Imaging device and control method thereof

Abstract

To provide an imaging apparatus that can pick up images with appropriate exposure.SOLUTION: An imaging apparatus has: imaging means that picks up an image of a subject; first control means that controls a value of at least one of an exposure time and gain for every pixel or pixel group on an imaging surface of the imaging means; and second control means that controls an amount of exposure on the imaging surface based on the value controlled by the first control means.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an imaging apparatus and a control method thereof. [Background technology]

[0002] Conventionally, there are cameras equipped with an aperture mechanism and an ND (Neutral Density) filter in the optical system. When the subject is bright, the aperture is closed, and when the subject is dark, the aperture is opened, allowing the subject to be captured with an appropriate amount of exposure. This improves the dynamic range of the captured image in different frames. The aperture mechanism controls (increases or decreases) the amount of light entering the image sensor, so the total amount of light in the captured image increases or decreases at the same ratio. The ND filter also increases or decreases the total amount of light in the captured image in the same way as the aperture mechanism.

[0003] There are also image sensors that control analog gain or exposure time for each single or multiple pixels. In these image sensors, the dynamic range of an image captured in the same frame can be improved by setting an appropriate amount of exposure for each single or multiple pixels (hereinafter referred to as a "pixel group") (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-136205 A Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 describes a method for determining an analog gain or exposure time for a certain aperture value, but does not mention how to control the aperture value when the brightness of the subject changes. Since there are limit values ​​(upper and lower limits) for the analog gain or exposure time that can be set, it is desirable to capture an image so that the analog gain or exposure time does not reach the limit values ​​by controlling the amount of light entering with an aperture mechanism. In view of the above-mentioned problems, an object of the present invention is to provide an imaging apparatus capable of capturing an image with appropriate exposure. [Means for solving the problem]

[0006] An imaging device according to one aspect of the present invention comprises an imaging means for imaging a subject, a first control means for controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging means, a second control means for controlling an amount of exposure to the imaging means based on a value controlled by the first control means, and a determination means for determining whether or not the value controlled by the first control means exceeds a predetermined threshold, and the second control means, depending on a determination result of the determination means, By controlling the aperture or the insertion / removal of an ND (Neutral Density) filter, The present invention is characterized in that the amount of exposure to the imaging surface is controlled. Effect of the Invention

[0007] According to the present invention, an image can be captured with appropriate exposure. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the functional configuration of an imaging apparatus according to a first embodiment. [Diagram 2] FIG. 1 is a block diagram showing an example of the hardware configuration of an imaging apparatus according to a first embodiment. [Diagram 3] 5 is a flowchart showing an example of the operation of the imaging apparatus according to the first embodiment. [Figure 4] FIG. 4 is a graph showing an example of the relationship between the amount of exposure and the brightness of a subject in the first embodiment. [Diagram 5]8 is a graph showing an example of the relationship between the amount of exposure and the brightness of a subject in the second embodiment. [Figure 6] 13 is a graph showing another example of the relationship between the amount of exposure and the brightness of the subject in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiment for carrying out the present invention will be described in detail with reference to the attached drawings. The embodiment described below is an example of a means for realizing the present invention, and should be appropriately modified or changed depending on the configuration of the device to which the present invention is applied and various conditions, and the present invention is not limited to the following embodiment. In addition, a configuration may be made by appropriately combining parts of each embodiment described later.

[0010] <First embodiment> FIG. 1 is a block diagram illustrating the functional configuration of an image capturing apparatus 100 according to this embodiment. The imaging device 100 includes an imaging optical system 101, an imaging unit 102, a system control unit 103, an imaging optical system control unit 104, an encoder unit 105, a network I / F 106, and a memory 107. The memory 107 includes volatile memory such as SRAM or DRAM, and non-volatile memory such as flash memory. The imaging optical system 101 includes one or more lens groups 101a, an aperture mechanism 101b, and an ND (Neutral Density) filter 101c. The imaging unit 102 includes an image sensor 102a, an amplifier 102b, an image processor 102c, and a pixel group controller 102d.

[0011] The imaging optical system 101 collects light from a subject on the light receiving surface of the imaging element 102a. The lens group 101a includes, for example, a zoom lens, a focus lens, and a blur correction lens. The diaphragm mechanism 101b attenuates the light from the subject. In this attenuation, the light (light amount) collected on the light receiving surface of the imaging element 102a is attenuated by the diaphragm mechanism 101b at a uniform rate regardless of the light receiving surface. The ND filter 101c attenuates the light from the subject. The diaphragm mechanism 101b and the ND filter 101c have a function of adjusting the light amount (exposure amount) to the imaging element 102a. In other words, the exposure amount to the imaging element 102a can be controlled (adjusted) by controlling the insertion and removal of the diaphragm mechanism 101b and / or the ND filter 101c. Each lens of the lens group 101a, the aperture mechanism 101b, and the ND filter 101c are provided with a photointerrupter or a Hall element for detecting their position, and the imaging device 100 controls the imaging optical system 101 based on position information from the photointerrupter or the Hall element.

[0012] The imaging unit 102 captures an image of a subject from light incident from the imaging optical system 101 to generate an image. The surface of the imaging unit 102 that receives light is called the imaging surface (light receiving surface). The aperture mechanism 101b and / or the ND filter 101c control the amount of exposure to the imaging surface. The imaging element 102a converts light from a subject collected on an imaging surface by the imaging optical system 101 into an electrical signal for each pixel and outputs the signal. The imaging element 102a can set and change at least one of an exposure time and an analog gain for each pixel or pixel group on the imaging surface. In this specification, a pixel group is a set of pixels consisting of one or more pixels, and each pixel group can be set to a different exposure time and analog gain. The imaging element 102a is an IC chip in which pixels made of photoelectric conversion elements are arranged in a matrix. The imaging element 102a is, for example, a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor. The imaging element 102a is mainly highly sensitive to visible light, and each pixel has high sensitivity to either red (R), green (G), or blue (B), but also has a certain degree of sensitivity to infrared light. Therefore, the image sensor 102a can capture a clear image of the subject during times when sunlight is present, and can also capture a clear image of a subject that is bright with infrared light, such as in a place illuminated by infrared lighting.

[0013] The amplifier 102b amplifies and outputs the electrical signal output from the image sensor 102a. The signal amplification factor (analog gain) of the amplifier 102b can be set and changed for each pixel or pixel group of the image sensor 102a. The image processing unit 102c converts the electrical signal, which is an analog signal output from the amplifier unit 102b, into a digital signal (performs A / D conversion). The image processing unit 102c performs signal processing, including demosaicing processing, white balance processing, gamma processing, etc., on the digital signal obtained by the A / D conversion to generate a digital image. The image processing unit 102c also performs brightness correction by amplifying or attenuating the digital value of the image signal corresponding to each pixel or pixel group based on the analog gain for each pixel or pixel group. The generated digital image is temporarily stored in the memory 107. At this time, the image processing unit 102c outputs an image file or a video file in a predetermined format, such as JPEG, H.264, or H.265, to the memory 107. The image processing unit 102c also acquires luminance information for each pixel or pixel group. Based on the luminance information acquired by the image processing unit 102c, the pixel group control unit 102d and the imaging optical system control unit 104 perform AE (Auto Exposure) control. The AE control controls the aperture value related to the imaging optical system 101 and the exposure time and analog gain related to the imaging unit 102. The image processing unit 102c also functions as an acquisition unit that acquires information on the exposure time and analog gain controlled by the pixel group control unit 102d.

[0014] The pixel group control unit 102d changes the amount of exposure of the imaging unit 102 by controlling at least one of the exposure time and the analog gain for each pixel group of the image sensor 102a. 1, the amplifier 102b, image processor 102c, and pixel group controller 102d are shown as separate from the image sensor 102a, but the image sensor 102a may include some or all of the amplifier 102b, image processor 102c, and pixel group controller 102d. The image sensor 102 may have a processor and memory element independent of the CPU 201, RAM 202, and ROM 203 shown in FIG. 2. The independent processor and memory element can be realized in one chip as a digital circuit stacked on the image sensor 102a.

[0015] In FIG. 1, the imaging device 100 has an imaging optical system 101, but the imaging optical system 101 may be detachably provided in the imaging device 100, like an interchangeable lens. In other words, the imaging device 100 does not always need to have the imaging optical system 101 as a component thereof. However, this embodiment can be applied only when the imaging device 100 has an aperture mechanism 101b that adjusts the amount of exposure or an ND filter 101c. When a detachable interchangeable lens is used, the imaging device 100 and the interchangeable lens are electrically connected, and the imaging device 100 controls the interchangeable lens.

[0016] The system control unit 103 includes a CPU 201 (FIG. 2), and performs overall control of each component of the imaging device 100 and sets various parameters (e.g., exposure time, analog gain, etc.) The system control unit 103 performs overall control so that each component of the imaging device 100 operates in a coordinated manner. The imaging optical system control unit 104 performs control related to the imaging optical system 101. The imaging optical system control unit 104 controls the exposure amount (exposure amount on the imaging surface) of the imaging element 102a by driving each lens of the lens group 101a, the diaphragm mechanism 101b, and the motor connected to the ND filter 101c. The control of the diaphragm mechanism 101b and the ND filter 101c is control related to the exposure amount, and the diaphragm mechanism 101b and the ND filter 101c are adjusted (controlled) so that the brightness of the image to be captured becomes an appropriate exposure amount. In this embodiment, the diaphragm mechanism 101b is taken as an example of an element that controls the exposure amount of the imaging element 102a, but the ND filter 101c can be applied in the same way. When the ND filter 101c is used as an element that controls the exposure amount of the imaging element 102a, it is desirable to adjust the amount of light reduction in stages using multiple ND filters 101c or a gradation ND filter. The aperture mechanism 101b can be set to a number of aperture control values ​​depending on the stop position of the motor. The closer the aperture of the aperture is, the more the exposure light is attenuated (decreased).

[0017] The encoder unit 105 encodes the image data processed by the image processing unit 102c into a predetermined file format such as Motion JPEG, H264, or H265. The network I / F 106 is an interface used for communication with an external information processing device 110 or a storage device 120 via a network 108. The imaging device 100 transmits image data encoded by the encoder unit 105 to the external information processing device 110 or the storage device 120 using the network I / F 106. The network I / F 106 (imaging device 100) receives a designation (command) of an area for image recognition and a designation (command) of a type of image recognition from the information processing device 110. The network I / F 106 also receives control commands for panning, tilting, zooming, aperture, exposure, etc. of the camera (imaging device 100) from the information processing device 110.

[0018] The network 108 is, for example, a local area network (LAN), and is composed of routers and the like that comply with communication standards such as Ethernet (registered trademark). The network 108 is connected to the imaging device 100, the information processing device 110, and the storage device 120 by LAN cables or the like. Note that the imaging device 100, the information processing device 110, and the storage device 120 may be connected by wired connections other than LAN, or may be connected wirelessly.

[0019] Each functional block (reference numerals 102b to 102d, 103 to 105) shown in FIG. 1 is realized by software. More specifically, a program for providing the function of each functional block in FIG. 1 is stored in a memory such as a ROM (Read Only Memory) 203 shown in FIG. 2. Then, the program is read into a RAM (Random Access Memory) 202 shown in FIG. 2 and executed by a CPU (Central Processing Unit) 201, thereby realizing the function. Note that some or all of the functional blocks may be realized by hardware. In this case, for example, a specific compiler may be used to automatically generate a dedicated circuit on an FPGA from a program for realizing the function of each functional block. FPGA is an abbreviation for Field Programmable Gate Array. Also, a gate array circuit may be formed in the same manner as an FPGA, and the function may be realized as hardware. Also, the function may be realized by an ASIC (Application Specific Integrated Circuit). Note that the functional block configuration shown in FIG. 1 is just an example, and multiple functional blocks may be integrated into one functional block, or one functional block may be divided into multiple functional blocks.

[0020] The hardware configuration of the imaging device 100 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the hardware configuration of the imaging device 100 according to this embodiment. The same reference numerals are used for parts that overlap with Fig. 1, and descriptions thereof will be omitted. The imaging device 100 includes an imaging optical system 101 , an imaging unit 102 , a CPU 201 , a RAM 202 , a ROM 203 , a motor driver 204 , and an I / F driver 205 . The CPU 201 is a central processing unit that controls the imaging apparatus 100 . The RAM 202 temporarily stores computer programs executed by the CPU 201. The RAM 202 also provides a work area used when the CPU 201 executes processes. The RAM 202 functions as a frame memory and a buffer memory.

[0021] The ROM 203 stores programs and the like used by the CPU 201 to control the image capture device 100. The RAM 2020 and the ROM 203 correspond to the memory 107 in FIG. The motor driver 204 drives the motor of the imaging optical system 101. The motor driver 204 receives a drive instruction (signal) from the CPU 201 and drives the motor in response to the drive instruction to move each lens of the imaging optical system 101, the aperture mechanism 101b, and the ND filter 101c to appropriate stop positions.

[0022] The I / F driver 205 is a driver that performs communication to realize a connection with an external interface such as an Ethernet PHY (physical layer).

[0023] The procedure and processing of aperture control for imaging apparatus 100 to capture an image with an appropriate exposure amount will be described with reference to the flowchart in FIG. In S301, the imaging device 100 captures a preliminary image. The exposure amount for the next frame is determined based on image data obtained in the preliminary image capture. The exposure amount is determined from the signal amplification factor (Sv value), exposure time (Tv value), and aperture value (Av value). The signal amplification factor is an analog gain. Exposure=Ev value can be expressed as in formula (1) using the Sv value, Tv value, and Av value. However, the units for the Ev value, Sv value, Tv value, and Av value are all in steps. Ev value = Av value + Tv value - Sv value (1)

[0024] The Ev value is an index of brightness; the higher the Ev value, the lower the exposure, making the exposure suitable for bright subjects. Conversely, the lower the Ev value, the higher the exposure, making the exposure suitable for dark subjects. Increasing the Av value means controlling the aperture to close (to make the image darker), and increasing the Av value decreases the exposure. Increasing the Tv value means controlling the exposure time to shorten (to make the image darker), and increasing the Tv value decreases the exposure. Increasing the Sv value means controlling the analog gain to increase (to make the image brighter), and increasing the Sv value increases the exposure.

[0025] For example, when any one of the Av, Tv, and Sv values ​​is increased by one step, the Ev value increases by one step. That is, the exposure amount can be reduced by one step, and it becomes easier to capture a bright subject. By controlling the Av, Tv, and Sv values ​​in this way, it becomes possible to capture a subject with an appropriate exposure amount. In addition, in order to simplify the following explanation, the exposure amount X of the imaging unit 102, which is the exposure amount that can be changed for each pixel group, the exposure amount Y of the imaging optical system 101, which is the exposure amount to the imaging unit 102, and the exposure amount Z, which is the exposure amount of the entire imaging device 100, are shown in formulas (2), (3), and (4), respectively. X, Y, and Z all indicate the exposure amount, and the larger the numerical value (in the positive direction), the larger the exposure amount.

[0026] X = -Tv value + Sv value (2) Y = -Av value (3) Z = X + Y = -Av value -Tv value + Sv value (= -Ev value) (4)

[0027] In S302, the imaging device 100 calculates the average luminance value for each pixel group of the image sensor 102a from the pre-captured image. This average value is treated as the luminance value of the pixel group. Note that, although the average value is used as the luminance value of the pixel group in this embodiment, the median value, maximum value, minimum value, or the like may also be used as the luminance value of the pixel group. In S303, the exposure amount X is calculated for each pixel group. First, the ratio between the luminance value for each pixel group obtained in S302 and the target luminance value is calculated. From this ratio and the exposure amount X of the preliminary image capture (previous frame), the exposure amount X (Sv value, Tv value) that allows image capture with the target luminance value in the next frame is calculated.

[0028] The target luminance value (target luminance value) is set by the designer or user, and is, for example, the median value of the dynamic range. When using an image sensor 102a with a data amount of 4096 (12 bits) per pixel, the target luminance value is set to about 2000, which is close to the median value of the dynamic range. By setting the target luminance value in this way, the subject can be captured without saturation (whiteout or blackout).

[0029] For example, if the average luminance value in a pixel group is 1 / 3 step brighter than the target luminance value, the exposure amount for the next frame can be decreased by 1 / 3 step to capture an image with an appropriate exposure amount. Therefore, the exposure amount X (Sv value, Tv value) is calculated by increasing the Tv value by 1 / 3 step (or decreasing the Sv value by 1 / 3 step). Instead of adjusting only one of the Tv value and the Sv value, both the Tv value and the Sv value may be adjusted so that imaging can be performed with an appropriate exposure amount. For example, the Tv value may be increased by 1 / 6 step and the Sv value may be decreased by 1 / 6 step to calculate the exposure amount X.

[0030] In S304, the imaging device 100 judges whether the aperture is stable. Specifically, for example, the judgment is made based on whether the movement (e.g., rotation speed) of the motor of the aperture mechanism 101b is stable. Since the aperture mechanism 101b is driven by a motor, it may take time for the control (motor movement, lens movement) to stabilize. If the aperture is not stable at the imaging timing, it may not be possible to correctly obtain information on the amount of exposure at the imaging timing. Therefore, it is judged whether the aperture is stable. If the aperture is not stable, the process proceeds to S309 and aperture control is not performed. If the aperture is stable, the process proceeds to S305 and it is determined whether to perform aperture control.

[0031] In S305, the imaging device 100 judges (determines) whether to control the aperture by comparing the exposure amount X for each pixel group with a threshold. Specifically, the imaging device 100 determines whether to control the aperture in the opening direction or the closing direction depending on whether the exposure amount X exceeds the threshold. Note that in this embodiment, the expression "exceeding the threshold" includes a case where the threshold is exceeded by exceeding the threshold and a case where the threshold is exceeded by falling below the threshold. In order to capture a dark area in a pixel group with a proper exposure, the Tv value and Sv value are set so that the exposure amount X of the imaging unit 102 is increased. However, since there is an upper limit to the settable exposure amount X (=-Tv value+Sv value), when the exposure amount X reaches the upper limit, the exposure amount X of the imaging unit 102 cannot be increased any more. Therefore, a threshold (upper limit threshold) is set near the upper limit of the exposure amount X, and when the exposure amount X exceeds the threshold (S305: Yes), that is, when the exposure amount X approaches the upper limit, the diaphragm is controlled in the opening direction. As a result, the diaphragm is controlled in the opening direction (the direction in which the Av value decreases), so the exposure amount Y increases, and the exposure amount Z, which is the exposure amount of the entire imaging device 100, increases. Since the exposure amount X can be reduced by the amount of increase in the exposure amount Y, it becomes possible to set the Tv value and Sv value to a value below the threshold. In other words, since it becomes possible to adjust the exposure amount without the Tv value and Sv value reaching the upper limit, it becomes possible to capture an image with an appropriate exposure amount for each pixel group.

[0032] The above description is about the exposure amount X for the dark area in the pixel group, but the exposure amount X for the bright area in the pixel group can be considered in the same way as for the dark area. In order to capture the bright area in the pixel group with the proper exposure, the Tv value and Sv value are set so that the exposure amount X of the imaging unit 102 is reduced. However, since there is a lower limit for the exposure amount X (=-Tv value+Sv value) that can be set, when the exposure amount X reaches the lower limit, it becomes impossible to reduce the exposure amount X of the imaging unit 102 beyond the lower limit. Therefore, a threshold value (lower limit threshold value) is set near the lower limit of the exposure amount X, and when the exposure amount X falls below the threshold value (S305: Yes), that is, when the exposure amount X approaches the lower limit, the diaphragm is controlled in the closing direction. As a result, the diaphragm is controlled in the closing direction (the direction in which the Av value increases), so the exposure amount Y is reduced, and the exposure amount Z, which is the exposure amount of the entire imaging device 100, is reduced. Since the exposure amount X can be increased by the amount of the reduction in the exposure amount Y, it becomes possible to set the Tv value and the Sv value to values ​​that exceed the threshold value. In other words, since it is possible to adjust the amount of exposure without the Tv value and Sv value reaching the lower limit, it is possible to perform imaging with an appropriate amount of exposure for each pixel group. If the determination result in S305 is No, the process proceeds to S309, whereas if the determination result in S305 is Yes, the process proceeds to S306.

[0033] In S306, the imaging device 100 calculates and determines the control amount (Av value) of the aperture. It is preferable that the control amount of the aperture is an amount that allows the exposure amount X to transition within a range that does not exceed a threshold value depending on the transition amount of the exposure amount Y. This makes it possible to reduce the number of times the aperture is controlled. In S307, the imaging apparatus 100 controls the motor of the aperture mechanism 101b so as to achieve the aperture control value (Av value) determined in S306.

[0034] In S308, the imaging device 100 corrects the exposure amount X (Sv value, Tv value) calculated in S303. Since the aperture control is performed in S307, the exposure amount Y (Av value) changes. Therefore, in order to shorten the time (number of frames) until the exposure amount becomes appropriate, the exposure amount X is corrected so that the exposure amount Z does not change due to the aperture control in S307. For example, when the exposure amount Y of the imaging optical system 101 increases by +1 step, the exposure amount X of the imaging unit 102 is corrected to decrease by -1 step. When the exposure amount X cannot be corrected, it is desirable to correct the brightness of the image by digital gain for the captured image. This makes it possible to appropriately set the image brightness to be delivered even when the exposure amount X cannot be corrected. However, when the brightness value is saturated, correction by digital gain becomes impossible. Therefore, when the exposure amount X cannot be corrected, it is desirable to control the aperture within a range in which the brightness is not saturated.

[0035] In S309, it is determined that imaging will be performed at the exposure amount X (Sv value, Tv value) calculated in S303 or the exposure amount X (Sv value, Tv value) corrected in S308. In S310, imaging is performed with the exposure amount X determined in S309. In S311, it is determined whether or not to end imaging. For example, when a user transmits an instruction (signal) to end imaging from the information processing device 110 to the imaging device 100 and the instruction is received via the network IF 106, the imaging device 100 determines to end imaging. If imaging is to be ended, the flow of FIG. 3 ends. If imaging is to be continued, the process proceeds to S302. In S302, an average luminance value is calculated for each pixel region of the imaging element 102a from the image captured in S310. Thereafter, control is performed in the same procedure.

[0036] The exposure amount will be described with reference to Fig. 4. Fig. 4 is a diagram showing the relationship between the exposure amount and the brightness of the subject according to this embodiment. Fig. 4 shows three graphs 401, 402, and 403. The vertical axis of graph 401 indicates the exposure amount X, the vertical axis of graph 402 indicates the exposure amount Y, and the vertical axis of graph 403 indicates the exposure amount Z. In each of graphs 401, 402, and 403, the horizontal axis indicates the brightness of the subject, and the horizontal axis has the same scale. The imaging device 100 determines the exposure amount Z so as to obtain (capture) an image at an appropriate brightness according to the brightness of the subject. Therefore, when the brightness of the subject is dark, the exposure amount Z (=X+Y) of the imaging device 100 is maximum. When the brightness of the subject is bright, the exposure amount Z (=X+Y) of the imaging device 100 is minimum.

[0037] The graph 401 of the exposure amount X shows two types of lines (a solid line 411 and a dashed line 412). The graph 403 of the exposure amount Z also shows two types of lines (a solid line 415 and a dashed line 416). The solid lines 411 and 415 show the exposure amount of the brightest region of the pixel group. The dashed lines 412 and 416 show the exposure amount of the darkest region of the pixel group. The exposure amount Y is determined by the aperture mechanism 101b of the imaging optical system 101. Therefore, the exposure amount Y is controlled uniformly for all pixel groups of the imaging element 102b. Since the exposure amount Y is the same in both bright and dark regions, the dashed lines are omitted and only the solid line 413 is shown in the graph 402 of the exposure amount Y.

[0038] In the graph 401 of the exposure amount X, the upper threshold 417 and the lower threshold 418 are indicated by dashed lines. The image capture device 100 controls the exposure amount Y by referring to the exposure amount X. When the brightness of the subject becomes brighter (transition from left to right in the graph 401), if the brightest area (solid line 411) in the graph 401 of the exposure amount X falls below the lower threshold 418 (if the threshold 418 is exceeded downward), the aperture is controlled in a direction to reduce the exposure amount Y (arrow 426). Conversely, when the brightness of the subject becomes darker (transition from right to left in the graph 401), if the darkest area (dashed line 412) exceeds the upper threshold 417 upward, the aperture is controlled in a direction to increase the exposure amount Y (arrow 430). In the graph 401 of FIG. 4, there are four points where the exposure amount X exceeds the thresholds 417 and 418, and these points are indicated by stars. Also, the arrows in the graph 401 of the exposure amount X and the graph 402 of the exposure amount Y indicate the transition direction of the exposure amount. For example, the leftmost transition arrows 420, 430 in the graphs 401, 402 indicate that the exposure amount Y transitions in an increasing direction and the exposure amount X transitions in a decreasing direction. At this time, by making the transition amount of the exposure amount Y and the transition amount of the exposure amount X the same, the exposure amount Z does not transition. This makes it possible to always set the exposure amount Z of the imaging device 100 to an appropriate exposure amount for the brightness of the subject. At this time, it is desirable to correct the exposure amount X in the same frame (S308), but the exposure amount may be adjusted by calculating the exposure amount X in the next frame or later in which the aperture control is performed without performing the correction.

[0039] In this manner, in this embodiment, by controlling the aperture (aperture mechanism 101b) with reference to the exposure amount X, it is possible to perform aperture control that allows imaging with appropriate exposure. In aperture control, when the transition time spans several frames, it is desirable to refer to the aperture value at the imaging timing and correct the exposure amount X in S308 of Fig. 3. This makes it possible to prevent hunting due to fluctuations in the exposure amount Z during aperture control.

[0040] Next, the aperture control amount (exposure amount Y) will be described. When the exposure amount X of the dark area exceeds the upper threshold 417, if the aperture control amount is large, the exposure amount X of the bright area may exceed (fall below) the lower threshold 418. Therefore, when the exposure amount X exceeds the upper threshold 417 and aperture control is performed, the difference between the exposure amount X of the bright area and the lower threshold 418 is calculated. Hunting can be prevented by setting the exposure amount that can be changed by aperture control to be smaller than the difference between the exposure amount X of the bright area and the lower threshold 418. Note that although the case where the exposure amount X exceeds the upper threshold 417 has been described, the same setting may be made when the exposure amount X exceeds the lower threshold 418.

[0041] Furthermore, if the amount of aperture control is small, the amount of exposure X will remain above the upper threshold 417, and it will become necessary to carry out aperture control again. Therefore, when the amount of exposure X in a dark area exceeds the upper threshold 417, it is desirable to set the amount of aperture control to be greater than the difference between the maximum value of the amount of exposure X and the upper threshold 417. This makes it possible to suppress the frequency of aperture control. Note that although the case where the amount of exposure X exceeds the upper threshold 417 has been described, a similar setting may also be used when the amount of exposure X exceeds the lower threshold 418.

[0042] Also, the amount of aperture control may be calculated from the maximum value (darkest area) and minimum value (brightest area) of the exposure X of the pixel group. The difference between the median value of the exposure between the darkest area and the brightest area (referred to as the "median value of exposure X") and the median value of the exposure between the upper threshold 417 and the lower threshold 418 (referred to as the "median value of thresholds") is calculated. By shifting the aperture control (exposure Y) by the difference in the median value of exposure, the median value of exposure X matches the median value of the thresholds. This makes it possible to prevent exposure X from being set near the thresholds 417 and 418, thereby reducing the frequency of aperture control.

[0043] Also, as a method of shortening the time (frames) until the exposure amount becomes appropriate, the faster the frame rate is, the faster the motor control of the aperture control can be. However, high-speed control increases the possibility of brightness hunting occurring. Also, in order to prevent brightness hunting, a limit may be placed on the transition amount of the exposure amount X. In this case, when performing aperture control, it is possible to shorten the time until the exposure amount becomes appropriate by relaxing the upper limit of the transition of the exposure amount.

[0044] In addition, as a method for reducing the deviation in the amount of exposure during aperture control, the amount of aperture transition per frame may be limited, thereby reducing the amount of deviation per frame. If the exposure amount X cannot be corrected, hunting can be prevented by fixing the exposure amount X at a constant value without changing it during the aperture transition. In this case, however, the captured image will not be properly exposed, so it is desirable to correct the captured image to have proper exposure using digital gain. In this case, if the brightness information becomes saturated (blocked shadows or blown out highlights) due to the exposure amount being changed by aperture control, correction using digital gain will not be possible. For this reason, it is desirable to suppress the amount of aperture transition and prevent the brightness information from becoming saturated.

[0045] If the aperture control cannot be synchronized with the imaging timing, the exposure amount Y becomes indefinite, which may result in exposure hunting. In order to shorten the period of hunting, it is desirable to set the aperture transition time and transition frequency to be short. The limits of the exposure amount X (upper threshold and lower threshold) are determined by the specifications of the image sensor 102 and the imaging apparatus 100. The limits of the exposure amount X are set by the designer of the imaging apparatus 100.

[0046] In FIG. 4, the brightest area (the pixel group with the lowest exposure) and the darkest area (the pixel group with the highest exposure) are described as examples. It is not necessary to refer to the exposure of all pixel groups. It is sufficient to compare the pixel group with the highest exposure or the pixel group with the lowest exposure with the thresholds 417 and 418. This makes it possible to reduce the amount of processing required for the determination.

[0047] In addition, in the present embodiment, the determination is performed for each pixel group, but an average value may be calculated for a plurality of pixel groups together and compared with the thresholds 417 and 418. This makes it possible to reduce the amount of processing required for the determination. In other words, the imaging optical system control unit 104 may control the amount of exposure to the imaging unit 102 for each area made up of a plurality of pixel groups. Also, a predetermined upper limit (threshold) may be set for the number of pixel groups that exceed the exposure thresholds 417, 418, and aperture control may be performed when the number of pixel groups that exceed the thresholds 417, 418 is greater than the predetermined upper limit. This makes it possible to reduce the influence of light sources that illuminate the subject with localized and extreme brightness, such as point light sources.

[0048] In one frame image, when the exposure amount X of the darkest region exceeds the threshold 417 and the exposure amount X of the brightest region exceeds the threshold 418, it is desirable to change the exposure amount Y by controlling the aperture in a direction in which the brightness information is not saturated with reference to the brightness information. This makes it possible to increase the number of pixel groups that can be captured with an appropriate exposure amount within the dynamic range of the imaging unit 102.

[0049] Also, a ratio limit may be set for the number or size of areas exceeding the upper threshold 417 and the number or size of areas exceeding the lower threshold 418. The exposure amount Y may be changed so as to fall within this ratio limit. For example, if a limit is set so that "bright areas exceeding the threshold 418: dark areas exceeding the threshold 417" = "1:1", it is possible to increase the number of pixel groups that can be captured with an appropriate exposure amount within the dynamic range of the imaging unit 102. Also, if "bright areas exceeding the threshold 418: dark areas exceeding the threshold 417" = "9:1", the dark areas are less likely to be saturated, making it easier to capture the dark areas. Furthermore, with the dark areas given top priority, when the exposure amount X exceeds the upper threshold 417, the exposure amount Y may be increased regardless of the exposure amount of the bright areas. In this case, after the exposure amount Y is changed, the lower threshold 418 of the exposure amount X will always be exceeded unless the brightness of the subject changes, so measures against hunting are taken regarding the control of the aperture. Three examples of measures are given below. The first countermeasure is to not perform the aperture control judgment for a certain period of time after the aperture control. This makes it possible to prevent hunting for a certain period of time. The second countermeasure is to set an upper limit (threshold) for the number of areas that exceed the threshold for the exposure. By setting the upper limit (threshold) to a value greater than the number of areas that exceed the threshold immediately after the aperture control, it is possible to prevent hunting immediately after the aperture control. The third countermeasure is to perform aperture control by referring to the difference in the exposure between the bright area and the dark area. The difference in the exposure between the bright area and the dark area is calculated, and when the difference in the exposure becomes small and the range of the brightness of the subject falls within the dynamic range of the imaging unit 102, aperture control is performed. This makes it possible to prevent hunting and perform aperture control while giving priority to the dark area. Note that although an example of controlling the dark area with the highest priority has been shown, the exposure Y may be changed in the same manner when giving priority to the bright area.

[0050] Although an example has been shown in which the amount of exposure to the imaging unit 102 is controlled by the diaphragm mechanism 101b, this can also be achieved by a mechanism for adjusting the amount of light, such as the ND filter 101c.

[0051] As described above, the imaging device 100 of this embodiment can adjust the exposure amount Z of the entire imaging device 100 to an appropriate value by adjusting the aperture value (exposure amount Y) based on the exposure time and the analog gain (exposure amount X), thereby enabling imaging with an appropriate exposure. In addition, in a conventional imaging element, a pixel group capturing an image of a dark area captures the image with a high analog gain, resulting in a large amount of noise relative to the signal. Therefore, it is difficult to distinguish between noise and signal. In other words, it is difficult to determine from brightness information whether an image is captured with appropriate exposure, and it is difficult to appropriately transition (adjust, change) the aperture. In the imaging device 100 of this embodiment, an upper limit value is set for the analog gain when capturing an image, so that the aperture can be appropriately transitioned.

[0052] Second Embodiment In the first embodiment, the aperture control is performed by referring to the exposure amount X having two parameters (Tv value and Sv value), but the aperture control may be performed by referring to only one parameter (Tv value or Sv value). In addition, when the Tv value or Sv value is fixed, it is not necessary to refer to the fixed parameter. In addition, when only one of the Tv value and Sv value is a parameter that can be set for each pixel group, it is sufficient to refer to only the parameter that can be set for each pixel group. In addition, when the Tv value and Sv value are increased or decreased while balancing the Tv value and Sv value, when one of the Tv value and Sv value exceeds a threshold value, it is predicted that the other is set to the limit or close to the limit. Therefore, even when the aperture control is performed by referring to only one of them, it is possible to capture an image with an appropriate exposure. In the second embodiment, the imaging device 100 of the first embodiment is used, and the same configurations and processes as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Below, differences from the first embodiment will be described.

[0053] A case where the exposure amount X has only the Tv value as a parameter will be described with reference to Fig. 5. In the case of Fig. 5, aperture control (adjustment of the exposure amount Y) is performed with reference to only the Tv value. Graph 501 in Fig. 5 is a graph showing the relationship between the exposure amount X and the brightness of the subject. Graph 502 is a graph showing the relationship between the exposure amount Y and the brightness of the subject. Graph 503 is a graph showing the relationship between the exposure amount Z and the brightness of the subject. 5, the exposure amount X=-Tv value, and aperture control is performed by referring only to the Tv value of the exposure amount X. An upper limit threshold 517 and a lower limit threshold 518 are set for the exposure amount X. As in the first embodiment, aperture control is performed when the Tv value exceeds the thresholds 517, 518. However, the exposure amount Z of the imaging device 100 is a value obtained by adding the exposure amount X and the exposure amount Y, and further adding the Sv value (Z=X+Y+Sv).

[0054] Next, a case where aperture control is performed by referring only to the Sv value will be described with reference to Fig. 6. Graph 601 in Fig. 6 is a graph showing the relationship between the amount of exposure X and the brightness of the subject. Graph 602 is a graph showing the relationship between the amount of exposure Y and the brightness of the subject. Graph 603 is a graph showing the relationship between the amount of exposure Z and the brightness of the subject. 6, the exposure amount X=Sv value, and aperture control is performed by referring to only the Sv value of the exposure amount X. An upper threshold 617 and a lower threshold 618 are set for the exposure amount X. As in the first embodiment, aperture control is performed when the Tv value exceeds the thresholds 617, 618. However, the exposure amount Z of the imaging device 100 is calculated by adding the exposure amount X and the exposure amount Y, and further adding a -Tv value (Z=X+Y-Tv). As shown in FIGS. 5 and 6, even when only the parameters (Tv value or Sv value) that can be set for each pixel group are referred to, imaging can be performed with an appropriate exposure by appropriately switching the aperture mechanism 101b.

[0055] <Other embodiments> The present invention can be realized by a process of reading and executing a program that realizes one or more functions of the above-mentioned embodiments. The program is supplied to a system or device via a network or a storage medium, and is read and executed by one or more processors in the computer of the system or device. The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0056] The disclosure of this embodiment includes the following configuration, method, and program. Configuration 1 An imaging means for imaging a subject; a first control means for controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging means; A second control means for controlling an amount of exposure to the imaging surface based on a value controlled by the first control means; An imaging device having the above configuration. Configuration 2 the imaging device further includes a determination unit that determines whether or not the value controlled by the first control unit exceeds a predetermined threshold value; 2. The imaging apparatus according to configuration 1, wherein the second control means controls an amount of exposure to the imaging surface in accordance with a result of the determination by the determination means. Configuration 3 The imaging device described in configuration 1, characterized in that when the values ​​controlled by the first control means take different values ​​in one frame image, the second control means controls the amount of exposure to the imaging surface based on the maximum or minimum value among the values ​​controlled by the first control means. Configuration 4 the predetermined thresholds include an upper threshold and a lower threshold, The imaging device described in configuration 2, characterized in that when the value controlled by the first control means exceeds the upper threshold and the determination means determines that the upper threshold has been exceeded, the second control means controls the amount of exposure to the imaging surface. Configuration 5 The imaging device described in configuration 4, characterized in that when the judgment means judges that the value controlled by the first control means has exceeded the lower threshold by falling below the lower threshold, the second control means controls the amount of exposure to the imaging surface. Configuration 6 6. The imaging device according to any one of configurations 1 to 5, wherein the first control means controls only the exposure time. Configuration 7 6. The imaging device according to any one of configurations 1 to 5, wherein the first control means controls only the gain. Configuration 8 The imaging device described in configuration 4 or 5, wherein the second control means controls the amount of exposure to the imaging surface based on the number of pixel groups that exceed the upper threshold and the number of pixel groups that exceed the lower threshold. Configuration 9 The imaging device described in configuration 4 or 5, characterized in that when a pixel group exceeding the upper threshold and a pixel group exceeding the lower threshold exist in one frame image, the second control means controls the amount of exposure to the imaging surface by referring to luminance information. Configuration 10 The imaging device described in configuration 4 or 5, characterized in that when there is a pixel group that exceeds the upper threshold and a pixel group that exceeds the lower threshold in one frame image, the second control means controls the amount of exposure to the imaging surface based on the ratio between the number of pixel groups that exceed the upper threshold and the number of pixel groups that exceed the lower threshold.

[0057] Configuration 11 The imaging device according to configuration 4 or 5, wherein when the second control means performs control to increase the amount of exposure to the imaging surface, the amount of increase is greater than the difference between the maximum value of the exposure amount of the imaging surface and the upper limit threshold. Configuration 12 The imaging device described in configuration 11, characterized in that when the second control means performs control to reduce the amount of exposure to the imaging surface, the amount of reduction is greater than the difference between the minimum value of the exposure amount of the imaging surface and the lower limit threshold. Configuration 13 The imaging device according to configuration 4 or 5, wherein when the second control means performs control to increase the amount of exposure to the imaging surface, the amount of increase is smaller than the difference between the minimum value of the exposure amount of the imaging surface and the lower limit threshold. Configuration 14 The imaging device described in configuration 13, characterized in that when the second control means performs control to reduce the amount of exposure to the imaging surface, the amount of reduction is smaller than the difference between the minimum value of the exposure amount of the imaging surface and the lower limit threshold. Configuration 15 The imaging device described in configuration 4 or 5, characterized in that when the second control means changes the amount of exposure to the imaging surface, the maximum value of the amount of exposure to the imaging surface does not exceed the upper threshold and the minimum value of the amount of exposure to the imaging surface does not fall below the lower threshold. Configuration 16 The imaging device described in configuration 4 or 5, characterized in that when the second control means changes the amount of exposure to the imaging surface, the amount of change is the difference between the median of the maximum and minimum values ​​of the exposure to the imaging surface and the median of the upper threshold and the lower threshold. Configuration 17 6. The imaging device according to any one of configurations 1 to 5, wherein the second control means controls the amount of exposure to the imaging surface for each area formed by a plurality of the pixel groups. Configuration 18 6. The imaging device according to any one of configurations 1 to 5, wherein the second control means controls the amount of exposure to the imaging surface by controlling insertion and removal of an aperture or an ND (Neutral Density) filter.

[0058] Method 1 A method for controlling an imaging device having an imaging unit, comprising: a first step of controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging unit; a second step of controlling an amount of exposure to the imaging unit based on the value controlled in the first step; The control method includes: Program 1 A computer of an imaging device having an imaging unit, a first step of controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging unit; a second step of controlling an amount of exposure to the imaging unit based on the value controlled in the first step; A program for executing. [Explanation of symbols]

[0059] 100 imaging device, 101 imaging optical system, 101b aperture mechanism, 101c ND filter, 102 imaging section, 102a imaging element, 102b amplifier section, 102c image processing section, 102d pixel group control section, 103 system control section, 104 imaging optical system control section, 201 CPU

Claims

1. An imaging means for imaging a subject; a first control means for controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging means; a second control means for controlling an amount of exposure to the imaging surface based on a value controlled by the first control means; a determination means for determining whether or not the value controlled by the first control means exceeds a predetermined threshold value, The second control means controls the amount of exposure to the imaging surface by controlling insertion / removal of an aperture or an ND (Neutral Density) filter in accordance with the determination result of the determination means.

2. The imaging device according to claim 1, characterized in that, when the values ​​controlled by the first control means take different values ​​in one frame image, the second control means controls the amount of exposure to the imaging surface based on the maximum or minimum value among the values ​​controlled by the first control means.

3. the predetermined thresholds include an upper threshold and a lower threshold, 2. The imaging device according to claim 1, wherein when the value controlled by the first control means exceeds the upper limit threshold and the determination means determines that the upper limit threshold has been exceeded, the second control means controls the amount of exposure to the imaging surface.

4. 4. The imaging device according to claim 3, wherein when the determination means determines that the value controlled by the first control means falls below the lower threshold and thereby exceeds the lower threshold, the second control means controls the amount of exposure to the imaging surface.

5. 5. The imaging apparatus according to claim 1, wherein the first control means controls only the exposure time.

6. 5. The imaging apparatus according to claim 1, wherein the first control means controls only the gain.

7. 5. The imaging device according to claim 4 , wherein the second control means controls the amount of exposure to the imaging surface based on the number of pixel groups that exceed the upper threshold and the number of pixel groups that exceed the lower threshold.

8. The imaging device according to claim 4, characterized in that when a pixel group exceeding the upper threshold and a pixel group exceeding the lower threshold exist in one frame image, the second control means controls the amount of exposure to the imaging surface by referring to luminance information.

9. 5. The imaging device according to claim 4, wherein, when there are pixel groups that exceed the upper threshold and pixel groups that exceed the lower threshold in one frame image, the second control means controls the amount of exposure to the imaging surface based on the ratio of the number of pixel groups that exceed the upper threshold to the number of pixel groups that exceed the lower threshold.

10. The imaging device according to claim 3 or 4, characterized in that when the second control means performs control to increase the amount of exposure to the imaging surface, the amount of increase is greater than the difference between the maximum value of the exposure amount of the imaging surface and the upper limit threshold.

11. The imaging device according to claim 10, characterized in that when the second control means performs control to reduce the amount of exposure to the imaging surface, the amount of reduction is greater than the difference between the minimum value of the amount of exposure to the imaging surface and the lower limit threshold.

12. The imaging device according to claim 3 or 4, characterized in that when the second control means performs control to increase the amount of exposure to the imaging surface, the amount of increase is smaller than the difference between the minimum value of the exposure amount of the imaging surface and the lower limit threshold.

13. The imaging device according to claim 12, characterized in that when the second control means performs control to reduce the amount of exposure to the imaging surface, the amount of reduction is smaller than the difference between the minimum value of the amount of exposure to the imaging surface and the lower limit threshold.

14. 5. The imaging device according to claim 3, wherein when the second control means changes the amount of exposure to the imaging surface, the maximum value of the amount of exposure to the imaging surface does not exceed the upper threshold value and the minimum value of the amount of exposure to the imaging surface does not fall below the lower threshold value.

15. The imaging device according to claim 3 or 4, characterized in that when the second control means changes the amount of exposure to the imaging surface, the amount of change is the difference between the median of the maximum and minimum values ​​of the exposure to the imaging surface and the median of the upper threshold and the lower threshold.

16. 5. The imaging apparatus according to claim 1, wherein the second control means controls an amount of exposure to the imaging surface for each area formed by a plurality of the pixel groups.

17. A method for controlling an imaging device having an imaging unit, comprising: a first step of controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging unit; a second step of controlling an amount of exposure to the imaging unit based on the value controlled in the first step; a determination step of determining whether or not the value controlled in the first step exceeds a predetermined threshold value, The control method is characterized in that in the second step, an amount of exposure to the imaging surface is controlled by controlling insertion / removal of an aperture or an ND (Neutral Density) filter depending on the result of the determination in the determination step.

18. A computer of an imaging device having an imaging unit, a first step of controlling at least one of an exposure time and a gain for each pixel or pixel group on an imaging surface of the imaging unit; a second step of controlling an amount of exposure to the imaging unit based on the value controlled in the first step; a determination step of determining whether or not the value controlled in the first step exceeds a predetermined threshold value; In the second step, a program for controlling the insertion / removal of an aperture or an ND (Neutral Density) filter in accordance with the result of the determination in the determination step, thereby controlling the amount of exposure to the imaging surface.

Images