Lens device, imaging device, lens device operation method, imaging device operation method, and program

Abstract

As one example, the present invention provides a lens device, an imaging device, an operation method for the lens device, an operation method for the imaging device, and a program which can move an image along a first axis and / or a second axis of an image sensor, even in a case in which a first drive shaft of a drive mechanism is inclined with respect to the first axis of the image sensor and / or a second drive shaft of the drive mechanism is inclined with respect to the second axis of the image sensor. A processor of the lens device acquires inclination information pertaining to the inclination of the first drive shaft of the drive mechanism with respect to the first axis of the image sensor and / or the inclination of the second drive shaft of the drive mechanism in relation to the second axis of the image sensor, and on the basis of the inclination information, implements control to move a moving lens along the first axis and / or the second axis in relation to the drive mechanism.

Description

Lens device, imaging device, lens device operation method, imaging device operation method, and program

[0001] The technology of the present disclosure relates to a lens device, an imaging device, a method for operating a lens device, a method for operating an imaging device, and a program.

[0002] Patent Literature 1 discloses an imaging device to which a lens device can be attached and detached, the imaging device including an imaging means having a plurality of photoelectric conversion units that receive incident light beams that pass through different pupil regions in the imaging optical system of the lens device and output a plurality of signals, a calculation means that acquires the signals output by the plurality of photoelectric conversion units and calculates a defocus amount, and a correction means that corrects the defocus amount calculated by the calculation means. The correction means performs image plane correction by correcting the defocus amount using correction information related to the optical characteristics of the lens device and correction information related to the tilt of the image plane of the imaging means.

[0003] Patent Document 2 discloses an imaging device that includes a lens barrel having a lens, an imaging element for receiving light that has passed through the lens and generating an imaging signal, a driving means for tilting either the imaging element or the lens with respect to a plane perpendicular to the optical axis of the lens, an aperture means for adjusting the amount of light that passes through the lens barrel, and a control means for controlling the driving means based on the changed aperture value or changed brightness when the aperture value of the aperture means or the brightness of an image captured by the imaging element changes, thereby tilting at least one of the lens and the imaging element.

[0004] Patent Document 3 discloses an image blur correction device that includes an imaging optical system and an imaging element that converts a subject image guided by the imaging optical system into an electrical signal, and that corrects image blur by moving the imaging element. The image blur correction device includes a fixing unit, an imaging element holding unit that holds the imaging element and moves together with the imaging element within a predetermined plane that is substantially perpendicular to the optical axis of the imaging optical system, a position restricting unit that restricts the position of the imaging element holding unit in the direction of the optical axis of the imaging optical system, a guide unit that guides the imaging element holding unit so that it can move within the predetermined plane that is substantially perpendicular to the optical axis of the imaging optical system, and a drive unit that applies a biasing force to the imaging element holding unit.

[0005] JP 2017-9640 A JP 2019-153880 A JP 2010-231168 A

[0006] As an example, one embodiment of the technology of the present disclosure provides a lens device, an imaging device, an operating method of a lens device, an operating method of an imaging device, and a program that can move an image along at least one of a first axis and a second axis even when there is at least one of a tilt of a first drive axis of the drive mechanism relative to a first axis of the image sensor and a tilt of a second drive axis of the drive mechanism relative to a second axis of the image sensor.

[0007] A first aspect of the technology of the present disclosure is a lens device that is attached to an imaging device body having an image sensor, and includes a processor, a memory connected to or built into the processor, a lens that includes a movable lens and focuses incident light on the image sensor, and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects both the optical axis and the first drive axis of the lens, wherein the processor acquires tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis, and controls the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0008] A second aspect of the technology of the present disclosure is a lens device according to the first aspect, in which the processor controls the drive mechanism to move the movable lens in a direction that shifts the image obtained by focusing light on the image sensor.

[0009] A third aspect of the technology of the present disclosure is a lens device according to the first or second aspect, in which the processor controls the drive mechanism to move the movable lens in a direction that corrects blurring of the image obtained by focusing light on the image sensor.

[0010] A fourth aspect of the technology of the present disclosure is a lens device according to any one of the first to third aspects, further comprising an external control device provided outside the imaging device including the imaging device body and the lens device, and a communication interface that communicates with at least one of the imaging device body, and the processor acquires tilt information transmitted from at least one of the external control device and the imaging device body and received by the communication interface.

[0011] A fifth aspect of the technology of the present disclosure is a lens device according to any one of the first to fourth aspects, further comprising a non-volatile memory, wherein the processor stores the acquired tilt information in the non-volatile memory and controls the drive mechanism to move the movable lens based on the tilt information stored in the non-volatile memory.

[0012] A sixth aspect of the technology of the present disclosure is a lens device according to any one of the first to fifth aspects, in which the tilt information is information calculated based on a control command to move the movable lens along at least one of the first drive axis and the second drive axis and multiple images obtained by capturing images with an image sensor before and after the movable lens moves based on the control command.

[0013] A seventh aspect of the technology of the present disclosure is a lens device according to any one of the first to sixth aspects, in which the tilt information is information calculated based on a plurality of images obtained by capturing images using an image sensor under imaging conditions that result in images with less noise than images obtained by normal imaging.

[0014] An eighth aspect of the technology of the present disclosure is a lens device according to any one of the first to seventh aspects, in which the tilt information is information calculated based on a plurality of images obtained by capturing images using an image sensor to which a sensitivity lower than the sensitivity of an image sensor that normally captures images is applied.

[0015] A ninth aspect of the technology of the present disclosure is a lens device according to any one of the first to eighth aspects, wherein the tilt information is information relating to at least one of a first tilt angle of the first drive shaft relative to a first axis as viewed along the optical axis and a second tilt angle of the second drive shaft relative to a second axis as viewed along the optical axis.

[0016] A tenth aspect of the technology of the present disclosure is a lens device according to the ninth aspect, in which the processor calculates, based on tilt information, a first movement amount by which the movable lens is moved along a first drive axis and a second movement amount by which the movable lens is moved along a second drive axis, and controls the drive mechanism to move the movable lens by the first movement amount along the first drive axis and the second movement amount along the second drive axis.

[0017] An eleventh aspect of the technology of the present disclosure is a lens device according to any one of the first to eighth aspects, wherein the tilt information includes a first movement amount for moving the movable lens along a first drive axis and a second movement amount for moving the movable lens along a second drive axis, and the first movement amount and the second movement amount are movement amounts calculated based on at least one of the tilt of the first drive axis with respect to the first axis as viewed along the optical axis and the tilt of the second drive axis with respect to the second axis as viewed along the optical axis.

[0018] A twelfth aspect of the technology of the present disclosure is a lens device according to any one of the first to eleventh aspects, further comprising a non-volatile memory, and the processor stores first registration information regarding the imaging device body, second registration information regarding the lens device, and associated information associating the tilt information in the non-volatile memory.

[0019] A thirteenth aspect of the technology of the present disclosure is a lens device according to the twelfth aspect, in which a processor acquires first identification information relating to an imaging device body to which the lens device is attached, second identification information relating to the lens device, and related information, and extracts tilt information from the related information when the first registration information and the first identification information match and when the second registration information and the second identification information match.

[0020] A fourteenth aspect of the technology of the present disclosure is a lens device according to the thirteenth aspect, in which the processor performs processing that contributes to updating the tilt information when the first registration information and the first identification information are different, or when the second registration information and the second identification information are different.

[0021] A fifteenth aspect of the technology of the present disclosure is a lens device according to the thirteenth or fourteenth aspect, in which the processor controls to issue an alert when the first registration information and the first identification information are different, or when the second registration information and the second identification information are different.

[0022] A sixteenth aspect of the technology of the present disclosure is a lens device according to any one of the first to fifteenth aspects, in which the processor acquires image height position designation information that designates an image height position indicating the height position on the light receiving surface of the image sensor of the center of an image obtained by focusing light on the image sensor, image shift amount designation information that designates the shift amount by which the image is shifted, and tilt information, and controls the drive mechanism to move the movable lens by an amount of movement that obtains the shift amount at the image height position, based on the image height position designation information, image shift amount designation information, and tilt information.

[0023] A seventeenth aspect of the technology of the present disclosure is a lens device according to any one of the first to sixteenth aspects, which is arranged closer to the subject than the image sensor and includes an optical filter that transmits near-infrared light contained in the light.

[0024] An 18th aspect of the technology of the present disclosure is an imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, wherein the lens device comprises: a processor; a memory connected to or built into the processor; a lens including a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects both the optical axis and the first drive axis of the lens, wherein the processor acquires tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis, and controls the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0025] A 19th aspect of the technology of the present disclosure is an imaging device according to the 18th aspect, in which a processor controls a drive mechanism to move a movable lens to a position where an image obtained by focusing the light on the image sensor shifts at a pitch equal to or greater than the pixel pitch of the image sensor or a pitch less than the pixel pitch of the image sensor, causes the image sensor to capture an image in accordance with the shift of the image, and combines multiple frame images obtained by capturing the image.

[0026] A twentieth aspect of the technology of the present disclosure is a method for operating a lens device attached to an imaging device, the method comprising: a lens including a movable lens that focuses incident light on an image sensor of the imaging device body; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects both the optical axis and the first drive axis of the lens, the method including: acquiring tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0027] A 21st aspect of the technique of the present disclosure is a method for operating an imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, the lens device including a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects each of the optical axis and the first drive axis of the lens, the method including: acquiring tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0028] A 22nd aspect of the technology of the present disclosure is a program for causing a computer applied to a lens device attached to the imaging device body to execute processing including: acquiring tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0029] A 23rd aspect of the technology of the present disclosure is a program for causing a computer applied to an imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, the lens device including a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects each of the optical axis and the first drive axis of the lens, to execute processing including acquiring tilt information regarding at least one of the tilt of the first drive axis with respect to the first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis with respect to the second axis of the image sensor as viewed along the optical axis, and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

[0030] FIG. 1 is a block diagram showing an example of the configuration of a surveillance system according to a first embodiment of the technology of the present disclosure. FIG. 2 is a perspective view showing an example of the configuration of a filter unit and an image sensor according to the first embodiment of the technology of the present disclosure. FIG. 3 is a front view showing an example of the configuration of a main part of an image sensor according to the first embodiment of the technology of the present disclosure. FIG. 4 is a block diagram showing an example of the configuration of a surveillance camera body according to the first embodiment of the technology of the present disclosure. FIG. 5 is a block diagram showing an example of the configuration of a lens device according to the first embodiment of the technology of the present disclosure. FIG. 6 is a block diagram showing an example of the configuration of a management device according to the first embodiment of the technology of the present disclosure. FIG. 7 is a front view showing an example in which the X2 axis and the Y2 axis of the lens device are tilted with respect to the X1 axis and the Y1 axis of the surveillance camera body according to the first embodiment of the technology of the present disclosure. FIG. 8 is a block diagram showing an example of the functional configuration of a CPU of the management device according to the first embodiment of the technology of the present disclosure. FIG. 9 is a block diagram showing an example of a configuration for acquiring a first image according to the first embodiment of the technology of the present disclosure. FIG. 10 is a block diagram showing an example of a configuration for acquiring a second image according to the first embodiment of the technology of the present disclosure. FIG. 11 is a block diagram showing an example of a configuration for calculating a tilt angle θx according to the first embodiment of the technology of the present disclosure. FIG. 12 is a block diagram showing an example of a configuration for acquiring a third image according to the first embodiment of the technology of the present disclosure. FIG. 13 is a block diagram showing an example of a configuration for calculating a tilt angle θy according to the first embodiment of the technology of the present disclosure. FIG. 1 is a block diagram showing an example of transmission and reception of tilt information between a management device and a lens device according to a first embodiment of the technology of the present disclosure. FIG. 2 is a block diagram showing an example of the functional configuration of a CPU of a lens device according to a first embodiment of the technology of the present disclosure. FIG. 3 is a block diagram showing an example of a configuration for executing a shift process for shifting an image in the X1 axis direction according to the first embodiment of the technology of the present disclosure. FIG. 4 is a block diagram showing an example of a configuration for executing a shift process for shifting an image in the Y1 axis direction according to the first embodiment of the technology of the present disclosure. FIG. 5 is a block diagram showing an example of a composite image obtained from a plurality of images by a CPU of a surveillance camera body according to a first embodiment of the technology of the present disclosure. FIG. 6 is a block diagram showing an example of a configuration for executing a blur correction process for correcting blur in the X1 axis direction of an image according to the first embodiment of the technology of the present disclosure.FIG. 10 is a flowchart showing an example of the flow of tilt information output processing according to the first embodiment of the technology of the present disclosure. FIG. 11 is a flowchart showing an example of the flow of shift processing according to the first embodiment of the technology of the present disclosure. FIG. 12 is a flowchart showing an example of the flow of shake correction processing according to the first embodiment of the technology of the present disclosure. FIG. 13 is a block diagram showing an example of the configuration of a monitoring system according to a second embodiment of the technology of the present disclosure. FIG. 14 is a flowchart showing an example of the flow of tilt information output processing according to the second embodiment of the technology of the present disclosure. FIG. 15 is a side view showing an example of the optical characteristics of a shake correction lens according to a third embodiment of the technology of the present disclosure. FIG. 16 is a block diagram showing an example of the configuration of a monitoring system according to the third embodiment of the technology of the present disclosure.

[0031] Hereinafter, examples of embodiments of a lens device, an imaging device, a method for operating a lens device, a method for operating an imaging device, and a program according to the techniques of the present disclosure will be described with reference to the accompanying drawings.

[0032] First, the terms used in the following description will be explained.

[0033] CPU is an abbreviation for "Central Processing Unit". GPU is an abbreviation for "Graphics Processing Unit". NVM is an abbreviation for "Non-Volatile Memory". RAM is an abbreviation for "Random Access Memory". IC is an abbreviation for "Integrated Circuit". ASIC is an abbreviation for "Application Specific Integrated Circuit". PLD is an abbreviation for "Programmable Logic Device". FPGA is an abbreviation for "Field-Programmable Gate Array". SoC is an abbreviation for "System-on-a-chip". SSD is an abbreviation for "Solid State Drive". HDD is an abbreviation for "Hard Disk Drive". EEPROM is an abbreviation for "Electrically Erasable and Programmable Read Only Memory". SRAM is an abbreviation for "Static Random Access Memory". I / F is an abbreviation for "Interface". UI is an abbreviation for "User Interface". USB is an abbreviation for "Universal Serial Bus". CMOS is an abbreviation for "Complementary Metal Oxide Semiconductor". CCD is an abbreviation for "Charge Coupled Device". LAN is an abbreviation for "Local Area Network". WAN is an abbreviation for "Wide Area Network". BPF is an abbreviation for "Band Pass Filter". Ir is an abbreviation for "Infrared Rays".

[0034] In the description of this specification, "vertical" refers to vertical in the sense of including, in addition to perfectly vertical, an error that is generally acceptable in the technical field to which the technology of the present disclosure belongs and that does not violate the spirit of the technology of the present disclosure. In the description of this specification, "horizontal" refers to horizontal in the sense of including, in addition to perfectly horizontal, an error that is generally acceptable in the technical field to which the technology of the present disclosure belongs and that does not violate the spirit of the technology of the present disclosure. In the description of this specification, "parallel" refers to parallel in the sense of including, in addition to perfectly parallel, an error that is generally acceptable in the technical field to which the technology of the present disclosure belongs and that does not violate the spirit of the technology of the present disclosure. In the description of this specification, "orthogonal" refers to orthogonal in the sense of including, in addition to perfectly perpendicular, an error that is generally acceptable in the technical field to which the technology of the present disclosure belongs and that does not violate the spirit of the technology of the present disclosure. In the description of this specification, "coincidence" refers to coincidence in the sense of including, in addition to perfect coincidence, an error that is generally acceptable in the technical field to which the technology of the present disclosure belongs and that does not violate the spirit of the technology of the present disclosure. In the description of this specification, "equally spaced" refers to not only perfectly evenly spaced intervals, but also equal intervals that include errors that are generally acceptable in the technical field to which the technology of the present disclosure belongs and that do not contradict the spirit of the technology of the present disclosure.

[0035] First Embodiment First, the first embodiment will be described.

[0036] 1, a monitoring system S includes a monitoring camera 10 and a management device 200. The monitoring camera 10 is an example of an "imaging device" according to the technology of the present disclosure, and the management device 200 is an example of an "external control device."

[0037] The surveillance camera 10 is installed, for example, on a pillar or wall indoors or outdoors. The management device 200 is provided outside the imaging device, for example, in a management room in a management building. The surveillance camera 10 includes a surveillance camera body 20 and a lens device 70. The surveillance camera body 20 is an example of an "imaging device body" according to the technology of the present disclosure. The surveillance camera body 20 includes a lens mount 22. The lens device 70 is separate from the surveillance camera body 20 and is detachably attached to the lens mount 22.

[0038] The surveillance camera body 20 includes a controller 40 and a communication I / F 60, the lens device 70 includes a controller 90 and a communication I / F 100, and the management device 200 includes a controller 210 and a communication I / F 220. Each communication I / F includes, for example, a USB interface, a wired LAN, a wireless LAN, a Bluetooth (registered trademark) interface, etc. The communication I / F 220 of the management device 200 is communicably connected to the communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70 via a wired or wireless connection. When the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, a connector (not shown) provided on the surveillance camera body 20 and a connector (not shown) provided on the lens device 70 are connected. The communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70 are communicably connected.

[0039] 1 corresponds to the pitch axis of the surveillance camera 10, the Y axis corresponds to the yaw axis of the surveillance camera 10, and the Z axis corresponds to the roll axis of the surveillance camera 10. Hereinafter, the direction along the X axis will be referred to as the X-axis direction, the direction along the Y axis will be referred to as the Y-axis direction, and the direction along the Z axis will be referred to as the Z-axis direction. The X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to one another.

[0040] (Surveillance camera 10) The surveillance camera body 20 includes an image sensor 24. The image sensor 24 is, for example, a CMOS image sensor that photoelectrically converts received light and outputs an electrical signal corresponding to the received light. The CMOS image sensor is merely an example, and the image sensor 24 may be an image sensor that operates in a different manner from a CMOS image sensor, such as a CCD image sensor.

[0041] The image sensor 24 has a light-receiving surface 24A. The imaging area light incident on the lens device 70 is focused on the light-receiving surface 24A by the lens device 70. An image is obtained by focusing the imaging area light on the light-receiving surface 24A. A plurality of photodiodes are arranged in a matrix on the light-receiving surface 24A. Each photodiode receives the imaging area light. The image sensor 24 captures an image of the imaging area by receiving the imaging area light. As an example, the plurality of photodiodes include silicon photodiodes sensitive to visible light and indium gallium arsenide photodiodes sensitive to near-infrared light. The image sensor 24 captures images of each of the visible light and near-infrared light contained in the imaging area light focused on the light-receiving surface 24A.

[0042] The lens device 70 has an optical axis OA. For example, the optical axis OA passes through the center of the light-receiving surface 24A and is perpendicular to the light-receiving surface 24A. The optical axis OA is parallel to the Z axis. For example, the lens device 70 includes an objective lens 72, a zoom lens 74, a blur correction lens 76, an aperture 78, a filter unit 80, and a master lens 82. The objective lens 72, the zoom lens 74, the blur correction lens 76, the aperture 78, the filter unit 80, and the master lens 82 are arranged in this order from the subject side to the image side along the optical axis OA.

[0043] The blur correction lens 76 is an example of a "moving lens" according to the technology of the present disclosure. Furthermore, the plurality of lenses including the objective lens 72, the zoom lens 74, the blur correction lens 76, the filter unit 80, and the master lens 82 are an example of a "lens" according to the technology of the present disclosure. The optical axis OA is an axis passing through the centers of the objective lens 72, the zoom lens 74, the blur correction lens 76, and the master lens 82. The optical axis OA is also the optical axis OA of each of the objective lens 72, the zoom lens 74, the blur correction lens 76, and the master lens 82. The optical axis OA is an example of an "optical axis of a lens" according to the technology of the present disclosure.

[0044] Light from the imaging area is incident on the objective lens 72. The objective lens 72 guides the incident light from the imaging area to the zoom lens 74. The zoom lens 74 is made up of a lens group having a plurality of lenses that are movable along the optical axis OA, and is used for zooming the imaging area.

[0045] The blur correction lens 76 is a lens for correcting blur of the image obtained by focusing the imaging area light on the image sensor 24 as described below, and is also a lens for shifting the image along the light receiving surface 24A of the image sensor 24.

[0046] The diaphragm 78 has an opening 78A. The imaging area light guided by the zoom lens 74 passes through the opening 78A. The diaphragm 78 is a movable diaphragm 78 that can change the diameter of the opening 78A. In other words, the amount of imaging area light is changed by the diaphragm 78.

[0047] The filter unit 80 is disposed closer to the subject than the image sensor 24. As an example, the filter unit 80 is disposed between the diaphragm 78 and the master lens 82. The imaging area light that has passed through the diaphragm 78 is incident on the filter unit 80. As will be described in detail later, the filter unit 80 has a plurality of optical filters that are translucent, and by switching between optical filters that transmit light among the plurality of optical filters, the filter unit 80 selectively transmits light of a plurality of wavelength bands included in the imaging area light (for example, visible light and near-infrared light of different wavelength bands within the near-infrared wavelength band).

[0048] The imaging area light that has passed through the filter unit 80 is incident on the master lens 82, and the imaging area light that has entered the master lens 82 is imaged on the light receiving surface 24A. In this way, the imaging area light that has entered the lens device 70 is guided to the image sensor 24 by the multiple lenses provided in the lens device 70, and is imaged on the light receiving surface 24A of the image sensor 24.

[0049] The objective lens 72, zoom lens 74, blur correction lens 76, diaphragm 78, filter unit 80, and master lens 82 may be arranged in an order other than that described above. Each of the objective lens 72, zoom lens 74, blur correction lens 76, and master lens 82 may be a single lens or a lens group having multiple lenses. The lens device 70 may also include other lenses in addition to the objective lens 72, zoom lens 74, blur correction lens 76, and master lens 82.

[0050] (Filter Unit) As shown in FIG. 2 as an example, the filter unit 80 includes a circular plate 84. As an example, the circular plate 84 is provided with a plurality of optical filters, including an Ir cut filter 86, a first BPF 88A, a second BPF 88B, a third BPF 88C, and a fourth BPF 88D, spaced at equal intervals along the circumferential direction. Hereinafter, unless there is a need to distinguish between them, the Ir cut filter 86, the first BPF 88A, the second BPF 88B, the third BPF 88C, and the fourth BPF 88D will be referred to as optical filters. Furthermore, below, unless there is a need to distinguish between them, the first BPF 88A, the second BPF 88B, the third BPF 88C, and the fourth BPF 88D will be referred to as BPFs 88.

[0051] The filter unit 80 uses a turret system to selectively insert and remove a plurality of optical filters into and from the optical path (hereinafter simply referred to as the "optical path") of imaging area light within the lens device 70. Specifically, the Ir cut filter 86, the first BPF 88A, the second BPF 88B, the third BPF 88C, and the fourth BPF 88D are selectively inserted and removed from the optical path (the optical axis OA in the example shown in FIG. 2) by rotating the disk 84 in the circumferential direction (for example, the direction of the dashed arc arrow shown in FIG. 2). As a result, the Ir cut filter 86, the first BPF 88A, the second BPF 88B, the third BPF 88C, and the fourth BPF 88D transmit light of different wavelength bands.

[0052] When an optical filter is inserted into the optical path, the optical axis OA passes through the center of the optical filter, and the center of the optical filter inserted into the optical path coincides with the center of the light-receiving surface 24 A. In the example shown in Fig. 2, since the Ir cut filter 86 is inserted into the optical path, the optical axis OA passes through the center of the Ir cut filter 86, and the center of the Ir cut filter 86 coincides with the center of the light-receiving surface 24 A.

[0053] The Ir cut filter 86 is an optical filter that cuts out infrared light and transmits only light other than infrared light. The BPF 88 is an optical filter that transmits near-infrared light. The first BPF 88A, the second BPF 88B, the third BPF 88C, and the fourth BPF 88D each transmit near-infrared light of a different wavelength band.

[0054] The first BPF 88A is an optical filter corresponding to a band near 1000 nm (nanometers). That is, the first BPF 88A transmits only near-infrared light in a band near 1000 nm. The second BPF 88B is an optical filter corresponding to a band near 1250 nm. That is, the second BPF 88B transmits only near-infrared light in a band near 1250 nm. The third BPF 88C is an optical filter corresponding to a band near 1550 nm. That is, the third BPF 88C transmits only near-infrared light in a band near 1550 nm. The fourth BPF 88D is an optical filter corresponding to a band near 2150 nm. That is, the fourth BPF 88D transmits only near-infrared light in a band near 2150 nm. Note that each of the bands listed here includes errors that are generally acceptable in the technical field to which the technology of the present disclosure belongs and that do not deviate from the spirit of the technology of the present disclosure. Also, each of the wavelength bands listed here is merely an example, and each may be a different wavelength band.

[0055] 3, the image sensor 24 has a light receiving section 26 and a color filter section 28. The light receiving section 26 has a plurality of first light receiving elements 30 and a plurality of second light receiving elements 32. An example of the first light receiving elements 30 is an indium gallium arsenide photodiode. An example of the second light receiving elements 32 is a silicon photodiode.

[0056] A color filter section 28 is disposed above the plurality of first light receiving elements 30 and the plurality of second light receiving elements 32. The color filter section 28 has an Ir filter, an R filter, a G filter, and a B filter. The Ir filter is a filter that transmits near-infrared (Ir) component light. The R filter is a filter that transmits red (R) component light. The G filter is a filter that transmits green (G) component light. The B filter is a filter that transmits blue (B) component light.

[0057] The first light receiving element 30 is a light receiving element sensitive to Ir component light. The second light receiving elements 32 are broadly divided into light receiving elements 32R sensitive to R component light, light receiving elements 32G sensitive to G component light, and light receiving elements 32B sensitive to B component light.

[0058] An Ir filter is disposed on the first light receiving element 30. An R filter is disposed on the light receiving element 32R. A G filter is disposed on the light receiving element 32G. A B filter is disposed on the light receiving element 32B. Each of the light receiving elements 32R, 36G, and 36B is further provided with a filter that blocks near-infrared light.

[0059] In the image sensor 24 configured in this manner, the multiple first light receiving elements 30 receive near-infrared light that has passed through one of the multiple BPFs 88, and generate and output a near-infrared light image 64 based on the received near-infrared light, while the multiple second light receiving elements 32 receive visible light that has passed through the Ir cut filter 86, and generate and output a visible light image 62 based on the received visible light.

[0060] (Surveillance Camera Main Body) As shown in FIG. 4 as an example, the surveillance camera main body 20 includes a controller 40 and a UI device 50. The controller 40 controls the operation of the surveillance camera main body 20. The controller 40 includes a CPU 42, an NVM 44, and a RAM 46. The CPU 42, the NVM 44, and the RAM 46 are connected to a bus 48. The CPU 42 of the surveillance camera main body 20 is communicably connected to a CPU 212 (see FIG. 6) of the management device 200, which will be described later, via a communication I / F 60 of the surveillance camera main body 20 and a communication I / F 220 (see FIG. 6) of the management device 200. The CPU 42 of the surveillance camera main body 20 controls the operation of the surveillance camera main body 20 in accordance with instructions provided by the CPU 212 of the management device 200.

[0061] The NVM 44 stores various parameters and various programs. An example of the NVM 44 is an EEPROM (for example, a flash EEPROM). The EEPROM is merely one example of the NVM 44. The NVM 44 may be any of various non-volatile storage devices such as an SSD and / or an HDD. The RAM 46 temporarily stores various information and is used as a work memory. An example of the RAM 46 is a DRAM. The DRAM is merely one example of the RAM 46. The RAM 46 may be an SRAM or any of various volatile storage devices.

[0062] Various programs are stored in the NVM 44. The CPU 42 reads out necessary programs from the NVM 44 and executes the read programs on the RAM 46. The CPU 42 executes various processes in accordance with the programs executed on the RAM 46.

[0063] The UI device 50 is also connected to the bus 48. Under the control of the CPU 42, the UI device 50 receives instructions given by the user and presents to the user various pieces of information obtained through processing by the surveillance camera main body 20.

[0064] The surveillance camera body 20 also includes an image sensor driver 52, a signal processing device 54, a blur amount detection sensor 56, and a communication I / F 60. The image sensor driver 52, the signal processing device 54, the blur amount detection sensor 56, and the communication I / F 60 are connected to the bus 48.

[0065] 1, the image sensor 24 is located on the optical axis OA after the master lens 82, i.e., closer to the image side than the master lens 82. As shown in FIG. 2, with an Ir cut filter 86 disposed on the optical axis OA, the image sensor 24 captures an image of the imaging area based on visible light formed on the light receiving surface 24A by the master lens 82, thereby generating a visible light image 62 shown in FIG. 3, and outputs the generated visible light image 62 to a downstream stage. The visible light image 62 is an image that shows the imaging area captured by visible light.

[0066] With the BPF 88 (see FIG. 2) disposed on the optical axis OA, the image sensor 24 captures an image of the imaging area based on near-infrared light focused on the light receiving surface 24A by the master lens 82, thereby generating a near-infrared image 64 shown in FIG. 3 and outputting the generated near-infrared image 64 to a subsequent stage. The near-infrared image 64 is an image showing the imaging area captured by near-infrared light. Note that, hereinafter, unless it is necessary to distinguish between the near-infrared image 64 and the visible light image 62, they will be referred to as "captured images" without being assigned reference numerals.

[0067] 4, an image sensor driver 52 and a signal processing device 54 are connected to the image sensor 24. Under the control of the CPU 42, the image sensor driver 52 outputs a timing control signal to the image sensor 24. The timing control signal is a signal that controls image capture by the image sensor 24. The frame rate of image capture by the image sensor 24 is determined by the timing control signal.

[0068] The timing control signals include a vertical synchronization signal and a horizontal synchronization signal. The vertical synchronization signal is a signal that determines the timing for starting transmission of one frame of analog image. The horizontal synchronization signal is a signal that determines the timing for starting output of one horizontal line of analog image. The image sensor 24 starts outputting the captured image to the signal processing device 54 in frame units in accordance with the vertical synchronization signal input from the image sensor driver 52. The image sensor 24 also starts outputting the captured image to the signal processing device 54 in horizontal line units in accordance with the horizontal synchronization signal input from the image sensor driver 52.

[0069] Under the control of the CPU 42, the signal processing device 54 performs signal processing such as demosaic processing, noise removal processing, gradation correction processing, and color correction processing on the captured image input from the image sensor 24. The signal-processed captured image is output to the CPU 42 by the signal processing device 54. The CPU 42 stores the captured image input from the signal processing device 54 in a predetermined storage area (for example, the NVM 44 and / or the RAM 46).

[0070] The shake amount detection sensor 56 detects the amount of shake (hereinafter simply referred to as "shake amount") of the surveillance camera 10 shown in FIG. 1, for example. Shake of the surveillance camera 10 refers to a phenomenon in which the positional relationship between the optical axis OA and the light receiving surface 24A of the surveillance camera 10 fluctuates. Shake of the surveillance camera 10 causes image blur. Examples of images include an image obtained by capturing an image with the image sensor 24 and / or an optical image obtained by focusing on the light receiving surface 24A (hereinafter simply referred to as "image" or "subject image"). "Image blur" refers to a phenomenon in which the subject image is displaced from a reference position due to tilting of the optical axis OA caused by vibration, i.e., a phenomenon in which the subject image is displaced from a reference position due to relative movement of the optical axis OA with respect to the subject. The vibration phenomenon refers to a phenomenon in which the lens device 70 vibrates due to vibrations transmitted to the lens device 70 from outside the surveillance camera 10 (e.g., a hand, wind, and / or a vehicle) and / or inside the surveillance camera 10 (e.g., a motor mounted on the surveillance camera 10). Furthermore, "tilting of the optical axis OA" means, for example, that the optical axis OA is tilted with respect to a reference axis (e.g., the optical axis OA before the vibration phenomenon occurs (i.e., the optical axis OA when the surveillance camera 10 is stationary)). Furthermore, the "reference position" refers, for example, to the position of the subject image obtained when no vibration is applied to the lens device 70 (e.g., the position of the subject image within the light-receiving surface 24A).

[0071] The shake amount detection sensor 56 shown in Fig. 4 is, for example, a gyro sensor. The gyro sensor detects the amount of rotational shake around each of the X-axis, Y-axis, and Z-axis. The shake amount detection sensor 56 detects the amount of shake of the surveillance camera 10 by converting the amount of rotational shake around the X-axis and the amount of rotational shake around the Y-axis detected by the gyro sensor into the amount of shake in a two-dimensional plane parallel to the X-axis and Y-axis. Note that the meaning of "parallel" includes not only perfect parallelism but also approximately parallelism that includes tolerances allowed in design and manufacturing.

[0072] Here, a gyro sensor is given as an example of the shake amount detection sensor 56, but this is merely an example, and the shake amount detection sensor 56 may also be an acceleration sensor. The acceleration sensor detects the amount of shake in a two-dimensional plane parallel to the X-axis and Y-axis. The shake amount detection sensor 56 outputs the detected amount of shake to the CPU 42.

[0073] Furthermore, although an example in which the amount of blur is detected by a physical sensor, namely, the blur amount detection sensor 56, is given here, the technology of the present disclosure is not limited to this. For example, a motion vector obtained by comparing successive captured images stored in the NVM 44 or the RAM 46 in chronological order may be used as the amount of blur. Furthermore, the amount of blur that is ultimately used may be derived based on the amount of blur detected by the physical sensor and the motion vector obtained by image processing.

[0074] The communication I / F 60 has, for example, a network interface, and controls the transmission of various information between the communication I / F 60 and the communication I / F 220 (see FIG. 6) of the management device 200 via a network. An example of the network is a WAN such as the Internet or a public communication network. The communication I / F 60 also controls the transmission of various information between the communication I / F 60 and the communication I / F 100 (see FIG. 5) of the lens device 70.

[0075] The surveillance camera 10 configured as described above captures an image of a subject being monitored, and generates a moving image by capturing the image. The moving image includes multiple frame images obtained by capturing the image. The moving image captured by the surveillance camera 10 is transmitted to the management device 200 shown in FIG. 1 , and the management device 200 receives the moving image transmitted by the surveillance camera 10 and displays the received moving image on a display or stores it in an image storage device.

[0076] (Lens Apparatus) As shown in Fig. 5 as an example, the controller 90 of the lens apparatus 70 includes a CPU 92, an NVM 94, and a RAM 96. The controller 90 controls the operation of the lens apparatus 70. The controller 90 is an example of a "computer applied to the lens apparatus," the CPU 92 is an example of a "processor" according to the technology of the present disclosure, the NVM 94 is an example of a "non-volatile memory" according to the technology of the present disclosure, and the RAM 96 is an example of a "memory" according to the technology of the present disclosure. The CPU 92, the NVM 94, and the RAM 96 are connected to a bus 98.

[0077] The CPU 92 of the lens device 70 is communicatively connected to the CPU 42 (see FIG. 4 ) of the surveillance camera body 20 via the communication I / F 100 of the lens device 70 and the communication I / F 60 (see FIG. 4 ) of the surveillance camera body 20. The CPU 92 of the lens device 70 is communicatively connected to the CPU 212 (see FIG. 6 ) of the management device 200, which will be described later, via the communication I / F 100 of the lens device 70 and the communication I / F 220 (see FIG. 6 ) of the management device 200. The CPU 92 of the lens device 70 controls the operation of the lens device 70 in accordance with instructions provided by the CPU 42 of the surveillance camera body 20 and information provided by the CPU 212 of the management device 200.

[0078] The NVM 94 stores various parameters and various programs. An example of the NVM 94 is an EEPROM (for example, a flash EEPROM). The EEPROM is merely one example of the NVM 94. The NVM 94 may be any of various non-volatile storage devices such as an SSD and / or an HDD. The RAM 96 temporarily stores various information and is used as a work memory. An example of the RAM 96 is a DRAM. The DRAM is merely one example of the RAM 96. The RAM 96 may be an SRAM or any of various volatile storage devices.

[0079] Various programs are stored in the NVM 94. The CPU 92 reads out necessary programs from the NVM 94 and executes the read programs on the RAM 96. The CPU 92 executes various processes in accordance with the programs executed on the RAM 96. The "various programs" mentioned here also include a shake correction / shift processing program 110 (see FIG. 15 ), which will be described later.

[0080] The communication I / F 100 has, for example, a network interface, and controls the transmission of various information between the communication I / F 220 (see FIG. 6) of the management device 200 and the communication I / F 100. The communication I / F 100 also controls the transmission of various information between the communication I / F 60 (see FIG. 4) of the surveillance camera main body 20 and the communication I / F 220 (see FIG. 6).

[0081] 5 , the lens device 70 includes a first motor driver 114, an X-axis motor driver 116A, a Y-axis motor driver 116B, a second motor driver 118, a third motor driver 120, and a fourth motor driver 122. The lens device 70 also includes a first motor 134, an X-axis motor 136A, a Y-axis motor 136B, a second motor 138, a third motor 140, and a fourth motor 142. The lens device 70 also includes a first position sensor 154, an X-axis position sensor 156A, a Y-axis position sensor 156B, a second position sensor 158, a third position sensor 160, and a fourth position sensor 162.

[0082] The first motor driver 114, the X-axis motor driver 116A, the Y-axis motor driver 116B, the second motor driver 118, the third motor driver 120, the fourth motor driver 122, the first position sensor 154, the X-axis position sensor 156A, the Y-axis position sensor 156B, the second position sensor 158, the third position sensor 160, and the fourth position sensor 162 are connected to the bus 98.

[0083] An example of each of the first position sensor 154, the X-axis position sensor 156A, the Y-axis position sensor 156B, the second position sensor 158, the third position sensor 160, and the fourth position sensor 162 is a potentiometer.

[0084] The first position sensor 154 detects the position of the zoom lens 74 in the Z-axis direction. The X-axis position sensor 156A detects the position of the blur correction lens 76 in the X-axis direction, and the Y-axis position sensor 156B detects the position of the blur correction lens 76 in the Y-axis direction. The second position sensor 158 detects the diameter of the opening 78A formed in the diaphragm 78. The third position sensor 160 detects the rotational position of the filter unit 80 with respect to the optical axis OA. The fourth position sensor 162 detects the position of the master lens 82 in the Z-axis direction.

[0085] The detection result by the first position sensor 154 is output to the CPU 92 by the first position sensor 154. The detection result by the X-axis position sensor 156A is output to the CPU 92 by the X-axis position sensor 156A. The detection result by the Y-axis position sensor 156B is output to the CPU 92 by the Y-axis position sensor 156B. The detection result by the second position sensor 158 is output to the CPU 92 by the second position sensor 158. The detection result by the third position sensor 160 is output to the CPU 92 by the third position sensor 160. The detection result by the fourth position sensor 162 is output to the CPU 92 by the fourth position sensor 162.

[0086] The zoom lens 74 is attached to a first slide mechanism (not shown). The first slide mechanism is mechanically connected to the drive shaft of a first motor 134 and receives power from the first motor 134 to move the zoom lens 74 along the Z-axis direction. The first motor driver 114 is connected to the first motor 134 and controls the first motor 134 in accordance with instructions from the CPU 92. The CPU 92 controls the first motor 134 via the first motor driver 114 based on the detection result of the first position sensor 154, thereby controlling the position of the zoom lens 74 in the Z-axis direction.

[0087] The blur correction lens 76 is attached to an X-axis slide mechanism (not shown). The X-axis slide mechanism is mechanically connected to a movable member of an X-axis motor 136A and receives power from the X-axis motor 136A to move the blur correction lens 76 along the X-axis direction. The X-axis motor driver 116A is connected to the X-axis motor 136A and controls the X-axis motor 136A according to instructions from the CPU 92. The CPU 92 controls the X-axis motor 136A via the X-axis motor driver 116A based on the detection results of the X-axis position sensor 156A, thereby controlling the position of the blur correction lens 76 in the X-axis direction. The X-axis motor 136A may be, for example, a voice coil motor or a small DC motor. The X-axis motor 136A may also include a voice coil motor that moves the blur correction lens 76 in a direction to correct image blur and a piezoelectric element or a small DC motor that moves the blur correction lens 76 in a direction to shift the image.

[0088] The blur correction lens 76 is attached to a Y-axis slide mechanism (not shown). The Y-axis slide mechanism is mechanically connected to a movable member of a Y-axis motor 136B and receives power from the Y-axis motor 136B to move the blur correction lens 76 along the Y-axis. The Y-axis motor driver 116B is connected to the Y-axis motor 136B and controls the Y-axis motor 136B according to instructions from the CPU 92. The CPU 92 controls the Y-axis motor 136B via the Y-axis motor driver 116B based on the detection results of the Y-axis position sensor 156B, thereby controlling the position of the blur correction lens 76 in the Y-axis direction. The Y-axis motor 136B may be, for example, a voice coil motor or a small DC motor. The Y-axis motor 136B may also include a voice coil motor that moves the blur correction lens 76 in a direction that corrects image blur, and a piezoelectric element or a small DC motor that moves the blur correction lens 76 in a direction that shifts the image. The X-axis motor 136A and the Y-axis motor 136B are an example of a "drive mechanism" according to the technology of the present disclosure.

[0089] The diaphragm 78 has multiple blades (not shown) that can open and close the opening 78A. The multiple blades are mechanically connected to the drive shaft of a second motor 138 and open and close the opening 78A by receiving power from the second motor 138. The second motor driver 118 is connected to the second motor 138 and controls the second motor 138 in accordance with instructions from the CPU 92. The CPU 92 adjusts the opening degree of the opening 78A by controlling the second motor 138 via the second motor driver 118 shown in FIG. 5 based on the detection result by the second position sensor 158 and the amount of light received by the light receiving surface 24A shown in FIG. 4.

[0090] The filter unit 80 is attached to a rotation mechanism (not shown). The rotation mechanism is mechanically connected to the drive shaft of a third motor 140, and receives power from the third motor 140 to rotate the filter unit 80 (see FIG. 3) in the circumferential direction, thereby inserting and removing the multiple optical filters into and from the optical path. The third motor driver 120 is connected to the third motor 140 and controls the third motor 140 in accordance with instructions from the CPU 92. The CPU 92 controls the third motor 140 via the third motor driver 120 based on the detection result from the third position sensor 160, thereby controlling the rotational position of the filter unit 80 relative to the optical axis OA.

[0091] The master lens 82 is attached to a fourth slide mechanism (not shown). The fourth slide mechanism is mechanically connected to the drive shaft of a fourth motor 142 and receives power from the fourth motor 142 to move the master lens 82 along the Z-axis direction. The fourth motor driver 122 is connected to the fourth motor 142 and controls the fourth motor 142 in accordance with instructions from the CPU 92. The CPU 92 controls the position of the master lens 82 in the Z-axis direction by controlling the fourth motor 142 via the fourth motor driver 122 based on the detection result of the fourth position sensor 162.

[0092] 6 as an example, a controller 210 of the management device 200 controls the operation of the management device 200. The controller 210 includes a CPU 212, an NVM 214, and a RAM 216. The controller 210, the CPU 212, the NVM 214, and the RAM 216 are connected to a bus 218.

[0093] The NVM 214 stores various parameters and various programs. An example of the NVM 214 is an EEPROM (for example, a flash EEPROM). The EEPROM is merely an example of the NVM 214. The NVM 214 may be any of various non-volatile storage devices such as an SSD and / or an HDD. The RAM 216 temporarily stores various information and is used as a work memory. An example of the RAM 216 is a DRAM. The DRAM is merely an example of the RAM 216. The RAM 216 may be an SRAM or any of various volatile storage devices.

[0094] Various programs are stored in the NVM 214. The CPU 212 reads out necessary programs from the NVM 214 and executes the read programs on the RAM 216. The CPU 212 executes various processes in accordance with the programs executed on the RAM 216. The "various programs" mentioned here also include a tilt information output processing program 230 (see FIG. 8 ), which will be described later.

[0095] 6 , the management device 200 includes a display 222, a keyboard 224, a mouse 226, and an input / output I / F 228. The display 222, the keyboard 224, and the mouse 226 are connected to the input / output I / F 228. The input / output I / F 228 is connected to the bus 218. Information input via the keyboard 224 and the mouse 226 is provided to the CPU 212 via the input / output I / F 228. Image information output from the CPU 212 is provided to the display 222 via the input / output I / F 228, and the display 222 displays an image based on the provided image information.

[0096] The communication I / F 220 has, for example, a network interface. The network interface of the communication I / F 220 is communicatively connected to the communication I / F 60 (see FIG. 4) of the surveillance camera body 20 via a network (not shown), and controls the exchange of various information between the CPU 212 and the CPU 42 (see FIG. 4) of the surveillance camera body 20. The network interface of the communication I / F 220 is communicatively connected to the communication I / F 100 (see FIG. 5) of the lens device 70 via the network, and controls the exchange of various information between the CPU 212 and the CPU 92 (see FIG. 5) of the lens device 70.

[0097] (Regarding the tilt of the X-axis and Y-axis of the lens device) When the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, the X-axis and Y-axis of the lens device 70 may tilt relative to the X-axis and Y-axis of the surveillance camera body 20, respectively, due to rattle and / or deformation of the lens mount 22. Hereinafter, when distinguishing between the X-axis and Y-axis of the lens device 70 and the X-axis and Y-axis of the surveillance camera body 20, the X-axis and Y-axis of the surveillance camera body 20 will be referred to as the X1-axis and Y1-axis, respectively, and the X-axis and Y-axis of the lens device 70 will be referred to as the X2-axis and Y2-axis, respectively. Furthermore, the X-axis and Y-axis of the image sensor 24 are the X-axis and Y-axis of the surveillance camera body 20. Hereinafter, the X-axis and Y-axis of the image sensor 24 will be referred to as the X1-axis and Y1-axis, respectively.

[0098] 7, the X2-axis is inclined with respect to the X1-axis at an inclination angle θx, and the Y2-axis is inclined with respect to the Y1-axis at an inclination angle θy. The value of the inclination angle θx may be the same as or different from the value of the inclination angle θy. Both the inclination angle θx and the inclination angle θy are angles viewed along the Z-axis.

[0099] In the following, as an example, a case will be described in which the X2 axis and Y2 axis of the lens device 70 are inclined with respect to the X1 axis and Y1 axis of the surveillance camera body 20. For convenience, it is assumed that the Z axis of the lens device 70 and the Z axis of the surveillance camera body 20 coincide with each other, and that the optical axis OA is parallel to the Z axis of the lens device 70.

[0100] As shown in FIG. 7 , when the X2-axis and Y2-axis of the lens device 70 are inclined with respect to the X1-axis and Y1-axis of the surveillance camera body 20, the X-axis motor 136A (see FIG. 5 ) moves the blur correction lens 76 along the X2-axis, and the Y-axis motor 136B (see FIG. 5 ) moves the blur correction lens 76 along the Y2-axis. When the X-axis motor 136A moves the blur correction lens 76 along the X2-axis, the image obtained by focusing light on the image sensor 24 moves along the X2-axis, and when the Y-axis motor 136B moves the blur correction lens 76 along the Y2-axis, the image moves along the Y2-axis. Therefore, although it is originally desired that the image should move along the X1-axis and Y1-axis of the image sensor 24 as the blur correction lens 76 moves, the image ends up moving along the X2-axis and Y2-axis. Therefore, even if the X2 axis and Y2 axis of the lens device 70 are tilted relative to the X1 axis and Y1 axis of the surveillance camera body 20, respectively, it is desirable to move the image along the X1 axis and Y1 axis of the image sensor 24 as the blur correction lens 76 moves.

[0101] Below, we will explain a technology that moves the image along the X1 axis and Y1 axis of the image sensor 24 as the blur correction lens 76 moves, even when the X2 axis and Y2 axis of the lens device 70 are tilted relative to the X1 axis and Y1 axis of the surveillance camera body 20, respectively.

[0102] The X1-axis is an example of a "first axis" according to the technology of the present disclosure, the Y1-axis is an example of a "second axis" according to the technology of the present disclosure, the X2-axis is an example of a "first drive axis intersecting with the optical axis of the lens" according to the technology of the present disclosure, and the Y2-axis is an example of a "second drive axis intersecting with both the optical axis of the lens and the first drive axis" according to the technology of the present disclosure. Furthermore, the tilt angle θx is an example of a "first tilt angle" according to the technology of the present disclosure, and the tilt angle θy is an example of a "second tilt angle" according to the technology of the present disclosure.

[0103] 8 as an example, the tilt information output processing (see FIG. 21 ), which will be described later, is realized by the CPU 212 of the management device 200 executing a tilt information output processing program 230. In the example shown in FIG. 8 , the tilt information output processing program 230 is stored in the NVM 214, and the CPU 212 reads out the tilt information output processing program 230 from the NVM 214 and executes it on the RAM 216.

[0104] The CPU 212 performs inclination information output processing in accordance with an inclination information output processing program 230 running on the RAM 216. The CPU 212 executes the inclination information output processing program 230 on the RAM 216, thereby operating as an inclination information generation unit 232 and an inclination information output unit 234.

[0105] 9 , the center of the X2-Y2 coordinate system is the point where the X2 axis and the Y2 axis intersect. The tilt information generator 232 controls the X-axis motor driver 116 and the Y-axis motor driver 116B via the communication I / F 220 of the management device 200, the communication I / F 100 of the lens device 70, and the CPU 92 of the lens device 70, thereby moving the blur correction lens 76 to the center of the X2-Y2 coordinate system. In this case, for example, the tilt information generator 232 outputs a first control command, which is a command to move the blur correction lens 76 to the center of the X2-Y2 coordinate system, to the CPU 92 of the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. The CPU 92 of the lens device 70 controls the X-axis motor 136A and the Y-axis motor 136B via the X-axis motor driver 116A and the Y-axis motor driver 116B in accordance with the first control command input from the tilt information generation unit 232, thereby moving the blur correction lens 76 to the center of the X2-Y2 coordinate system.

[0106] As a result, blur correction lens 76 moves to the center of the X2-Y2 coordinate system. The position of blur correction lens 76 is determined based on center 76A of blur correction lens 76. Therefore, when blur correction lens 76 moves to the center of the X2-Y2 coordinate system, center 76A of blur correction lens 76 is located at the center of the X2-Y2 coordinate system. With center 76A of blur correction lens 76 located at the center of the X2-Y2 coordinate system, subject image 25A is located at coordinate (0,0) in the X1-Y1 coordinate system. Coordinate (0,0) in the X1-Y1 coordinate system is the center of the X1-Y1 coordinate system, and the center of the X1-Y1 coordinate system is the point where the X1 axis and the Y1 axis intersect.

[0107] Furthermore, the tilt information generation unit 232 controls the image sensor driver 52 via the communication I / F 220 of the management device 200, the communication I / F 60 of the surveillance camera main body 20, and the CPU 42 of the surveillance camera main body 20, thereby causing the image sensor 24 to capture an image. In this case, for example, the tilt information generation unit 232 outputs a first imaging command, which is a command to cause the image sensor 24 to capture an image, to the CPU 42 of the surveillance camera main body 20 via the communication I / F 220 of the management device 200 and the communication I / F 60 of the surveillance camera main body 20. The CPU 42 of the surveillance camera main body 20 controls the image sensor driver 52 in accordance with the first imaging command input from the tilt information generation unit 232, thereby causing the image sensor 24 to capture an image.

[0108] As a result, an image is captured by the image sensor 24, thereby obtaining a first image 262. The signal processing device 54 acquires the first image 262 from the image sensor 24. The signal processing device 54 performs signal processing on the first image 262 acquired from the image sensor 24, and outputs the signal-processed first image 262 to the CPU 42. The CPU 42 stores the first image 262 input from the signal processing device 54 in the NVM 44 and / or RAM 46 (see FIG. 4 ).

[0109] As an example, as shown in FIG. 10 , the tilt information generation unit 232 controls the blur correction lens 76 to move along the X2 axis by a predetermined first movement amount by controlling the X-axis motor driver 116A. In this case, for example, the tilt information generation unit 232 outputs a second control command, which is a command to move the blur correction lens 76 along the X2 axis by the predetermined first movement amount, to the CPU 92 of the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. In accordance with the second control command input from the tilt information generation unit 232, the CPU 92 of the lens device 70 controls the X-axis motor 136A via the X-axis motor driver 116A to move the blur correction lens 76 along the X2 axis by the first movement amount.

[0110] As a result, the center 76A of the blur correction lens 76 moves from the center of the X2-Y2 coordinate system along the X2 axis by a first movement amount, and the subject image 25A moves from the coordinates (0, 0) to the coordinates (a1, b1) in the X1-Y1 coordinate system.

[0111] The tilt information generation unit 232 controls the image sensor driver 52 via the communication I / F 220 of the management device 200, the communication I / F 60 of the surveillance camera main body 20, and the CPU 42 of the surveillance camera main body 20, thereby causing the image sensor 24 to capture an image. In this case, for example, the tilt information generation unit 232 outputs a second imaging command, which is a command to cause the image sensor 24 to capture an image, to the CPU 42 of the surveillance camera main body 20 via the communication I / F 220 of the management device 200 and the communication I / F 60 of the surveillance camera main body 20. The CPU 42 of the surveillance camera main body 20 controls the image sensor driver 52 in accordance with the second imaging command input from the tilt information generation unit 232, thereby causing the image sensor 24 to capture an image.

[0112] As a result, an image is captured by the image sensor 24, thereby obtaining a second image 264. The signal processing device 54 acquires the second image 264 from the image sensor 24. The signal processing device 54 performs signal processing on the second image 264 acquired from the image sensor 24, and outputs the signal-processed second image 264 to the CPU 42. The CPU 42 stores the second image 264 input from the signal processing device 54 in the NVM 44 and / or RAM 46 (see FIG. 4 ).

[0113] As an example, as shown in FIG. 11 , the tilt information generation unit 232 compares a first image 262 obtained based on the first imaging command described above with a second image 264 obtained based on the second imaging command described above. Then, based on the first image 262 and the second image 264, the tilt information generation unit 232 calculates, through first image analysis, to which position in the second image 264 an image corresponding to the subject image 25A, which was located at a position corresponding to the coordinates (0, 0) in the first image 262 in the X1-Y1 coordinate system, has moved. Various image analysis techniques can be applied to the first image analysis. For convenience, the following description will be given assuming that the X1-Y1 coordinate system is also applied to the first image 262 and the second image 264. In the example shown in FIG. 11 , as an example, the image corresponding to the subject image 25A moves from the coordinates (0, 0) in the first image 262 to the coordinates (a1, b1) in the second image 264. Therefore, the tilt information generating unit 232 calculates the tilt angle θx of the X2 axis with respect to the X1 axis using the following formula (1): θx=tan －１ (b1 / a1)...(1)

[0114] As an example, as shown in FIG. 12 , the tilt information generation unit 232 controls the blur correction lens 76 to move along the Y2 axis. The tilt information generation unit 232 controls the Y-axis motor driver 116B to move the blur correction lens 76 along the Y2 axis by a predetermined second movement amount. In this case, for example, the tilt information generation unit 232 outputs a third control command, which is a command to move the blur correction lens 76 along the Y2 axis by the predetermined second movement amount, to the CPU 92 of the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. In accordance with the third control command input from the tilt information generation unit 232, the CPU 92 of the lens device 70 controls the Y-axis motor 136B via the Y-axis motor driver 116B to move the blur correction lens 76 along the Y2 axis by the second movement amount.

[0115] As a result, the center 76A of the blur correction lens 76 moves from its position on the X2 axis along the Y2 axis by a second movement amount, and the subject image 25A moves from coordinates (a1, b1) to coordinates (a2, b2) in the X1-Y1 coordinate system.

[0116] The tilt information generation unit 232 controls the image sensor driver 52 via the communication I / F 220 of the management device 200, the communication I / F 60 of the surveillance camera main body 20, and the CPU 42 of the surveillance camera main body 20, thereby causing the image sensor 24 to capture an image. In this case, for example, the tilt information generation unit 232 outputs a third imaging command, which is a command to cause the image sensor 24 to capture an image, to the CPU 42 of the surveillance camera main body 20 via the communication I / F 220 of the management device 200 and the communication I / F 60 of the surveillance camera main body 20. The CPU 42 of the surveillance camera main body 20 controls the image sensor driver 52 in accordance with the third imaging command input from the tilt information generation unit 232, thereby causing the image sensor 24 to capture an image.

[0117] As a result, an image is captured by the image sensor 24, thereby obtaining a third image 266. The signal processing device 54 acquires the third image 266 from the image sensor 24. The signal processing device 54 performs signal processing on the third image 266 acquired from the image sensor 24, and outputs the signal-processed third image 266 to the CPU 42. The CPU 42 stores the third image 266 input from the signal processing device 54 in the NVM 44 and / or RAM 46 (see FIG. 4 ).

[0118] As an example, as shown in FIG. 13 , the tilt information generation unit 232 compares the second image 264 obtained based on the second imaging command described above with the third image 266 obtained based on the third imaging command described above. Then, based on the second image 264 and the third image 266, the tilt information generation unit 232 calculates, through second image analysis, to which position in the third image 266 the image corresponding to the subject image 25A, which was located at a position corresponding to the coordinates (a1, b1) in the first image 262 in the X1-Y1 coordinate system, has moved. Various image analysis techniques can be applied to the second image analysis. For convenience, the following description will be given assuming that the X1-Y1 coordinate system is also applied to the first image 262 and the second image 264. In the example shown in FIG. 13 , as an example, the image corresponding to the subject image 25A moves from the coordinates (a1, b1) in the second image 264 to the coordinates (a2, b2) in the third image 266. Therefore, the tilt information generating unit 232 calculates the tilt angle θy of the X2 axis with respect to the X1 axis using the following formula (2): θy=tan －１ {(b2-b1) / (a2-a1)}...(2)

[0119] For example, the first imaging command, the second imaging command, and the third imaging command are commands to cause the image sensor 24 to capture images with a sensitivity lower than that of the image sensor 24 performing normal imaging. Normal imaging is imaging performed based on a normal imaging command different from the first imaging command, the second imaging command, and the third imaging command. An example of normal imaging is imaging performed when surveillance activities are conducted using the surveillance camera 10. As a result, the first image 262, the second image 264, and the third image 266 are obtained by the image sensor 24 capturing images under imaging conditions that result in images with less noise than images obtained by normal imaging. Lowering the sensitivity of the image sensor 24 requires a relatively longer exposure time; however, because the surveillance camera 10 and the subject are stationary when the tilt angles θx and θy are calculated, the impact of extending the exposure time is minimal.

[0120] In the above manner, the tilt information generator 232 generates tilt information regarding the tilt angle θx of the X2-axis with respect to the X1-axis and tilt information regarding the tilt angle θy of the Y2-axis with respect to the Y1-axis. The tilt information regarding the tilt angle θx is information calculated based on a second control command to move the blur correction lens 76 along the X2-axis and the first image 262 and the second image 264 obtained by the image sensor 24 capturing images before and after the blur correction lens 76 moves based on the second control command. The tilt information regarding the tilt angle θy is information calculated based on a third control command to move the blur correction lens 76 along the Y2-axis and the second image 264 and the third image 266 obtained by the image sensor 24 capturing images before and after the blur correction lens 76 moves based on the third control command. Note that the second control command and the third control command are examples of "control commands" relating to the technology of the present disclosure, and the first image 262, the second image 264, and the third image 266 are examples of "multiple images" relating to the technology of the present disclosure.

[0121] As an example, as shown in FIG. 14, the tilt information output unit 234 outputs tilt information regarding the tilt angle θx and the tilt angle θy to the CPU 92 of the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70.

[0122] (Functional Configuration of the CPU of the Lens Apparatus) As an example, as shown in Fig. 15 , the blur correction and shift processing (see Figs. 22 and 23 ), which will be described later, is realized by the CPU 92 of the lens apparatus 70 executing a blur correction and shift processing program 110. The blur correction and shift processing program 110 is an example of a "program" according to the technology of the present disclosure. In the example shown in Fig. 15 , the blur correction and shift processing program 110 is stored in the NVM 94, and the CPU 92 reads the blur correction and shift processing program 110 from the NVM 94 and executes it on the RAM 96.

[0123] The CPU 92 performs the shake correction and shift processing in accordance with a shake correction and shift processing program 110 that is executed on the RAM 96. The CPU 92 operates as an acquisition unit 172, a calculation unit 174, and a control unit 176 by executing the shake correction and shift processing program 110 on the RAM 96. Note that, as will be described in detail later, the shake correction and shift processing is processing that includes a shift processing (see FIG. 22) and a shake correction processing (see FIG. 23).

[0124] 16 , the CPU 42 of the surveillance camera body 20 outputs an image shift command and frame period information to the CPU 42 of the surveillance camera body 20 via the communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70. The acquisition unit 172 acquires the image shift command and frame period information output from the CPU 42 of the surveillance camera body 20. The image shift command is command information requesting an image shift. The image shift command is classified into an X-axis image shift command that indicates the shift and amount of image shift in the X-axis direction, a Y-axis image shift command that indicates the shift and amount of image shift in the Y-axis direction, and an XY-axis image shift command that indicates the shift and amount of image shift in the X-axis and Y-axis directions.

[0125] The amount of shift of the image is defined, for example, as a pitch equal to or greater than the pixel pitch of the image sensor 24, or a pitch less than the pixel pitch of the image sensor 24. Pitches equal to or greater than the pixel pitch of the image sensor 24 include, for example, 1 pitch, 1.5 pitches, 2.5 pitches, and 3.5 pitches. When the pixel pitch of the image sensor 24 is p, n is a natural number, and d is a pure decimal, a pitch greater than the pixel pitch of the image sensor 24 is defined as (n + d) × p. Furthermore, pitches less than the pixel pitch of the image sensor 24 include, for example, 0.25 pitches, 0.5 pitches, and 0.75 pitches. When the pixel pitch of the image sensor 24 is p and D is a decimal less than 1, a pitch less than the pixel pitch of the image sensor 24 is defined as D × p.

[0126] The frame period information is information that defines a frame period that is synchronized with a timing control signal output from the CPU 42 to the image sensor driver 52. The frame period is a period in which imaging is performed in frame units.

[0127] Furthermore, the CPU 212 of the management device 200 outputs the tilt information to the CPU 42 of the surveillance camera body 20 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. The acquisition unit 172 acquires the tilt information output from the CPU 212 of the management device 200. The acquisition unit 172 stores the tilt information acquired from the CPU 212 of the management device 200 in the NVM 94 (see FIG. 5 ). The tilt information includes tilt information regarding the tilt angle θx of the X2 axis relative to the X1 axis, and tilt information regarding the tilt angle θy of the Y2 axis relative to the Y1 axis. The acquisition unit 172 also acquires the position detection results from the X-axis position sensor 156A and the Y-axis position sensor 156B.

[0128] When the acquisition unit 172 acquires an X-axis image shift command, the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 for each frame period based on the image shift amount indicated by the X-axis image shift command, the frame period indicated by the frame period information, and the position detection result by the X-axis position sensor 156A. For example, when the image shift amount indicated by the X-axis image shift command is the same as the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 that shifts the image by the same pitch as the pixel pitch of the image sensor 24. On the other hand, when the image shift amount indicated by the X-axis image shift command is a pitch larger than the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 that shifts the image in the X1-axis direction by (n+d)×p. In addition, if the image shift amount represented by the X-axis image shift command is a pitch less than the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 that shifts the image in the X1-axis direction by D×p.

[0129] As described above, when the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, there is a possibility that the X2 axis of the lens device 70 will be tilted with respect to the X1 axis of the surveillance camera body 20 due to rattle and / or deformation of the lens mount 22. For example, in the example shown in Fig. 16, the X2 axis of the lens device 70 is tilted at a tilt angle θx with respect to the X1 axis of the surveillance camera body 20. Therefore, in order to move the blur correction lens 76 along the X1 axis by a movement amount A1, it is necessary to move the blur correction lens 76 along the X2 axis and the Y2 axis, respectively, by the X-axis motor 136A and the Y-axis motor 136B.

[0130] Therefore, the calculation unit 174 calculates the movement amount A1 based on the image shift amount indicated by the image shift command described above, and calculates the movement amount Ax of the blur correction lens 76 along the X2 axis and the movement amount Ay of the blur correction lens 76 along the Y2 axis based on the calculated movement amount A1 and the tilt angle θx indicated by the tilt information acquired by the acquisition unit 172. That is, the calculation unit 174 calculates the movement amount Ax of the blur correction lens 76 along the X2 axis using the following formula (3), and calculates the movement amount Ay of the blur correction lens 76 along the Y2 axis using the following formula (4). Ax=A1×cos θy / cos(θy−θx) (3) Ay=−A1×sin θx / cos(θy−θx) (4)

[0131] The movement amount Ax is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the X2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the X2 axis. Similarly, the movement amount Ay is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the Y2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the Y2 axis. The movement amount Ax is an example of a "first movement amount" according to the technology of the present disclosure, and the movement amount Ay is an example of a "second movement amount" according to the technology of the present disclosure.

[0132] 17 , when a Y-axis image shift command is acquired by the acquisition unit 172, the calculation unit 174 calculates the movement amount B1 of the blur correction lens 76 for each frame period based on the image shift amount indicated by the Y-axis image shift command, the frame period indicated by the frame period information, and the position detection result by the Y-axis position sensor 156B. For example, when the image shift amount indicated by the Y-axis image shift command is the same as the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount B1 of the blur correction lens 76 that shifts the image by the same pitch as the pixel pitch of the image sensor 24. Furthermore, when the image shift amount indicated by the Y-axis image shift command is a pitch larger than the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount B1 of the blur correction lens 76 that shifts the image in the X1-axis direction by (n + d) × p. In addition, when the image shift amount represented by the Y-axis image shift command is a pitch less than the pixel pitch of the image sensor 24, the calculation unit 174 calculates the movement amount B1 of the blur correction lens 76 that shifts the image in the Y1-axis direction by D×p.

[0133] As described above, when the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, there is a possibility that the Y2 axis of the lens device 70 will be tilted with respect to the Y1 axis of the surveillance camera body 20 due to rattle and / or deformation of the lens mount 22. For example, in the example shown in Fig. 17, the Y2 axis of the lens device 70 is tilted at a tilt angle θy with respect to the Y1 axis of the surveillance camera body 20. Therefore, in order to move the blur correction lens 76 along the Y1 axis by a movement amount B1, it is necessary to move the blur correction lens 76 along the X2 axis and the Y2 axis, respectively, by the X-axis motor 136A and the Y-axis motor 136B.

[0134] Therefore, the calculation unit 174 calculates the movement amount B1 based on the image shift amount indicated by the image shift command, and calculates the movement amount Bx of the blur correction lens 76 along the X2 axis and the movement amount By of the blur correction lens 76 along the Y2 axis based on the calculated movement amount B1 and the tilt angle θy indicated by the tilt information acquired by the acquisition unit 172. That is, the calculation unit 174 calculates the movement amount Bx of the blur correction lens 76 along the X2 axis using the following equation (5), and calculates the movement amount By of the blur correction lens 76 along the Y2 axis using the following equation (6). Bx=B1×sin θy / cos(θy−θx) (5) By=B1×cos θx / cos(θy−θx) (6)

[0135] The movement amount Bx is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the X2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the X2 axis. Similarly, the movement amount By is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the Y2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the Y2 axis. The movement amount Bx is an example of a "first movement amount" according to the technology of the present disclosure, and the movement amount By is an example of a "second movement amount" according to the technology of the present disclosure.

[0136] Furthermore, when the acquisition unit 172 acquires an XY-axis image shift command, the calculation unit 174 calculates a movement amount A1 of the blur correction lens 76 in the same manner as when the acquisition unit 172 acquires an X-axis image shift command, and calculates a movement amount B1 of the blur correction lens 76 in the same manner as when the acquisition unit 172 acquires a Y-axis image shift command. Then, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis and the movement amount of the blur correction lens 76 along the Y2 axis based on the calculated movement amount A1 and movement amount B1. At this time, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding a movement amount Ax, which is a positive value or a negative value, to a movement amount Bx, which is a positive value or a negative value, and calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding a movement amount Ay, which is a positive value or a negative value, to a movement amount By, which is a positive value or a negative value.

[0137] The control unit 176 generates an X-axis control command for each frame period that corresponds to the amount of movement of the blur correction lens 76 along the X2 axis calculated by the calculation unit 174. The X-axis control command is output by the control unit 176 to the X-axis motor driver 116A. Similarly, the control unit 176 generates a Y-axis control command for each frame period that corresponds to the amount of movement of the blur correction lens 76 along the Y2 axis calculated by the calculation unit 174. The Y-axis control command is output by the control unit 176 to the Y-axis motor driver 116B.

[0138] X-axis motor driver 116A generates an X-axis actuation signal based on an X-axis control command input from control unit 176. Y-axis motor driver 116B generates a Y-axis actuation signal based on a Y-axis control command input from control unit 176. X-axis motor 136A operates by an actuation amount corresponding to the X-axis actuation signal, and Y-axis motor 136B operates by an actuation amount corresponding to the Y-axis actuation signal. As a result, blur correction lens 76 moves in a direction that shifts the image along the X1 axis and / or Y1 axis for each frame period, and the image is shifted along the X1 axis and / or Y1 axis.

[0139] The control of shifting the image by the control unit 176 described above is not based on the blur amount detection result by the blur amount detection sensor 56 (i.e., the amount of blur of the surveillance camera 10), but is a sequence control based on a predetermined shift order.

[0140] The image is shifted in this manner for each frame period, and each time the image is shifted, the CPU 42 of the surveillance camera main body 20 controls the image sensor 24 to capture an image. As a result, a plurality of frame images 182 corresponding to each frame period are obtained, as shown in Fig. 18 as an example. The CPU 42 of the surveillance camera main body 20 then combines the plurality of frame images 182 to obtain a composite image 184.

[0141] The composite image 184 is obtained, for example, in the following manner. That is, when the image shift amount is the same as the pixel pitch of the image sensor 24, a plurality of image pixels forming one image of the plurality of frame images 182 are superimposed on a plurality of image pixels forming another image of the plurality of frame images 182, thereby obtaining the composite image 184 from the plurality of frame images 182. The composite image 184 obtained in this manner does not require demosaicing. Furthermore, when the image shift amount is larger than the pixel pitch of the image sensor 24 or smaller than the pixel pitch of the image sensor 24, a plurality of image pixels forming one image of the plurality of frame images 182 are allocated between a plurality of image pixels forming another image of the plurality of frame images 182, thereby obtaining the composite image 184 from the plurality of frame images 182. The composite image 184 obtained in this manner has a higher resolution than the plurality of frame images 182.

[0142] 19 , CPU 42 of surveillance camera body 20 outputs a shake correction command to CPU 42 of surveillance camera body 20 via communication I / F 60 of surveillance camera body 20 and communication I / F 100 of lens device 70. Acquisition unit 172 acquires the shake correction command output from CPU 42 of surveillance camera body 20 and the blur amount detection result by blur amount detection sensor 56. The shake correction command is command information requesting shake correction, and the blur amount detection result by blur amount detection sensor 56 is information indicating the result of detecting the amount of shake of surveillance camera 10.

[0143] Furthermore, the CPU 212 of the management device 200 outputs the tilt information to the CPU 212 of the management device 200 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. The acquisition unit 172 acquires the tilt information output from the CPU 212 of the management device 200. The tilt information includes tilt information regarding the tilt angle θx of the X2 axis with respect to the X1 axis, and tilt information regarding the tilt angle θy of the Y2 axis with respect to the Y1 axis. The acquisition unit 172 also acquires the position detection results from the X-axis position sensor 156A and the Y-axis position sensor 156B.

[0144] When the acquisition unit 172 acquires a shake correction command, the calculation unit 174 calculates, for the shake correction lens 76, a movement amount C1 for correcting shake of the image in the X1 axis direction, based on the shake amount detection result by the shake amount detection sensor 56. Specifically, the calculation unit 174 calculates, for the shake correction lens 76, a movement amount C1 for returning the position in the X1 axis direction of the image blurred by the shake of the surveillance camera 10 to the position in the X1 axis direction of the image before the shake of the surveillance camera 10 occurred. The movement amount C1 for correcting shake of the image in the X1 axis direction may be determined in advance according to the shake amount detection result by the shake amount detection sensor 56, or may be calculated using various calculation formulas.

[0145] As described above, when the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, there is a possibility that the X2 axis of the lens device 70 will be tilted with respect to the X1 axis of the surveillance camera body 20 due to rattle and / or deformation of the lens mount 22. For example, in the example shown in Fig. 19, the X2 axis of the lens device 70 is tilted at a tilt angle θx with respect to the X1 axis of the surveillance camera body 20. Therefore, in order to move the blur correction lens 76 along the X1 axis by a movement amount C1, it is necessary to move the blur correction lens 76 along the X2 axis and the Y2 axis, respectively, by the X-axis motor 136A and the Y-axis motor 136B.

[0146] Therefore, the calculation unit 174 calculates the movement amount C1 based on the blur amount detection result by the blur amount detection sensor 56 described above, and then calculates the movement amount Cx of the blur correction lens 76 along the X2 axis and the movement amount Cy of the blur correction lens 76 along the Y2 axis based on the calculated movement amount C1 and the tilt angle θx represented by the tilt information acquired by the acquisition unit 172. That is, the calculation unit 174 calculates the movement amount Cx of the blur correction lens 76 along the X2 axis using the following equation (7), and calculates the movement amount Cy of the blur correction lens 76 along the Y2 axis using the following equation (8). Cx=C1×cos θy / cos(θy−θx) (7) Cy=−C1×sin θx / cos(θy−θx) (8)

[0147] The movement amount Cx is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the X2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the X2 axis. Similarly, the movement amount Cy is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the Y2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the Y2 axis. The movement amount Cx is an example of a "first movement amount" according to the technology of the present disclosure, and the movement amount Cy is an example of a "second movement amount" according to the technology of the present disclosure.

[0148] 20 as an example, when a blur correction command is acquired by acquisition unit 172, calculation unit 174 calculates, for blur correction lens 76, a movement amount D1 for correcting blur of the image in the Y1-axis direction, based on the blur amount detection result by blur amount detection sensor 56. Specifically, calculation unit 174 calculates, for blur correction lens 76, a movement amount D1 for returning the position in the Y1-axis direction of the image blurred by shaking of surveillance camera 10 to the position in the Y1-axis direction of the image before shaking of surveillance camera 10 occurred. Movement amount D1 for correcting blur of the image in the Y1-axis direction may be determined in advance according to the blur amount detection result by blur amount detection sensor 56, or may be calculated using various calculation formulas.

[0149] As described above, when the lens device 70 is attached to the lens mount 22 of the surveillance camera body 20, there is a possibility that the Y2 axis of the lens device 70 will be tilted with respect to the Y1 axis of the surveillance camera body 20 due to rattle and / or deformation of the lens mount 22. For example, in the example shown in Fig. 20, the Y2 axis of the lens device 70 is tilted at a tilt angle θy with respect to the Y1 axis of the surveillance camera body 20. Therefore, in order to move the blur correction lens 76 along the Y1 axis by a movement amount D1, it is necessary to move the blur correction lens 76 along the X2 axis and the Y2 axis, respectively, by the X-axis motor 136A and the Y-axis motor 136B.

[0150] Therefore, the calculation unit 174 calculates the movement amount D1 based on the blur amount detection result by the blur amount detection sensor 56 described above, and then calculates the movement amount Dx of the blur correction lens 76 along the X2 axis and the movement amount Dy of the blur correction lens 76 along the Y2 axis based on the calculated movement amount D1 and the tilt angle θy represented by the tilt information acquired by the acquisition unit 172. That is, the calculation unit 174 calculates the movement amount Dx of the blur correction lens 76 along the Y2 axis using the following equation (9), and calculates the movement amount Dy of the blur correction lens 76 along the Y2 axis using the following equation (10). Dx=D1×sin θy / cos(θy−θx) (9) Dy=D1×cos θx / cos(θy−θx) (10)

[0151] The movement amount Dx is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the Y2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the Y2 axis. Similarly, the movement amount Dy is calculated as a positive value when the blur correction lens 76 is moved in the positive direction of the Y2 axis, and is calculated as a negative value when the blur correction lens 76 is moved in the negative direction of the Y2 axis. The movement amount Dx is an example of a "first movement amount" according to the technology of the present disclosure, and the movement amount Dy is an example of a "second movement amount" according to the technology of the present disclosure.

[0152] Furthermore, when the blur correction lens 76 is moved simultaneously along the X1 axis and the Y1 axis to simultaneously correct blur of the image in the X1 axis direction and the Y1 axis direction, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding a movement amount Cx, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, to a movement amount Dx, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76. Furthermore, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding a movement amount Cy, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, to a movement amount Dy, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0153] Furthermore, when the above-mentioned image shifting and image blur correction are performed simultaneously, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding together a plurality of movement amounts selected depending on the direction in which the image is shifted and the direction in which image blur is corrected from among the movement amount Ax, which is a positive or negative value calculated based on the movement amount A1 of the blur correction lens 76; the movement amount Bx, which is a positive or negative value calculated based on the movement amount B1 of the blur correction lens 76; the movement amount Cx, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76; and the movement amount Dx, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0154] Furthermore, when the above-mentioned image shifting and image blur correction are performed simultaneously, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding together multiple movement amounts selected depending on the direction in which the image is shifted and the direction in which image blur is corrected from among the movement amount Ay, which is a positive or negative value calculated based on the movement amount A1 of the blur correction lens 76, the movement amount By, which is a positive or negative value calculated based on the movement amount B1 of the blur correction lens 76, the movement amount Cy, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, and the movement amount Dy, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0155] The control unit 176 sets the amount of movement of the blur correction lens 76 along the X2 axis calculated by the calculation unit 174 as a target value, and generates an X-axis control command based on the position detection result by the X-axis position sensor 156A. The X-axis control command is output to the X-axis motor driver 116A. Similarly, the control unit 176 sets the amount of movement of the blur correction lens 76 along the Y2 axis calculated by the calculation unit 174 as a target value, and generates a Y-axis control command based on the position detection result by the Y-axis position sensor 156B. The Y-axis control command is output to the Y-axis motor driver 116B.

[0156] The X-axis motor driver 116A generates an X-axis actuation signal based on the X-axis control command, and the Y-axis motor driver 116B generates a Y-axis actuation signal based on the Y-axis control command. The X-axis motor 136A operates by an amount corresponding to the X-axis actuation signal, and the Y-axis motor 136B operates by an amount corresponding to the Y-axis actuation signal. This moves the blur correction lens 76 in the direction in which image blur is corrected, thereby correcting the image blur.

[0157] The control by the control unit 176 to correct image blur as described above is feedback control based on the blur amount detection result by the blur amount detection sensor 56 (i.e., the amount of blur of the surveillance camera 10).

[0158] Next, the function of the monitoring system S according to the first embodiment (i.e., the operation of the monitoring system S) will be described.

[0159] First, the tilt information output process executed by the CPU 212 of the management device 200 will be described with reference to FIG.

[0160] First, in step ST100, the tilt information generation unit 232 (see FIG. 9) moves the blur correction lens 76 to the center of the X2-Y2 coordinate system. That is, the tilt information generation unit 232 outputs a first control command to the CPU 92 of the lens device 70. Upon receiving the first control command output from the management device 200, the CPU 92 of the lens device 70 controls the X-axis motor 136A and the Y-axis motor 136B via the X-axis motor driver 116A and the Y-axis motor driver 116B, respectively, to move the blur correction lens 76 to the center of the X2-Y2 coordinate system. As a result, the blur correction lens 76 moves to the center of the X2-Y2 coordinate system.

[0161] In the next step ST102, the tilt information generation unit 232 causes the image sensor 24 to capture an image to obtain a first image 262. That is, the tilt information generation unit 232 outputs a first image capture command to the CPU 42 of the surveillance camera body 20. Upon receiving the first image capture command, the image sensor driver 52 controls the image sensor 24 to capture an image. As a result, an image is captured by the image sensor 24, and the first image 262 is obtained.

[0162] In the next step ST104, the tilt information generation unit 232 (see FIG. 10 ) moves the blur correction lens 76 along the X2 axis by a first movement amount. That is, the tilt information generation unit 232 outputs a second control command to the CPU 92 of the lens device 70. Upon receiving the second control command output from the management device 200, the CPU 92 of the lens device 70 controls the X-axis motor 136A via the X-axis motor driver 116A to move the blur correction lens 76 along the X2 axis by the first movement amount. As a result, the center 76A of the blur correction lens 76 moves from the center of the X2-Y2 coordinate system along the X2 axis by the first movement amount, and the subject image 25A moves from the coordinates (0,0) to the coordinates (a1,b1) in the X1-Y1 coordinate system.

[0163] In the next step ST106, the tilt information generation unit 232 causes the image sensor 24 to capture an image to obtain a second image 264. That is, the tilt information generation unit 232 outputs a second image capture command to the CPU 42 of the surveillance camera body 20. Upon receiving the second image capture command, the image sensor driver 52 controls the image sensor 24 to capture an image. As a result, an image is captured by the image sensor 24, and the second image 264 is obtained.

[0164] In the next step ST108, the tilt information generation unit 232 (see FIG. 11) calculates the tilt angle θx of the X2 axis with respect to the X1 axis. That is, the tilt information generation unit 232 performs a first image analysis based on the first image 262 and the second image 264, and when the subject image 25A located at the coordinates (0, 0) of the first image 262 in the X1-Y1 coordinate system has moved to the coordinates (a1, b1) of the second image 264, the tilt information generation unit 232 calculates the tilt angle θx of the X2 axis with respect to the X1 axis using the following formula (1): θx=tan －１ (b1 / a1)...(1)

[0165] In the next step ST110, the tilt information generation unit 232 (see FIG. 12) moves the blur correction lens 76 along the Y2 axis by a second movement amount. That is, the tilt information generation unit 232 outputs a third control command to the CPU 92 of the lens device 70. Upon receiving the third control command output from the management device 200, the CPU 92 of the lens device 70 controls the Y-axis motor 136B via the Y-axis motor driver 116B to move the blur correction lens 76 along the Y2 axis by the second movement amount. As a result, the center 76A of the blur correction lens 76 moves from its position on the X2 axis along the Y2 axis by the second movement amount, and the subject image 25A moves from coordinates (a1, b1) to coordinates (a2, b2) in the X1-Y1 coordinate system.

[0166] In the next step ST112, the tilt information generation unit 232 causes the image sensor 24 to capture an image to obtain a third image 266. That is, the tilt information generation unit 232 outputs a third image capture command to the CPU 42 of the surveillance camera body 20. Upon receiving the third image capture command, the image sensor driver 52 controls the image sensor 24 to capture an image. As a result, an image is captured by the image sensor 24, and the third image 266 is obtained.

[0167] In the next step ST114, the tilt information generation unit 232 (see FIG. 13) calculates the tilt angle θy of the Y2 axis with respect to the Y1 axis. That is, the tilt information generation unit 232 performs a second image analysis based on the second image 264 and the third image 266, and calculates the tilt angle θy of the Y2 axis with respect to the Y1 axis using the following formula (2) when the subject image 25A located at the coordinates (a1, b1) of the second image 264 in the X1-Y1 coordinate system has moved to the coordinates (a2, b2) of the third image 266. θy=tan －１ {(b2-b1) / (a2-a1)}...(2)

[0168] In the next step ST116, the tilt information output unit 234 (see Figure 14) outputs tilt information regarding the tilt angle θx and the tilt angle θy to the CPU 92 of the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70.

[0169] Next, a description will be given of the blur correction / shift processing executed by the CPU 92 of the lens device 70. The blur correction / shift processing includes a shift processing (see FIG. 22) and a blur correction processing (see FIG. 23). First, the shift processing will be described with reference to FIG. 22.

[0170] First, in step ST200, the acquisition section 172 (see FIG. 16) acquires an image shift command output from the CPU 42 of the surveillance camera main body 20.

[0171] In the next step ST202, the acquisition unit 172 acquires the frame period information output from the CPU 42 of the monitoring camera main body 20.

[0172] In the next step ST204, the acquisition unit 172 acquires the tilt information output from the CPU 212 of the management device 200.

[0173] In the next step ST206, the calculation unit 174 calculates the movement amount by which the image is shifted for the blur correction lens 76. That is, when the acquisition unit 172 acquires an X-axis image shift command (see FIG. 16 ), the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 for each frame period based on the image shift amount represented by the X-axis image shift command, the frame period represented by the frame period information, and the position detection result by the X-axis position sensor 156A. Furthermore, when the acquisition unit 172 acquires a Y-axis image shift command (see FIG. 17 ), the calculation unit 174 calculates the movement amount B1 of the blur correction lens 76 for each frame period based on the image shift amount represented by the Y-axis image shift command, the frame period represented by the frame period information, and the position detection result by the Y-axis position sensor 156B. Furthermore, when an XY-axis image shift command is acquired by the acquisition unit 172 (see Figures 16 and 17), the calculation unit 174 calculates the movement amount A1 of the blur correction lens 76 for each frame period, just as when an X-axis image shift command is acquired by the acquisition unit 172, and calculates the movement amount B1 of the blur correction lens 76 for each frame period, just as when a Y-axis image shift command is acquired by the acquisition unit 172.

[0174] In the next step ST208, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis and the movement amount of the blur correction lens 76 along the Y2 axis. That is, when the acquisition unit 172 acquires an X-axis image shift command (see FIG. 16 ), the calculation unit 174 calculates the movement amount Ax of the blur correction lens 76 along the X2 axis using the following formula (3), and calculates the movement amount Ay of the blur correction lens 76 along the Y2 axis using the following formula (4). Ax=A1×cos θy / cos(θy−θx) (3) Ay=−A1×sin θx / cos(θy−θx) (4)

[0175] Furthermore, when the acquisition unit 172 acquires a Y-axis image shift command (see FIG. 17), the calculation unit 174 calculates the movement amount Bx of the blur correction lens 76 along the X2 axis using the following equation (5), and calculates the movement amount By of the blur correction lens 76 along the Y2 axis using the following equation (6): Bx=B1×sin θy / cos(θy−θx) (5) By=B1×cos θx / cos(θy−θx) (6)

[0176] Furthermore, when an XY-axis image shift command is acquired by the acquisition unit 172 (see FIGS. 16 and 17 ), the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis and the movement amount of the blur correction lens 76 along the Y2 axis based on the movement amount A1 of the blur correction lens 76 calculated in the same manner as when an X-axis image shift command is acquired by the acquisition unit 172 and the movement amount B1 of the blur correction lens 76 calculated in the same manner as when a Y-axis image shift command is acquired by the acquisition unit 172. At this time, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding the movement amount Ax, which is a positive value or a negative value, to the movement amount Bx, which is a positive value or a negative value, and calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding the movement amount Ay, which is a positive value or a negative value, to the movement amount By, which is a positive value or a negative value.

[0177] In the next step ST210, control unit 176 moves blur correction lens 76 to shift the image. That is, control unit 176 generates an X-axis control command for each frame period that corresponds to the amount of movement of blur correction lens 76 along the X2 axis calculated by calculation unit 174. The X-axis control command is output to X-axis motor driver 116A. Similarly, control unit 176 generates a Y-axis control command for each frame period that corresponds to the amount of movement of blur correction lens 76 along the Y2 axis calculated by calculation unit 174. The Y-axis control command is output to Y-axis motor driver 116B.

[0178] The X-axis motor driver 116A generates an X-axis actuation signal based on the X-axis control command, and the Y-axis motor driver 116B generates a Y-axis actuation signal based on the Y-axis control command. The X-axis motor 136A operates by an actuation amount corresponding to the X-axis actuation signal, and the Y-axis motor 136B operates by an actuation amount corresponding to the Y-axis actuation signal. As a result, the image blur correction lens 76 moves in a direction that shifts the image along the X1 axis and / or Y1 axis for each frame period, and the image is shifted along the X1 axis and / or Y1 axis.

[0179] Next, the blur correction process will be described with reference to FIG.

[0180] First, in step ST300, the acquisition unit 172 (see FIGS. 19 and 20) acquires a shake correction command output from the CPU 42 of the monitoring camera main body 20.

[0181] In the next step ST302, the acquisition unit 172 acquires the result of the blur amount detection by the blur amount detection sensor 56 output from the CPU 42 of the monitoring camera main body 20.

[0182] In the next step ST304, the acquisition unit 172 acquires the tilt information output from the CPU 212 of the management device 200.

[0183] In the next step ST306, the calculation unit 174 calculates the amount of movement for correcting image blur for the blur correction lens 76. That is, the calculation unit 174 calculates the amount of movement C1 (see FIG. 19 ) for correcting image blur in the X1-axis direction for the blur correction lens 76. Furthermore, based on the blur amount detection result by the blur amount detection sensor 56, the calculation unit 174 calculates the amount of movement D1 (see FIG. 20 ) for correcting image blur in the Y1-axis direction for the blur correction lens 76.

[0184] In the next step ST308, the calculation unit 174 calculates the amount of movement of the blur correction lens 76 along the X2 axis and the amount of movement of the blur correction lens 76 along the Y2 axis. That is, the calculation unit 174 calculates the amount of movement Cx of the blur correction lens 76 along the X2 axis using the following formula (7), and calculates the amount of movement Cy of the blur correction lens 76 along the Y2 axis using the following formula (8). Cx=C1×cos θy / cos(θy−θx) (7) Cy=−C1×sin θx / cos(θy−θx) (8)

[0185] Furthermore, the calculation unit 174 calculates the amount of movement Dx of the blur correction lens 76 along the X2 axis using the following formula (9), and calculates the amount of movement Dy of the blur correction lens 76 along the Y2 axis using the following formula (10): Dx=D1×sin θy / cos(θy−θx) (9) Dy=D1×cos θx / cos(θy−θx) (10)

[0186] Furthermore, when the blur correction lens 76 is moved simultaneously along the X1 axis and the Y1 axis to simultaneously correct blur of the image in the X1 axis direction and the Y1 axis direction, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding a movement amount Cx, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, to a movement amount Dx, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76. Furthermore, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding a movement amount Cy, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, to a movement amount Dy, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0187] Furthermore, when the above-mentioned image shifting and image blur correction are performed simultaneously, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the X2 axis by adding together a plurality of movement amounts selected depending on the direction in which the image is shifted and the direction in which image blur is corrected from among the movement amount Ax, which is a positive or negative value calculated based on the movement amount A1 of the blur correction lens 76; the movement amount Bx, which is a positive or negative value calculated based on the movement amount B1 of the blur correction lens 76; the movement amount Cx, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76; and the movement amount Dx, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0188] Furthermore, when the above-mentioned image shifting and image blur correction are performed simultaneously, the calculation unit 174 calculates the movement amount of the blur correction lens 76 along the Y2 axis by adding together multiple movement amounts selected depending on the direction in which the image is shifted and the direction in which image blur is corrected from among the movement amount Ay, which is a positive or negative value calculated based on the movement amount A1 of the blur correction lens 76, the movement amount By, which is a positive or negative value calculated based on the movement amount B1 of the blur correction lens 76, the movement amount Cy, which is a positive or negative value calculated based on the movement amount C1 of the blur correction lens 76, and the movement amount Dy, which is a positive or negative value calculated based on the movement amount D1 of the blur correction lens 76.

[0189] In the next step ST310, control unit 176 sets the amount of movement of blur correction lens 76 along the X2 axis calculated by calculation unit 174 as a target value, and generates an X-axis control command based on the position detection result by X-axis position sensor 156A. The X-axis control command is output to X-axis motor driver 116A. Similarly, control unit 176 sets the amount of movement of blur correction lens 76 along the Y2 axis calculated by calculation unit 174 as a target value, and generates a Y-axis control command based on the position detection result by Y-axis position sensor 156B. The Y-axis control command is output to Y-axis motor driver 116B.

[0190] The X-axis motor driver 116A generates an X-axis actuation signal based on the X-axis control command, and the Y-axis motor driver 116B generates a Y-axis actuation signal based on the Y-axis control command. The X-axis motor 136A operates by an amount corresponding to the X-axis actuation signal, and the Y-axis motor 136B operates by an amount corresponding to the Y-axis actuation signal. This moves the blur correction lens 76 in the direction in which image blur is corrected, thereby correcting the image blur.

[0191] 22 and 23 is an example of a "method of operating an imaging device" according to the technology of the present disclosure. Also, the method of operating the lens device 70 included in the method of operating the surveillance camera 10 described above with reference to Figs. 22 and 23 is an example of a "method of operating a lens device" according to the technology of the present disclosure.

[0192] Next, the effects of the first embodiment will be described.

[0193] 16 and 19 , the CPU 92 of the lens device 70 acquires tilt information regarding the tilt of the X2-axis of the lens device 70 relative to the X1-axis of the image sensor 24, and based on the tilt information, controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 along the X1-axis of the image sensor 24. Therefore, even if there is a tilt of the X2-axis of the lens device 70 relative to the X1-axis of the image sensor 24, the image can be moved along the X1-axis of the image sensor 24 by the blur correction lens 76 receiving power from the X-axis motor 136A and the Y-axis motor 136B and moving along the X1-axis of the image sensor 24.

[0194] 17 and 20 , the CPU 92 of the lens device 70 acquires tilt information regarding the tilt of the Y2-axis of the lens device 70 relative to the Y1-axis of the image sensor 24, and based on the tilt information, controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 along the Y1-axis of the image sensor 24. Therefore, even if there is tilt of the Y2-axis of the lens device 70 relative to the Y1-axis of the image sensor 24, the image can be moved along the Y1-axis of the image sensor 24 by the blur correction lens 76 receiving power from the X-axis motor 136A and the Y-axis motor 136B.

[0195] 16, when the CPU 92 of the lens device 70 receives an X-axis image shift command, it controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 in a direction that shifts the image in the X1-axis direction. Therefore, the image can be shifted in the X1-axis direction by moving the blur correction lens 76 in the X1-axis direction.

[0196] 17, when the CPU 92 of the lens device 70 receives, for example, a Y-axis image shift command, it controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 in a direction that shifts the image in the Y1-axis direction. Therefore, the image can be shifted in the Y1-axis direction by moving the blur correction lens 76 in the Y1-axis direction.

[0197] 19, when image blurring occurs in the X1-axis direction, for example, the CPU 92 of the lens device 70 controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 in a direction that corrects the image blurring in the X1-axis direction. Therefore, image blurring in the X1-axis direction can be corrected by moving the blur correction lens 76 in the X1-axis direction.

[0198] 20, when image blurring occurs in the Y1-axis direction, for example, the CPU 92 of the lens device 70 controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 in a direction that corrects the image blurring in the Y1-axis direction. Therefore, image blurring in the Y1-axis direction can be corrected by moving the blur correction lens 76 in the Y1-axis direction.

[0199] Furthermore, the lens device 70 includes a communication I / F 100 that communicates with the management device 200, and the CPU 92 of the lens device 70 acquires the tilt information transmitted from the management device 200 and received by the communication I / F 100. Therefore, the CPU 92 of the lens device 70 can control the movement of the blur correction lens 76 based on the tilt information generated by the management device 200.

[0200] Furthermore, the CPU 92 of the lens device 70 stores the acquired tilt information in the NVM 94 (see FIG. 5 ). Therefore, even if the power supply to the lens device 70 is stopped, the tilt information can be maintained in the NVM 94, and the tilt information stored in the NVM 94 can be used until new tilt information is obtained.

[0201] Furthermore, since the tilt information stored in the NVM 94 can be used, it is not necessary to calculate the tilt information every time the lens device 70 is powered on and started up.

[0202] 11 , the tilt information representing the tilt angle θx is information calculated based on the second control command for moving the blur correction lens 76 along the X2 axis of the lens device 70 and the first image 262 and the second image 264 obtained by capturing images with the image sensor 24 before and after the blur correction lens 76 moves based on the second control command. Therefore, for example, the tilt angle θx can be calculated without using a tilt angle detection sensor that detects the tilt angle θx.

[0203] 13 , tilt information representing the tilt angle θy is information calculated based on a third control command for moving the blur correction lens 76 along the Y2 axis of the lens device 70, and a second image 264 and a third image 266 obtained by being captured by the image sensor 24 before and after the blur correction lens 76 moves based on the third control command. Therefore, for example, the tilt angle θy can be calculated without using a tilt angle detection sensor that detects the tilt angle θy.

[0204] The tilt information is calculated based on a plurality of images obtained by performing imaging using the image sensor 24 under imaging conditions that result in images with less noise than images obtained through normal imaging. Therefore, for example, the tilt angles θx and θy represented by the tilt information can be calculated with higher accuracy than when the tilt information is calculated based on a plurality of images obtained under normal imaging conditions.

[0205] The tilt information is information relating to the tilt angle θx of the X2 axis of the lens device 70 relative to the X1 axis of the image sensor 24, and the tilt angle of the Y2 axis of the lens device 70 relative to the Y1 axis of the image sensor 24. Therefore, compared to when the tilt information is information that does not include a specific tilt angle (for example, information relating to the rotational position of the lens device 70 relative to the surveillance camera body 20), the movement amount of the blur correction lens 76 along the X2 axis and the movement amount of the blur correction lens 76 along the Y2 axis can be calculated with high accuracy.

[0206] Furthermore, the CPU 92 of the lens device 70 calculates the amount of movement of the blur correction lens 76 along the X2 axis and the amount of movement of the blur correction lens 76 along the Y2 axis based on the tilt information related to the tilt angle θx, and controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 by the calculated amount of movement of the blur correction lens 76 along the X2 axis and the Y2 axis of the blur correction lens 76. Therefore, even if the X2 axis of the lens device 70 is tilted with respect to the X1 axis of the image sensor 24, the blur correction lens 76 can be moved along the X1 axis of the image sensor 24.

[0207] Similarly, the CPU 92 of the lens device 70 calculates the amount of movement of the blur correction lens 76 along the X2 axis and the amount of movement of the blur correction lens 76 along the Y2 axis based on the tilt information related to the tilt angle θy, and controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 by the calculated amount of movement of the blur correction lens 76 along the X2 axis and the Y2 axis of the blur correction lens 76. Therefore, even if the Y2 axis of the lens device 70 is tilted with respect to the Y1 axis of the image sensor 24, the blur correction lens 76 can be moved along the Y1 axis of the image sensor 24.

[0208] Next, a modification of the first embodiment will be described.

[0209] In the first embodiment, the image shift and image blur correction are performed using the blur correction lens 76, but the lens device 70 may also include a shift lens that shifts the image and a blur correction lens that corrects image blur separately. Furthermore, when the lens device 70 includes a shift lens that shifts the image and a blur correction lens that corrects image blur separately, the shift lens may be moved by the shift process described above, and the blur correction lens may be moved by the blur correction process described above. In this case, the shift lens and the blur correction lens each correspond to an example of a "moving lens" according to the technology of the present disclosure.

[0210] Furthermore, in the first embodiment, both control is executed to move the blur correction lens 76 along the X1 axis based on tilt information related to the tilt angle θx, and control is executed to move the blur correction lens 76 along the Y1 axis based on tilt information related to the tilt angle θy, but it is also possible to execute only one of control to move the blur correction lens 76 along the X1 axis based on tilt information related to the tilt angle θx, and control to move the blur correction lens 76 along the Y1 axis based on tilt information related to the tilt angle θy.

[0211] Furthermore, in the first embodiment, the tilt information includes the tilt angle, but may also include a detection value other than the tilt angle.

[0212] Furthermore, in the first embodiment, control is executed to move the blur correction lens 76 based on tilt information in both the shift process in which the blur correction lens 76 is moved to shift the image, and the blur correction process in which the blur correction lens 76 is moved to correct image blur, but control to move the blur correction lens 76 based on tilt information may be executed in only one of the shift process and the blur correction process.

[0213] Furthermore, in the first embodiment, the management device 200 generates tilt information and outputs the generated tilt information to the lens device 70, but the surveillance camera body 20 may generate tilt information and output the generated tilt information to the lens device 70. Alternatively, the lens device 70 may generate tilt information. Furthermore, when the surveillance camera body 20 generates tilt information or when the lens device 70 generates tilt information, the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70 do not need to be communicatively connected.

[0214] Furthermore, in the first embodiment, the communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70 are communicatively connected, but the communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70 do not have to be communicatively connected. Furthermore, when the communication I / F 60 of the surveillance camera body 20 and the communication I / F 100 of the lens device 70 are not communicatively connected, information generated by the surveillance camera body 20 may be output to the lens device 70 via the management device 200.

[0215] Furthermore, in the first embodiment, the CPU 92 of the lens device 70 stores the acquired tilt information in the NVM 94 , but the acquired tilt information may be stored in the RAM 96 instead of the NVM 94 .

[0216] Furthermore, in the first embodiment, the tilt angle θx and the tilt angle θy are calculated based on the second control command to move the blur correction lens 76 along the X2 axis, the third control command to move the blur correction lens 76 along the Y2 axis, and the first image 262, the second image 264, and the third image 266 obtained by the image sensor 24 capturing images before and after the blur correction lens 76 moves based on the second control command and the third control command. However, for example, the tilt angle θx may be calculated based on the second control command and the first image 262 and the second image 264 obtained by the image sensor 24 capturing images before and after the blur correction lens 76 moves based on the second control command, and the tilt angle θy may be set to the same value as the tilt angle θx by assuming that the Y2 axis is perpendicular to the X2 axis.

[0217] Furthermore, in the first embodiment, for example, the tilt angle θy is calculated based on multiple images obtained by capturing images with the image sensor 24 before and after the blur correction lens 76 is moved along the Y2 axis from the center of the X2-Y2 coordinate system, and the tilt angle θx may be set to the same value as the tilt angle θy by assuming that the X2 axis is perpendicular to the Y2 axis.

[0218] Furthermore, in the first embodiment, the tilt angle θy is calculated based on the second image 264 and the third image 266 obtained by capturing images by the image sensor 24 before and after the blur correction lens 76 is moved along the X2 axis from a position obtained by moving the blur correction lens 76 along the Y2 axis from the center of the X2-Y2 coordinate system. However, the tilt angle θy may also be calculated based on multiple images obtained by capturing images by the image sensor 24 before and after the blur correction lens 76 is moved along the Y2 axis from the center of the X2-Y2 coordinate system.

[0219] Furthermore, in the first embodiment, the tilt information is calculated based on a plurality of images obtained by capturing images using an image sensor 24 to which a sensitivity lower than that of the image sensor 24 that performs normal imaging is applied, but the tilt information may also be calculated based on a plurality of images obtained by capturing images using an image sensor 24 to which the sensitivity of the image sensor 24 that performs normal imaging is applied.

[0220] In the first embodiment, when only control is performed to move the blur correction lens 76 along the X1 axis, the tilt angle θy does not need to be calculated. Similarly, when only control is performed to move the blur correction lens 76 along the Y1 axis, the tilt angle θx does not need to be calculated.

[0221] Furthermore, in the first embodiment, the CPU 92 of the lens device 70 calculates, based on the tilt information, the amount by which the blur correction lens 76 is moved along the X2 axis and the amount by which the blur correction lens 76 is moved along the Y2 axis. However, the CPU 212 of the management device 200 may also calculate, based on the tilt information, the amount by which the blur correction lens 76 is moved along the X2 axis and the amount by which the blur correction lens 76 is moved along the Y2 axis. Alternatively, the CPU 42 of the surveillance camera body 20 may also calculate, based on the tilt information, the amount by which the blur correction lens 76 is moved along the X2 axis and the amount by which the blur correction lens 76 is moved along the Y2 axis.

[0222] Furthermore, among the multiple modified examples according to the first embodiment, modified examples that can be combined may be combined as appropriate.

[0223] Second Embodiment Next, a second embodiment will be described. In the second embodiment, the configuration of the monitoring system S is changed as follows compared to the first embodiment. In the second embodiment, the same elements and members as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted.

[0224] As an example, as shown in FIG. 24 , related information is stored in the NVM 214 of the management device 200. The related information is information that associates first registration information, second registration information, and tilt information. The first registration information is information about the surveillance camera body 20, for example, information that registers the individual number of the surveillance camera body 20. The second registration information is information about the lens device 70, for example, information that registers the individual number of the lens device 70. The tilt information is information calculated when the lens device 70 registered in the second registration information is attached to the surveillance camera body 20 registered in the first registration information. The method of calculating the tilt information is as described in the first embodiment.

[0225] When the CPU 212 of the management device 200 acquires a combination of the first registration information, the second registration information, and the tilt information, it stores information associating the first registration information, the second registration information, and the tilt information in the NVM 214 as associated information.

[0226] First identification information is stored in the NVM 44 of the surveillance camera body 20. Like the first registration information, the first identification information is information about the surveillance camera body 20, for example, information in which the individual number of the surveillance camera body 20 is registered. Second identification information is stored in the NVM 94 of the lens device 70. Like the second registration information, the second identification information is information about the lens device 70, for example, information in which the individual number of the lens device 70 is registered. When the lens device 70 is attached to the surveillance camera body 20, the first identification information is output from the surveillance camera body 20, and the second identification information is output from the lens device 70.

[0227] The CPU 212 of the management device 200 executes the tilt information output processing program 240 stored in the NVM 214 on the RAM 216 to operate as an acquisition unit 242 , a determination unit 244 , an extraction unit 246 , an output unit 248 , and a notification control unit 250 .

[0228] The acquisition unit 242 acquires the first identification information output from the surveillance camera body 20 via the communication I / F 220 of the management device 200 and the communication I / F 60 of the surveillance camera body 20. The acquisition unit 242 also acquires the second identification information output from the lens device 70 via the communication I / F 220 of the management device 200 and the communication I / F 100 of the lens device 70. The acquisition unit 242 also acquires related information stored in the NVM 214.

[0229] Based on the first identification information, second identification information, and related information acquired by the acquisition unit 242, the judgment unit 244 judges whether the first registration information included in the related information is consistent with the first identification information acquired by the acquisition unit 242, and whether the second registration information included in the related information is consistent with the second identification information acquired by the acquisition unit 242.

[0230] When the determination unit 244 makes a positive determination, the extraction unit 246 extracts tilt information from the related information acquired by the acquisition unit 242. The output unit 248 outputs the tilt information extracted by the extraction unit 246. The tilt information output from the output unit 248 is transmitted to the lens device 70 via the communication I / F 220 of the management device 200. As described in the first embodiment, the lens device 70 executes control to move the blur correction lens 76 (see FIGS. 16 , 17 , 19 , and 20 ) based on the tilt information.

[0231] If the judgment is denied by the judgment unit 244, i.e., if the first registration information included in the related information differs from the first identification information of the surveillance camera body 20 acquired by the acquisition unit 242, or if the second registration information included in the related information differs from the second identification information of the lens device 70 acquired by the acquisition unit 242, the notification control unit 250 performs, for example, control to issue a notification as a process that contributes to updating the tilt information.

[0232] The notification may be, for example, a notification that a process for updating the tilt information needs to be executed, or a notification that the surveillance camera body 20 and the lens device 70 are not a known combination. The notification may also be, for example, a notification displayed on the display 222 of the management device 200 (see FIG. 6 ), a notification by sound output from a speaker of the management device 200, or a notification by illumination of a warning light of the management device 200. In response to the notification, the administrator performs an operation to update the tilt information in the surveillance system S.

[0233] Next, the tilt information output process according to the second embodiment will be described with reference to FIG.

[0234] First, in step ST400, the acquisition unit 242 acquires the first identification information output from the surveillance camera body 20. The acquisition unit 172 also acquires the second identification information output from the lens device 70. Furthermore, the acquisition unit 242 acquires related information stored in the NVM 214.

[0235] In the next step ST402, the determination unit 244 determines, based on the first identification information, second identification information, and related information acquired by the acquisition unit 242, whether or not the first registration information included in the related information matches the first identification information acquired by the acquisition unit 242, and whether or not the second registration information included in the related information matches the second identification information acquired by the acquisition unit 242. If the determination by the determination unit 244 is positive, step ST404 is executed.

[0236] In the next step ST 404 , the extraction section 246 extracts tilt information from the related information acquired by the acquisition section 242 .

[0237] In the next step ST406, the output unit 248 outputs the tilt information extracted by the extraction unit 246. The tilt information output from the output unit 248 is transmitted to the lens device 70. As described in the first embodiment, the lens device 70 executes control to move the blur correction lens 76 (see FIGS. 16, 17, 19, and 20) based on the tilt information.

[0238] On the other hand, if the determination by the determination unit 244 is negative in the above-mentioned step ST402, step ST408 is executed. In step ST408, the notification control unit 250 performs, for example, control to issue a notification as a process that contributes to updating the tilt information.

[0239] Next, the effects of the second embodiment will be described.

[0240] The CPU 212 of the management device 200 stores the related information, which associates the first registration information about the surveillance camera body 20, the second registration information about the lens device 70, and the tilt information, in the NVM 214. Therefore, even if the power supply to the management device 200 is stopped, the related information can be maintained in the state stored in the NVM 214, and the related information stored in the NVM 214 can be used until new related information is obtained.

[0241] Furthermore, since the related information stored in the NVM 214 can be used, it is not necessary to generate the related information every time the lens device 70 is attached to the surveillance camera body 20 .

[0242] Furthermore, when the first registration information included in the related information matches the first identification information of the surveillance camera body 20 and the second registration information included in the related information matches the second identification information of the lens device 70, the CPU 212 of the management device 200 extracts the tilt information from the related information. Therefore, the tilt information included in the related information can be applied to a known combination of the surveillance camera body 20 and the lens device 70.

[0243] Furthermore, when the first registration information included in the related information differs from the first identification information of the surveillance camera body 20 acquired by the acquisition unit 242, or when the second registration information included in the related information differs from the second identification information of the lens device 70 acquired by the acquisition unit 242, the CPU 212 of the management device 200 performs control to issue a notification, for example, as a process that contributes to updating the tilt information. Therefore, the administrator who receives the notification can be prompted to perform an operation to update the tilt information.

[0244] Next, a modification of the second embodiment will be described.

[0245] In the second embodiment, a plurality of pieces of related information may be stored in the NVM 214 of the management device 200. Furthermore, the CPU 212 of the management device 200 may extract related information corresponding to a target combination of the surveillance camera body 20 and the lens device 70 from the plurality of pieces of related information stored in the NVM 214 of the management device 200, and output tilt information included in the extracted related information.

[0246] In the second embodiment, the first registration information about the surveillance camera body 20, the second registration information about the lens device 70, and related information that associates the tilt information are stored in the NVM 214 of the management device 200. However, the related information may be stored in the NVM 44 of the surveillance camera body 20 or in the NVM 94 of the lens device 70.

[0247] In the second embodiment, the tilt information output process is executed by the CPU 212 of the management device 200. However, the tilt information output process may be executed by the CPU 42 of the surveillance camera body 20 or by the CPU 92 of the lens device 70.

[0248] Furthermore, the multiple modified examples of the second embodiment may be combined as appropriate. Furthermore, the multiple modified examples of the first embodiment described above may be applied to the second embodiment.

[0249] Third Embodiment Next, a third embodiment will be described.

[0250] Fig. 26 shows an example of the optical characteristics of the blur correction lens 76. In Fig. 26, the blur correction lens 76 shown by the two-dot chain line represents the blur correction lens before shifting the image, and the blur correction lens 76 shown by the solid line represents the blur correction lens moved to a position where the image is shifted. The optical axis OA represents the optical axis OA that passes through the center of the light receiving surface 24A of the image sensor 24 and is perpendicular to the light receiving surface 24A.

[0251] Shift amount S1 is the shift amount on the light-receiving surface 24A of the image sensor 24 of central ray F1 that passes through the blur correction lens 76 after movement on the optical axis OA, relative to movement of the blur correction lens 76 by the movement amount E, and shift amount S2 is the shift amount on the light-receiving surface 24A of the image sensor 24 of peripheral ray F2 that passes through the blur correction lens 76 after movement other than on the optical axis OA, relative to movement of the blur correction lens 76 by the movement amount E. When compared for the same movement amount E, shift amount S2 is greater than shift amount S1. Therefore, it is generally difficult to obtain the same shift amount across the entire surface of an image obtained by focusing light on the image sensor 24.

[0252] Therefore, in the third embodiment, the monitoring system S is configured as follows: In the third embodiment, the same elements and members as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted.

[0253] As an example, as shown in FIG. 27 , the CPU 212 of the management device 200 outputs image height position designation information and tilt information. The image height position designation information is information that designates the image height position on the light receiving surface 24A of the image sensor 24 (see FIG. 26 ). The image height position refers to the height position of the image obtained by focusing light on the image sensor 24, and the image height refers to the distance from the optical axis OA to the center of the image. In other words, the image height position designation information is information that designates the image height position indicating the height position on the light receiving surface 24A of the center of the image obtained by focusing light on the image sensor 24. The image height position designation information designates the position of the center of the image based on the optical axis OA. For example, the management device 200 performs an object detection process to identify the position where the main subject is captured in the captured image, and the identified position is set as the image height position (i.e., the reference image position). The image height position may be designated by an administrator who manages the management device 200.

[0254] The tilt information is as described in the first embodiment. The image height position designation information and the tilt information are transmitted from the communication I / F 220 of the management device 200 and received by the communication I / F 100 of the lens device 70.

[0255] The CPU 42 of the surveillance camera body 20 outputs image shift amount designation information. The image shift amount designation information is information that designates the amount of shift by which the image is to be shifted. The image shift amount designation information is information similar to the image shift command in the first embodiment. The image shift amount designation information designates the amount of movement of the center of the image that accompanies movement of the blur correction lens 76. The image shift amount designation information is transmitted from the communication I / F 60 of the surveillance camera body 20 and received by the communication I / F 100 of the lens device 70.

[0256] Conversion coefficients are stored in the NMV 94 of the lens device 70. The conversion coefficients are coefficients that convert the amount of shift of the image into the amount of movement of the blur correction lens 76. The conversion coefficients are expressed as the value obtained by dividing the amount of movement of the correction lens [mm] by the amount of shift of the image [p (pitch)]. The conversion coefficients are determined in advance according to the optical characteristic values ​​(i.e., design values) of the blur correction lens 76. The conversion coefficients are also determined according to the image height position. The conversion coefficients are stored in the NMV in, for example, a lookup table format. Note that the conversion coefficients may also be stored in the NMV in a format other than a lookup table format.

[0257] Similar to the first embodiment, the CPU 92 of the lens device 70 operates as an acquisition unit 172, a calculation unit 174, and a control unit 176. The acquisition unit 172 acquires the image height position designation information, tilt information, and image shift amount designation information received by the communication I / F 100 of the lens device 70. Note that if the management device 200 does not output the image height position designation information because, for example, the object detection function of the management device 200 is stopped or the image height position is not designated by the administrator who manages the management device 200, the CPU 92 of the lens device 70 may set a position designated in advance as the image height position.

[0258] The calculation unit 174 determines the amount of shift of the image at the image height position specified by the image height position specification information to be the amount of shift specified by the image shift amount specification information, based on the image height position specification information and the image shift amount specification information. The calculation unit 174 also calculates the amount of movement of the blur correction lens 76 that results in the amount of shift of the image at the determined image height position, using a conversion coefficient.

[0259] For example, if the shift amount specified by the image shift amount specification information is x [p (pitch)], the image height position specified by the image height position specification information is r [mm], the conversion coefficient at the image height position r is β, and the movement amount of the blur correction lens 76 corresponding to the shift amount specified by the image shift amount specification information is y, the movement amount y [mm] of the blur correction lens 76 can be calculated by the following formula (11): y=x×β (11)

[0260] Furthermore, the calculation unit 174 calculates the amount of movement of the blur correction lens 76 along the X2 axis and the amount of movement of the blur correction lens 76 along the Y2 axis, based on the amount of movement and tilt information of the blur correction lens 76 calculated using the conversion coefficient. The method of calculating the amount of movement of the blur correction lens 76 along the X2 axis and the amount of movement of the blur correction lens 76 along the Y2 axis, based on the amount of movement and tilt information of the blur correction lens 76 calculated using the conversion coefficient, is the same as in the first embodiment.

[0261] As in the first embodiment, the control unit 176 controls the X-axis motor 136A and the Y-axis motor 136B to move the blur correction lens 76 in a direction that shifts the image along the X1 axis and / or the Y1 axis. Through the above processing, the shift amount of the image at the image height position specified by the image height position specification information is set to the shift amount specified by the image shift amount specification information.

[0262] In this way, the CPU 92 of the lens device 70 acquires image height position designation information that designates the image height position indicating the height position of the image on the image sensor 24, image shift amount designation information that designates the shift amount by which the image is to be shifted, and tilt information. Then, based on the image height position designation information, image shift amount designation information, and tilt information, the CPU 92 controls the X-axis motor 136A and the Y-axis motor 136B to move the movable lens by an amount of movement that achieves the shift amount specified by the image shift amount designation information at the image height position designated by the image height position designation information. Therefore, the shift amount of the image at the image height position designated by the image height position designation information can be the shift amount specified by the image shift amount designation information.

[0263] In this way, the image is shifted for each frame period, and each time the image is shifted, the CPU 42 of the surveillance camera main body 20 controls the image sensor 24 (see FIGS. 16 and 17) to capture an image. As a result, as shown in FIG. 18 as an example, a plurality of frame images 182 corresponding to each frame period are obtained. The CPU 42 of the surveillance camera main body 20 then combines the plurality of frame images 182 to obtain a combined image 184.

[0264] Furthermore, in the third embodiment, the shift amount of the image at the image height position specified by the image height position specification information can be set to the shift amount specified by the image shift amount specification information, so that a composite image 184 can be obtained in which the image quality at the image height position specified by the image height position specification information is the best.

[0265] Also in the third embodiment, as in the first embodiment, by using tilt information, even if there is a tilt of the X2-axis of the lens device 70 with respect to the X1-axis of the image sensor 24, the X-axis motor 136A and the Y-axis motor 136B can move the blur correction lens 76 along the X1-axis of the image sensor 24. Similarly, even if there is a tilt of the Y2-axis of the lens device 70 with respect to the Y1-axis of the image sensor 24, the X-axis motor 136A and the Y-axis motor 136B can move the blur correction lens 76 along the Y1-axis of the image sensor 24.

[0266] The processing of the calculation unit 174 in the third embodiment may be performed by the CPU 212 of the management device 200 or by the CPU 42 of the monitoring camera main body 20 .

[0267] Furthermore, multiple modified examples of the first embodiment described above may be applied to the third embodiment, and multiple modified examples of the second embodiment described above may be applied to the third embodiment. Furthermore, the first, second, and third embodiments may be implemented in appropriate combination.

[0268] Next, a modification common to the first, second, and third embodiments (hereinafter referred to as the above embodiments) will be described.

[0269] In the above embodiment, the lens device 70 is provided with a controller 90 separate from the controller 40 of the surveillance camera body 20, but the lens device 70 does not have to be provided with a controller 90. Alternatively, the functions of the controller 90 of the lens device 70 may be integrated into the controller 40 of the surveillance camera body 20, and the lens device 70 may be controlled by the controller 40 of the surveillance camera body 20. In this case, the controller 40 is an example of a "computer applied to an imaging device." Also, when the functions of the controller 90 of the lens device 70 are integrated into the controller 40 of the surveillance camera body 20, the communication I / F 100 of the lens device 70 may be omitted.

[0270] Furthermore, in the above embodiment, an example in which the imaging process is executed by the controller 40 of the surveillance camera body 20 has been described, but the technology of the present disclosure is not limited to this. For example, the imaging process may be executed by the controller 210 of the management device 200. Furthermore, the imaging process may be executed in a distributed manner between the management device 200 and the surveillance camera body 20, or the imaging process may be executed in a distributed manner among a plurality of devices including the management device 200 and the surveillance camera body 20.

[0271] Furthermore, in the above embodiment, the surveillance camera 10 has been described as an example of an imaging device, but the technology of the present disclosure is not limited thereto, and the technology described in the above embodiment can be applied to various imaging devices. Examples of imaging devices include digital cameras with interchangeable lenses and no reflex mirror, digital cameras with fixed lenses, digital cameras with reflex mirrors, and digital cameras built into various electronic devices such as smart devices, wearable devices, cell observation devices, ophthalmologic observation devices, and surgical microscopes. Furthermore, the technology described in the above embodiment may be applied to an imaging device including an image sensor 24 that is sensitive to light having a wavelength band other than the near-infrared wavelength band.

[0272] In the above embodiment, an example has been described in which the tilt information output processing program 230 is stored in the NVM 214 of the management device 200. However, the tilt information output processing program 230 may be stored in a portable storage medium such as an SSD or a USB memory, and may be stored in a non-transitory storage medium. The tilt information output processing program 230 stored in a non-transitory storage medium is installed in the management device 200, for example, and used.

[0273] Furthermore, in the above embodiment, an example was described in which the blur correction / shift processing program 110 is stored in the NVM 94 of the lens device 70, but the blur correction / shift processing program 110 may also be stored in a portable storage medium such as an SSD or USB memory, as long as the blur correction / shift processing program 110 is stored in a non-transitory storage medium. The blur correction / shift processing program 110 stored in a non-transitory storage medium is installed in, for example, the lens device 70 and used.

[0274] Furthermore, in the above embodiment, an example is shown in which the controller 40 is built into the surveillance camera body 20, but the technology of the present disclosure is not limited to this, and for example, the controller 40 may be provided outside the surveillance camera body 20.

[0275] Furthermore, in the above embodiment, an example is shown in which the controller 90 is built into the lens device 70, but the technology of the present disclosure is not limited to this, and for example, the controller 90 may be provided outside the lens device 70.

[0276] In the above embodiment, the CPU 42 of the surveillance camera body 20 is a single CPU, but it may be multiple CPUs. Also, a GPU may be used instead of the CPU 42. Similarly, the CPU 92 of the lens device 70 is a single CPU, but it may be multiple CPUs. Also, a GPU may be used instead of the CPU 92.

[0277] In the above embodiment, the surveillance camera body 20 includes the controller 40, but the technology of the present disclosure is not limited to this, and a device including an ASIC, an FPGA, and / or a PLD may be applied instead of the controller 40. Furthermore, instead of the controller 40, a combination of a hardware configuration and a software configuration may be used.

[0278] Furthermore, in the above embodiment, the lens device 70 includes the controller 90, but the technology of the present disclosure is not limited to this, and a device including an ASIC, an FPGA, and / or a PLD may be applied instead of the controller 90. Furthermore, instead of the controller 90, a combination of a hardware configuration and a software configuration may be used.

[0279] The hardware resources for executing the tilt information output process described in the above embodiments can be various processors, as listed below. Examples of processors include a CPU, which is a general-purpose processor that functions as a hardware resource for executing the tilt information output process by executing software, i.e., a program. Examples of processors include dedicated electrical circuits, such as FPGAs, PLDs, or ASICs, which are processors with a circuit configuration designed specifically for executing specific processes. Each processor has built-in or connected memory, and each processor uses the memory to execute the tilt information output process.

[0280] The hardware resource that executes the tilt information output process may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, the hardware resource that executes the tilt information output process may be a single processor.

[0281] As an example of a configuration using a single processor, first, one processor is configured by combining one or more CPUs and software, and this processor functions as a hardware resource that executes the tilt information output process. Second, there is a configuration in which a processor is used that realizes the functions of the entire system, including multiple hardware resources that execute the tilt information output process, on a single IC chip, as typified by SoCs. In this way, the tilt information output process is realized using one or more of the various processors described above as hardware resources.

[0282] Furthermore, the hardware structure of these various processors can be, more specifically, an electric circuit that combines circuit elements such as semiconductor elements. The above-described tilt information output process is merely an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged, without departing from the spirit of the invention.

[0283] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0284] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" is also applied when three or more things are expressed by connecting them with "and / or."

[0285] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference.

[0286] S Surveillance system 10 Surveillance camera 20 Surveillance camera body 22 Lens mount 24 Image sensor 24A Light receiving surface 25A Subject image 26 Light receiving section 28 Color filter section 30 First light receiving element 32 Second light receiving element 32R Light receiving element 32G Light receiving element 32B Light receiving element 40 Controller 42 CPU 44 NVM 46 RAM 48 Bus 50 UI system device 52 Image sensor driver 54 Signal processing device 56 Blur amount detection sensor 60 Communication I / F 62 Visible light image 64 Near-infrared light image 70 Lens device 72 Objective lens 74 Zoom lens 76 Blur correction lens 76A Center 78 Aperture 78A Opening 80 Filter unit 82 Master lens 84 Disk 86 Ir cut filter 90 Controller 92 CPU 94 NVM 96 RAM 98 Bus 100 Communication I / F 110 Blur correction and shift processing program 114 Motor driver 116A X-axis motor driver 116B Y-axis motor driver 118 Second motor driver 120 Third motor driver 122 Fourth motor driver 134 First motor 136A X-axis motor 136B Y-axis motor 138 Second motor 140 Third motor 142 Fourth motor 154 First position sensor 156A X-axis position sensor 156B Y-axis position sensor 158 Second position sensor 160 Third position sensor 162 Fourth position sensor 172 Acquisition unit 174 Calculation unit 176 Control unit 182 Image 184 Composite image 200 Management device 210 Controller 212 CPU 214 NVM 216 RAM 218 Bus 220 Communication I / F 222 Display 224 Keyboard 226 Mouse 228 Input / Output I / F 230 Tilt information output processing program 232 Tilt information generation unit 234 Tilt information output unit 240 Tilt information output processing program 242 Acquisition unit 244 Determination unit 246 Extraction unit 248 Output unit 250 Notification control unit 262 First image 264 Second image 266 Third image θx Tilt angle θy Tilt angle A1 Movement amount Ax Movement amount Ay Movement amount B1 Movement amount Bx Movement amount By Movement amount C1 Movement amount Cx Movement amount Cy Movement amount D1 Movement amount Dx Movement amountDy Movement amount E Movement amount F1 Central ray F2 Peripheral ray OA Optical axis S1 Shift amount S2 Shift amount

Claims

1. A lens device mounted on an imaging device body having an image sensor, comprising: a processor; a memory connected to or built into the processor; a lens including a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects with the optical axis of the lens and a second drive axis that intersects with both the optical axis of the lens and the first drive axis, wherein the processor obtains tilt information regarding at least one of the tilt of the first drive axis with respect to a first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis with respect to a second axis of the image sensor as viewed along the optical axis, and controls the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

2. The lens device according to claim 1, wherein the processor controls the drive mechanism to move the movable lens in a direction that shifts the image obtained by focusing the light on the image sensor.

3. A lens device according to claim 1 or claim 2, wherein the processor controls the drive mechanism to move the movable lens in a direction that corrects blurring of the image obtained by focusing the light on the image sensor.

4. A lens device as claimed in any one of claims 1 to 3, further comprising an external control device provided outside the imaging device comprising the imaging device body and the lens device, and a communication interface for communicating with at least one of the imaging device body, wherein the processor acquires the tilt information transmitted from at least one of the external control device and the imaging device body and received by the communication interface.

5. A lens device as described in any one of claims 1 to 4, further comprising a non-volatile memory, wherein the processor stores the acquired tilt information in the non-volatile memory, and controls the drive mechanism to move the movable lens based on the tilt information stored in the non-volatile memory.

6. A lens device as described in any one of claims 1 to 5, wherein the tilt information is information calculated based on a control command to move the movable lens along at least one of the first drive axis and the second drive axis and multiple images obtained by capturing images with the image sensor before and after the movable lens moves based on the control command.

7. A lens device as claimed in any one of claims 1 to 6, wherein the tilt information is information calculated based on a plurality of images obtained by imaging using the image sensor under imaging conditions that result in images with less noise than images obtained by normal imaging.

8. A lens device as claimed in any one of claims 1 to 7, wherein the tilt information is information calculated based on a plurality of images obtained by capturing images using an image sensor to which a sensitivity lower than the sensitivity of the image sensor for normal image capture is applied.

9. A lens device according to any one of claims 1 to 8, wherein the tilt information is information relating to at least one of a first tilt angle of the first drive shaft relative to the first axis as viewed along the optical axis, and a second tilt angle of the second drive shaft relative to the second axis as viewed along the optical axis.

10. The lens device described in claim 9, wherein the processor calculates a first movement amount by which the movable lens is moved along the first drive axis and a second movement amount by which the movable lens is moved along the second drive axis based on the tilt information, and controls the drive mechanism to move the movable lens along the first drive axis by the first movement amount and to move the movable lens along the second drive axis by the second movement amount.

11. A lens device as described in any one of claims 1 to 8, wherein the tilt information includes a first movement amount by which the movable lens is moved along the first drive axis and a second movement amount by which the movable lens is moved along the second drive axis, and the first movement amount and the second movement amount are movement amounts calculated based on at least one of the tilt of the first drive axis with respect to the first axis as viewed along the optical axis and the tilt of the second drive axis with respect to the second axis as viewed along the optical axis.

12. A lens device as claimed in any one of claims 1 to 11, further comprising a non-volatile memory, wherein the processor stores in the non-volatile memory first registration information relating to the imaging device body, second registration information relating to the lens device, and associated information associating the tilt information.

13. The lens device described in claim 12, wherein the processor acquires first identification information regarding the imaging device body to which the lens device is attached, second identification information regarding the lens device, and the related information, and extracts the tilt information from the related information when the first registration information and the first identification information match and when the second registration information and the second identification information match.

14. The lens device according to claim 13, wherein the processor performs processing that contributes to updating the tilt information when the first registration information and the first identification information differ, or when the second registration information and the second identification information differ.

15. A lens device according to claim 13 or claim 14, wherein the processor performs control to notify when the first registration information and the first identification information differ, or when the second registration information and the second identification information differ.

16. A lens device as claimed in any one of claims 1 to 15, wherein the processor acquires image height position designation information that designates an image height position indicating the height position on the light receiving surface of the image sensor of the center of an image obtained by focusing the light on the image sensor, image shift amount designation information that designates the shift amount by which the image is to be shifted, and the tilt information, and controls the drive mechanism to move the movable lens by an amount of movement that achieves the shift amount at the image height position based on the image height position designation information, the image shift amount designation information, and the tilt information.

17. A lens device according to any one of claims 1 to 16, comprising an optical filter arranged closer to the subject than the image sensor and transmitting near-infrared light contained in the light.

18. An imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, wherein the lens device comprises: a processor; a memory connected to or built into the processor; a lens including a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects with the optical axis of the lens and a second drive axis that intersects with both the optical axis of the lens and the first drive axis, wherein the processor obtains tilt information regarding at least one of the tilt of the first drive axis with respect to a first axis of the image sensor as viewed along the optical axis and the tilt of the second drive axis with respect to a second axis of the image sensor as viewed along the optical axis, and controls the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

19. The imaging device described in claim 18, wherein the processor controls the drive mechanism to move the movable lens to a position where an image obtained by focusing the light on the image sensor shifts at a pitch equal to or greater than the pixel pitch of the image sensor or a pitch less than the pixel pitch of the image sensor, causes the image sensor to capture an image in accordance with the shift of the image, and synthesizes multiple frame images obtained by the image capture.

20. A method for operating a lens device mounted on an imaging device body, comprising: a lens including a movable lens that focuses incident light on an image sensor of the imaging device body; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects both the optical axis of the lens and the first drive axis, the method comprising: acquiring tilt information regarding at least one of the tilt of the first drive axis with respect to a first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis with respect to a second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

21. A method for operating an imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, wherein the lens device includes a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects with the optical axis of the lens and a second drive axis that intersects with both the optical axis of the lens and the first drive axis, the method comprising: acquiring tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

22. A program for causing a computer applied to a lens device mounted on the imaging device body, comprising: a lens including a movable lens that focuses incident light on an image sensor of the imaging device body; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects the optical axis of the lens and a second drive axis that intersects both the optical axis of the lens and the first drive axis, to execute processing including: acquiring tilt information regarding at least one of the tilt of the first drive axis with respect to the first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis with respect to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

23. A program for causing a computer applicable to an imaging device comprising: an imaging device body having an image sensor; and a lens device attached to the imaging device body, wherein the lens device includes a movable lens that focuses incident light on the image sensor; and a drive mechanism that moves the movable lens by applying power to the movable lens along a first drive axis that intersects with the optical axis of the lens and a second drive axis that intersects with both the optical axis of the lens and the first drive axis, to execute processing including: acquiring tilt information regarding at least one of the tilt of the first drive axis relative to the first axis of the image sensor as viewed along the optical axis, and the tilt of the second drive axis relative to the second axis of the image sensor as viewed along the optical axis; and controlling the drive mechanism to move the movable lens along at least one of the first axis and the second axis based on the tilt information.

Images