Control device, imaging device, camera system, control method, and program

Abstract

To provide a control device capable of highly accurate vibration correction even when the imaging unit is moving. [Solution] The control device is used in a camera system including an imaging device and comprises an acquisition unit that acquires information regarding the direction of movement of the imaging device and information regarding the shaking of the camera system, and a correction unit that corrects the shaking information according to the information regarding the direction of movement and shaking information when the imaging device is moving.

Description

Technical Field

[0001] The present invention relates to a control device. Background Art

[0002] Conventionally, shake correction is performed based on a detection signal from a detection unit that detects shake. However, if the detection axis of the detection unit is misaligned with the correction axis of a correction unit that corrects shake, the correction effect against shake is reduced. Patent Document 1 discloses a configuration that converts a detection signal or a correction signal based on the detection signal into a value corresponding to the correction axis of the correction unit. Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Unexamined Patent Publication No. 2004-194157 Summary of Invention Problem to be Solved by the Invention

[0004] However, Patent Document 1 does not consider a case where the drive axis of a drive unit is misaligned with the detection axis of a detection unit in a pan-tilt camera in which the imaging direction can be changed by moving an imaging unit via the drive unit.

[0005] An object of the present invention is to provide a control device capable of correcting shake with high accuracy even when an imaging unit is moving. Means for Solving the Problem

[0006] A control device according to one aspect of the present invention is a control device used in a camera system including an imaging device, the control device characterized by comprising: an acquisition unit that acquires information related to a movement direction of the imaging device and shake information of the camera system; and a correction unit that corrects the shake information in accordance with the information related to the movement direction and the shake information when the imaging device is moving. Effect of the Invention

[0007] According to the present invention, it is possible to provide a control device that can correct shaking with high precision even when the imaging unit is moving. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of a camera system including the imaging device of Example 1. [Figure 2] This is a flowchart showing the update process for the first correction value in Example 1. [Figure 3] This is a flowchart showing the correction value selection process in Example 1. [Figure 4] This is a block diagram showing the configuration for correcting angular velocity in Example 1. [Figure 5] This is a diagram showing the UI screen of Example 1. [Figure 6] This is a flowchart showing the operation of the UI in Example 1. [Figure 7] This is a block diagram showing the configuration of the camera system including the imaging device and lens of Example 2. [Figure 8] This is a block diagram showing the configuration of the camera system including the imaging device and attitude control drive unit of Example 3. [Modes for carrying out the invention]

[0009] The embodiments of the present invention will be described in detail below with reference to the drawings. In each figure, the same reference numeral is used for identical components, and redundant explanations are omitted. [Examples]

[0010] Figure 1 is a block diagram showing the configuration of a camera system including the imaging device 101 of this embodiment. The imaging device 101 is a pan-tilt camera having a lens (optical system) (not shown) and controllable by remote operation via a network.

[0011] The imaging device 101 includes an imaging unit 102, a vibration correction unit 103, a vibration detection unit 104, a drive unit 105, a control unit (control device) 106, an external communication unit 111, and a storage unit 112.

[0012] The imaging unit 102 includes an image sensor and its control circuit, and captures images of the subject.

[0013] The vibration correction unit 103 comprises a shift lens and its optical control unit, and is an optical vibration isolation means that corrects the vibration of the imaging device 101 in accordance with instructions from the control unit 106. In this embodiment, the vibration correction unit 103 is an optical vibration isolation means, but it may also be other means capable of correcting the vibration of the imaging device 101, such as an electronic vibration isolation means, an imaging sensor shift type vibration isolation means, or a pan-tilt vibration isolation means.

[0014] The vibration detection unit 104 detects the amount of vibration of the imaging device 101. In this embodiment, the vibration detection unit 104 is an angular velocity sensor and detects the amount of vibration of the imaging device 101 in the yaw direction and pitch direction. In this embodiment, the vibration detection unit 104 is an angular velocity sensor, but it may also be other means capable of detecting the amount of vibration of the imaging device 101, such as an acceleration sensor or means for detecting motion vectors obtained from the image.

[0015] In this embodiment, the drive unit 105 is configured to perform pan-tilt driving. The drive unit 105 also transmits information regarding the driving direction (movement direction; hereinafter referred to as the first driving direction) of the imaging device 101 to the drive information acquisition unit 109. The information transmitted by the drive unit 105 to the drive information acquisition unit 109 is not necessarily information that directly indicates the first driving direction, but may be information for acquiring the first driving direction, such as the current position and target position of the drive unit 105. In this embodiment, the drive unit 105 transmits a signal regarding the first driving direction to the drive information acquisition unit 109, but the present invention is not limited to this. The drive information acquisition unit 109 may be configured to acquire a signal regarding the first driving direction by inputting a signal regarding the first driving direction via an external input means. Furthermore, the drive unit 105 may be configured to perform roll driving or the like, not limited to pan-tilt driving. The configuration of the drive unit 105 may be a known method and is not limited. For example, the drive unit 105 includes a motor and a support unit that supports the imaging unit so that it can rotate relative to the base unit in at least one of the pan, tilt, and roll directions. The imaging unit has components related to image acquisition, such as an imaging unit and a lens, and the base unit has components related to the control of the entire device, such as a control unit, an external communication unit, and a storage unit. In the case of a stationary imaging device, the base unit corresponds to the part that serves as the base, and in the case of a handheld imaging device, it corresponds to the part that is held by the user. Furthermore, the support unit may be configured to include a pan drive support unit that supports rotation in the pan direction, a tilt drive support unit that supports rotation in the tilt direction, and a roll drive support unit that supports rotation in the roll direction.

[0016] The control unit 106 includes a shake information conversion unit (correction unit) 107, a shake information acquisition unit 108, a drive information acquisition unit 109, and a shake correction control unit (control unit) 110. The shake information conversion unit 107 calculates (acquires) a correction value (hereinafter referred to as a first correction value) that is used when calculating the correction amount to be used by the shake correction unit 103, using the shake information from the shake information acquisition unit 108 and the information related to the first drive direction from the drive information acquisition unit 109. The shake information acquisition unit 108 acquires information about the shake amount of the imaging device 101 (shake information) from the shake detection unit 104, and sends the acquired information to the shake information conversion unit 107. The drive information acquisition unit 109 acquires information related to the first drive direction from the drive unit 105, and sends the acquired information to the shake information conversion unit 107. The shake correction control unit 110 controls the shake correction unit 103 to correct the shake of the imaging device 101. Note that in the present embodiment, the control unit 106 having the function of correcting the shake of the imaging device 101 is provided inside the imaging device 101, but it may be provided in a device separate from the imaging device 101. For example, when the imaging device 101 is an interchangeable-lens camera, it may be provided in a lens device that is detachably attached to the imaging device 101. Further, it may be provided in a drive device that is attached to the imaging device 101 and performs attitude control.

[0017] The external communication unit 111 performs communication related to operations of the imaging device 101 and the like via a network.

[0018] The storage unit 112 holds the first correction value acquired by the shake information conversion unit 107.

[0019] Note that, in the present embodiment, the imaging device 101 is configured such that the lens and the drive unit 105 are integrated with the imaging device main body, but the present invention is not limited to this. The present invention is also applicable to interchangeable-lens cameras and imaging devices that use a tripod head or a tripod. When the imaging device 101 is an imaging device that uses a tripod head or a tripod, the drive unit 105 may be provided on the tripod head or the tripod.

[0020] Further, in the present embodiment, the imaging device 101 includes the external communication unit 111, but it is not always necessary to include the external communication unit 111.

[0021] The following describes the update process for the first correction value. Figure 2 is a flowchart of the update process for the first correction value. This flow is performed during the initial drive when the imaging device 101 is started up, or when the user issues an initialization drive command. Note that the timing of this flow is not limited to the two above. Also, in the following explanation, error handling due to errors in acquiring vibration information or information regarding the first drive direction will be omitted.

[0022] In step S401, the control unit 106 starts driving the drive unit 105 (in this embodiment, pan-tilt driving). Note that if the driving speed of the drive unit 105 is lower than the resolution of the vibration detection unit 104, it may be adjusted to be faster than or equal to the resolution of the vibration detection unit 104.

[0023] In step S402, the vibration information acquisition unit 108 acquires vibration information from the vibration detection unit 104. At this time, the vibration information acquisition unit 108 acquires vibration information in an amount sufficient to calculate the drive direction (hereinafter referred to as the second drive direction) based on the vibration information. The angular difference between the first drive direction and the second drive direction occurs when the detection axis of the vibration detection unit 104 and the drive axis of the drive unit 105 are misaligned. Due to this misalignment of axes, when correcting vibrations while considering the drive of the drive unit 105 (movement of the imaging device 101), the vibrations are incorrectly corrected by the amount of the misalignment, reducing the correction effect against vibrations. When calculating the second drive direction, it is preferable to minimize influences other than vibrations caused by the drive of the drive unit 105, such as vibrations of the imaging device 101. When calculating the second drive direction from angular velocity, the larger the amount of data, the lower the proportion of data that becomes noise and the smaller the error, so the amount of data to acquire is determined based on the required accuracy. If the amount of vibration information acquired up to step S403 is insufficient to calculate the second drive direction, this flow will be stopped and the first correction value will not be updated.

[0024] In step S403, the control unit 106 stops the drive of the drive unit 105.

[0025] In step S404, the drive information acquisition unit 109 acquires information regarding the first drive direction. In this embodiment, the drive information acquisition unit 109 acquires position information before driving and current position information from the drive unit 105, calculates the drive amount from the difference, and obtains the first drive direction from the ratio of the pan and tilt drive amounts. If the drive unit 105 has not reached the target position, this flow is stopped and the first correction value is not updated.

[0026] In step S405, the vibration information conversion unit 107 obtains a second drive direction from the vibration information acquired in step S402, and obtains a first correction value using the angular difference between the first drive direction and the second drive direction. The second drive direction is determined from the ratio of the angles in the yaw direction and the pitch direction obtained by integrating the angular velocity data. In this embodiment, the drive direction is acquired, but if the imaging device 101 is stationary without vibration and the angular velocity of the vibration detection unit 104 and the drive speed of the drive unit 105 can be accurately outputted, the first correction value may be obtained using the angular velocity and the drive speed.

[0027] In step S406, the vibration information conversion unit 107 updates the first correction value held by the memory unit 112 to the first correction value obtained in step S405.

[0028] The following describes the process for selecting the correction value used when calculating the correction amount used in the vibration correction unit 103. Figure 3 is a flowchart of the correction value selection process. By switching the correction value according to this flow, it is possible to suppress the reduction of the correction effect against vibration when the drive unit 105 is stationary and when it is in operation.

[0029] In step S501, the control unit 106 determines whether the drive unit 105 is in operation. In this embodiment, the control unit 106 makes this determination by acquiring the drive status of the drive unit 105. Alternatively, the control unit 106 may make this determination using drive commands to the drive unit 105 or vibration information from the vibration detection unit 104. If the control unit 106 determines that the drive unit 105 is in operation, it executes the process in step S502; otherwise, it executes the process in step S503.

[0030] In step S502, the control unit 106 selects a first correction value as the correction value to be used when calculating the correction amount to be used in the vibration correction unit 103.

[0031] In step S503, the control unit 106 selects a second correction value based on the correction axis of the vibration correction unit 103 as the correction value to be used when calculating the correction amount to be used by the vibration correction unit 103. The second correction value is acquired in advance and stored in the storage unit 112.

[0032] In step S502, a first correction value and a second correction value may be selected.

[0033] below, By the vibration correction control unit 110 The process of converting the vibration information from the vibration detection unit 104 into a value to be output to the vibration correction unit 103 will be described. Figure 4 is a block diagram showing the configuration for correcting the amount of vibration of the imaging device 101. The vibration detection unit 104 will be described as the angular velocity sensor 601.

[0034] The angular velocity sensor 601 outputs the amount of oscillation as a digital value of angular velocity.

[0035] The offset correction 602 outputs a value to correct the offset of the angular velocity sensor 601.

[0036] The axis correction 603 outputs a value obtained by subtracting the output value of the offset correction 602 from the output value of the angular velocity sensor 601 (pre-axis correction value), which has been processed using the first correction value to correspond to the drive unit 105. When the yaw axis and pitch axis of the pre-axis correction value are the X axis and Y axis, respectively, and the first correction value is the angular difference θ between the first drive direction and the second drive direction, the yaw axis and pitch axis values ​​x and y output from the axis correction 603 are calculated using the following formulas.

[0037] x = X cosθ + Y sinθ y = Y cosθ - X sinθ Note that the values ​​and methods described above are merely examples, and the first correction value and calculation method may differ from those described above.

[0038] Gain correction 604 multiplies the output value of axis correction 603 by the amplification factor.

[0039] The angular velocity information output 605 outputs the output value of the gain correction 604 to the vibration correction unit 103. The vibration correction unit 103 corrects the vibration based on the output value of the angular velocity information output 605.

[0040] The UI screen of this embodiment will now be described. Figure 5 shows the UI screen. The UI screen in Figure 5 is the screen that the user operates when updating the first correction value.

[0041] The video output unit 702 outputs video from the imaging device 101 via the external communication unit 111.

[0042] The correction value update button 703 is a button used to input the start of the first correction value update process.

[0043] By using the UI screen shown in Figure 5, it is possible to restrict user operations when updating the first correction value, improve the accuracy of acquiring the first correction value, and enhance the correction effect against shaking by using the first correction value.

[0044] The popup window 704 is a window that pops up at the start and end of the first correction value update process. The popup window 704 includes a display area 705 and a button 706, and remains visible until button 706 is pressed. The display area 705 is a message display area. Button 706 is a button for closing the popup of popup window 704.

[0045] The following describes the process when the correction value update button 703 is pressed. Figure 6 is a flowchart of the UI operation.

[0046] In step S801, the control unit 106 pops up a pop-up window 704 and displays in the display area 705 that the update process for the first correction value has started. The pop-up window 704 is closed by pressing the button 706.

[0047] In step S802, the control unit 106 performs an update process for the first correction value.

[0048] In step S803, the control unit 106 pops up a pop-up window 704 and displays in the display area 705 that the update process for the first correction value has been completed. The pop-up window 704 is closed by pressing button 706.

[0049] As described above, according to the configuration of this embodiment, a correction value is calculated based on information regarding the driving direction of the imaging device 101 and the shaking information from the shaking detection unit 104, to determine the correction amount used by the shaking correction unit 103 when the drive unit 105 is driven. This makes it possible to correct shaking with high accuracy even when the drive unit 105 is being driven. [Examples]

[0050] Figure 7 is a block diagram showing the configuration of the camera system including the imaging device 201 and lens 203 of this embodiment. In this embodiment, a configuration different from that of Embodiment 1 will be described, and the same reference numerals will be used for components identical to those in Embodiment 1, and their descriptions will be omitted.

[0051] The lens 203 is an interchangeable lens and is detachably mounted on the imaging device 201. The lens 203 has a vibration correction unit 204 and a vibration detection unit 205. The vibration correction unit 204 comprises a shift lens and its optical control unit, and is an optical vibration isolation means that corrects the vibration of the imaging device 201 based on a signal transmitted from the lens communication unit 202. The vibration detection unit 205 detects the amount of vibration of the lens 203. In this embodiment, the vibration detection unit 205 is an angle sensor and detects the amount of vibration of the lens 203 in the yaw direction and pitch direction. The vibration detection unit 205 transmits information regarding the amount of vibration of the lens 203 (vibration information) to the lens communication unit 202.

[0052] The imaging device 201 includes a lens communication unit 202, an imaging unit 102, a drive unit 105, a control unit 106, an external communication unit 111, and a storage unit 112. The lens communication unit 202 communicates with the lens 203. The lens communication unit 202 transmits shake information from the shake detection unit 205 to the control unit 106 and transmits a signal from the control unit 106 to operate the shake correction unit 204. The imaging device 201 may also have a shake correction unit separate from the shake correction unit 204 of the lens 203.

[0053] In this embodiment, when the lens 203 is attached or detached, the correction value acquired by the vibration information conversion unit held in the memory unit 112 is initialized. However, if individual identification of the lens 203 can be performed through the lens communication unit 202 or the like when the lens 203 is attached or detached, this is not the case, and different correction values ​​may be held for each attached lens 203. Also, if a lens 203 that does not have a vibration detection unit 205 is attached, the first correction value update process may be omitted. In this case, the correction value update button 703 may be grayed out and made unpressable.

[0054] According to the configuration of this embodiment, in the interchangeable lens imaging device 201, vibration can be corrected with high precision even when a different lens 203 is attached or when the drive unit 105 is in operation. [Examples]

[0055] Figure 8 shows an example of the configuration of a camera system including the imaging device 301 and attitude control drive unit 305 of this embodiment. In this embodiment, a configuration different from that of Embodiment 1 will be described, and the same reference numerals will be used for components identical to those in Embodiment 1, and their descriptions will be omitted.

[0056] The attitude control drive unit 303 is a device for driving the attitude of the imaging device 301 and includes a vibration detection unit 304 and an attitude control drive unit 305. The vibration detection unit 304 detects the amount of vibration of the attitude control drive unit 303. In this embodiment, the vibration detection unit 304 is a gravity acceleration sensor. The vibration detection unit 304 can also detect the amount of drive of the attitude control drive unit 305 while the attitude control drive unit 305 is being driven. The attitude control drive unit 305 is configured to be driven in parallel in the horizontal and vertical directions. The attitude control drive unit 305 transmits information regarding the first drive direction to the imaging device 301. Note that the information regarding the first drive direction is not information that directly indicates the first drive direction, but may be information for acquiring the first drive direction, such as the current position and target position of the attitude control drive unit 305.

[0057] The imaging device 301 includes an attitude control drive communication unit 302, an imaging unit 102, a vibration correction unit 103, a control unit 106, an external communication unit 111, and a storage unit 112. The attitude control drive communication unit 302 communicates with the attitude control drive device 303. The attitude control drive communication unit 302 transmits information regarding the amount of vibration from the vibration detection unit 305 and drive information from the attitude control drive unit 305 to the control unit 106.

[0058] According to the configuration of this embodiment, with the imaging device 301 and attitude control drive device 303, vibration can be corrected with high accuracy even when the attitude control drive unit 305 is being driven, without being limited by the installation location. [Other examples] 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 camera system or device via a network or storage medium, and by having one or more processors in the computer of the camera 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.

[0059] This embodiment includes the following configurations and methods. (Composition 1) A control device used in a camera system including an imaging device, An acquisition unit that acquires information regarding the movement direction of the imaging device and information regarding the shaking of the camera system, A control device characterized by having a correction unit that corrects the shaking information in accordance with information regarding the direction of movement and information regarding shaking when the imaging device is moving. (Configuration 2) The control device according to claim 1, further comprising a control unit that controls the correction of the shaking of the imaging device based on the shaking information corrected by the correction unit. (Composition 3) The control device according to configuration 2, characterized in that, when the imaging device is moving, the control unit controls the correction using a first correction value based on information regarding the direction of movement and the shaking information. (Composition 4) The control device according to configuration 3, characterized in that the first correction value is obtained according to the difference between the information regarding the direction of movement and the direction of movement of the imaging device obtained using the shaking information. (Composition 5) The control device according to any one of configurations 2 to 4, characterized in that when the imaging device is not moving, the control unit controls the correction using a second correction value based on the correction axis of the vibration correction unit that performs the correction in accordance with the instructions of the control unit. (Composition 6) The control device according to any one of configurations 1 to 5, characterized in that the correction unit does not correct the shaking information when an abnormality is detected while the imaging device is moving. (Composition 7) The control device according to any one of configurations 1 to 6, characterized in that the acquisition unit acquires oscillation information of a first axis and oscillation information of a second axis different from the first axis. (Composition 8) The control device according to any one of configurations 1 to 7, characterized in that the acquisition unit acquires information regarding the movement direction of one or more axes of the imaging device. (Composition 9) A control device described in any one of configurations 1 to 8, An imaging device characterized by having an image sensor. (Composition 10) The imaging device described in configuration 9, A camera system characterized by having an optical system. (Composition 11) The imaging device described in configuration 9, A camera system characterized by having a drive device for moving the imaging device. (Method 1) A control method used in a camera system including an imaging device, The steps include acquiring information regarding the driving direction of the imaging device and information regarding the shaking of the camera system, A control method characterized by comprising the step of controlling the correction of the shaking of the imaging device according to the information relating to the driving direction and the shaking information. (Composition 12) A program characterized by causing a computer to execute the control method described in Method 1.

[0060] 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]

[0061] 101 Imaging device 106 Control Unit (Control Device) 107. Vibration Information Conversion Unit (Correction Unit) 108. Earthquake Information Acquisition Unit (Acquisition Unit) 109 Drive Information Acquisition Unit (Acquisition Unit)

Claims

1. A control device used in a camera system including an imaging device, An acquisition unit that acquires information regarding the movement direction of the imaging device and information regarding the shaking of the camera system, A control device characterized by having a correction unit that corrects the shaking information in accordance with information regarding the direction of movement and information regarding shaking when the imaging device is moving.

2. The control device according to claim 1, further comprising a control unit that controls the correction of the shaking of the imaging device based on the shaking information corrected by the correction unit.

3. The control device according to claim 2, characterized in that, when the imaging device is moving, the control unit controls the correction using information regarding the direction of movement and a first correction value based on the shaking information.

4. The control device according to claim 3, characterized in that the first correction value is obtained according to the difference between the information regarding the direction of movement and the direction of movement of the imaging device obtained using the shaking information.

5. The control device according to any one of claims 2 to 4, characterized in that, when the imaging device is not moving, the control unit controls the correction using a second correction value based on the correction axis of the vibration correction unit that performs the correction in accordance with the instructions of the control unit.

6. The control device according to any one of claims 1 to 4, characterized in that the correction unit does not correct the shaking information when an abnormality is detected while the imaging device is moving.

7. The control device according to any one of claims 1 to 4, characterized in that the acquisition unit acquires oscillation information of a first axis and oscillation information of a second axis different from the first axis.

8. The control device according to any one of claims 1 to 4, characterized in that the acquisition unit acquires information regarding the movement direction of one or more axes of the imaging device.

9. A control device according to any one of claims 1 to 4, An imaging device characterized by having an image sensor.

10. The imaging device according to claim 9, A camera system characterized by having an optical system.

11. The imaging device according to claim 9, A camera system characterized by having a drive device for moving the imaging device.

12. A control method used in a camera system including an imaging device, The steps include acquiring information regarding the driving direction of the imaging device and information regarding the shaking of the camera system, A control method characterized by comprising the step of correcting the shaking information in accordance with information regarding the driving direction and the shaking information when the imaging device is moving.

13. A program characterized by causing a computer to execute the control method described in claim 12.

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