step ST18 to the display 152. When the data output unit 136 executes the process of generating and outputting the live view image data 250, the position of the movement mechanism 90 is maintained under the control of the blur correction driver 68. After the process of step ST19 is executed, the imaging support process proceeds to step ST10. Steps ST18 and ST19 are an example of an "output process" according to the technique of the present disclosure.

[0114] In step ST20, the CPU 82 determines whether or not a condition for terminating the imaging support processing is met. An example of a condition for terminating the imaging support processing is a condition in which an end instruction, which is an instruction to terminate the imaging mode of the imaging device 50 (for example, an instruction to switch to a mode other than the imaging mode), is received by the imaging device 50. If the condition for terminating the imaging support processing is not met in step ST20, the determination is negative, and the imaging support processing proceeds to step ST10. If the condition for terminating the imaging support processing is met in step ST20, the determination is positive, and the imaging support processing ends. The control method described above as the operation of the imaging device 50 is an example of a "control method" according to the technology of the present disclosure.

[0115] As described above, in the imaging device 50 according to this embodiment, the acquisition unit 122 acquires factor information 204A including movement information 206 of the flying object 10. Furthermore, the adjustment processing unit 130 adjusts the position of the movement mechanism 90 that moves the image sensor 62 provided in the imaging device 50 based on the factor information 204A. After the position of the movement mechanism 90 is adjusted, when the imaging processing unit 132 executes imaging processing to capture an image of a subject using the image sensor 62, the correction processing unit 134 corrects shaking applied to the image sensor 62 using the movement mechanism 90. Therefore, by adjusting the position of the movement mechanism 90 based on the factor information 204A, it is possible to ensure the movable distance (i.e., the blur correction distance) of the image sensor 62 when the imaging processing is executed. This makes it possible to suppress image blurring according to the factor information 204A, for example, compared to when the position of the movement mechanism 90 is not adjusted based on the factor information 204A.

[0116] Furthermore, the movement information 206 included in the factor information 204A acquired by the acquisition unit 122 is information based on flight instruction information 200 regarding the speed and direction input to the flying object 10. Therefore, compared to when the acquisition unit 122 generates the movement information 206 regarding the speed and direction of the flying object 10 based on, for example, acceleration information 220 from the acceleration sensor 24 of the flying object 10 or acceleration information 230 from the acceleration sensor 72 of the image capture device 50, the amount of calculation processing by the acquisition unit 122 can be reduced, and the responsiveness of the image capture device 50 can be improved.

[0117] Furthermore, when the acquisition unit 122 fails to acquire the movement information 206, the estimation unit 126 estimates the movement information 206 based on, for example, acceleration information 230 from the acceleration sensor 72 of the imaging device 50, or first image data 232A and second image data 232B obtained by capturing an image using the image sensor 62. Therefore, even when the acquisition unit 122 fails to acquire the movement information 206, it is possible to obtain factor information 204B obtained by adding movement information 236 estimated by the estimation unit 126 to distance information 210, wind information 208, and gimbal information 212 acquired by the acquisition unit 122. This allows the setting unit 128 to perform setting processing, the adjustment processing unit 130 to perform adjustment processing, and the correction processing unit 134 to perform correction processing, based on the factor information 204B.

[0118] Furthermore, the setting unit 128 sets the shutter speed as an example of an imaging condition of the imaging device 50 based on the factor information 204 (i.e., factor information 204A or factor information 204B). Therefore, the shutter speed can be set to a value according to the factor information 204. This makes it possible to execute imaging processing at a shutter speed according to the factor information 204, compared to when the shutter speed is set not based on the factor information 204, for example.

[0119] Furthermore, the adjustment process executed by the adjustment processing unit 130 (i.e., the process of adjusting the position of the moving mechanism 90 that moves the image sensor 62) is executed based on the factor information 204. Therefore, in the adjustment process, the position of the moving mechanism 90 can be adjusted in accordance with the factor information 204. This makes it possible to ensure a blur correction distance in accordance with the factor information 204, for example, compared to when the adjustment process is executed not based on the factor information 204.

[0120] Furthermore, the correction processing by the correction processing unit 134 (i.e., the processing of correcting the shake applied to the image sensor 62 using the movement mechanism 90) is performed based on the factor information 204. Therefore, the shake applied to the image sensor 62 can be corrected in accordance with the factor information 204. As a result, for example, image blur can be suppressed in accordance with the factor information 204, compared to when the correction processing is performed not based on the factor information 204.

[0121] The factor information 204 also includes wind information 208 relating to wind occurring in the environment in which the moving object flies. Therefore, in the setting process (i.e., the process of setting the shutter speed) executed by the setting unit 128, the shutter speed can be set in accordance with the wind information 208. This makes it possible to execute the imaging process at a shutter speed in accordance with the wind information 208, compared to when the setting process is executed without reference to the wind information 208, for example.

[0122] Furthermore, since the factor information 204 includes the wind information 208, the adjustment process executed by the adjustment processing unit 130 can adjust the position of the moving mechanism 90 according to the wind information 208. This makes it possible to ensure a blur correction distance according to the wind information 208, compared to when the adjustment process is executed without being based on the wind information 208, for example.

[0123] Furthermore, since the cause information 204 includes the wind information 208, the correction process executed by the correction processing unit 134 can correct the shaking applied to the image sensor 62 according to the wind information 208. This makes it possible to suppress image blur according to the wind information 208, for example, compared to when the correction process is executed without being based on the wind information 208.

[0124] Furthermore, the factor information 204 includes distance information 210 relating to the distance between the image capture device 50 and the subject. Therefore, in the setting process executed by the setting unit 128, the shutter speed can be set in accordance with the distance information 210. As a result, compared to when the setting process is executed without using the distance information 210, for example, the image capture process can be executed at a shutter speed in accordance with the distance information 210.

[0125] Furthermore, since the factor information 204 includes the distance information 210, the adjustment process executed by the adjustment processing unit 130 can adjust the position of the moving mechanism 90 according to the distance information 210. This makes it possible to ensure a blur correction distance according to the distance information 210, compared to when the adjustment process is executed without using the distance information 210, for example.

[0126] Furthermore, since the factor information 204 includes the distance information 210, the correction process executed by the correction processing unit 134 can correct the shake applied to the image sensor 62 according to the distance information 210. This makes it possible to suppress image blur according to the distance information 210, for example, compared to when the correction process is executed without being based on the distance information 210.

[0127] The factor information 204 also includes gimbal information 212 related to the gimbal mechanism 14 that supports the image capture device 50 relative to the flying object 10. Therefore, in the setting process executed by the setting unit 128, the shutter speed can be set in accordance with the gimbal information 212. As a result, compared to when the setting process is executed without using the gimbal information 212, for example, the image capture process can be executed at a shutter speed in accordance with the gimbal information 212.

[0128] Furthermore, since the factor information 204 includes the gimbal information 212, the adjustment process executed by the adjustment processing unit 130 can adjust the position of the moving mechanism 90 according to the gimbal information 212. This makes it possible to ensure a shake correction distance according to the gimbal information 212, compared to when the adjustment process is executed without using the gimbal information 212, for example.

[0129] Furthermore, since the factor information 204 includes the gimbal information 212, the correction process executed by the correction processing unit 134 can correct the shake applied to the image sensor 62 according to the gimbal information 212. As a result, for example, image blur can be suppressed according to the gimbal information 212 compared to when the correction process is executed without being based on the gimbal information 212.

[0130] The gimbal information 212 also includes axis information 212A, which is information relating to the axis of the gimbal mechanism 14. Therefore, the setting process by the setting unit 128 can be performed based on the axis information 212A. As a result, for example, compared to when the setting process is performed without based on the axis information 212A, the imaging process can be performed at a shutter speed according to the axis information 212A.

[0131] Furthermore, since the gimbal information 212 includes the axis information 212A, the position of the moving mechanism 90 can be adjusted according to the axis information 212A in the adjustment process executed by the adjustment processing unit 130. This makes it possible to ensure a shake correction distance according to the axis information 212A, compared to when the adjustment process is executed without using the axis information 212A, for example.

[0132] Furthermore, since the gimbal information 212 includes the axis information 212A, the correction processing executed by the correction processing unit 134 can correct the shake applied to the image sensor 62 according to the axis information 212A. As a result, for example, image blur can be suppressed according to the axis information 212A compared to when the correction processing is executed not based on the axis information 212A.

[0133] The gimbal information 212 also includes frequency band information 212B, which is information relating to a frequency band that can be corrected by the gimbal mechanism 14. Therefore, the setting process by the setting unit 128 can be performed based on the frequency band information 212B. As a result, for example, compared to when the setting process is performed without based on the frequency band information 212B, the imaging process can be performed at a shutter speed according to the frequency band information 212B.

[0134] Furthermore, since the gimbal information 212 includes the frequency band information 212B, the adjustment process executed by the adjustment processing unit 130 can adjust the position of the moving mechanism 90 according to the frequency band information 212B. This makes it possible to ensure a shake correction distance according to the frequency band information 212B, compared to when the adjustment process is executed without using the frequency band information 212B, for example.

[0135] Furthermore, since the gimbal information 212 includes the frequency band information 212B, the correction processing performed by the correction processing unit 134 can correct the shake applied to the image sensor 62 according to the frequency band information 212B. As a result, for example, image blur can be suppressed according to the frequency band information 212B compared to when the correction processing is performed not based on the frequency band information 212B.

[0136] Furthermore, in the output process executed by the data output unit 136 after the adjustment process executed by the adjustment processing unit 130 (i.e., the process of outputting live view image data 250 obtained by capturing an image of a subject with the image sensor 62 to the display 152), the position of the movement mechanism 90 is maintained. Therefore, when the main exposure starts, the image sensor 62 can be moved by the correction processing unit 134 from the position adjusted by the adjustment processing unit 130. This makes it possible to ensure a blur correction distance compared to when the position of the image sensor 62 is not adjusted by the adjustment processing unit 130, for example.

[0137] Furthermore, in the output process executed by the data output unit 136, shaking applied to the imaging device 50 is corrected by the gimbal mechanism 14 that supports the imaging device 50 with respect to the flying object 10. Therefore, image blurring can be suppressed in the output process. This makes it possible to obtain a live view image with better image quality than, for example, when the output process is executed without the shaking applied to the imaging device 50 being corrected by the gimbal mechanism 14.

[0138] Furthermore, the imaging device 50 is mounted on the flying object 10. Therefore, the degree of freedom of the object 2 that can be imaged by the imaging device 50 can be improved compared to, for example, when a person carries the imaging device 50 or when the imaging device 50 is mounted on a vehicle or the like.

[0139] 17 , the acquisition unit 122 may acquire acceleration information 220 from an acceleration sensor 24 included in the flying object 10. The acquisition unit 122 may then acquire velocity information 206A related to the velocity of the flying object 10 by integrating the acceleration indicated by the acceleration information 220. The acquisition unit 122 may also acquire direction information 206B related to the direction in which the flying object 10 is moving based on the direction of acceleration indicated by the acceleration information 220. For example, when the velocity information 206A and the direction information 206B are generated from the acceleration information 220 in the flying object 10, the acquisition unit 122 may acquire the velocity information 206A and the direction information 206B from the flying object 10.

[0140] A gyro sensor may be used instead of the acceleration sensor 24. The gyro sensor detects the amount of rotational shake around the pitch axis, yaw axis, and roll axis of the flying object 10. The amount of rotational shake around the pitch axis and the amount of rotational shake around the yaw axis detected by the gyro sensor are converted into shake amounts in a two-dimensional plane parallel to the pitch axis and yaw axis, thereby detecting the amount of shake of the flying object 10 in the pitch axis direction and yaw axis direction.

[0141] 18, the acquisition unit 122 may sequentially acquire first positioning information 222A and second positioning information 222B from the positioning unit 26 of the aircraft 10. The second positioning information 222B is information obtained after the first positioning information 222A. The acquisition unit 122 may then acquire speed information 206A relating to the speed of the aircraft 10 based on the time interval between the first positioning information 222A and the second positioning information 222B and the travel distance of the aircraft 10 indicated by the first positioning information 222A and the second positioning information 222B. The acquisition unit 122 may also acquire direction information 206B relating to the direction in which the aircraft 10 is traveling based on a change in the position of the aircraft 10 indicated by the first positioning information 222A and the second positioning information 222B.

[0142] 19 , the acquisition unit 122 may acquire acceleration information 230 from an acceleration sensor 72 included in the image capture device 50. The acquisition unit 122 may then acquire speed information 206A relating to the speed of the flying object 10 moving together with the image capture device 50 by integrating the acceleration indicated by the acceleration information 230 from the acceleration sensor 72. The acquisition unit 122 may also acquire direction information 206B relating to the direction in which the flying object 10 is moving based on the direction of acceleration indicated by the acceleration information 230. A gyro sensor may be used instead of the acceleration sensor 72.

[0143] 20 , when the acquisition determination unit 124 determines that the acquisition unit 122 has successfully acquired the movement information 206, the CPU 82 may operate as an estimation unit 138. The estimation unit 138 estimates movement information 256, which is estimated information, based on the movement information 206 acquired by the acquisition unit 122 and, for example, acceleration information 230 from the acceleration sensor 72 of the imaging device 50.

[0144] That is, the estimation unit 138 acquires speed information 246A related to the speed of the flying object 10 by integrating the acceleration indicated by the acceleration information 230. The estimation unit 138 also acquires direction information 246B related to the direction of the flying object 10 based on the direction of the acceleration indicated by the acceleration information 230. This results in the acquisition of movement information 246 including the speed information 246A and the direction information 246B.

[0145] Furthermore, for example, the estimation unit 138 estimates the speed of the flying object 10 by calculating the average value of the first speed indicated by the speed information 206A and the second speed indicated by the speed information 246A, and acquires speed information 256A, which is estimated information related to the estimated speed. Furthermore, for example, the estimation unit 138 estimates the direction of the flying object 10 by calculating the average value of the azimuth angle of the first direction indicated by the direction information 206B and the azimuth angle of the second direction indicated by the direction information 246B, and acquires direction information 256B, which is estimated information related to the estimated direction. This results in movement information 256 including the speed information 256A and the direction information 256B. The movement information 256 estimated by the estimation unit 138 may then be applied to the factor information 204A. The acceleration information 230 is an example of "first acceleration sensor information" according to the technology of the present disclosure. The movement information 256 estimated by the estimation unit 138 is an example of "first movement information" according to the technology of the present disclosure.

[0146] FIG. 21 shows an example of a flowchart of the imaging support process according to the modified example shown in FIG. 20. In the imaging support process shown in FIG. 21, step ST21 executed by the estimation unit 138 is added. Step ST21 is executed when it is determined in step ST11 that the acquisition unit 122 has successfully acquired the movement information 206. In step ST21, the estimation unit 138 estimates the movement information 256 based on the movement information 206 acquired by the acquisition unit 122 and the acceleration information 230 from the acceleration sensor 72 of the imaging device 50. After the process of step ST21 is executed, the imaging support process proceeds to step ST13. Step ST21 is an example of a "first estimation step" according to the technique of the present disclosure.

[0147] 20 and 21 , the estimation unit 138 estimates the movement information 256 based on the movement information 206 acquired by the acquisition unit 122 and the acceleration information 230 from the acceleration sensor 72 of the image capture device 50. Therefore, the speed and direction of the flying object 10 are obtained based on the movement information 206 acquired by the acquisition unit 122 and the acceleration information 230 from the acceleration sensor 72 of the image capture device 50. This makes it possible to improve the accuracy of the speed and direction of the flying object 10 compared to, for example, obtaining the speed and direction of the flying object 10 only from the movement information 206 acquired by the acquisition unit 122.

[0148] 20 and 21, the movement information 206 obtained from the flying object 10 may be information based on acceleration information 220 from the acceleration sensor 24, or information based on first positioning information 222A and second positioning information 222B from the positioning unit 26. The movement information 206 may also be movement information 206 based on flight instruction information 200.

[0149] In addition, in the examples shown in Figures 20 and 21, the estimation unit 138 may estimate the movement information 256 based on the movement information 206 based on the flight instruction information 200, the acceleration information 220 from the acceleration sensor 24, the first positioning information 222A and the second positioning information 222B from the positioning unit 26, and the acceleration information 230 from the acceleration sensor 72.

[0150] 22, the estimation unit 138 may acquire the movement information 246 in the following manner. In the example shown in FIG. 22, the estimation unit 138 sequentially acquires first image data 232A and second image data 232B from the image memory 76. The first image data 232A and the second image data 232B are the most recent image data 232 and the second most recent image data 232 among the multiple image data 232 recorded in the image memory 76. The estimation unit 138 then acquires speed information 246A related to the speed of the aircraft 10 based on the time interval between the recording of the first image data 232A and the second image data 232B and the travel distance of the aircraft 10 derived based on the first image data 232A and the second image data 232B. The estimation unit 138 also acquires direction information 246B related to the direction in which the aircraft 10 is traveling based on the change in the position of the aircraft 10 indicated by the first image data 232A and the second image data 232B. This results in movement information 246 including speed information 246A and direction information 246B.

[0151] Then, movement information 256 estimated based on movement information 206 acquired by acquisition unit 122 and movement information 246 obtained by estimation unit 138 may be applied to factor information 204A. The first image data 232A and the second image data 232B are an example of "first image information" according to the technology of the present disclosure.

[0152] 22, the estimation unit 138 estimates the movement information 256 based on the movement information 206 acquired by the acquisition unit 122 and the first image data 232A and the second image data 232B stored in the image memory 76. Therefore, the speed and direction of the aircraft 10 are obtained based on the movement information 206 acquired by the acquisition unit 122 and the first image data 232A and the second image data 232B. This makes it possible to improve the accuracy of the speed and direction of the aircraft 10 compared to, for example, obtaining the speed and direction of the aircraft 10 only from the movement information 206 acquired by the acquisition unit 122.

[0153] 22, the movement information 206 obtained from the flying object 10 may be information based on acceleration information 220 from the acceleration sensor 24, or information based on first positioning information 222A and second positioning information 222B from the positioning unit 26. The movement information 206 may also be information based on flight instruction information 200.

[0154] In addition, in the example shown in Figure 22, the estimation unit 138 may estimate the movement information 256 based on the movement information 206 based on the flight instruction information 200, the acceleration information 220 from the acceleration sensor 24, the first positioning information 222A and the second positioning information 222B from the positioning unit 26, and the first image data 232A and the second image data 232B.

[0155] Furthermore, in the above embodiment, the imaging device 50 has a body image stabilization (BIS) type shake correction function. However, as shown in FIG. 23 , the imaging device 50 may have an optical image stabilization (OIS) type shake correction function. In the example shown in FIG. 23 , the imaging device 50 includes a shake correction lens 142 and a shake correction lens actuator 144 that constitute an imaging lens 96. The shake correction lens actuator 144 includes, for example, a voice coil motor or a piezoelectric element. The shake correction lens 142 is fixed to a movement mechanism 140. The shake correction lens 142 is an example of a “part of the imaging lens” according to the technology of the present disclosure, and is, for example, the objective lens 98, the focus lens 100, or the zoom lens 102 in FIG. 4 . The movement mechanism 140 moves the imaging lens 96 in accordance with shakes applied to the imaging lens 96. The movement mechanism 140 may move the imaging lens 96 as a whole or a part of its components.

[0156] The adjustment processing unit 130 adjusts the position of the movement mechanism 140 that moves the blur correction lens 142 by controlling the blur correction lens actuator 144 via the lens driver 70. By adjusting the position of the movement mechanism 140, the position of the blur correction lens 142 is adjusted.

[0157] The adjustment processing unit 130 adjusts the position of the moving mechanism 140 based on the direction indicated by the movement information 206. In the example shown in Fig. 23, the position of the moving mechanism 140 is adjusted in the same direction as the direction in which the flying object 10 moves, but the direction in which the position of the moving mechanism 140 is adjusted is determined by whether the power of the imaging lens 96 including the blur correction lens 142 is positive or negative.

[0158] 24, as a correction process, correction processing unit 134 corrects shake applied to blur correction lens 142 using movement mechanism 140. That is, correction processing unit 134 controls blur correction lens actuator 144 via lens driver 70 to move blur correction lens 142 in a direction in which image blur is corrected. Note that imaging device 50 may have both a BIS-type blur correction function and an OIS-type blur correction function.

[0159] 25, the imaging device 50 may be mounted on an automobile 300. The automobile 300 is an example of the "automobile" according to the technology of the present disclosure. In the example shown in FIG. 25, the automobile 300 is a passenger automobile, but the automobile 300 may be an automobile other than a passenger automobile. For example, the NVM 84 stores identification information 214. The identification information 214 is information that identifies the imaging direction of the imaging device 50.

[0160] 25, the imaging device 50 is disposed in a direction to capture an image of the left side of the automobile 300, but the imaging device 50 may be disposed in a direction to capture an image of the right side, front, rear, above, or below the automobile 300. Also, in the example shown in Fig. 25, the imaging device 50 is installed on the roof of the automobile 300, but it may also be installed on the front window, side mirror, trunk lid, or the like of the automobile 300.

[0161] The acquisition unit 122 acquires the factor information 204A including the identification information 214. When movement direction information (not shown) indicating the movement direction of the automobile 300 is acquired from the automobile 300, the acquisition unit 122 may acquire the identification information 214 by identifying the imaging direction of the imaging device 50 based on the movement direction information and acceleration information 230 acquired from the acceleration sensor 72 of the imaging device 50.

[0162] Furthermore, when the user 4 provides the imaging device 50 with imaging direction information (not shown) indicating the imaging direction of the imaging device 50, the acquisition unit 122 may acquire the specification information 214 based on the imaging direction information received by the imaging device 50. Furthermore, the imaging device 50 may be supported rotatably around the yaw axis with respect to the automobile 300. In this case, the specification information 214 that specifies the imaging direction according to the imaging direction of the imaging device 50 may be acquired.

[0163] Based on the factor information 204A, the adjustment processing unit 130 controls the shake correction actuator 94 via the shake correction driver 68, thereby adjusting the position of the movement mechanism 90 that moves the image sensor 62. Also, as shown in Fig. 26, the correction processing unit 134 adjusts the position of the movement mechanism 90 by controlling the shake correction actuator 94 via the shake correction driver 68 based on the factor information 204A.

[0164] 25 and 26, the imaging device 50 is mounted on an automobile 300. Therefore, the imaging device 50 can capture an image of the object 2 while the automobile 300 is traveling.

[0165] The factor information 204A also includes specification information 214 that specifies the image capturing direction of the image capturing device 50. Therefore, the image capturing direction of the image capturing device 50 can be specified based on the specification information 214. As a result, in the adjustment process executed by the adjustment processing unit 130, the image capturing direction of the image capturing device 50 can be specified. The position of the moving mechanism 90 can be adjusted depending on the image direction.

[0166] Furthermore, since the factor information 204A includes the specification information 214, the correction process executed by the correction processing unit 134 can correct the shake applied to the image sensor 62 according to the imaging direction of the imaging device 50.

[0167] The identification information 214 may be information that identifies the installation position of the imaging device 50 relative to the automobile 300 .

[0168] Furthermore, the object moved by the adjustment processing unit 130 and the correction processing unit 134 may be an object, structure, mechanism, device, or the like other than the image sensor 62 or the blur correction lens 142 .

[0169] The imaging system S may also be applied to moving bodies (for example, ships or aircraft) other than the flying body 10 or the automobile 300. The imaging system S may also be applied to vehicles (for example, motorcycles or bicycles) other than the automobile 300.

[0170] Furthermore, as an example, as shown in FIG. 27, the technology according to the above embodiment (i.e., the technology for performing processing by the acquisition unit 122, the acquisition determination unit 124, the estimation unit 126, the adjustment processing unit 130, and the correction processing unit 134) may be applied to an aircraft system including an aircraft 10 and an anti-vibration device 500.

[0171] The vibration isolation device 500 has an object 502, a moving mechanism 504, an actuator 506, and a driver 508. The object 502 is an object whose vibrations are to be isolated by the vibration isolation device 500, and is supported by the moving mechanism 504. The actuator 506 adjusts the position of the moving mechanism 504 that moves the object 502. The driver 508 controls the actuator 506 in accordance with commands from the CPU 82. The adjustment processing unit 130 adjusts the position of the moving mechanism 504 by controlling the actuator 506 via the driver 508. After the position of the moving mechanism 504 has been adjusted by the adjustment processing unit 130, the correction processing unit 134 corrects the vibrations applied to the object 502 using the moving mechanism 504.

[0172] Also, the adjustment process by the adjustment processing unit 130 may be omitted. Similarly, the estimation process by the estimation unit 126 may also be omitted.

[0173] Furthermore, the images acquired by the imaging processing unit 132 may not be still images but may be moving images.

[0174] Alternatively, an anemometer may be used instead of the anemometer 160, and wind speed and direction information regarding the wind speed and wind direction in the flight environment may be transmitted from the anemometer to the imaging device 50.

[0175] Furthermore, the factor information 204 includes movement information 206, wind information 208, distance information 210, and gimbal information 212, but the wind information 208, distance information 210, or gimbal information 212 may be omitted.

[0176] Furthermore, the distance information 210 is information indicating an object distance as an example of the distance L between the image capture device 50 and the object 2, but may be information indicating a distance other than the object distance. For example, the distance information 210 may be information obtained by measuring the distance L between the image capture device 50 and the object 2 using a stereo camera, a dual pixel camera, or a LiDAR (Light Detection and Ranging) system.

[0177] Furthermore, the setting unit 128 sets the shutter speed based on the factor information 204, but may also set imaging conditions other than the shutter speed (for example, sensitivity or frame rate) based on the factor information 204. The imaging conditions in this case are an example of the "imaging conditions" according to the technology of the present disclosure.

[0178] Furthermore, in the above embodiment, an example has been described in which the imaging support program 120 is stored in the NVM 84, but the technology of the present disclosure is not limited to this. For example, the imaging support program 120 may be stored in a portable, computer-readable, non-transitory storage medium such as an SSD or a USB (Universal Serial Bus) memory. The imaging support program 120 stored in the non-transitory storage medium is installed in the computer 74 of the imaging device 50. The CPU 82 executes imaging support processing in accordance with the imaging support program 120.

[0179] In addition, the imaging support program 120 may be stored in a storage device such as another computer or server device connected to the imaging device 50 via a network, and the imaging support program 120 may be downloaded and installed on the computer 74 in response to a request from the imaging device 50.

[0180] It is not necessary to store the entire image capture support program 120 in a storage device such as another computer or server device connected to the image capture device 50, or in the NVM 84; only a portion of the image capture support program 120 may be stored therein.

[0181] Furthermore, although the imaging device 50 has a built-in computer 74, the technology of the present disclosure is not limited to this. For example, the computer 74 may be provided outside the imaging device 50.

[0182] In the above embodiment, the computer 74 is exemplified, but the technology of the present disclosure is not limited to this, and a device including an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a PLD (Programmable Logic Device) may be applied instead of the computer 74. Also, a combination of a hardware configuration and a software configuration may be used instead of a computer.

[0183] The hardware resources for executing the imaging support processing described in the above embodiments can be various processors, as listed below. Examples of processors include a CPU, which is a general-purpose processor that functions as a hardware resource for executing imaging support processing by executing software, i.e., a program. Examples of processors include dedicated electrical circuits, such as FPGAs, PLDs, or ASICs, which are processors with circuit configurations designed specifically for executing specific processing. Each processor has built-in or connected memory, and each processor uses the memory to execute the imaging support processing.

[0184] The hardware resource that executes the imaging support process may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, the hardware resource that executes the imaging support process may be a single processor.

[0185] As an example of a system configured with one processor, first, one processor is configured by combining one or more CPUs and software, and this processor functions as a hardware resource that executes the imaging support process. Second, there is a system that uses a processor that realizes the functions of the entire system, including multiple hardware resources that execute the imaging support process, on a single IC (Integrated Circuit) chip, as typified by SoC (System-on-a-chip). In this way, the imaging support process is realized using one or more of the above-mentioned various processors as hardware resources.

[0186] Furthermore, the hardware structure of these various processors can be, more specifically, an electric circuit that combines circuit elements such as semiconductor devices. The above-described imaging support process is merely an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged, without departing from the spirit of the process.

[0187] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0188] In this specification, "A or B" is treated as synonymous with "at least one of A and B." In other words, "A or B" means that it may be just A, just B, or a combination of A and B. Furthermore, in this specification, the same concept as "A or B" is also applied when three or more things are expressed by connecting them with "or."

[0189] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference.

[0190] The following additional notes are provided regarding the above-described embodiments.

[0191] (Appendix 1) A control method used in a system including a moving body and an anti-vibration device, an adjustment step of adjusting a position of a moving mechanism that moves an object whose vibration is isolated by the vibration isolation device based on factor information including movement information related to the speed and direction of the moving object; a correction step of correcting a vibration applied to the object using the movement mechanism after the adjustment step is performed; A control method comprising: (Appendix 2) The computer of the imaging device mounted on the moving object an acquisition process for acquiring factor information including movement information relating to the speed and direction of the moving object; an adjustment process for adjusting a position of a movement mechanism that moves the image sensor or the imaging lens based on the factor information; an imaging process of imaging a subject with the image sensor after the adjustment process is performed; a correction process for correcting a shake applied to the image sensor or the imaging lens by using the movement mechanism when the imaging process is performed; A program for executing a process including: [Explanation of symbols]

[0192] S Imaging System 2. Object 4 users 6. Wind 10 Flying Objects 12 rotor blades 14 Gimbal mechanism 20 Computer 22 Flight equipment 24 Acceleration sensor 26 Positioning Unit 28 Communication I / F 30 Input / Output Interface 32 CPU 34 NVM 36 RAM 38 Bus 42 Motor 44 Motor Driver 46 Receiver 50 Imaging device 52 Imaging device body 54 Lens unit 56 Mechanical Shutter 56A First curtain 56B Second curtain 58 Shutter actuator 60 Shutter driver 62 Image Sensor 62A Photosensitive surface 64 Image sensor driver 66 Image stabilization mechanism 68 Image Stabilizer Driver 70 Lens driver 72 Acceleration Sensor 74 Computer 76 Image Memory 78 Communication I / F 80 Input / Output Interface 82 CPU 84 NVM 86 RAM 88 Bus 90 Moving mechanism 92 Position Sensor 94 Shake correction actuator 96 Imaging Lens 98 Objective Lens 100 focus lens 102 Zoom Lens 104 Aperture 108 First Actuator 110 Second Actuator 112 Third Actuator 114 First position sensor 116 Second position sensor 118 Aperture sensor 120 Imaging Support Program 122 Acquisition Department 124 Acquisition judgment section 126 Guessing part 128 Settings 130 Adjustment processing section 132 Imaging processing section 134 Correction processing unit 136 Data output section 138 Guessing part 140 Moving mechanism 142 Image Stabilizer Lens 144 Actuator for image stabilization lens 150 Transmitter 152 displays 160 Anemometer 200 Flight instruction information 202 Imaging instruction information 204 Factor Information 204A Factor Information 204B Factor Information 206 Travel Information 206A Speed ​​information 206B Direction information 208 Wind Information 210 Distance Information 212 Gimbal Information 212A axis information 212B Frequency Band Information 214 Specific information 216 First Movement Information 216A 1st speed information 216B First direction information 220 Acceleration Information 222 Positioning Information 222A First positioning information 222B Second positioning information 226 Second Movement Information 226A 2nd speed information 226B Second direction information 230 Acceleration Information 232 Image Data 232A First image data 232B Second image data 236 Travel Information 236A speed information 236B Direction information 240 1st location information 241 Second location information 242 Change Information 246 Travel Information 246A speed information 246B Direction information 250 Live View image data 256 Movement Information 256A speed information 256B Direction information 300 cars 500 Anti-vibration device 502 Object 504 Moving mechanism 506 Actuator 508 Driver

Claims

1. In an imaging system including a moving object and an imaging device, a processor; The processor: acquiring movement information relating to the position of the moving object; varying the shutter speed of the imaging device in accordance with the movement information; Imaging system.

2. The movement information includes information regarding the speed or acceleration of the moving object. The imaging system according to claim 1 .

3. the processor reduces the shutter speed as the velocity or the acceleration increases; The imaging system according to claim 2 .

4. When the speed is equal to or greater than a predetermined speed, the processor sets the shutter speed to a value shorter than a set value set based on an image capturing condition. The imaging system according to claim 2 .

5. the movement information includes information about a distance between the imaging device and a subject; The imaging system according to any one of claims 1 to 4.

6. The processor reduces the shutter speed as the distance decreases. The imaging system according to claim 5 .

7. When the distance is equal to or shorter than a predetermined distance, the processor sets the shutter speed to a value shorter than a set value set based on an image capturing condition. The imaging system according to claim 5 .

8. The processor: acquiring focal length information relating to a focal length of the imaging device; The more telephoto the focal length, the shorter the shutter speed. The imaging system according to any one of claims 1 to 7.

9. The processor: acquiring focal length information relating to a focal length of the imaging device; When the focal length is equal to or greater than a predetermined focal length, the shutter speed is set to a value shorter than a set value that is set based on an image capturing condition. The imaging system according to any one of claims 1 to 7.

10. On the computer, Obtaining movement information relating to the location of the mobile object; and varying the shutter speed of the imaging device in accordance with the movement information; A program for executing processes including the above.

Images