Imaging device, mobile imaging device, control method and program for the imaging device

Abstract

This reduces blur in images captured by an imaging device mounted on a moving object. [Solution] An imaging device 1 that can be mounted on a mobile body having a first vibration isolation means includes a second vibration isolation means that performs blur correction by driving a vibration isolation member, and an imaging control unit 130 that controls the second vibration isolation means using a first vibration isolation mode or a second vibration isolation mode that targets a frequency band higher than the frequency band targeted for blur correction by the first vibration isolation mode. The imaging control unit 130 controls the second vibration isolation means to the first vibration isolation mode or the second vibration isolation mode depending on whether the imaging device 1 is mounted on a mobile body and at least one of the detected vibrations.

Description

Technical Field

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[0001] The present invention relates to an imaging device, a mobile imaging device, a control method for an imaging device, and a program.

Background Art

[0002] Conventionally, in video production, a person with an imaging device has been shooting video while moving. Also, various shooting forms have been taken, such as mounting the imaging device on a vibration-proof device for reducing image blur during movement, or mounting the imaging device on a pan-tilt head. Recently, in these shooting forms, devices that can shoot even when the imaging device is mounted on a moving body have been proposed. For example, Patent Document 1 discloses a technique for optimizing the combination of blur correction in an imaging system including an imaging device and a gimbal that rotatably supports the imaging device.

Prior Art Documents

Patent Documents

[0003] <0B000016>

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology disclosed in Patent Document 1, there is a possibility that a high-quality video cannot be shot due to the influence of vibrations generated during the movement of the moving body when mounted on the moving body.

[0005] An object of the present invention is to reduce blur in an image captured by an imaging device mounted on a moving body.

Means for Solving the Problems

[0006] To solve the above problems, the present invention provides an imaging device that can be mounted on a moving body having a first vibration isolation means, comprising: a second vibration isolation means that performs blur correction by driving a vibration isolation member; and a control means that controls the second vibration isolation means using a first vibration isolation mode or a second vibration isolation mode that targets a frequency band higher than the frequency band targeted for blur correction by the first vibration isolation mode, wherein the control means controls the second vibration isolation means to the first vibration isolation mode or the second vibration isolation mode according to at least one of whether the imaging device is mounted on the moving body and the detected vibration. [Effects of the Invention]

[0007] According to the present invention, blurring of images captured by an imaging device mounted on a moving object can be reduced. [Brief explanation of the drawing]

[0008] [Figure 1] This diagram shows the configuration of a mobile imaging device. [Figure 2] This figure shows an example of a functional block of a mobile imaging device. [Figure 3] This diagram illustrates the pitch-direction blur correction mechanism of a moving image sensor. [Figure 4] This diagram illustrates the frequency bands targeted for image stabilization in each correction mode. [Figure 5] This diagram illustrates variations in frequency band allocation in the second vibration isolation mode. [Figure 6] This diagram illustrates the relationship between the direction of movement of a moving object and its vibration. [Figure 7] This is a flowchart showing the control process for image stabilization of an imaging device. [Figure 8] This diagram shows large steps or elevation changes along the path of a moving object. [Modes for carrying out the invention]

[0009] (First Embodiment) Figure 1 shows the configuration of the mobile imaging device 100. The mobile imaging device 100 is a mobile device that operates to photograph a subject. The mobile imaging device 100 comprises an imaging device 1, a gimbal 2 which is a mobile body, and a mobile body main unit 3. In addition, the mobile imaging device 100 of this embodiment has vibration damping means on both the imaging device 1 and the mobile body on which the imaging device 1 can be mounted, in order to reduce blurring that occurs in the image (video) captured by the imaging device 1. Hereinafter, the vibration damping means of the mobile body will be referred to as the first vibration damping means, and the vibration damping means of the imaging device 1 will be referred to as the second vibration damping means.

[0010] The imaging device 1 is an imaging device intended for capturing still images and videos. The imaging device 1 can control multiple parameters such as the shooting angle of view, focus position, and exposure. The imaging device 1 is, for example, a lens-interchangeable digital single-lens reflex camera. In this embodiment, the imaging device 1 is described as an imaging device in which the lens device (lens barrel) is detachable from the main body (imaging unit), but the imaging device 1 may be an imaging device in which the main body and lens device are integrated. The imaging device 1 can be mounted on a mobile gimbal 2 and can also be used independently (e.g., handheld shooting). The imaging device 1 has a first vibration damping means for reducing blurring that occurs in the captured image (video).

[0011] The mobile unit comprises a gimbal 2 and a mobile unit body 3. The gimbal 2 detachably holds the imaging device 1. For example, a method is used in which a tripod mount provided on the bottom surface of the imaging device 1 is fixed to a fixing part provided on the gimbal 2. The gimbal 2 is a device for controlling the shooting direction of the imaging device 1 by rotatably supporting the imaging device 1. The gimbal 2 also functions as a first vibration damping means that reduces vibrations transmitted to the imaging device 1 by rotatably supporting the imaging device 1. For example, a handheld gimbal may be used for the gimbal 2. The gimbal 2 is detachably fixed to the mobile unit body 3 with screws or the like, and in this embodiment, the integrated gimbal 2 and mobile unit body 3 are treated as a mobile unit in a broad sense. Note that the gimbal 2 may be a mobile unit that is not detachable from the mobile unit body 3.

[0012] The mobile body 3 is the means by which the mobile imaging device 100 moves, and comprises a housing 4, a movement mechanism 5, and a vibration sensor 6. The mobile body 3 also includes a suspension 7 that connects the housing 4 and the movement mechanism 5. The mobile body 3 can be controlled from the outside by communicating with the outside. The housing 4 is the external housing of the mobile body 3 to which the gimbal 2 is fixed. A communication device, a control unit, a battery, etc. (not shown) are arranged inside the housing 4. In this embodiment, the case where the housing 4 is a roughly rectangular parallelepiped is described as an example, but it is not limited to this. The housing 4 may have various shapes, such as polygons or shapes that combine curved surfaces.

[0013] The moving mechanism 5 is located at the bottom of the housing 4 and is a means for moving the mobile body 3 in any direction. The moving mechanism 5 is equipped with multiple wheels 50. The moving mechanism 5 is configured to move and rotate in all directions by controlling the rotation direction and rotation speed of each wheel 50 using a Mecanum wheel mechanism in which multiple rollers are circumferentially connected and held rotatably on the wheel 50. The axial direction, which is the direction connecting both ends of the axle of the wheel 50, is the X-axis direction. Note that in Figure 1, the multiple rollers of the wheel 50 are omitted and it is illustrated as a simple cylindrical shape. The housing 4 and the moving mechanism 5 are connected via a suspension 7 that can dampen vibrations during movement by combining springs, rubber, etc. The vibration sensor 6 is located at the top of the housing 4 and detects vibrations transmitted to the housing 4 when the mobile body 3 is moving. The vibration sensor 6 (first sensor) is a device for measuring angular velocity and acceleration. The vibration sensor 6 is an inertial measuring device such as a gyro sensor or an acceleration sensor.

[0014] Figure 1(A) is a front view of the mobile imaging device 100. Figure 1(B) is a side view of the mobile imaging device 100. Figure 1(C) is a top view of the mobile imaging device 100. The direction of travel when the mobile imaging device 100 moves forward is defined as the +Z axis direction, and the direction perpendicular to the ground and vertically upward is defined as the +Y axis direction. In addition, the direction perpendicular to the Y axis direction and the Z axis direction, in Figures 1(A) and 1(C), the direction to the left of the paper is defined as the +X axis direction. That is, the Z axis is the front-to-back direction (longitudinal direction) of the mobile body 3, and the X axis is the left-to-right direction (short direction) of the mobile body 3. In the state in which the imaging device 1 shown in Figures 1(A) to 1(C) is facing forward, the optical axis of the imaging optical system of the imaging device 1 is parallel to the Z axis. In this embodiment, an example is shown in which the moving mechanism 5 is equipped with four wheels 50, but the number of wheels 50 is not limited to this. The shape of the enclosure 4 is not limited to a rectangular prism; it may also be a sphere or a sphere with a portion cut out.

[0015] Figure 2 shows an example of the functional block of the mobile imaging device 100. The mobile imaging device 100 comprises an imaging device 1, a gimbal 2, and a mobile body 3. The imaging device 1 comprises an imaging unit 110 and a lens barrel 200. The imaging unit 110 is the camera body. The lens barrel 200, which is a lens device, is detachable from the imaging unit 110. The imaging device 1 also has a second vibration damping means that optically corrects blur by driving a vibration damping member to reduce blur in the captured image. As a second blur correction means, the imaging device 1 has a first vibration damping mechanism in the imaging unit 110 and a second vibration damping mechanism in the lens barrel 200.

[0016] The imaging unit 110 includes an imaging sensor 120, an imaging control unit 130, a memory 140, and a recording medium 160. The imaging sensor 120 is a photoelectric conversion element that photoelectrically converts an optical image and outputs an output signal (analog signal) corresponding to the optical image. The imaging sensor 120 is composed of, for example, a CCD or CMOS. The imaging sensor 120 outputs image data of the optical image formed via the lens barrel 200 to the imaging control unit 130.

[0017] The imaging control unit 130 controls the entire imaging device 1. The imaging control unit 130 is constituted by, for example, a microprocessor such as a CPU (Central Processing Unit) or a MPU (Micro Processing Unit). Also, the imaging control unit 130 may be constituted by a microcontroller such as a MCU (Micro Controller Unit). Further, the imaging control unit 130 sends various instructions to the lens barrel control unit 240 that controls the lens barrel unit 200. When the imaging device 1 is mounted on the gimbal 2 of the moving body, the imaging control unit 130 communicates with the overall control unit 8 of the moving body main body 3. Also, the imaging control unit 130 of the present embodiment controls the second anti-vibration means using the first anti-vibration mode or the second anti-vibration mode described later.

[0018] The memory 140 stores programs and the like necessary for the imaging control unit 130 to control the imaging sensor 120 and the like. The memory 140 is a computer-readable recording medium. The memory 140 includes, for example, at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The imaging control unit 130 loads a program from the memory 140 and executes it to realize various controls. The recording medium 160 records the image data output from the imaging sensor 120 to the imaging control unit 130. The recording medium 160 is, for example, a recording medium such as an SD card or a CF card. The recording medium 160 may be provided detachably from the housing of the imaging device 1.

[0019] The imaging unit 110 has an in-body image stabilization mechanism (BIS: Body Image Stabilizer) that corrects blurring in the captured image caused by vibrations applied to the imaging unit 110 by driving the imaging sensor 120, which is an anti-vibration member. More specifically, the imaging unit 110 further includes a driving unit 150, a position sensor 151, and a vibration sensor 152 as an in-body image stabilization mechanism. In the present embodiment, the BIS corresponds to the first anti-vibration mechanism. The vibration sensor 152 outputs a vibration signal (vibration value) corresponding to the measured vibration in the imaging unit 110. The vibration sensor 152 (the third sensor) is a device for measuring angular velocity and acceleration. The vibration sensor 152 is, for example, an inertial measurement device. The imaging control unit 130 can acquire the posture change of the imaging unit 110 based on the vibration signal output by the vibration sensor 152 and the information obtained from the overall control unit 8. Note that the same sensor as the vibration sensor 6 may be used for the vibration sensor 152.

[0020] Based on an instruction (driving signal) from the imaging control unit 130, the driving unit 150 changes the position or posture of the imaging sensor 120. By changing the position or posture of the imaging sensor 120, the imaging unit 110 performs blur correction to reduce blurring in the captured image caused by vibrations applied to the imaging unit 110. For the driving unit 150, for example, an actuator such as a stepping motor or a voice coil motor is used.

[0021] The position sensor 151 detects the position and posture of the imaging sensor 120. Based on the vibration signal from the vibration sensor 152, the imaging control unit 130 generates a driving signal for driving the imaging sensor 120 in a direction to reduce the influence of the vibration of the imaging unit 110. The imaging control unit 130 outputs the generated driving signal to the driving unit 150. The driving unit 150 executes blur correction by changing the position or posture of the imaging sensor 120 in a direction to reduce the influence of the vibration of the imaging unit 110 based on the driving signal.

[0022] The lens barrel 200 is a lens device equipped with an imaging optical system. The lens barrel 200 includes an imaging optical system, drive units 231-233, position sensors 251-253, a lens barrel control unit 240, and a vibration sensor 254. The imaging optical system includes multiple lenses such as a zoom lens 210, a focus lens 220, and an image stabilization lens 260, as well as an aperture. The imaging optical system forms an optical image of the subject on the image sensor 120.

[0023] At least part or all of the zoom lens 210 and the focus lens 220 are arranged to be movable along the optical axis. The zoom lens 210 adjusts the magnification of the optical image reaching the image sensor 120. The focus lens 220 adjusts the focal position of the optical image reaching the image sensor 120. The drive unit 231 moves at least part or all of the zoom lens 210 along the optical axis via mechanical members such as a cam ring and a guide shaft. Similarly, the drive unit 232 moves at least part or all of the focus lens 220 along the optical axis via mechanical members such as a cam ring and a guide shaft. The lens barrel control unit 240 performs at least one of the zoom operation and the focus operation by driving the drive units 231 and 232 to move the zoom lens 210 and the focus lens 220 along the optical axis according to control instructions from the image unit 110. The position sensor 251 detects the position of the zoom lens 210. The position sensor 252 detects the position of the focus lens 220.

[0024] The lens barrel 200 has an optical image stabilization mechanism (OIS) that corrects blurring in the captured image by driving an image stabilization lens 260. More specifically, the lens barrel 200 has an image stabilization lens 260 for blur correction, a drive unit 233, a position sensor 253, and a vibration sensor 254 as the optical image stabilization mechanism. In this embodiment, the OIS corresponds to the second image stabilization mechanism.

[0025] The vibration sensor 254 outputs a vibration signal (vibration value) corresponding to the vibration measured in the imaging unit 110 to the lens barrel control unit 240. The vibration sensor 254 (third sensor) is a device for measuring angular velocity and acceleration. The vibration sensor 254 is, for example, an inertial measurement device. The lens barrel control unit 240 can acquire the attitude change of the lens barrel 200 based on the vibration signal output by the vibration sensor 254. Note that the vibration sensor 254 can be the same type of sensor as the vibration sensor 6.

[0026] The vibration-damping lens 260 is part of the lens that constitutes the imaging optical system that forms an optical image on the image sensor 120. The vibration-damping lens 260 includes at least one lens and is arranged to be movable or rotatable in a direction perpendicular to the optical axis in order to reduce the effects of image blur due to vibration. The drive unit 233 corrects blur by changing the position or orientation of the vibration-damping lens 260. The drive unit 233 uses actuators such as a stepping motor or a voice coil motor. The position sensor 253 detects the position and orientation of the vibration-damping lens 260.

[0027] The lens barrel control unit 240 generates a drive signal to drive the vibration-damping lens 260 in a direction that reduces the effect of vibrations on the lens barrel 200, based on the vibration signal from the vibration sensor 254. The lens barrel control unit 240 is composed of, for example, a microprocessor such as a CPU or MPU. The program executed by the lens barrel control unit 240 may be stored in the memory of the gimbal 2 (not shown) or in the memory 9 of the mobile body 3. The lens barrel control unit 240 outputs the generated drive signal to the drive unit 233. Based on the drive signal, the drive unit 233 performs blur correction by changing the position or orientation of the vibration-damping lens 260 in a direction that reduces the effect of vibrations on the lens barrel 200. The lens barrel control unit 240 is connected to the imaging control unit 130 of the imaging unit 110 and is controlled by instructions from the imaging control unit 130.

[0028] As described above, in this embodiment, the imaging unit 110 and the lens barrel 200 each have their own vibration sensors, making it possible to adjust the amount of drive for each vibration signal for each individual vibration sensor. In this embodiment, the blur correction of the lens barrel 200 is performed based on the vibration signal measured by the vibration sensor 254 provided in the lens barrel 200, but the blur correction of the lens barrel 200 may also be performed based on the vibration signal measured by the vibration sensor 152 provided in the imaging unit 110. Conversely, the blur correction of the imaging unit 110 may also be performed based on the vibration signal measured by the vibration sensor 254 provided in the lens barrel 200. Thus, the imaging device 1 may have only one vibration sensor, and the blur correction of the imaging unit 110 and the blur correction of the lens barrel 200 may be performed based on the measurement of that single vibration sensor. Furthermore, the imaging device 1 only needs to have at least one of OIS and BIS as a mechanism for image blur correction.

[0029] Gimbal 2 controls the attitude of the imaging device 1. Gimbal 2 includes a pitch axis mechanism 312, a roll axis mechanism 322, a yaw axis mechanism 332, drive units 311-331, a gimbal control unit 340, and a vibration sensor 350. The pitch axis mechanism 312 rotates the imaging device 1 around the pitch axis. The pitch axis is the axis parallel to the X axis in Figure 1(A). That is, the pitch axis mechanism 312 is a first gimbal mechanism that rotates with a direction perpendicular to the optical axis of the imaging device 1 as the first axis of rotation. The roll axis mechanism 322 rotates the imaging device 1 around the roll axis. The roll axis is the axis parallel to the Z axis and the optical axis of the imaging device 1 in Figure 1(B). That is, the roll axis mechanism 322 is a second gimbal mechanism that rotates with a direction perpendicular to the first axis of rotation as the second axis of rotation. The yaw axis mechanism 332 rotates the imaging device 1 around the yaw axis. The yaw axis is the axis parallel to the Y axis in Figure 1(C). In other words, the yaw axis mechanism 332 is a third gimbal mechanism that rotates using a third rotation axis perpendicular to the first and second rotation axes.

[0030] The imaging device 1 is rotatably mounted on the pitch axis mechanism 312 of the gimbal 2. The pitch axis mechanism 312 supports the imaging device 1. The roll axis mechanism 322 is rotatably connected to the pitch axis mechanism 312. The yaw axis mechanism 332 is rotatably connected to the roll axis mechanism 322. The drive unit 311 drives the pitch axis mechanism 312 to rotate. The drive unit 321 drives the roll axis mechanism 322 to rotate. The drive unit 313 drives the yaw axis mechanism 332 to rotate. The pitch axis mechanism 312, roll axis mechanism 322, and yaw axis mechanism 332 are driven and rotated by the drive units 311, 321, and 331, respectively, to change the attitude of the imaging device 1. The gimbal control unit 340 outputs drive signals to each of the drive units 311, 321, and 331, indicating the respective drive amount.

[0031] Gimbal 2 performs image stabilization to reduce the effects of vibrations on imaging device 1 by controlling the attitude of imaging device 1. The vibration sensor 350 is positioned on the pitch axis mechanism 312, which is a mounting member of imaging device 1. The vibration sensor 350 outputs the vibration signal from the pitch axis mechanism 312 to the gimbal control unit 340. The vibration sensor 350 (second sensor) is a device for measuring the angular velocity and acceleration of gimbal 2. The vibration sensor 350 is, for example, an inertial measurement device. The gimbal control unit 340 acquires the attitude change of imaging device 1 based on the vibration signal output by the vibration sensor 350. Note that the vibration sensor 350 can be the same type of sensor as vibration sensor 6.

[0032] The gimbal control unit 340 rotates each mechanism of the gimbal 2 in a direction that reduces the effect of vibrations on the imaging device 1, based on vibration signals from the vibration sensor 350. The gimbal control unit 340 is composed of, for example, a microprocessor such as a CPU or MPU. The gimbal control unit 340 generates drive signals to rotate each mechanism of the gimbal 2 based on vibration signals from the vibration sensor 350. The gimbal control unit 340 generates and outputs drive signals for each of the drive units 311, 321, and 331. Based on the drive signals, the drive unit 311 controls the pitch axis mechanism 312 in a direction that reduces the effect of vibrations on the imaging device 1. Based on the drive signals, the drive unit 321 controls the roll axis mechanism 322 in a direction that reduces the effect of vibrations on the imaging device 1. Based on the drive signals, the drive unit 331 controls the yaw axis mechanism 332 in a direction that reduces the effect of vibrations on the imaging device 1. The gimbal control unit 340 performs image stabilization by controlling the pitch axis mechanism 312 via the drive unit 311, the roll axis mechanism 322 via the drive unit 321, and the yaw axis mechanism 332 via the drive unit 331, respectively, in a direction that reduces the effect of vibration of the imaging device 1.

[0033] The mobile unit 3 includes a moving mechanism 5, a vibration sensor 6, an overall control unit 8, a memory 9, a mobile unit control unit 410, and a communication device 420. The mobile unit control unit 410 drives the moving mechanism 5 by issuing instructions to it, thereby moving the mobile imaging device 100. The overall control unit 8 is connected to the imaging control unit 130, the gimbal control unit 340, and the mobile unit control unit 410, respectively, and controls the entire mobile imaging device 100 by issuing instructions. For example, the overall control unit 8 issues instructions to the mobile unit control unit 410 to move the mobile imaging device 100 based on external operation instructions. The mobile unit control unit 410 and the overall control unit 8 are composed of, for example, a microprocessor such as a CPU or MPU.

[0034] The vibration sensor 6 measures the acceleration and angular velocity of the mobile imaging device 100. The overall control unit 8 calculates the vibration (shake), direction of movement, and speed of the mobile body 3 based on the measurement results from the vibration sensor 6. For example, the overall control unit 8 can calculate the speed of the mobile imaging device 100 using the acceleration measured by the vibration sensor 6. The imaging control unit 130, gimbal control unit 340, and mobile body control unit 410 acquire the vibration, direction of movement, and speed of the mobile body 3 calculated by the overall control unit 8 as the vibration, direction of movement, and speed detected by the mobile body 3. The overall control unit 8 may also send the result of comparing at least one of the calculated vibration, direction of movement, and speed with a threshold, etc., as the detection result from the mobile body 3 to the imaging control unit 130, gimbal control unit 340, and mobile body control unit 410.

[0035] Memory 9 stores programs and other data necessary for the overall control unit 8 to control the imaging device 1, gimbal 2, and mobile body 3. Memory 9 can be any computer-readable recording medium and may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. Communication device 420 is connected to the overall control unit 8, communicates with the outside of the mobile imaging device 100, and receives operation instructions from the outside. The user can remotely control the mobile imaging device 100 from the outside via the communication device 420, overall control unit 8, and mobile body control unit 410. Communication device 420 communicates with the outside of the mobile imaging device 100 using communication means such as Wi-Fi or Bluetooth®.

[0036] While the control functions implemented by each control unit were described as being achieved by the CPU executing computer programs stored in memory, some or all of these functions may be implemented in hardware. Hardware such as dedicated circuits (ASICs) or processors (reconfigurable processors, DSPs) can be used. Furthermore, functions implemented in hardware can also be achieved, for example, by generating circuits based on data read from memory by an FPGA (Field Programmable Gate Array). Alternatively, a gate array circuit can be formed in a similar manner to an FPGA and implemented in hardware, or by using an ASIC (Application Specific Integrated Circuit).

[0037] Figure 3 illustrates the pitch-direction shake correction of the mobile imaging device 100. The mobile imaging device 100 performs shake correction by driving at least one of the second vibration isolation means provided by the imaging device 1 and the first vibration isolation means provided by the gimbal 2, based on vibration signals from vibration sensors provided by the imaging device 1 and the gimbal 2, respectively. The imaging device 1 has a vibration sensor 152 in the imaging unit 110 and a vibration sensor 254 in the lens barrel 200. As a second vibration isolation means, the imaging unit 110 has a BIS and the lens barrel 200 has an OIS. The BIS performs shake correction by driving the imaging sensor 120. The OIS performs shake correction by driving the vibration isolation lens 260. The gimbal 2 has a vibration sensor 350. The gimbal 2, which controls the attitude of the imaging device 1, also functions as a first vibration isolation means. The gimbal 2 performs image stabilization by driving the pitch axis mechanism 312, the roll axis mechanism 322, and the yaw axis mechanism 332. In this embodiment, the mobile imaging device 100 performs image stabilization by driving at least one of the imaging sensor 120, the vibration-damping lens 260, and the gimbal 2 based on vibration signals from vibration sensors in the imaging unit 110, the lens barrel 200, and the gimbal 2, respectively.

[0038] The imaging device 1 used in the conventional mobile imaging device 100 is a lens-interchangeable digital single-lens reflex camera developed primarily for handheld shooting. Similarly, the gimbal 2 used in the conventional mobile imaging device 100 is a handheld gimbal developed primarily for handheld shooting. Therefore, the frequency range for image stabilization of the imaging device 1 and gimbal 2 used in the conventional mobile imaging device 100 is set to a low-frequency range of approximately 1Hz to 10Hz, matching the hand shake vibration caused by human hands during handheld shooting. In this embodiment, the mode that corrects low-frequency vibrations of approximately 10Hz or less, matching the hand shake vibration caused by human hands, is called the hand shake mode or the first vibration stabilization mode.

[0039] On the other hand, vibrations generated in the imaging device 1 when the mobile imaging device 100 is in motion include high-frequency vibrations of several tens to several hundred Hz caused by unevenness in the road surface and the moving mechanism. However, the image stabilization of the conventional mobile imaging device 100 has a smaller correction effect for the frequency band of several tens to several hundred Hz than for the low-frequency range of about 1 Hz to 10 Hz. Therefore, even if conventional image stabilization targeting camera shake (low-frequency shake) is performed when the mobile imaging device 100 is in motion, high-frequency vibrations remain as image blur, making it impossible to capture high-quality images. High-frequency image blur is visually very noticeable and is often unpleasant to the human eye, so in order to capture high-quality images, it is necessary to correct high-frequency image blur in addition to low-frequency image blur.

[0040] Generally, lighter controlled objects are easier to operate at higher frequencies than heavier controlled objects. Therefore, lighter controlled objects can correct image blur at higher frequencies with greater precision than heavier controlled objects. In the image stabilization of the mobile imaging device 100 by the imaging unit 110, lens barrel 200, and gimbal 2, the weights of the controlled objects—the imaging sensor 120, the vibration-damping lens 260, and the gimbal 2—are different, resulting in different levels of mobility. Generally, the weight of the controlled objects for image stabilization increases in the order of vibration-damping lens 260 in the lens barrel 200, imaging sensor 120 in the imaging unit 110, and the rotational drive mechanism of the gimbal 2. Depending on the configuration of the imaging device 1, the imaging sensor 120 may be lighter than the vibration-damping lens 260, so the order of the lens barrel 200 and imaging unit 110 may be reversed. Because gimbal 2 operates while holding imaging device 1, the vibration damping mechanism of gimbal 2 (first vibration damping mechanism) is heavier than the two vibration damping mechanisms of imaging device 1 (second vibration damping mechanism).

[0041] Lighter controlled objects are easier to operate at higher frequencies than heavier controlled objects, and lighter controlled objects can correct image blur at higher frequencies with greater precision than heavier controlled objects. In other words, the ease of correcting high-frequency image blur is in the order of the second vibration isolation means (vibration isolation means of the lens barrel 200, vibration isolation means of the imaging unit 110), followed by the first vibration isolation means (vibration isolation means of the gimbal 2). Taking advantage of this characteristic, in this embodiment, the corresponding frequency bands for the vibration correction of the imaging device 1 (lens barrel 200, imaging unit 110) and the gimbal 2 are divided considering the ease of movement, thereby achieving more advanced vibration correction. For this reason, the second vibration isolation means of the imaging device 1 performs vibration correction to cancel out vibrations in the high-frequency band, and the first vibration isolation means of the gimbal 2 performs vibration correction to cancel out vibrations in the low-frequency band.

[0042] The imaging device 1 of this embodiment has two image stabilization modes (correction modes) and controls the image stabilization mode to switch between when it is used with the mobile imaging device 100 and when it is used without being mounted on the mobile imaging device 100, such as in handheld shooting. When the imaging device 1 is used without being mounted on the mobile imaging device 100, such as in handheld shooting, it corrects blur in the first frequency band (low frequency) using the first vibration stabilization mode (hand shake mode). When the imaging device 1 is used with the mobile imaging device 100, it corrects blur in the second frequency band (high frequency), which is higher in frequency than the first frequency band, using the second vibration stabilization mode (mobile mode). In other words, the second vibration stabilization mode corrects blur in a higher frequency band than the frequency band corrected by the first vibration stabilization mode. Thus, when used with the mobile imaging device 100, the image stabilization control of the imaging device 1 is changed to assign the corresponding frequencies to the higher frequency side.

[0043] Furthermore, in the first vibration stabilization mode (hand shake mode), the two vibration stabilization means of the imaging device 1 may correspond to different frequencies. Specifically, among the high frequencies, the OIS of the lightest lens barrel section 200 is assigned to the highest frequency side, and the BIS of the imaging unit 110, which is the next lightest after the OIS, is assigned to a frequency between the corresponding frequencies of the OIS and the gimbal 2. Therefore, the vibration correction on the highest frequency side is assigned to the lens barrel section 200, the vibration correction at intermediate frequencies is assigned to the imaging unit 110, and the vibration correction on the lowest frequency side corresponding to the hand shake frequency is assigned to the gimbal 2. The imaging unit 110, lens barrel section 200, and gimbal 2 each perform vibration correction to cancel out vibrations in their assigned frequency bands. Note that if the weights of the OIS and BIS are reversed, the frequency bands assigned to the imaging unit 110 and the frequency bands assigned to the lens barrel section 200 may be swapped.

[0044] Figure 3 is a lateral view (+X-axis direction) of the imaging device 1 and a portion of the gimbal 2. Arrows 301 and 302 indicate an example of the drive direction of the vibration-damping lens 260. Arrows 303 and 304 indicate an example of the drive direction of the imaging sensor 120. Arrow 305 indicates the drive direction of the pitch axis mechanism 312 of the gimbal 2. Arrow 301 indicates that the vibration-damping lens 260 is shifted in a plane parallel to the XY plane, and arrow 303 indicates that the imaging sensor 120 is shifted in a plane parallel to the XY plane. Arrows 302, 304, and 305 indicate that the vibration-damping lens 260, imaging sensor 120, and pitch axis mechanism 312 are rotated in the pitch direction, respectively. In the mobile imaging device 100, to correct pitch-direction shake, the three vibration isolation means—the vibration isolation lens 260, the imaging sensor 120, and the pitch axis mechanism 312—are each driven to cancel out vibrations in their respective assigned frequency bands. Similarly, roll and yaw-direction shakes are corrected by driving the vibration isolation lens 260, the imaging sensor 120, and the gimbal 2 to cancel out vibrations in their respective assigned frequency bands. The vibration isolation lens 260 may also be driven to shift in the direction of arrow 301 instead of rotating in the pitch direction as indicated by arrow 302 to correct pitch-direction shake. The imaging sensor 120 may also be driven to shift in the direction of arrow 303 instead of rotating in the pitch direction as indicated by arrow 304 to correct pitch-direction shake. Furthermore, since rotating the vibration isolation lens 260 in the roll direction does not have a corrective effect against roll-direction shake, the vibration isolation lens 260 may not be rotated in the roll direction. As described above, the image sensor 120 may be configured so that it cannot rotate in the pitch direction and yaw direction, and the vibration-damping lens 260 may be configured so that it cannot rotate in the pitch direction, yaw direction and roll direction.

[0045] Figure 4 is a diagram illustrating the frequency bands targeted for image stabilization in each stabilization mode. Figure 4 shows the change in the relationship between the frequency bands of image stabilization assigned to the OIS of the lens barrel 200, the BIS of the imaging unit 110, and the gimbal 2 in the first image stabilization mode (hand shake mode) and the second image stabilization mode (mobile mode). The first image stabilization mode (hand shake mode) is a mode in which the imaging device 1 is used alone without being mounted on the mobile imaging device 100. The second image stabilization mode (mobile mode) is a mode in which the imaging device 1 is used mounted on the mobile imaging device 100.

[0046] In Figure 4, the horizontal axis shows the corresponding frequencies for image stabilization. Frequency band 500 represents the frequency band of image blur caused by hand shake, and is a low-frequency band of approximately 10 Hz or less. Frequency band 510 represents the frequency band of image blur caused by moving objects, and includes high-frequency bands of 10 Hz or more in addition to frequency band 500. Frequency band 501 represents the corresponding frequency band of OIS of the lens barrel 200 when the imaging device 1 is used alone, and frequency band 511 represents the corresponding frequency band of OIS of the lens barrel 200 when the mobile imaging device 100 is mounted. Frequency band 502 represents the corresponding frequency band of BIS of the imaging unit 110 when the imaging device 1 is used alone, and frequency band 512 represents the corresponding frequency band of BIS of the imaging unit 110 when the mobile imaging device 100 is mounted. Frequency band 503 represents the corresponding frequency band of image stabilization of the gimbal 2. Frequency bands 501, 502, and 503 correspond to frequency band 510. The combined frequency band of frequency bands 503, 511, and 512 corresponds to frequency band 510. Frequency band 511 is the highest frequency side of frequency band 510, frequency band 503 is the lowest frequency side of frequency band 510, and frequency band 512 is between frequency bands 511 and 503. The low-frequency side of frequency band 512 overlaps with the high-frequency side of frequency band 503, and the high-frequency side of frequency band 512 overlaps with the low-frequency side of frequency band 511. The frequency bands assigned to the OIS of the lens barrel 200, the BIS of the imaging unit 110, and the image stabilization of the gimbal 2 may have several variations depending on the conditions of the mobile imaging device 100.

[0047] When the imaging device 1 is used alone, i.e., in the first vibration stabilization mode, the frequency bands for image stabilization of the lens barrel 200, imaging unit 110, and gimbal 2 are set to a low-frequency range of approximately 1Hz to 10Hz, matching the vibration caused by human hand tremors. In the second vibration stabilization mode, the frequency bands for image stabilization of the lens barrel 200, imaging unit 110, and gimbal 2 are set to different frequency bands to accommodate a wide frequency range, including high-frequency vibrations that occur when the mobile imaging device 100 is moving. Specifically, in the second vibration stabilization mode, the OIS of the lens barrel 200 is controlled to correct vibrations in frequency band 511, the BIS of the imaging unit 110 is controlled to correct vibrations in frequency band 512, and the gimbal 2 is controlled to correct vibrations in frequency band 503.

[0048] The gimbal 2 is configured to correct the same frequency band 503 regardless of whether the imaging device 1 is in the first or second vibration stabilization mode. In other words, the frequency band that the first vibration stabilization means of the gimbal 2 targets for image correction is always set to a low frequency range of approximately 1 Hz to 10 Hz.

[0049] The BIS of the imaging unit 110 is set to correct frequency band 502 in the first vibration isolation mode and frequency band 512 in the second vibration isolation mode. The OIS of the lens barrel 200 is set to correct frequency band 501 in the first vibration isolation mode and frequency band 511 in the second vibration isolation mode. Thus, in the second vibration isolation mode, the BIS, which is the first vibration isolation mechanism, and the OIS, which is the second vibration isolation mechanism, target different frequency bands for blur correction. In addition, in the second vibration isolation mode, the second vibration isolation means of the imaging device 1 targets frequency bands 511 and 512, which are higher than frequency band 500, for blur correction. That is, the second vibration isolation means of the imaging device 1 targets the low frequency region of about 1Hz to 10Hz for blur correction in the first vibration isolation mode, and targets higher frequency bands than in the first vibration isolation mode for blur correction in the second vibration isolation mode. Thus, in the second vibration stabilization mode, the lens barrel 200, imaging unit 110, and gimbal 2 each perform blur correction centered on different frequency bands, making it possible to handle a wide frequency band, including high-frequency vibrations that occur when the mobile imaging device 100 is moving.

[0050] In the second vibration isolation mode, the frequency bands assigned to the OIS of the lens barrel 200, the BIS of the imaging unit 110, and the image stabilization of the gimbal 2 may have several variations depending on the conditions of the mobile imaging device 100. Figure 5 illustrates the variations in frequency band assignment in the second vibration isolation mode. Here, two variations, Variation A and Variation B, are explained as examples, but the variations in the assigned frequency bands are not limited to these, and a configuration with multiple variations is also possible.

[0051] Variation A is a frequency allocation that is shifted towards a higher frequency band, making it capable of handling higher frequency vibrations. Below, the vibration correction control corresponding to Variation A is defined as the first mobile mode. Variation B cannot handle vibrations at as high a frequency as Variation A, but by having a large overlapping region in the frequency ranges of each vibration correction, it can handle vibrations with larger amplitudes. Below, the vibration correction control corresponding to Variation B is defined as the second mobile mode.

[0052] In Figure 5, the horizontal axis shows the corresponding frequencies for image stabilization. Frequency band 511a shows the corresponding frequency band for the OIS of the lens barrel 200 in variation A. Frequency band 512a shows the corresponding frequency band for the BIS of the imaging unit 110 in variation A. Frequency band 511b shows the corresponding frequency band for the OIS of the lens barrel 200 in variation B. Frequency band 512b shows the corresponding frequency band for the BIS of the imaging unit 110 in variation B. Frequency band 503 shows the corresponding frequency band for the gimbal 2 in variations A and B.

[0053] Here, we will explain the vibrations that occur when the mobile imaging device 100 of this embodiment is in motion. First, we will explain the relationship between the speed of the mobile imaging device 100 during motion and the vibrations. When the mobile imaging device 100 is in motion, vibrations are mainly caused by irregularities in the road surface and the moving mechanism. Therefore, the higher the speed of motion, the more times the device comes into contact with irregularities per unit time, and the more likely it is to generate high-frequency vibrations. In order to reduce the effects of high-frequency vibrations caused by high-speed motion, it is preferable to control the device so that when the speed of the mobile body 3 is higher than a threshold, it performs blur correction in the first mobile mode (variation A), which targets a higher frequency band for blur correction.

[0054] Next, the relationship between the direction of movement and vibration of the mobile imaging device 100 during travel will be explained. In this embodiment, the movement mechanism 5 of the mobile body 3 uses a Mecanum wheel mechanism in which multiple rollers are rotatably held around a wheel, and is configured to move in all directions. Figure 6 is a diagram illustrating the relationship between the direction of movement and vibration of the mobile body 3 (mobile body). Figures 6(A) and 6(B) show the rotation direction of each wheel 50 and the direction of movement of the mobile body 3.

[0055] Figures 6(A) and 6(B) show the mobile body 3 viewed from above (+Y-axis direction). In Figures 6(A) and 6(B), the orientation of the multiple rollers mounted circumferentially on the Mecanum wheel mechanism is simply shown by straight lines. In Figure 6(A), arrows 601 to 604 indicate the rotation direction of each wheel 50. When all wheels 50 are rotated in the same direction, the mobile body 3 travels in the direction of the wheel 50's rotation (= front-to-back direction). In the example shown in Figure 6(A), all wheels 50 are rotated in the directions indicated by arrows 601 to 604, and the mobile body 3 travels in the direction of arrow 605, which is the direction of the wheel 50's rotation.

[0056] In Figure 6(B), arrows 611 to 614 indicate the rotation direction of each wheel 50. When the front and rear wheels 50 are rotated in opposite directions, the mobile body 3 moves in a direction perpendicular to the direction in which the wheels 50 rotate (left and right direction). In the example shown in Figure 6(B), the two wheels 50 in the +Z axis direction are rotated in the +Z axis direction indicated by arrows 611 and 613, and the two wheels 50 in the -Z axis direction are rotated in the -Z axis direction indicated by arrows 612 and 614. Therefore, the mobile body 3 moves in the direction of arrow 615 (+X axis direction), which is perpendicular to the direction in which the wheels 50 rotate. In this way, by controlling the combination of rotation directions and the ratio of rotation speeds of each wheel 50, the mobile body 3 achieves translational and rotational movement in all directions.

[0057] As shown in Figure 6(A), if the axial component (X-axis direction) of the wheel 50 is smaller than the component in the direction perpendicular to the axial direction (Z-axis direction) of the movement direction of the mobile body 3, it is determined that the ratio of the front-to-back and left-to-right movement directions of the mobile body 3 is larger in the front-to-back direction than in the left-to-right direction. As shown in Figure 6(B), if the axial component (X-axis direction) of the wheel 50 is larger than the component in the direction perpendicular to the axial direction (Z-axis direction), it is determined that the ratio of the front-to-back and left-to-right movement directions of the mobile body 3 is larger in the left-to-right direction than in the front-to-back direction.

[0058] Here, we will explain the vibrations that the mobile body 3 experiences due to the unevenness of the road surface in each direction of travel. Figures 6(C) and 6(D) show how the mobile body 3 overcomes protrusions on its path. Figure 6(C) shows the mobile body 3 traveling forward in the direction of arrow 605. There is a protrusion 620 on the road surface in front of the mobile body 3 in the direction of travel. When the mobile body 3 overcomes the protrusion 620 while traveling forward, multiple rollers continuously contact the protrusion 620. Because the entire wheel 50 with a large curvature overcomes the protrusion 620, the frequency of the vibrations generated in the mobile body 3 when it overcomes the protrusion becomes low.

[0059] Figure 6(D) shows the mobile body 3 traveling in the direction of arrow 615 (to the right). There is a protrusion 630 on the road surface in front of the mobile body 3 in the direction of travel. Protrusion 630 is a protrusion of the same shape as protrusion 620. When the mobile body 3 travels to the right and goes over protrusion 630, a roller with a small curvature makes contact with protrusion 630 on its own. Because a roller with a small curvature goes over protrusion 630 on its own, the frequency of vibrations generated in the mobile body 3 when it goes over it becomes high. Thus, there is a difference in the frequency of vibrations when the mobile body 3 goes over protrusions on the road surface depending on the direction of travel of the mobile body 3. In other words, there is a tendency for the frequency of vibrations to be low when the mobile body 3 travels in the forward and backward direction, and to be high when it travels in the left and right direction. In order to reduce the effects of high-frequency vibrations due to the direction of movement, it is preferable to control the system to perform shake correction in a first mobile mode that targets a higher frequency band for shake correction when the ratio of components in the left-right direction is greater than that in the front-back direction of movement of the mobile body 3.

[0060] Therefore, in this embodiment, the assignment of corresponding frequencies for each image stabilization when the mobile image imaging device 100 is mounted on the imaging device 1 is changed according to the conditions of the mobile image imaging device 100. When the mobile body 3 is moving at a high speed or when the ratio of left-right movement of the mobile body 3 is higher, which is when higher frequency vibrations are more likely to occur, the assignment of the first mobile mode (variation A in Figure 5) is used. Conversely, when the mobile body 3 is moving at a low speed and when the ratio of front-back movement of the mobile body 3 is higher, which is when lower frequency vibrations are more likely to occur, the assignment of the second mobile mode (variation B in Figure 5) is used. In this way, by changing the assignment of corresponding frequencies for each image stabilization according to at least one of the movement speed and movement direction of the mobile image imaging device 100, appropriate image stabilization can be achieved in the mobile image imaging device 100 according to a wider range of conditions.

[0061] The control of image stabilization for the imaging device 1 in this embodiment will be explained using Figure 7. Figure 7 is a flowchart showing the image stabilization control process for the imaging device 1. The process shown in the flowchart of Figure 7 starts, for example, when the imaging device 1 is mounted on the mobile imaging device 100, and the imaging control unit 130 of the imaging device 1 and the overall control unit 8 of the mobile body 3 are connected and begin communication. However, the user may decide to change the image stabilization settings of the imaging device 1 on their own.

[0062] In S701, the imaging control unit 130 of the imaging device 1 communicates with the overall control unit 8 of the mobile body 3 and detects that the imaging device 1 has been mounted on the mobile body 3 via the gimbal 2. Note that the method for detecting mounting may be a known method such as a mechanical switch or a magnetic switch. Once it is detected that the imaging device 1 has been mounted on the mobile body, the process in S702 is performed. In S702, the imaging control unit 130 changes the image stabilization control of the imaging device 1 to the second mobile body mode of the second image stabilization mode. More specifically, the imaging control unit 130 changes the image stabilization control of the imaging device 1 from the first image stabilization mode (hand shake mode) to the second mobile body mode (variation B) of the second image stabilization mode (mobile body mode). The second mobile body mode is a mode that assumes the case where the speed of the mobile body 3 that moves the imaging device 1 is not high (slower than the threshold) and the ratio of the movement direction of the mobile body 3 is higher in the front-to-back direction. Thus, when the imaging control unit 130 detects that the imaging device 1 is mounted on a moving object, it controls the vibration isolation means (second vibration isolation means) of the imaging device 1 from the first vibration isolation mode to the second vibration isolation mode.

[0063] In S703, the overall control unit 8 of the mobile body 3 detects the movement speed and direction of the mobile body 3 of the mobile imaging device 100. The overall control unit 8 detects the movement speed and direction of the mobile body 3 based on the measurement results from the vibration sensor 6 provided on the mobile body 3. The overall control unit 8 of the mobile body 3 sends the detection results to the imaging control unit 130 of the imaging device 1. The imaging control unit 130 then switches between the first mobile body mode and the second mobile body mode according to the detected movement speed and direction of the mobile body 3 to control the blur correction of the imaging device 1. First, in S704, the imaging control unit 130 determines whether the movement speed of the mobile body 3 detected in S703 is faster than a threshold. If it is determined that the movement speed is faster than the threshold, the imaging control unit 130 performs the process in S705. On the other hand, if it is determined that the movement speed is below the threshold, the imaging control unit 130 performs the process in S706.

[0064] In S706, the imaging control unit 130 determines whether the ratio of the left-right direction to the forward-backward direction of the moving body 3 detected in S703 is higher than the ratio of the forward-backward direction. If it determines that the ratio of the left-right direction is higher, the imaging control unit 130 performs the process in S705. On the other hand, if it determines that the ratio of the forward-backward direction is higher, the imaging control unit 130 performs the process in S707. If the ratio of the forward-backward direction and the ratio of the left-right direction are the same, the imaging control unit 130 will perform the process in S707, but it may also perform the process in S705. Furthermore, in this embodiment, the presence or absence of switching of the moving body mode is determined by comparing the ratio of the left-right direction and the ratio of the forward-backward direction, but this is not limited to this, and for example, the process in S705 may be performed when the ratio of the left-right direction exceeds a predetermined ratio.

[0065] In S705, the imaging control unit 130 controls the image stabilization of the imaging device 1 to the first moving object mode. The first moving object mode is a mode assumed when the speed of the moving body 3 that moves the imaging device 1 is high or when the ratio of the movement direction of the moving body 3 is greater in the left-right direction. Thus, if the speed detected in S703 is above a threshold or if the ratio of the movement direction detected in S703 is greater in the left-right direction, the imaging control unit 130 controls the image stabilization of the imaging device 1 to the first moving object mode.

[0066] In S707, the imaging control unit 130 controls the image stabilization of the imaging device 1 to the second moving body mode. Thus, if the speed detected in S703 is less than the threshold, and the ratio of the left-right direction of movement detected in S703 is lower, the imaging control unit 130 controls the image stabilization of the imaging device 1 to the second moving body mode. After steps S705 and S707, the process returns to step S703. In this embodiment, an example has been described in which the imaging control unit 130 performs the processing in S704 and S706, but this is not the only option. The overall control unit 8 may perform the processing in S704 and S706, and the overall control unit 8 may instruct the imaging control unit 130 to provide a judgment result or an instruction to change the vibration damping mode according to the judgment result.

[0067] Furthermore, in this embodiment, the determination regarding speed (S704) is performed before the determination regarding direction of movement (S705), but the order of determination may be reversed. If the speed of the moving body 3 is greater than or equal to a threshold, or if the ratio of the left-right direction of movement of the moving body 3 is higher than that, the image stabilization of the imaging device 1 mounted on the moving body imaging device 100 is set to the first moving body mode of the second vibration isolation mode. If neither the speed of the moving body 3 is greater than or equal to a threshold, nor the ratio of the left-right direction of movement of the moving body 3 is higher than that, the image stabilization of the imaging device 1 mounted on the moving body imaging device 100 is set to the second moving body mode of the second vibration isolation mode. If no imaging device is mounted on the moving body imaging device 100, the image stabilization of the imaging device 1 is set to the first vibration isolation mode. In addition, the control may be simplified and steps S703 onwards may not be performed. Alternatively, instead of detecting in S701 that the imaging device 1 has been mounted on the mobile body 3 via the gimbal 2, the system may proceed to S702 when at least one of the vibration sensors 152 and 254 detects vibration in a predetermined high-frequency band.

[0068] The above explanation assumed that the protrusions on the path of the mobile body 3, which cause vibrations in the imaging device 1, are relatively small compared to the diameter of the wheel 50, and that the vibrations generated when crossing over the protrusions are of high frequency. Now, we will explain the vibrations that occur when the mobile imaging device 100 crosses a large step. Figure 8 shows a large step on the path of the mobile body 3. The step 801 is larger than the protrusion 602 in Figure 6(C), and when the mobile body 3 crosses it, a large instantaneous shock (vibration of a predetermined magnitude or greater) occurs in the mobile imaging device 100. The shock when the mobile body 3 crosses the step 801 is transmitted to the imaging device 1 as a large vibration containing all frequencies.

[0069] If the image stabilization control of the imaging device 1 is set to a high-frequency mobile mode when the mobile body 3 crosses over the step 801, the impact of crossing the step 801 may cause the OIS image stabilization lens 260 and the BIS image sensor 120 to oscillate. If the OIS image stabilization lens 260 and the BIS image sensor 120 oscillate, the imaging device 1 will lose control of them, and abnormal noise may be generated, or excessive current and heat may be produced, potentially damaging the respective drive units.

[0070] Therefore, in this embodiment, when the vibration sensor 6 of the mobile body 3 detects a large impact while the mobile imaging device 100 is moving, the control of the two image stabilization systems of the imaging device 1 is switched from mobile mode to hand-shake mode, and the system waits for the impact to subside. This suppresses oscillation of the two image stabilization systems of the imaging device 1, preventing damage to the functions of OIS and BIS. In this embodiment, the overall control unit 8 determines that a large impact (vibration of a predetermined magnitude or greater) has been detected when the vibration sensor 6 measures an acceleration above a threshold. However, the detection of a large impact (vibration of a predetermined magnitude or greater) on the mobile body 3 is not limited to this. This large impact can occur not only when the mobile body 3 crosses a large step, but also when the mobile body 3 makes a sudden stop or decelerates suddenly while moving at high speed, or when the mobile body 3 makes a sudden start or acceleration from a standstill. Therefore, similar measures may be taken in those situations as well.

[0071] As described above, in this embodiment, when the imaging device 1 is not mounted on a moving body, the imaging device 1 controls the vibration damping means of the imaging device 1 in a first vibration damping mode, which is a hand-shake correction mode. On the other hand, when the imaging device 1 is mounted on a moving body, the imaging device 1 controls the vibration damping means of the imaging device 1 in a second vibration damping mode, which corrects vibrations in a frequency band higher than the frequency band corrected by the first vibration damping mode. Furthermore, even when the imaging device 1 is mounted on a moving body, if a large impact (vibration of a predetermined magnitude or greater) is detected in the moving body, the imaging device 1 controls the vibration damping means of the imaging device 1 from the second vibration damping mode to the first vibration damping mode. In this way, the imaging device 1 controls the vibration damping means of the imaging device 1 to either the first vibration damping mode or the second vibration damping mode depending on whether the imaging device 1 is mounted on the gimbal 2 of the moving body and the vibration detected in the moving body.

[0072] According to this embodiment, the frequency band targeted for image stabilization can be controlled depending on the state, such as whether or not the imaging device is mounted on a moving body. This makes it possible to reduce blur that occurs in images captured when the imaging device is mounted on a moving body. In this embodiment, a configuration in which the moving body travels on the ground has been described, but at least a part of the control described in this embodiment can also be applied to a configuration in which the moving body flies in the air. For example, in the case of a drone in which a camera can be attached to and detached from a gimbal and which is configured to rotate multiple propellers for floating and moving, high-frequency vibrations may be transmitted to the imaging device mounted on the drone because the propellers rotate at high speed. Therefore, the vibration stabilization mode may be changed depending on whether or not the imaging device is mounted on a drone which is a moving body with multiple propellers, as in this embodiment.

[0073] The disclosure of this embodiment includes the following configurations for imaging devices and mobile imaging devices. (Composition 1) An imaging device that can be mounted on a mobile body having a first vibration isolation means, A second vibration damping means that corrects vibration by driving a vibration damping member, The system includes a control means for controlling the second vibration isolation means using a first vibration isolation mode or a second vibration isolation mode that targets a frequency band higher than the frequency band targeted for vibration correction by the first vibration isolation mode, The imaging device is characterized in that the control means controls the second vibration isolation means to the first vibration isolation mode or the second vibration isolation mode depending on whether the imaging device is mounted on the moving body and at least one of the detected vibrations. (Configuration 2) The imaging device according to configuration 1, characterized in that when the imaging device is detected to be mounted on the moving body, the control means controls the second vibration isolation means to the second vibration isolation mode. (Composition 3) The imaging device according to configuration 1 or 2, characterized in that, when the imaging device is mounted on the moving body, if vibration of a predetermined magnitude or greater is detected in the moving body, the control means controls the second vibration isolation means to the first vibration isolation mode. (Composition 4) The imaging apparatus according to any one of configurations 1 to 3, characterized in that the frequency band targeted for blur correction by the second vibration isolation means in the second vibration isolation mode is a higher frequency band than the frequency band targeted for blur correction by the first vibration isolation means. (Composition 5) The imaging apparatus according to any one of configurations 1 to 4, characterized in that the frequency band targeted for blur correction by the second vibration isolation means in the first vibration isolation mode is a frequency band of approximately 1 Hz to 10 Hz. (Composition 6) The imaging apparatus according to any one of configurations 1 to 5, characterized in that the second vibration isolation means includes at least one of a first vibration isolation mechanism that corrects blur by driving an imaging sensor, and a second vibration isolation mechanism that corrects blur by driving a part of a lens constituting an imaging optical system that forms an optical image on the imaging sensor. (Composition 7) If the second vibration isolation means includes the first vibration isolation mechanism and the second vibration isolation mechanism, in the second vibration isolation mode, the first vibration isolation mechanism and the second vibration isolation mechanism target different frequency bands for vibration correction. The imaging apparatus according to configuration 6, characterized in that the control means controls the frequency band to which the first vibration isolation mechanism and the second vibration isolation mechanism are to be targeted for blur correction, according to at least one of the moving speed and direction of movement of the moving body obtained from the moving body. (Composition 8) The imaging apparatus according to configuration 7, characterized in that the control means controls the frequency band to which the first vibration isolation mechanism and the second vibration isolation mechanism are subject to blur correction to a higher frequency band when the moving speed of the moving body is faster than a threshold, or when the ratio of the left-right direction to the front-back direction of the moving body's movement is greater than that when the moving speed of the moving body is below a threshold and the component of the front-back is greater than that when the moving direction of the moving body's movement is greater. (Composition 9) A mobile imaging device comprising an imaging device described in any of configurations 1 to 8 and a mobile body on which the imaging device is mounted, and capable of taking images while moving, The aforementioned moving body is The first vibration damping means performs blur correction by controlling the posture of the imaging device, A first sensor for measuring the acceleration and angular velocity of the moving object, A moving object imaging device characterized by having an overall control means for calculating the direction of movement, speed of movement, and vibration of the moving object based on the measurement results of the first sensor. (Composition 10) The moving body has a Mecanum wheel mechanism in which multiple rollers are rotatably held around the wheel and it is movable in all directions. The moving body imaging device according to configuration 9, characterized in that if the axial component of the movement direction of the moving body is greater than the component perpendicular to the axial direction of the wheel of the Mecanum wheel mechanism, it is determined that the left-right movement direction of the moving body is greater. (Composition 11) The moving body imaging device according to configuration 9, characterized in that the moving body has a plurality of propellers. (Composition 12) The moving body includes a gimbal comprising: a first gimbal mechanism that supports the imaging device and rotates with a first rotation axis perpendicular to the optical axis direction of the imaging device; a second gimbal mechanism that rotates with a second rotation axis perpendicular to the first rotation axis; and a third gimbal mechanism that rotates with a third rotation axis perpendicular to the first and second rotation axes; and a second sensor that measures the acceleration and angular velocity of the gimbal. In the moving body, the attitude of the imaging device instructed by the first gimbal mechanism is controlled by rotating the first to third gimbal mechanisms based on the measurement results of the second sensor. The imaging device has a third sensor for measuring the acceleration and angular velocity of the imaging device. The mobile body imaging device according to any one of configurations 9 to 11, characterized in that the control means controls the driving of the vibration-damping member by the second vibration-damping means based on the measurement result of the third sensor.

[0074] (Other embodiments) 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.

[0075] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its gist. [Explanation of Symbols]

[0076] 1. Imaging device 2 Gimbal 3 Mobile Units 6. Vibration Sensor 8. Overall Control Unit 100 Mobile imaging device 130 Imaging control unit

Claims

1. An imaging device that can be mounted on a mobile body having a first vibration isolation means, A second vibration damping means that corrects vibration by driving a vibration damping member, The system includes a control means for controlling the second vibration isolation means using a first vibration isolation mode or a second vibration isolation mode that targets a frequency band higher than the frequency band targeted for vibration correction by the first vibration isolation mode, The imaging device is characterized in that the control means controls the second vibration isolation means to the first vibration isolation mode or the second vibration isolation mode depending on whether the imaging device is mounted on the moving body and at least one of the detected vibrations.

2. The imaging device according to claim 1, characterized in that when the imaging device is detected to be mounted on the moving body, the control means controls the second vibration isolation means to the second vibration isolation mode.

3. The imaging device according to claim 1, characterized in that when the imaging device is mounted on the moving body, if vibration of a predetermined magnitude or greater is detected in the moving body, the control means controls the second vibration damping means to the first vibration damping mode.

4. The imaging apparatus according to claim 1, characterized in that the frequency band targeted for blur correction by the second vibration isolation means in the second vibration isolation mode is a higher frequency band than the frequency band targeted for blur correction by the first vibration isolation means.

5. The imaging apparatus according to claim 1, characterized in that the frequency band targeted for blur correction by the second vibration isolation means in the first vibration isolation mode is a frequency band of about 1 Hz to 10 Hz.

6. The imaging apparatus according to claim 1, characterized in that the second vibration isolation means includes at least one of a first vibration isolation mechanism that corrects blur by driving an imaging sensor and a second vibration isolation mechanism that corrects blur by driving a part of a lens constituting an imaging optical system that forms an optical image on the imaging sensor.

7. If the second vibration isolation means includes the first vibration isolation mechanism and the second vibration isolation mechanism, in the second vibration isolation mode, the first vibration isolation mechanism and the second vibration isolation mechanism target different frequency bands for vibration correction. The imaging apparatus according to claim 6, characterized in that the control means controls the frequency band to which the first vibration damping mechanism and the second vibration damping mechanism are to be targeted for blur correction, according to at least one of the moving speed and direction of movement of the moving body obtained from the moving body.

8. The imaging apparatus according to claim 7, characterized in that the control means controls the frequency band to which the first vibration damping mechanism and the second vibration damping mechanism are subject to blur correction to a higher frequency band when the moving speed of the moving body is faster than a threshold, or when the ratio of the left-right direction to the front-back direction of the moving body's movement is greater than that when the moving speed of the moving body is below a threshold and the component of the front-back direction to the front-back direction of the moving body's movement is greater than that when the moving speed of the moving body is below a threshold and the component of the front-back direction to the front-back direction of the moving body's movement is greater than that when the movement direction of the moving body's movement is below a threshold.

9. A mobile imaging device comprising an imaging device according to any one of claims 1 to 8 and a mobile body on which the imaging device is mounted, the mobile imaging device capable of taking images while moving, The aforementioned moving body is The first vibration damping means performs blur correction by controlling the posture of the imaging device, A first sensor for measuring the acceleration and angular velocity of the moving object, A mobile object imaging device characterized by having an overall control means that calculates the direction of movement, speed of movement, and vibration of the mobile object based on the measurement results of the first sensor.

10. The moving body has a Mecanum wheel mechanism in which multiple rollers are rotatably held around the wheel and it is movable in all directions. The moving body imaging device according to claim 9, characterized in that if the axial component of the moving body's movement direction is greater than the component perpendicular to the axial direction of the wheel of the Mecanum wheel mechanism, it is determined that the moving body's left-right movement direction is greater.

11. The mobile body imaging device according to claim 9, characterized in that the mobile body has a plurality of propellers.

12. The moving body includes a gimbal comprising: a first gimbal mechanism that supports the imaging device and rotates with a first rotation axis perpendicular to the optical axis direction of the imaging device; a second gimbal mechanism that rotates with a second rotation axis perpendicular to the first rotation axis; and a third gimbal mechanism that rotates with a third rotation axis perpendicular to the first and second rotation axes; and a second sensor that measures the acceleration and angular velocity of the gimbal. In the moving body, the attitude of the imaging device instructed by the first gimbal mechanism is controlled by rotating the first to third gimbal mechanisms based on the measurement results of the second sensor. The imaging device has a third sensor for measuring the acceleration and angular velocity of the imaging device. The mobile body imaging device according to claim 9, characterized in that the control means controls the driving of the vibration-damping member by the second vibration-damping means based on the measurement result of the third sensor.

13. A control method for an imaging device having a second vibration isolation means, which can be mounted on a mobile body having a first vibration isolation means, A control method for an imaging device, characterized by having the step of controlling the mode of blur correction by the second vibration isolation means to the first vibration isolation mode or the second vibration isolation mode which targets a higher frequency band than the first vibration isolation mode, depending on whether the imaging device is mounted on the moving body and at least one of the detected vibrations.

14. A program that causes the computer of an imaging device to perform the steps described in claim 13.

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