Oscillation correction device and imaging system

Abstract

We provide an imaging system that enables the capture of dynamic and immersive video footage. [Solution] The imaging system 500 includes an imaging device 1, a mounting base 27 that holds the imaging device 1, a subject detection unit 83 that detects a main subject 52 to be photographed by the imaging device 1, a translational drive unit 36 ​​that translates the mounting base 27 in a first direction, and a translational position control unit 63 that calculates the difference between the position of the main subject 52 in the image captured by the imaging device 1 and a preset reference position, and controls the drive of the translational drive unit 36 ​​in accordance with the movement of the main subject 52 so that the calculated difference becomes zero in the captured image.

Description

[Technical Field]

[0001] The present invention relates to a motion correction device for correcting shaking of an imaging device, and to an imaging system comprising the motion correction device and the imaging device. [Background technology]

[0002] Techniques are known to reduce the shaking of an imaging device when the photographer takes images while walking. For example, Patent Document 1 discloses a motion control device in which a link mechanism and a driving means are provided between a base on which a handle or the like is provided and an imaging device, and the operation of the driving means is controlled so as to reduce the effect of the movement occurring in the base on the imaging device. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2017-90758 [Overview of the project] [Problems that the invention aims to solve]

[0004] For example, when a photographer follows a walking subject from behind and films it, the technology disclosed in Patent Document 1 can be used to capture video footage with reduced vertical shaking caused by the photographer's walking. However, the resulting video footage has the problem of having little movement and lacking dynamism and a sense of presence.

[0005] The present invention aims to provide an imaging system that enables the capture of dynamic and immersive images. [Means for solving the problem]

[0006] The imaging system according to the present invention is characterized by comprising: an imaging device; a holding member for holding the imaging device; a subject detection means for detecting a main subject to be photographed by the imaging device; a first driving means for translating the holding member in a first direction; a calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position; and a control means for controlling the driving of the first driving means in accordance with the movement of the main subject so that the difference in the image becomes zero. [Effects of the Invention]

[0007] According to the present invention, it becomes possible to shoot videos with a high sense of dynamism and realism. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing a schematic configuration of the imaging system according to the first embodiment. [Figure 2] This is a block diagram showing the schematic configuration of the control system for the imaging system. [Figure 3] This diagram shows the schematic configuration of the rotation correction unit that makes up the imaging system. [Figure 4] This diagram shows the schematic configuration of the translational correction unit that makes up the imaging system. [Figure 5] This diagram illustrates the rotational shake correction control of the imaging device. [Figure 6] This figure shows an example of a shooting situation using an imaging system. [Figure 7] This figure shows a scene from an image captured by an imaging device. [Figure 8] This is a control flowchart executed by the translational position control unit of the control unit. [Figure 9] This diagram illustrates the translational shake correction control of an imaging device. [Figure 10] This diagram illustrates the translational displacement of the imaging device and the change in the vertical position of the main subject when translational position control and translational shake correction control are performed. [Figure 11]A diagram for explaining the movement of an imaging device under conventional control in the same shooting situation corresponding to FIG. 6. [Figure 12] A diagram for explaining the translational displacement of an imaging device and the change in the vertical position of a main subject when conventional control is performed. [Figure 13] A diagram showing a shooting situation by an imaging system according to the second embodiment. [Figure 14] A diagram showing an example of the operation of a rotation correction unit in the third embodiment. [Figure 15] A flowchart of translational position control and rotational position control in the third embodiment. [Figure 16] A diagram for explaining the translational displacement of an imaging device and the change in the vertical position of a main subject when translational position control and rotational position control are performed.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0010] <First Embodiment> FIG. 1 is a side view showing a schematic configuration of an imaging system 500 according to the first embodiment. FIG. 2 is a block diagram showing a schematic configuration of a control system of the imaging system 500. The imaging system 500 is roughly composed of an imaging device 1, a swing correction device 100, and a control unit 60. And the swing correction device 100 is a holding means for holding the imaging device 1, and is composed of a rotation correction unit 110 and a translation correction unit​​​For the sake of explaining the imaging system 500, we define the orthogonal coordinate system shown in Figure 1. The translational correction unit 120 has a gripping part 34 that the photographer holds when handling the imaging system 500. The gripping part 34 is longer in one direction than in the other, and the y-axis (y-direction) is defined parallel to its longitudinal direction, and the x-axis (x-direction) and z-axis (z-direction) are defined in the same plane perpendicular to the y-axis and are mutually orthogonal. As shown in Figure 1, the state in which the longitudinal direction of the second link 32 (details will be described later) constituting the translational correction unit 120 and the imaging optical axis O of the imaging device 1 are perpendicular to the y-direction is defined as the "standard orientation of the imaging system 500". The z-direction is defined as the longitudinal direction of the second link 32 in the standard orientation. The x-axis is perpendicular to the y-axis and z-axis in the standard orientation. The positive directions of the x-direction, y-direction, and z-direction are the directions pointed to by the arrows representing the coordinate system in Figure 1.

[0012] Specifically, the imaging device 1 is a known digital camera or digital video camera capable of shooting video, but is not limited to these, and an electronic device equipped with an imaging function, such as a smartphone, may also be used. Since the imaging device 1 can be a known device, a detailed explanation will be omitted, but Figure 2 shows the imaging unit 81, image processing unit 82, and subject detection unit 83, which are related to the drive control of the translational drive unit 36, which will be described later.

[0013] The imaging unit 81 has a lens device and an image sensor such as a CMOS sensor, and converts the optical image of the subject formed on the image sensor through the lens device into an electrical signal. The image processing unit 82 converts the electrical signal output from the imaging unit 81 into image data. The subject detection unit 83 uses the image data generated by the image processing unit 82 to detect the main subject (details will be described later). Information about the main subject detected by the subject detection unit 83 is transmitted to the translational position control unit 63 of the control unit 60. Details of the translational position control unit 63 will be described later.

[0014] In this configuration, the detection of the main subject is performed by the imaging device 1. However, it is also possible to provide a subject detection unit in the control unit 60, and the image data generated by the image processing unit 82 is transmitted to the subject processing unit of the control unit 60, where the detection of the main subject is performed.

[0015] Next, the configuration of the oscillation compensation device 100 will be described. First, the configuration of the rotation compensation unit 110 will be described. Figure 3(a) is a schematic diagram (front view) showing the rotation compensation unit 110 in the standard position when viewed from the +z side. Figure 3(b) is a schematic diagram (side view) showing the rotation compensation unit 110 in the standard position when viewed from the -x side. Figure 3(c) is a schematic diagram (top view) showing the rotation compensation unit 110 in the standard position when viewed from the +y side.

[0016] The rotation correction unit 110 includes a first arm 21, a first rotation drive unit 22, a second arm 23, a second rotation drive unit 24, a third arm 25, a third rotation drive unit 26, and a rotation detection sensor 28.

[0017] The first arm 21 is a holding member that holds the imaging device 1, and the imaging device 1 is detachable from the first arm 21. The imaging device 1 is fixed to the first arm 21 either directly or via a predetermined attachment. The rotation detection sensor 28 is attached to the first arm 21, but is not limited to this, and may be built into the first arm 21. The rotation detection sensor 28 is, for example, a gyro sensor, and detects rotational shake (rotational wobble) of the imaging device 1 and outputs a detection signal to the rotational shake correction unit 61 of the control unit 60.

[0018] The first rotational drive unit 22, the second rotational drive unit 24, and the third rotational drive unit 26 are each specifically rotational drive type actuators (motors), and they can be driven independently. Here, as shown in Figure 3, the rotational axes of the first rotational drive unit 22, the second rotational drive unit 24, and the third rotational drive unit 26 are defined as the first rotational axis R1, the second rotational axis R2, and the third rotational axis R3.

[0019] The first rotation drive unit 22 is fixed to the second arm 23. The first rotation drive unit 22 rotates the first arm 21, which is connected to the first rotation drive unit 22, around the first rotation axis R1 (with the first rotation axis R1 as the rotation center axis). In the standard orientation, the first rotation axis R1 is parallel to the x-axis, so by driving the first rotation drive unit 22 in the standard orientation, the imaging device 1 can be rotated (tilted) around the x-axis relative to the translation correction unit 120.

[0020] The second rotational drive unit 24 is fixed to the third arm 25. The second rotational drive unit 24 rotates the second arm 23, which is connected to the second rotational drive unit 24, around the second rotation axis R2. In the standard position, the second rotation axis R2 is parallel to the z axis, so by driving only the second rotational drive unit 24 in the standard position, the imaging device 1 can be rotated (roll driven) around the z axis relative to the translational correction unit 120.

[0021] The third rotation drive unit 26 is fixed to the mounting base 27 that constitutes the translation correction unit 120, and rotates the third arm 25 connected to the third rotation drive unit 26 around the third rotation axis R3. In the standard position, the third rotation axis R3 is parallel to the y-axis, so by driving only the third rotation drive unit 26 from the standard position, the imaging device 1 can be rotated (pan driven) around the y-axis relative to the translation correction unit 120.

[0022] As shown in Figure 2, the drive control of the first rotation drive unit 22, the second rotation drive unit 24, and the third rotation drive unit 26 is performed by the rotation tremor correction unit 61 of the control unit 60. The rotation tremor correction unit 61 controls the drive of each rotation drive unit in order to reduce the influence of tremors in the pitch, yaw, and roll directions that occur in the imaging device 1 via the mounting base 27 due to the movement of the gripping unit 34 on the captured image. The details of this will be described later.

[0023] Next, the configuration of the translational correction unit 120 will be described. Figure 4(a) is a side view of the translational correction unit 120 in the standard position. Figure 4(b) is a side view showing the state in which a displacement to the +y side occurs in the gripping portion 34.

[0024] The translational correction unit 120 includes a mounting base 27, a first link 31, a second link 32, a third link 33, a gripping part 34, a shaft 35, a translational drive part 36, an adjustment screw 37, a tension spring 38, a distance measuring sensor 39, and a spring attachment member 40.

[0025] The mounting base 27 is fixed to the first link 31. The mounting base 27 and the first link 31 may be separate components that can be joined together, or they may be integrally formed from a predetermined material (e.g., metal or resin). The rotational compensation unit 110 is detachably attached to the mounting base 27 at the third arm 25. In this embodiment, the mounting base 27 is a component of the translational compensation unit 120, but the mounting base 27 may also be a component of the rotational compensation unit 110. In that case, the mounting base 27 and the first link 31 are configured to be connectable and detachable.

[0026] In the translational correction unit 120, a parallel link mechanism is formed by the first link 31, the second link 32, the third link 33, and the shaft 35. Specifically, the third link 33 is fixed to the gripping portion 34, and the second link 32, which connects the first link 31 and the third link 33, is configured as a parallel link. Therefore, the first link 31 can move in the y-direction while maintaining a state in which their longitudinal directions are parallel relative to the gripping portion 34.

[0027] The relative movement of the first link 31 with respect to the gripping portion 34 in the y-direction corresponds to the movement of the imaging device 1 in the y-direction via the rotation correction unit 110 and the mounting base 27. In this description, "translation" refers to the movement of the imaging device 1 integrally with the first link 31, the mounting base 27, and the rotation correction unit 110 in the ±y-direction. The third link 33 and the gripping portion 34 may be separate components that can be joined together, or they may be integrally formed from a predetermined material (e.g., metal or resin).

[0028] The distance measuring sensor 39 is fixed to the first link 31. The distance measuring sensor 39 is composed of, for example, two imaging units, which image the target object on the -y side (the ground in the usage method described later, refer to Figure 6), and transmit the resulting stereo image to the translational shake correction unit 62 of the control unit 60. The processing in the translational shake correction unit 62 will be described later, but the translational shake correction unit 62 uses the acquired stereo image to calculate the distance from the distance measuring sensor 39 to the target object. The change in distance from the distance measuring sensor 39 to the target object represents the shaking of the imaging device 1 in the y direction. In other words, the distance measuring sensor 39 is a shake detection means that detects the shaking of the imaging device 1 in the y direction. Note that the distance measuring sensor 39 is not limited to one that measures distance by imaging, but may also be one that detects reflected light by irradiating with infrared light, for example.

[0029] The tension spring 38 is installed such that a tensile load F1 is generated between the -y side shaft 35 of the two shafts 35 that movably connect the first link 31 and the second link 32 in the first link 31, and the spring attachment portion 40a of the spring attachment member 40. Note that in Figure 4(a), only the portion of the tensile load F1 acting on the shaft 35 is shown, and the load acting on the spring attachment portion 40a is not shown.

[0030] A tensile load F1 generates a load in the +y direction (hereinafter referred to as "lifting load F2") on the first link 31. The magnitude of the lifting load F2 changes depending on the position of the spring attachment portion 40a. Here, an adjustment screw 37 is attached to the third link 33, and the threaded portion of the adjustment screw 37 is screwed into the spring attachment member 40. By rotating the adjustment screw 37 and moving the spring attachment member 40 in the y direction, the magnitude of the lifting load F2 can be adjusted. Therefore, by adjusting the position of the spring attachment member 40 so that the lifting load F2 balances the weight of the imaging device 1 and the rotation correction unit 110, the translation correction unit 120 can be positioned in a standard orientation where the longitudinal direction of the second link 32 and the longitudinal direction of the gripping portion 34 are perpendicular.

[0031] When a photographer holds the gripping part 34 and takes pictures while walking, it is easy to imagine that the gripping part 34 (and the third link 33) will swing. In this case, the amount of displacement of the first link 31 in the y direction (the amount of change in position in the y direction) will become zero (0) due to inertial force, or will be smaller than the amount of displacement of the gripping part 34 in the y direction. In other words, the translational correction unit 120 is configured such that the swing generated in the gripping part 34 is not easily transmitted to the first link 31 by the parallel link mechanism and the tension spring 38.

[0032] The translational drive unit 36 ​​is specifically a rotary-driven actuator. A projection 36a on the translational drive unit 36 ​​is slidably engaged with an elongated hole 32a on the second link 32, and the longitudinal direction of the elongated hole 32a is parallel to the longitudinal direction of the second link 32. When the translational drive unit 36 ​​is driven, the projection 36a rotates, and as the projection 36a moves within the elongated hole 32a, the first link 31 moves in the y-direction relative to the third link 33. A rotational correction unit 110 is fixed to the first link 31 via a mounting base 27, and the imaging device 1 is attached to the rotational correction unit 110. Therefore, by driving the translational drive unit 36, the imaging device 1 can be moved in the y-direction relative to the gripping unit 34, that is, translated. The drive control of the translational drive unit 36 ​​is performed by a translational oscillation correction unit 62 and a translational position control unit 63 provided in the control unit 60.

[0033] The control unit 60 is a control device that controls the operation of the oscillation correction device 100, and includes a translational position control unit 63, a translational oscillation correction unit 62, a rotational oscillation correction unit 61, and a rotational position control unit 64. Note that the rotational position control unit 64 is not used in the first embodiment and is used only in the configuration of the third embodiment.

[0034] The translational position control unit 63, the translational oscillation correction unit 62, the rotational oscillation correction unit 61, and the rotational position control unit 64 are each microcomputers consisting of a CPU that performs calculation processing, a ROM that stores the program executed by the CPU, and RAM where the program is loaded. However, the configuration of the hardware and software is not limited as long as the functions of each part are realized. For example, the control unit 60 may realize the functions of the translational position control unit 63, the translational oscillation correction unit 62, the rotational oscillation correction unit 61, and the rotational position control unit 64 by having a single CPU execute various programs. For example, by installing a predetermined application on an information processing device such as a smartphone or tablet PC and starting it up, these information processing devices may function as the control unit 60.

[0035] In this embodiment, the control unit 60 is attached to the gripping unit 34 as shown in Figure 1, but it may also be built into the gripping unit 34. Furthermore, the gripping unit 34 and the control unit 60 may be connected via a communication connector with a male-female relationship to each other. Additionally, the control unit 60 may be designed to be worn by the photographer (for example, attached to the arm). Communication between the drive units and sensors of the oscillation correction device 100 and the control unit 60 may be performed by wired communication using a communication cable, or by known short-range wireless communication.

[0036] First, we will explain the operation control of the rotation correction unit 110 by the rotation sway correction unit 61. Here, as an example, we will explain the control for correcting rotation sway around the x-axis.

[0037] Figure 5 illustrates the control for correcting rotational shake of the imaging device 1 around the x-axis. The photographer sets the target angle θtx, which represents the direction in which they want to capture images using the imaging device 1, to the rotational shake correction unit 61. The target angle θtx can be set by the photographer through an input means (not shown) to the control unit 60, or by changing the orientation of the gripping unit 34.

[0038] The rotation detection sensor 28 detects the angle of the imaging device 1 (first arm 21) around the x-axis and inputs the detected angle θdx to the rotation shake correction unit 61. The difference Δθ between the target angle θt1 and the detected angle θd1 is the amount of rotation shake around the x-axis that occurs in the imaging device 1 when the photographer rotates the mounting base 27 via the gripping unit 34. The rotation shake correction unit 61 supplies a drive signal S1 obtained by multiplying the difference Δθ as a deviation by a predetermined gain PID_1 to the first rotation drive unit 22. The first arm 21 is rotated by the torque T1 generated by the first rotation drive unit 22 in response to the drive signal S1, which changes the angle of the first arm 21 around the x-axis, and the detected angle θdx by the rotation detection sensor 28 is updated. By performing this feedback control, the angle of the first arm 21 is corrected so that the amount of rotation shake becomes substantially 0 (zero), making it possible to capture images with reduced rotation shake.

[0039] Furthermore, a predetermined cutoff frequency f is applied to the signal detected by the rotation detection sensor 28. H2 By applying a high-pass filter (HPF), the cutoff frequency f H2 This allows for the elimination of oscillations in lower frequency bands. Control for correcting rotational oscillations around the y-axis and z-axis can be performed in the same way as control for correcting rotational oscillations around the x-axis, and therefore will not be explained here.

[0040] Next, the operation control of the translation correction unit 120 by the translation sway correction unit 62 and the translation position control unit 63 will be described. As shown in Figure 2, the translation sway correction unit 62 and the translation position control unit 63 control the drive of the translation drive unit 36. The translation sway correction unit 62 basically uses the output signal from the distance measuring sensor 39 to control the movement in the y direction of the gripping unit 34 to reduce the influence on the image captured by the imaging device 1. The translation position control unit 63 basically uses the information acquired from the subject detection unit 83 to control the position of the main subject on the image captured by the imaging device 1 to keep it constant.

[0041] Figure 6 shows an example of a shooting situation using the imaging system 500. The main subject 52 to be photographed is walking from right to left, and the photographer 51 is walking behind the main subject 52 and photographing the main subject 52 with the imaging device 1. At this time, the photographer 51 is holding the gripping part 34 and positioning the imaging system 500 relative to the main subject 52 so that the main subject 52 is within the imaging field of view of the imaging device 1. Here, the photographer 51 is holding the gripping part 34 so that the y-direction, which is the longitudinal direction of the gripping part 34, is approximately parallel to the vertical direction, but this is not limited to this, and the gripping part 34 may be tilted at a predetermined angle with respect to the vertical direction, for example, depending on the size of the main subject 52.

[0042] Generally, the body sways (moves up and down) when walking. The arrows M11 and M12, shown as wavy lines in Figure 6, represent the movement trajectories of the center of gravity of the photographer 51 and the main subject 52, respectively, while walking. In reality, the movements of the photographer 51 and the main subject 52 are more complex and irregular than those shown by arrows M11 and M12, but in this embodiment, the focus is on the vertical movement of the photographer 51 and the main subject 52, and arrows M11 and M12 are represented in a simplified manner.

[0043] The dashed arrow M13 in Figure 6 indicates the movement trajectory of the center of gravity of the imaging device 1. As will be explained in detail later, the drive of the translational drive unit 36 ​​is controlled so that the first link 31 moves in the y-direction in accordance with the vertical movement of the main subject 52, so that the main subject 52 remains at a fixed position (the reference position, which will be explained later) within the imaging angle of the imaging device 1 when it is photographed. Therefore, the dashed arrows M12 and M13 are represented with the same phase.

[0044] Figure 7 is a simplified diagram showing a scene from the video footage (moving image) captured by the imaging device 1 under the shooting conditions shown in Figure 6. In Figure 7, the near-field subject 53 is a subject that is captured to the left or right of the main subject 52 when the main subject 52 is centered in the shooting range. The far-field subject 54 is a subject that is in front of and far from the main subject 52; in other words, it is a subject that is in focus when the focus is set to infinity.

[0045] The subject detection unit 83 of the imaging device 1 detects the main subject 52 from the frame images constituting the captured video in Figure 7 using a known method (e.g., pattern matching). The subject detection unit 83 further acquires the position of the main subject (Xs, Ys) in an XY coordinate system with the lower left corner of the frame image as the origin (0,0), and transmits this information to the translational position control unit 63. Here, the position of the main subject (Xs, Ys) is set to the center between the left and right shoulders of the main subject. However, the position of the main subject (Xs, Ys) is not limited to this, and may be set to the center of the head, the neck, the center of the torso, etc., or it may be set to any position by the photographer.

[0046] The translational position control unit 63 controls the drive of the translational drive unit 36 ​​so that the Y coordinate value Ys of the main subject position (Xs, Ys) acquired from the subject detection unit 83 matches the Y coordinate value Yt of the preset reference position (Xt, Yt), thereby moving the first link 31 in the y direction. As a result, the imaging device 1 is translated.

[0047] Figure 8 is a flowchart of the control performed by the translational position control unit 63. Each process (step) indicated by the number S in the flowchart of Figure 8 is realized by the CPU constituting the translational position control unit 63 executing a predetermined program stored in memory. Note that Figure 8 shows the process for acquiring the main subject position (Xs, Ys) once. The process in the flowchart of Figure 8 is repeatedly executed each time the main subject position (Xs, Ys) is input to the translational position control unit 63.

[0048] In S101, the translational position control unit 63 obtains the position information of the main subject 52 on the frame image, namely the main subject position (Xs, Ys), from the subject detection unit 83.

[0049] In S102, the translational position control unit 63 sets a predetermined cutoff frequency f for the acquired main subject position (Xs, Ys). L1 A low-pass filter (LPF) is applied to remove high-frequency noise components, and the position information of the main subject 52 is obtained. This provides position information corresponding to the large vertical movement of the main subject 52, which corresponds to the arrow M12 shown by the dashed line in Figure 6.

[0050] In S103, the translational position control unit 63 calculates the difference between the Y coordinate value Yt of the reference position and the Y coordinate value Ys of the main subject position as the subject displacement amount ΔY.

[0051] In S104, the translational position control unit 63 generates a translational drive signal to be supplied to the translational drive unit 36 ​​by multiplying the subject displacement amount ΔY by a predetermined PID gain. In other words, the drive of the translational drive unit 36 ​​is controlled in accordance with the magnitude of the subject displacement amount ΔY.

[0052] In S105, the translational position control unit 63 supplies the translational drive signal generated in S104 to the translational drive unit 36. As a result, the translational drive unit 36 ​​is driven and the first link 31 moves in the y direction, causing the imaging device 1 to translate, and the processing for acquiring the main subject position (Xs, Ys) for one cycle is completed. In this way, the Y coordinate value Ys of the main subject position detected by the subject detection unit 83 can be matched with the Y coordinate value Yt of the reference position on the captured image.

[0053] Next, the control performed by the translational shake correction unit 62 will be explained. Figure 9 is a diagram illustrating the control for correcting the translational shake of the imaging device 1. The translational shake correction unit 62 is set to a target position Yt2, which is the reference position of the imaging device 1. The target position Yt2 is, for example, the distance from the ground of the imaging device 1 when the photographer 51 holds the gripping unit 34 and positions the imaging system 500. Here, since the y-direction distance from the distance measuring sensor 39 to the imaging device 1 in the standard posture is known, it is assumed that the y-direction position of the distance measuring sensor 39 (distance from the ground) when the photographer 51 positions the imaging system 500 will be used as a substitute.

[0054] The distance measuring sensor 39 detects the distance to the ground, which is the object to be photographed, that is, the y-direction position Yd2 of the distance measuring sensor 39, and outputs the detected value to the translational sway correction unit 62. The translational sway correction unit 62 calculates the difference ΔYd between the target position Yt2 and the detected position Yd2. The difference ΔYd is the amount of translational sway caused by the y-direction sway that occurs when the photographer 51 walks while holding the gripping unit 34. The translational sway correction unit 62 generates a drive signal S2 by multiplying the difference ΔYd as a deviation by the gain of PID_2, and supplies it to the translational drive unit 36.

[0055] As the first link 31 moves in the y-direction in response to the torque T2 generated in the translation drive unit 36, the y-direction position Yd2 of the distance measuring sensor 39 detected by the distance measuring sensor 39 is updated, and the imaging device 1 is translated. By performing this feedback control and correcting the y-direction position of the imaging device 1 so that the amount of translational shake is substantially zero, the imaging device 1 can be kept at the target position even if the gripping unit 34 shakes due to, for example, the photographer's hand shake 51. As a result, the shaking of the imaging device 1 in the captured image can be reduced. A predetermined cutoff frequency f is set for the signal obtained by the distance measuring sensor 39. H1 By applying a high-pass filter (HPF), the cutoff frequency f H1 This allows for the elimination of fluctuations in higher frequency bands.

[0056] Next, we will explain the effects obtained by controlling the translation of the imaging device 1 by controlling the drive of the translation drive unit 36. Figure 10(a) is a diagram showing the time-dependent changes in the vertical displacements y0, y1 of the photographer 51 and the main subject 52, and the translation displacement y2 of the imaging device 1, when translational shake correction control and translational position control are performed in the imaging system 500. Figure 10(b) is a diagram showing the time-dependent changes in the Y-direction positions (hereinafter referred to as "vertical positions") Y1, Y2, Y3 of the main subject 52, near subject 53, and far subject 54 on the captured video (frame image) by the imaging device 1, corresponding to Figure 10(a).

[0057] As shown in Figure 6, the photographer 51 and the main subject 52 are walking independently, and therefore, the photographer 51 and the main subject 52 are swaying in the y-direction at different timings. The translational drive unit 36 ​​is controlled to translate the imaging device 1 in accordance with the vertical movement of the main subject 52, as explained with reference to Figure 6. As a result, the translational displacement y2 of the imaging device 1 and the vertical displacement y1 of the main subject 52 have waveforms that change in approximately the same phase. Consequently, the change in the vertical position Y1 of the main subject 52 in the image captured by the imaging device 1 is small. In other words, the captured image shows the main subject 52 remaining in a constant position.

[0058] In contrast, because the imaging device 1 translates, the near-range subject 53 is captured so that it moves vertically in the captured image, and therefore the change in the vertical position Y2 of the near-range subject 53 in the captured image becomes large. At this time, the vertical position Y2 of the near-range subject 53 in the captured image changes by an amount corresponding to the distance from the imaging device 1. In contrast, since the far-range subject 54 is sufficiently far from the imaging device 1, its vertical position Y3 in the captured image does not substantially change even when the imaging device 1 translates.

[0059] Thus, in order to achieve this, the vertical position change of the main subject 52 in the captured video is reduced, while the vertical position of the close-up subject 53 changes significantly, resulting in a dynamic and immersive video.

[0060] In Figure 10(a), the waveforms of the vertical displacement y0 of the photographer 51 and the vertical displacement y1 of the main subject 52 are shown with only the phase shifted; however, the period and amplitude of the waveforms may differ between the photographer 51 and the main subject 52. For example, if the main subject 52 is a child and the photographer 51 is an adult, there is a high probability that there will be differences in the amplitude and period of the vertical displacements y0 and y1. Even in such cases, as explained with reference to Figure 6, the translational displacement y2 of the imaging device 1 is controlled in accordance with the vertical displacement y1 of the main subject 52, so the above-mentioned effect is not impaired.

[0061] Incidentally, both the operation amounts (drive signals) of the translational shake correction control and the translational position control are given to the translational drive unit 36. Here, in the translational shake correction control, by applying an HPF with a cut-off frequency f H1 the influence of signals of relatively high-frequency vibrations (for example, minute vibrations generated at the time of landing) generated when the photographer 51 walks is reduced. On the other hand, in the translational position control, by applying an LPF with a cut-off frequency f L1 the imaging device 1 is translated in accordance with the vertical movement of the main subject 52 having a relatively low frequency. At this time, if f H1 and = f L1 then translational shake correction control is performed in a frequency band higher than f H1 , f L1 and translational position control is performed in a frequency band lower than f H1 , f L1 Therefore, the translational shake correction control and the translational position control function as independent controls. Also, when f H1 > f L1 similarly, the translational shake correction control and the translational position control function as independent controls. However, when f H1 < f L1 in the overlapping frequency band, the translational shake correction control and the translational position control interfere with each other, and there is a possibility that the following performance of the translational shake correction control or the translational position control may deteriorate. Therefore, it is desirable that the relationship be f H1 ≧ f L1 .

[0062] Next, the effects obtained in the present embodiment will be described in comparison with the prior art. FIG. 11 is a diagram for explaining the movement of the imaging device 1 when a conventional (known) drive control is applied to the translational drive unit 36 in the same imaging situation as in FIG. 6. FIG. 12(a) is a diagram showing the temporal changes in the vertical displacements y0r, y1r of the photographer 51 and the main subject 52 corresponding to FIG. 11 and the translational displacement y2r of the imaging device 1. FIG. 12(b) is a diagram showing the temporal changes in the vertical positions Y1r, Y2r, Y3r of the main subject 52, the near subject 53, and the far subject 54 on the captured image by the imaging device 1 corresponding to FIG. 12(a).

[0063] The shaking of the photographer 51 and the main subject 52 shown in Figure 11 (wavy arrows M01, M02) is the same as the shaking of the photographer 51 and the main subject 52 shown in Figure 6 (wavy arrows M11, M12). Therefore, the vertical displacements y0r, y1r of the photographer 51 and the main subject 52 shown in Figure 12(a) are the same as the vertical displacements y0, y1 of the photographer 51 and the main subject 52 shown in Figure 10. In the conventional technology, if the shaking of the imaging device 1 cannot be absorbed by the parallel link mechanism and the position of the imaging device 1 in the y direction moves, the translation drive unit 36 ​​is driven to maintain the position of the imaging device 1 in the y direction. As a result, the movement of the imaging device 1 in the y direction is small, as shown by the straight arrow M03 in Figure 11 and the translation displacement y2r in Figure 12(a).

[0064] Consequently, in the captured video, the change in the position Y2 of the near-field subject 53 becomes small, and the position Y3 of the far-field subject 54, which is not affected by the translational displacement of the imaging device 1, remains virtually unchanged. On the other hand, the main subject 52 experiences shaking, as shown by the dashed arrow M02 in Figure 11, so the position Y1r of the main subject 52 in the captured video increases in accordance with the shaking of the main subject 52.

[0065] Thus, when conventional technology is applied to the drive control of the translational drive unit 36, the movement of the background, including the near-field subject 53 and the far-field subject 54, is eliminated, resulting in a shot with little overall movement and lacking dynamism and realism.

[0066] As described above, in the first embodiment, by moving the imaging device in accordance with the movement of the main subject, it is possible to capture dynamic and realistic images.

[0067] In the above embodiment, the main subject 52 is detected from the image captured by the imaging device 1. However, the system is not limited to this configuration, and a detection means for detecting the main subject separately from the imaging device 1 may be provided in the rotation correction unit 110 or the translation correction unit 120. For example, an imaging means for detecting a subject (hereinafter referred to as "imaging unit A") may be used separately from the imaging device 1, and the main subject 52 may be detected from the image captured by the imaging unit. In this case, it is desirable to set the shooting angle of view of the imaging unit A to be wider than that of the imaging device 1. This makes it less likely for the main subject 52 to be outside the shooting angle of view of the imaging unit A than from the shooting angle of view of the imaging device 1, and enables stable detection of the main subject 52.

[0068] <Second Embodiment> Figure 13 is a diagram showing the shooting situation using the imaging system in the second embodiment, and corresponds to Figure 6 in the first embodiment. In the second embodiment, a swing detection sensor 6, which acts as an information detection and acquisition device for detecting information about the movement and position of the main subject 52, is equipped on the main subject 52, and the output from the swing detection sensor 6 is output to the translational position control unit 63 of the control unit 60. The translational position control unit 63 controls the translation of the imaging device 1 (driving the translational drive unit 36) based on the information received from the swing detection sensor 6 so that the position of the main subject 52 is kept constant on the image captured by the imaging device 1.

[0069] This makes it possible to reliably obtain the position of the main subject 52 even in situations where it is difficult to obtain positional information of the main subject 52 from the image captured by the imaging device 1 (for example, when shooting in a dark place where it is desirable to illuminate the main subject 52 with auxiliary light for detection). The configuration of the imaging system according to the second embodiment is the same as the configuration of the imaging system 500 in the first embodiment, except for these points, and will not be described here.

[0070] <Third Embodiment> In the first and second embodiments, the imaging device 1 was translated in accordance with the vertical movement (swaying) of the main subject 52 by driving the translation drive unit 36 ​​of the translation correction unit 120. In contrast, in the third embodiment, the translation and rotation of the imaging device 1 are performed in accordance with the vertical movement of the main subject 52 by driving the translation correction unit 120 and the rotation correction unit 110. Therefore, the third embodiment uses a rotation position control unit 64, which was not used in the first and second embodiments. Note that the configuration of the imaging system 500 is as shown in Figure 2, so its explanation is omitted.

[0071] Figure 14 shows an example of the operation of the rotation correction unit 110 when translating and rotating the imaging device 1 in accordance with the vertical movement of the main subject 52. Figure 14(a) shows the rotation correction unit 110 in the standard position. Figure 14(b) shows the state in which the imaging device 1 has rotated by a predetermined angle around the first rotation axis R1 by the drive of the first rotation drive unit 22 from the state in Figure 14(a). Here, in order to explain the operation and effects in this embodiment concisely and clearly, it is assumed that the rotation correction unit 110 is kept in a state in which the first rotation axis R1 is parallel to the x-axis.

[0072] As mentioned above, the first rotational drive unit 22 is an actuator that rotates the first arm 21 around the first rotation axis R1 relative to the second arm 23. Therefore, the first rotational drive unit 22 can rotate the first arm 21 around the x-axis relative to the gripping unit 34. The arrow d in Figure 14 represents the imaging direction by the imaging device 1, and the imaging direction is in the +z direction in Figure 14(a). On the other hand, in Figure 14(b), the imaging direction is shifted to the -y side because the imaging device 1 and the first arm 21 have been rotated around the first rotation axis R1, i.e., around the x-axis, by the first rotational drive unit 22. It goes without saying that the imaging direction can be shifted to the +y side by driving the first rotational drive unit 22, although this is not shown.

[0073] In this way, the imaging device 1 can be rotated around the x-axis by the first rotation drive unit 22, thereby changing the imaging direction of the imaging device 1 to the ±y direction. On the other hand, there is a limit to the range in which the imaging device 1 can be translated by the translational position control of the translational correction unit 120, and it is not possible to translate the imaging device 1 beyond that range. Therefore, if the Y-direction position of the main subject 52 on the captured image cannot be kept at the reference position within the translational range of the imaging device 1, the deficiency is compensated for by the rotational position control of the first rotation drive unit 22.

[0074] Figure 15 is a flowchart of translational position control and rotational position control in the third embodiment. Each process (step) indicated by the number S in the flowchart of Figure 15 is realized by the CPUs of the rotational position control unit 64 and the translational position control unit 63 executing predetermined programs stored in their respective memories. Note that Figure 15 shows the process for acquiring the main subject position (Xs, Ys) once. The process in the flowchart of Figure 15 is repeatedly executed each time the main subject position (Xs, Ys) is input to the translational position control unit 63.

[0075] Since the processes in S201 to S203 are the same as those in S101 to S103 of the flowchart in Figure 8, their explanation is omitted here.

[0076] In S204, the translational position control unit 63 determines whether the subject displacement amount ΔY exceeds a predetermined threshold Th. The threshold Th is a reference value used to determine whether it is possible to align the position of the main subject on the captured image with the reference position by translating the imaging device 1 solely by driving the translational drive unit 36. If the subject displacement amount ΔY does not exceed the threshold Th, it is sufficient to drive only the translational drive unit 36; however, if the subject displacement amount ΔY is greater than the threshold Th, it becomes necessary to drive both the translational drive unit 36 ​​and the first rotational drive unit 22.

[0077] If the translational position control unit 63 determines that the subject displacement amount ΔY does not exceed the threshold Th (NO in S204), it executes the process in S205.

[0078] The processing in S205-S206 is the same as the processing in S104-S105 of the flowchart in Figure 8. That is, in S205, the translational position control unit 63 generates a translational drive signal to be supplied to the translational drive unit 36 ​​by multiplying the subject displacement amount ΔY by a predetermined PID gain. Then, in S206, the translational position control unit 63 supplies the translational drive signal generated in S205 to the translational drive unit 36. As a result, the imaging device 1 is translated, and the processing for acquiring the main subject position (Xs, Ys) for one cycle is completed.

[0079] If the translational position control unit 63 determines in S204 that the subject displacement amount ΔY exceeds the threshold Th (YES in S204), it executes the process in S207.

[0080] In S207, the translational position control unit 63 transmits the difference between the subject displacement amount ΔY and the threshold Th to the rotational position control unit 64.

[0081] In S208, the translational position control unit 63 generates a translational drive signal by multiplying the threshold Th by a predetermined PID gain. Then, in S209, the translational position control unit 63 supplies the translational drive signal generated in S208 to the translational drive unit 36. This drives the translational drive unit 36.

[0082] In S210, the rotational position control unit 64 generates a rotational drive signal by multiplying the difference between the subject displacement amount ΔY obtained from the translational position control unit 63 in S207 and the threshold Th by a predetermined PID gain.

[0083] In S211, the rotational position control unit 64 supplies the rotational drive signal generated in S210 to the first rotational drive unit 22. This drives the first rotational drive unit 22. The processes in S208-S209 and S210-S211 are executed in parallel, and the processing for acquiring the main subject position (Xs, Ys) for one cycle is completed as the imaging device 1 translates and rotates.

[0084] In this embodiment, the translation drive unit 36 ​​is driven independently, or both the translation drive unit 36 ​​and the first rotation drive unit 22 are driven, based on the amount of subject displacement. This makes it possible to match the Y coordinate value Ys of the main subject position detected by the subject detection unit 83 with the Y coordinate value Yt of the reference position on the captured image.

[0085] By the way, in this embodiment, both the rotational sway correction unit 61 and the rotational position control unit 64 are configured to provide an operating amount (drive signal) to the first rotational drive unit 22. Here, in the first embodiment, the rotational sway correction control has a cutoff frequency f H2 Because the HPF is applied, the rotational position control uses a cutoff frequency f L1 A low-pass filter is applied. Also, similar to the relationship between translational oscillation correction control and translational position control described in the first embodiment, f H2 ≥f L1 It is desirable to have this relationship, which allows rotational sway correction control and rotational position control to be performed independently.

[0086] Figure 16(a) shows the time-dependent changes in the vertical displacements y0w, y1w of the photographer 51 and the main subject 52, and the translational displacement y2w of the imaging device 1, when translational position control and rotational position control are performed. Figure 16(b) shows the time-dependent changes in the vertical positions Y1w, Y2w, Y3w of the main subject 52, near subject 53, and far subject 54 on the captured video (frame image) by the imaging device 1, corresponding to Figure 16(a).

[0087] The patterns of change in the vertical displacements y0w and y1w of the photographer 51 and the main subject 52 are the same as the patterns of change in the vertical displacements y0 and y1 of the photographer 51 and the main subject 52 shown in Figure 10. However, the absolute values ​​of the maximum and minimum values ​​of the vertical displacements y0w and y1w are assumed to be greater than the absolute values ​​of the maximum and minimum values ​​of the vertical displacements y0 and y1.

[0088] If the vertical displacement y1w of the main subject 52 is large and the translation drive unit 36 ​​alone cannot match the Y coordinate value Ys of the main subject position to the Y coordinate value Yt of the reference position in the captured image, the imaging device 1 is driven to the maximum movable translational position. Therefore, a flat region appears above and below the translational displacement y2w of the imaging device 1 where it remains at the maximum translational position. By performing rotational position control in this region where the translational displacement y2w of the imaging device 1 does not change, the shooting direction of the imaging device 1 is changed, thereby matching the Y coordinate value Ys of the main subject position to the Y coordinate value Yt of the reference position in the captured image. In other words, in the range where the Y coordinate value Ys of the main subject position can be matched to the Y coordinate value Yt of the reference position in the captured image by the translation drive unit 36 ​​alone (the range where the translational displacement y1w is changing), the amount of operation input to the first rotation drive unit 22 is 0 (zero).

[0089] Similar to the first embodiment, when the imaging device 1 is translated, the changes in the vertical positions Y2w and Y3w of the near-range subject 53 and the far-range subject 54 on the captured image will differ depending on the distance from the imaging device 1 to each subject. In contrast, when the imaging device 1 is rotated around the first rotation axis R1 (x-axis) by the first rotation drive unit 22, the amount of displacement on the captured image for the near-range subject 53 and the far-range subject 54 will be approximately the same. Therefore, on the captured image, the amount of displacement of the vertical positions Y2w and Y3w of the near-range subject 53 and the far-range subject 54 in this embodiment will be greater than the amount of displacement of the vertical positions Y2 and Y3 of the near-range subject 53 and the far-range subject 54 in the first embodiment.

[0090] Therefore, when comparing the first embodiment, in which only the translation drive unit 36 ​​is driven, with the third embodiment, in which both the translation drive unit 36 ​​and the first rotation drive unit 22 are driven, a significant difference appears in the change in the position of the distant subject 54 in the captured video. Specifically, in the captured video, the vertical position Y3 of the distant subject 54 is almost zero in the first embodiment, whereas in the third embodiment, the vertical position Y3w of the distant subject 54 changes significantly.

[0091] As described above, in the third embodiment, if the translation of the imaging device 1 alone is insufficient to match the Y coordinate value Ys of the main subject position to the Y coordinate value Yt of the reference position in the captured image, the deficiency is compensated for by the rotation of the imaging device 1 (first arm 21) by the first rotation drive unit 22. This embodiment is particularly useful when the vertical movement of the main subject 52 is large.

[0092] In this embodiment, as the amount of drive of the first rotational drive unit 22 (the rotation angle of the imaging device 1) increases, the movement of the entire captured image increases, making it more likely to be perceived as blur. Therefore, it is preferable to keep the amount of drive of the first rotational drive unit 22 to a minimum.

[0093] Furthermore, in the above explanation, the first rotational drive unit 22 is not driven when it is possible to keep the main subject's position at the reference position in the captured image solely by the translation of the imaging device 1. However, the system is not limited to this, and control may be implemented to increase the amount of rotational drive by the first rotational drive unit 22 as the translational displacement of the imaging device 1 increases. For example, a threshold can be set for the translational displacement of the imaging device 1, and when it is necessary to translate the imaging device 1 beyond the threshold, the increase in the translational displacement can be suppressed at the point where the threshold is exceeded, while the deficiency caused by the suppression can be compensated for by the rotation of the imaging device 1. This makes it possible to smoothly change the movement of each subject in the captured image.

[0094] Although the present invention has been described in detail above based on its preferred embodiments, the present invention is not limited to these specific embodiments, and various forms that do not depart from the spirit of the invention are also included in the present invention. Furthermore, each of the embodiments described above is merely one embodiment of the present invention, and it is possible to combine each embodiment as appropriate.

[0095] For example, in the above embodiment, the imaging system 500 is configured to include a rotation correction unit 110, but the rotation correction unit 110 is not necessarily required. In other words, the mounting base 27 and the first link 31 can be used as holding members to hold the imaging device 1, and the imaging device 1 can be directly attached to the mounting base 27 of the translation correction unit 120 without going through the rotation correction unit 110. In this case, rotational shake correction is not performed, but the effects described with reference to Figure 10 can be obtained by performing translational position control and translational shake correction.

[0096] Furthermore, in the above embodiment, control is not performed to match the X coordinate value Xs of the subject position (Xs, Ys) to the X coordinate value Xt of the reference position (Xt, Yt), but such control may be performed. In that case, for example, a method can be used in which the third rotation drive unit 26 is driven to rotate the imaging device 1 around the y axis (third rotation axis R3).

[0097] The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0098] This embodiment includes the following configuration. (Configuration 1) An imaging system comprising: an imaging device; a holding member for holding the imaging device; a subject detection means for detecting a main subject to be photographed by the imaging device; a first driving means for translating the holding member in a first direction; a calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position; and a control means for controlling the driving of the first driving means in accordance with the movement of the main subject so that the difference in the image becomes zero. (Configuration 2) The imaging system according to Configuration 1, characterized in that the subject detection means detects the main subject from the image captured by the imaging device. (Configuration 3) The imaging system according to Configuration 2, characterized in that the imaging device comprises the subject detection means. (Configuration 4) The imaging system according to Configuration 1, comprising another imaging device different from the imaging device, wherein the subject detection means detects the main subject from an image captured by the other imaging device. (Configuration 5) The imaging system according to Configuration 1, characterized in that the subject detection means is mounted on the main subject and detects the position and movement of the main subject, and the calculation means acquires the information detected by the subject detection means from the subject detection means by communication. (Configuration 6) An imaging system according to any one of Configurations 1 to 5, comprising a vibration detection means for detecting the amount of vibration of the imaging device in the first direction, wherein the control means controls the driving of the first driving means according to the difference and the amount of vibration. (Configuration 7) An imaging system according to any one of Configurations 1 to 6, comprising a second driving means for rotating the imaging device about an axis perpendicular to the first direction and perpendicular to the shooting direction of the imaging device, wherein the imaging device and the holding member are connected via the second driving means, and the control means controls the driving of the first driving means and the second driving means in accordance with the movement of the main subject so that the difference in the captured image becomes zero. (Configuration 8) The imaging system according to Configuration 7, characterized in that the control means drives only the first drive means when the difference does not exceed a threshold set for the difference, and drives the first drive means and the second drive means when the difference exceeds the threshold. (Configuration 9) The imaging system according to Configuration 8, wherein the threshold value of the control means is a value corresponding to the maximum translational position in which the imaging device can move in the first direction by the first driving means. (Configuration 10) An imaging system according to any one of Configurations 1 to 9, comprising a gripping portion for the photographer to grasp, wherein the first driving means comprises a parallel link connecting the gripping portion and the holding member so as to translate relative to the gripping portion in the first direction, and an actuator for driving the parallel link. (Configuration 11) An imaging system according to any one of Configurations 1 to 10, characterized in that the first direction is substantially parallel to the vertical direction. (Configuration 12) A oscillation correction device comprising: a holding member for holding an imaging device; a subject detection means for detecting a main subject to be photographed by the imaging device; a first driving means for translating the holding member in a first direction; a calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position; and a control means for controlling the driving of the first driving means in accordance with the movement of the main subject so that the difference in the image becomes zero. (Configuration 13) An imaging system characterized by comprising: an imaging device; detection means for detecting the position of a main subject from an image captured by the imaging device; driving means for translating the imaging device in a first direction; and control means for controlling the driving of the driving means in accordance with the movement of the main subject so that the position of the main subject in the image captured by the imaging device remains at a preset position. (Configuration 14) An imaging system comprising: an imaging device; a motion correction device for displacing the imaging device in at least a first direction; and a control device for controlling the drive of the motion correction device, wherein the motion correction device comprises: a rotation correction unit on which the imaging device is fixed and which changes the shooting direction of the imaging device; and a translation correction unit for which the rotation correction unit is held and which displaces the rotation correction unit in the first direction; the translation correction unit comprises: a mounting base on which the rotation correction unit is mounted; and a driving means for translating the mounting base in the first direction; and the control device comprises: a subject detection means for detecting a main subject to be photographed by the imaging device; a calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position; and a control means for controlling the drive of the driving means in accordance with the movement of the main subject so that the difference in the image captured becomes zero. (Configuration 15) The imaging system according to Configuration 14, wherein the rotation correction unit has a first axis parallel to the imaging optical axis of the imaging device, a rotation driving means for rotating the imaging device around each of the second and third axes which are mutually orthogonal in a plane perpendicular to the first axis, and a rotation detection means for detecting rotational shaking of the imaging device, and the control device has a rotation position control means for controlling the driving of the rotation driving means so that the rotational shaking becomes zero. [Explanation of Symbols]

[0099] 22 First Rotary Drive Unit 27 Mounting base 31. Link 1 34 Gripping part 39 Distance measuring sensor 60 control units 63 Translational position control unit 64 Rotational position control unit 83 Subject detection unit 100 Oscillation Correction Device 110 Rotation Correction Unit 120 Translation Correction Unit 500 Imaging System

Claims

1. Imaging device and A holding member for holding the imaging device, A subject detection means for detecting the main subject to be photographed by the aforementioned imaging device, A first driving means for translating the holding member in a first direction, A calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position, An imaging system characterized by comprising: a control means that controls the driving of the first driving means in accordance with the movement of the main subject so that the difference in the captured video becomes zero.

2. The imaging system according to claim 1, characterized in that the subject detection means detects the main subject from the image captured by the imaging device.

3. The imaging system according to claim 2, characterized in that the imaging device comprises the subject detection means.

4. The system includes a different imaging device from the aforementioned imaging device, The imaging system according to claim 1, characterized in that the subject detection means detects the main subject from an image captured by the other imaging device.

5. The subject detection means is mounted on the main subject and detects the position and movement of the main subject. The imaging system according to claim 1, characterized in that the calculation means acquires information detected by the subject detection means from the subject detection means via communication.

6. The imaging device is equipped with a vibration detection means for detecting the amount of vibration in the first direction, The imaging system according to any one of claims 1 to 5, characterized in that the control means controls the driving of the first driving means according to the difference and the amount of shaking.

7. The system includes a second driving means for rotating the imaging device around an axis that is perpendicular to the first direction and perpendicular to the imaging direction of the imaging device, The imaging device and the holding member are connected via the second driving means. The imaging system according to any one of claims 1 to 5, characterized in that the control means controls the driving of the first driving means and the second driving means in accordance with the movement of the main subject so that the difference in the captured image becomes zero.

8. The imaging system according to claim 7, characterized in that the control means drives only the first drive means when the difference does not exceed a threshold set for the difference, and drives both the first drive means and the second drive means when the difference exceeds the threshold.

9. The imaging system according to claim 8, characterized in that the control means is such that the threshold value corresponds to the maximum translational position in which the imaging device can move in the first direction by the first driving means.

10. It is equipped with a gripping part that the photographer holds, The first driving means is, A parallel link connecting the gripping portion and the holding member so as to translate relative to the gripping portion in the first direction, The imaging system according to any one of claims 1 to 5, further comprising an actuator for driving the parallel link.

11. The imaging system according to any one of claims 1 to 5, characterized in that the first direction is substantially parallel to the vertical direction.

12. A holding member for holding the imaging device, A subject detection means for detecting the main subject to be photographed by the aforementioned imaging device, A first driving means for translating the holding member in a first direction, A calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position, A motion correction device characterized by comprising: a control means that controls the driving of the first driving means in accordance with the movement of the main subject so that the difference in the captured video becomes zero.

13. Imaging device and A detection means for detecting the position of the main subject from the image captured by the aforementioned imaging device, A driving means for translating the imaging device in a first direction, An imaging system characterized by comprising control means for controlling the drive of the drive means in accordance with the movement of the main subject so that the position of the main subject remains at a predetermined position in the image captured by the imaging device.

14. Imaging device and A motion correction device that displaces the imaging device in at least one first direction, An imaging system comprising a control device for controlling the drive of the oscillation correction device, The oscillation correction device, The imaging device is fixed, and a rotation correction unit is provided to change the shooting direction of the imaging device. The system includes a translational correction unit that holds the rotational correction unit and displaces the rotational correction unit in the first direction, The aforementioned translational correction unit is A mounting base on which the rotation correction unit is attached, The mounting base has a driving means for translating it in the first direction, The control device is A subject detection means for detecting the main subject to be photographed by the aforementioned imaging device, A calculation means for determining the difference between the position of the main subject in the image captured by the imaging device and a preset reference position, An imaging system characterized by comprising: a control means that controls the driving of the driving means in accordance with the movement of the main subject so that the difference in the captured video becomes zero.

15. The rotation compensation unit is A rotational drive means for rotating the imaging device around a first axis parallel to the imaging optical axis of the imaging device, and around a second axis and a third axis that are mutually orthogonal in a plane perpendicular to the first axis, The imaging device has rotation detection means for detecting rotational shaking, The imaging system according to claim 14, characterized in that the control device has a rotational position control means that controls the driving of the rotational drive means so that the rotational oscillation becomes zero.

Images