Imaging device, imaging method, and program

Abstract

To properly adjust a focal position.SOLUTION: An imaging device 100 includes: an imaging element; an object information acquisition part for acquiring the positional information on an object existing in an imaging region AR0 of the imaging element; an object region acquisition part for acquiring the positional information on a plurality of object regions AR, located between a first position AX1 which becomes a first distance L1 in the distance from the imaging device 100 and a second position AX2 becoming a second distance L2 which is shorter than the first distance L1 in the distance from the imaging device 100; and a focus position control part for controlling the focal position of the imaging device 100. When the object exists in the object region AR, the focus position control part aligns the focal position with the object in each object region AR.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an imaging device, an imaging method, and a program. [Background technology]

[0002] There are known autofocus imaging devices that automatically set a focal position. For example, Patent Document 1 describes that the focus is adjusted to a predetermined position designated by the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 141746 Summary of the Invention [Problem to be solved by the invention]

[0004] In an autofocus imaging device, it is required to properly adjust the focus.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide an imaging device, an imaging method, and a program that are capable of appropriately adjusting the focus. [Means for solving the problem]

[0006] An imaging device according to one aspect of the present invention is an imaging device capable of capturing an image of an object, and includes an imaging element, an object information acquisition unit that acquires positional information of an object present in an imaging area of ​​the imaging element, a target area acquisition unit that acquires positional information of a plurality of target areas located between a first position at a first distance from the imaging element and a second position at a second distance from the imaging device that is shorter than the first distance, and a focus position control unit that controls the focus position of the imaging device, and the focus position control unit adjusts the focus position to the object if an object is present within each of the target areas.

[0007] An imaging method according to one aspect of the present invention is an imaging method for imaging an object, and includes the steps of acquiring positional information of an object present in an imaging area, acquiring positional information of a plurality of target areas located between a first position at a first distance from an imaging device and a second position at a second distance from the imaging device that is shorter than the first distance, and controlling a focal position of the imaging device, wherein in the step of controlling the focal position, for each of the target areas, if an object is present within the target area, the focal position is adjusted to the object.

[0008] A program according to one aspect of the present invention is a program that causes a computer to execute an imaging method for imaging an object, and causes the computer to execute the following steps: acquiring positional information of an object present in an imaging area; acquiring positional information of a plurality of target areas located between a first position at a first distance from an imaging device and a second position at a second distance from the imaging device that is shorter than the first distance; and controlling a focal position of the imaging device; and in the step of controlling the focal position, for each of the target areas, if an object is present within the target area, the focal position is adjusted to the object. [Effects of the Invention]

[0009] According to the present invention, it is possible to appropriately adjust the focus. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic block diagram of an imaging device according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating an example of a target region. [Figure 3] FIG. 3 is a schematic diagram illustrating an example of a target region. [Figure 4] FIG. 4 is a schematic diagram showing another example of the target region. [Figure 5]FIG. 5 is a schematic diagram showing another example of the target region. [Figure 6] FIG. 6 is a flowchart illustrating the process flow for setting the focal position. [Figure 7] FIG. 7 is a schematic diagram for explaining the setting of the focal position in the second embodiment. [Figure 8] FIG. 8 is a flowchart illustrating the processing flow for setting the focal position in the second embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating an example in which the motion of an object is set as a predetermined condition. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments.

[0012] (First embodiment) (Configuration of imaging device) FIG. 1 is a schematic block diagram of an imaging device according to a first embodiment. The imaging device 100 according to the first embodiment is an imaging device that captures an image of an object within an imaging range. The imaging device 100 is an autofocus camera that can automatically set the focal position. The imaging device 100 may be a video camera that captures moving images by capturing images every predetermined frame, or may be a camera that captures still images. The imaging device 100 may be used for any purpose, and may be used, for example, as a surveillance camera set at a predetermined position inside a facility or outdoors.

[0013] As shown in FIG. 1, the imaging device 100 includes an optical element 10, an imaging element 12, an image processing circuit 13, an object position measurement unit 14, an input unit 16, a display unit 18, a communication unit 20, a memory unit 22, and a control unit 24.

[0014] The optical element 10 is an element of an optical system such as a lens, etc. The optical element 10 may be one or more.

[0015] The imaging element 12 is an element that converts light incident through the optical element 10 into an image signal, which is an electrical signal. The imaging element 12 is, for example, a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal Oxide Semiconductor) sensor.

[0016] The image processing circuit 13 generates image data for each frame from the image signal generated by the imaging element 12. The image data is data including, for example, information on the luminance and color of each pixel in one frame, and may be data to which a gradation is assigned for each pixel.

[0017] The object position measuring unit 14 is a sensor that measures the position of the object to be measured with respect to the imaging device 100 (the relative position of the object). The object here may be any object, and may be a living or inanimate object, and the same applies hereinafter. Furthermore, the object here may refer to a movable object, but is not limited thereto and may also refer to an immobile object.

[0018] The object position measuring unit 14 measures the distance from the image capturing device 100 to the object as the relative position of the object. The object position measuring unit 14 may be any sensor capable of measuring the relative position of the object, for example, a TOF (Time Of Flight) sensor. When the object position measuring unit 14 is a TOF sensor, for example, a light emitting element (e.g., an LED (Light Emitting Diode)) that irradiates light and a light receiving unit that receives the light are provided, and the distance to the object is measured based on the time of flight of light that is irradiated from the light emitting element to the object and returned to the light receiving unit. Note that the object position measuring unit 14 may measure, for example, the direction in which the object exists relative to the image capturing device 100 in addition to measuring the distance from the image capturing device 100 to the object as the relative position of the object. In other words, the object position measuring unit 14 may measure, as the relative position of the object, the position (coordinates) of the object in a coordinate system with the image capturing device 100 as the origin.

[0019] The input unit 16 is a mechanism for accepting input (operation) from the user, and may be, for example, a button, a keyboard, or a touch panel.

[0020] The display unit 18 is a display panel that displays an image. In addition to the image captured by the imaging device 100, the display unit 18 may also be capable of displaying an image for the user to set a target area AR (described later).

[0021] The communication unit 20 is a communication module that communicates with an external device, and may be, for example, an antenna, a Wi-Fi (registered trademark) module, etc. The imaging device 100 communicates with the external device via wireless communication, but wired communication may also be used, and any communication method may be used.

[0022] The storage unit 22 is a memory that stores various information such as captured image data, calculation contents and programs of the control unit 24, and includes at least one of a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive). The program for the control unit 24 stored in the storage unit 22 may be stored in a recording medium that can be read by the imaging device 100.

[0023] The control unit 24 is a computing device and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 24 includes a target area acquisition unit 30, an object information acquisition unit 32, a focus position control unit 34, an imaging control unit 36, and an image acquisition unit 38. The control unit 24 implements the target area acquisition unit 30, the object information acquisition unit 32, the focus position control unit 34, the imaging control unit 36, and the image acquisition unit 38 by reading and executing a program (software) from the storage unit 22. The control unit 24 may implement these processes using a single CPU, or may be provided with multiple CPUs and execute the processes using the multiple CPUs. At least a portion of the processes performed by the target area acquisition unit 30, the object information acquisition unit 32, the focus position control unit 34, the imaging control unit 36, and the image acquisition unit 38 may be implemented using hardware circuits.

[0024] (Target area acquisition section) The target area acquisition unit 30 acquires information on multiple target areas AR set within the imaging area of ​​the imaging device 100. The target area AR is an area set to automatically adjust the focus position. The information on the target area AR is information indicating the position of the target area AR, i.e., position information of the target area AR. It is preferable that each target area AR is set at a different position so as not to overlap with each other.

[0025] 2 and 3 are schematic diagrams for explaining an example of a target area. FIG. 2 is a view of the imaging device 100 and the target area AR viewed from above in the vertical direction, and FIG. 3 is a view of the imaging device 100 and the target area AR viewed from the horizontal direction. Hereinafter, direction Z is defined as the vertical direction, direction X is defined as one horizontal direction perpendicular to direction Z, and direction Y is defined as a direction (horizontal direction) perpendicular to direction Z and direction X. As shown in FIGS. 2 and 3, the range in which an image can be captured by the imaging device 100 is defined as an imaging area AR0. The imaging area AR0 refers to the area (space) that falls within the angle of view of the imaging element 12, in other words, the range in real space that is captured as an image. The target area AR is an area (space) set within the range of the imaging area AR0.

[0026] More specifically, each target area AR is an area within the imaging area AR0 that is located between a first position AX1 and a second position AX2. The first position AX1 is a position that is a first distance L1 away from the imaging device 100, and the second position AX2 is a position that is a second distance L2 away from the imaging device 100 that is shorter than the first distance L1. As shown in FIGS. 2 and 3 , in this embodiment, the first position AX1 can be considered to be a virtual plane that includes positions (coordinates) within the imaging area AR0 that are a first distance L1 away from the imaging device 100. Similarly, the second position AX2 can be considered to be a virtual plane that includes positions (coordinates) within the imaging area AR0 that are a second distance L2 away from the imaging device 100. That is, each target area AR can be considered to be a space that exists within the imaging area AR0 within a range surrounded by a virtual plane that is a second distance L2 away from the imaging device 100 and a virtual plane that is a first distance L1 away from the imaging device 100. Note that the first position AX1 is not limited to being a virtual plane on which all positions (coordinates) included in the first position AX1 are the first distance L1 from the imaging device 100, but may be a virtual plane on which at least some positions (coordinates) included in the first position AX1 are the first distance L1 from the imaging device 100. Similarly, the second position AX2 may be a virtual plane on which at least some positions (coordinates) included in the second position AX2 are the second distance L2 from the imaging device 100.

[0027] 2 and 3 illustrate an example in which a first target area AR1 and a second target area AR2 are set as the target area AR. In the examples of FIGS. 2 and 3, the first target area AR1 and the second target area AR2 are located within the imaging area AR0, between a first position AX1 and a second position AX2. In the examples of FIGS. 2 and 3, the area within the imaging area AR0 between the first position AX1 and the second position AX2 is divided into the first target area AR1 and the second target area AR2. In other words, the entire area between the first position AX1 and the second position AX2 is divided into multiple target areas. In the examples of FIGS. 2 and 3, the second target area AR2 is located so as to be surrounded by the first target area AR1.

[0028] 4 and 5 are schematic diagrams showing other examples of the target region. In the description of FIGS. 2 and 3, the first target region AR1 is delimited by the first position AX1 and the second position AX2 with respect to the imaging region AR0 in the optical axis direction of the imaging device 100 (the depth direction of the image). However, the first target region AR1 is not delimited with respect to the imaging region AR0 in the radial direction (the direction of the angle of view) with respect to the optical axis direction of the imaging device 100. In other words, the end face of the first target region AR1 in the direction of the angle of view coincides with the end face of the imaging region AR0 in the direction of the angle of view. However, this is not limiting, and the first target region AR1 may also be delimited with respect to the imaging region AR0 in the direction of the angle of view. That is, for example, as shown in FIGS. 4 and 5, the first target region AR1 may also be delimited with respect to the imaging region AR0 in the direction of the angle of view by the third position AX3. In this example, the third position AX3 is a virtual surface (here, a closed surface in the shape of a cylindrical side surface) that includes positions (coordinates) that are a predetermined distance outward in the radial direction with respect to the optical axis LX of the image capture device 100. In this case, the first target area AR1 is a region (space) surrounded by the first position AX1, the second position AX2, and the third position AX3. Note that the third position AX3 is not limited to a virtual surface in which all positions (coordinates) included in the third position AX3 are the first distance L1 from the optical axis LX, but may be a virtual surface in which at least some positions (coordinates) included in the third position AX3 are the third distance L3 from the optical axis LX. For example, the third position AX3 may be a virtual surface that expands at a predetermined angle outward in the radial direction (horizontally and in the elevation angle direction) as it moves away from the image capture device 100 along the optical axis direction.

[0029] The positions of the target regions AR are not limited to the above description and may be located at any position between the first position AX1 and the second position AX2 within the imaging area AR0. For example, the second target region AR2 does not have to be located so as to be surrounded by the first target region AR1. The size and shape of the target regions AR are also not limited to the above description and may be any. The number of target regions AR is not limited to two and may be any multiple number, such as three or more. In the above description, the target region AR is located within the imaging area AR0, but this is not limiting. For example, if the range measurable by the object position measurement unit 14 is defined as a ranging region (ranging space), the target region AR may be located within the ranging region. In this case, the imaging area AR in FIGS. 2 to 5 may be treated as the ranging region.

[0030] The target area acquisition unit 30 may acquire information about the target area AR using any method. For example, the position of each target area AR may be set in advance. In this case, the target area acquisition unit 30 may read the position information of each target area AR set in advance from the storage unit 22, or may acquire the position information of each target area AR from another device via the communication unit 20. For example, if the position of the target area AR is not set in advance, the target area acquisition unit 30 may automatically set the position of each target area AR. For example, the user may set the position of each target area AR. In this case, for example, the user may input information specifying the position of each target area AR (e.g., values ​​of the first distance L1, the second distance L2, and the third distance L3) to the input unit 16, and the target area acquisition unit 30 may set each target area AR based on the position information of the target area AR specified by the user. For example, the target area AR may be set by specifying coordinates. That is, for example, in the example of Figure 2, coordinates P1, P2, P3, and P4 that are the vertex positions of the first target area AR1 and coordinates P5, P6, P7, and P8 that are the vertex positions of the second target area AR2 may be specified, and the area surrounded by coordinates P5 to P8 may be set as the second target area AR2, and the area outside the second target area AR2 that is surrounded by coordinates P1 to P4 may be set as the first target area AR1.

[0031] (Object information acquisition unit) The object information acquisition unit 32 acquires position information of an object present within the imaging area AR0. The object information acquisition unit 32 controls the object position measurement unit 14 to cause the object position measurement unit 14 to measure the relative position of the object with respect to the imaging device 100. The object information acquisition unit 32 acquires the measurement result of the object's relative position with respect to the imaging device 100 by the object position measurement unit 14 as object position information. The object information acquisition unit 32 acquires object position information sequentially by acquiring object position information at predetermined time intervals. The object information acquisition unit 32 can also acquire information indicating the shape of the object (e.g., the 3D shape of the object) based on the object position information. For example, the object information acquisition unit 32 can acquire the 3D shape of the object by accumulating multiple pieces of position information, such as TOF image information.

[0032] (Focus position control unit) The focus position control unit 34 sets the focus position of the imaging device 100. The focus position control unit 34 controls the focus position by controlling the position of the optical element 10, that is, by moving the position of the optical element 10.

[0033] For each target area AR, the focus position control unit 34 adjusts the focus position to an object present within the target area AR. In other words, the focus position control unit 34 sets the focus position to the position of an object determined to be present within the target area AR. In this embodiment, the focus position control unit 34 determines whether an object is present within the target area AR based on position information of the object acquired by the object information acquisition unit 32. If the position of the object acquired by the object information acquisition unit 32 overlaps with the position of the target area AR, the focus position control unit 34 determines that the object is present within the target area AR and adjusts the focus position to the position of the object acquired by the object information acquisition unit 32. In the example of FIGS. 2 and 3 , a first target area AR1 and a second target area AR2 are set as the target areas AR. Therefore, if an object is present within the first target area AR1, the focus position control unit 34 adjusts the focus position to the object within the first target area AR1. If an object is present within the second target area AR2, the focus position control unit 34 adjusts the focus position to the object within the second target area AR2.

[0034] The focus position control unit 34 continues to focus on the object while the object is present within the target area AR. That is, the focus position control unit 34 determines whether the object continues to exist within the target area AR based on the object's position information acquired by the object information acquisition unit 32 at predetermined time intervals, and continues to focus on the object while the object continues to exist within the target area AR. On the other hand, if the object moves outside the target area AR, i.e., if it is no longer present within the target area AR, the focus position control unit 34 shifts the focus from the object and focuses on a position other than the object. For example, when the focus position is set on an object within the first target area AR1, the focus position control unit 34 continues to focus on the object while the object remains within the first target area AR1, and shifts the focus from the object when the object moves outside the first target area AR1. However, if the object moves directly from the first target area AR1 into the second target area AR2 (i.e., if the object moves from the first target area AR1 to the second target area AR2 without moving outside the range of the first target area AR1 and the second target area AR2), the focus position may continue to be focused on the object that has moved into the second target area AR2.

[0035] Note that the focus position control unit 34 does not need to adjust the focus position for an object that has been present in the target area AR since the imaging device 100 started operating (the timing when imaging is possible). That is, the focus position control unit 34 may adjust the focus position for an object that enters the target area AR after operation has started. In other words, the focus position control unit 34 may adjust the focus position for an object that exists in the target area AR at a certain timing but did not exist in the target area AR at a timing prior to that timing, from the timing when the object begins to exist in the target area AR. In other words, when an object moves from outside the target area AR into the target area AR, the focus position control unit 34 may recognize the object as a target to be focused on. That is, the focus position control unit 34 may adjust the focus position for an object that moves from outside the target area AR into the target area AR.

[0036] Furthermore, when no object is present within the target area AR, the focus position control unit 34 may adjust the focus position to a preset position. The position may be set arbitrarily, but is preferably set within the target area AR, such as the center position of the target area AR.

[0037] In this embodiment, for some of the target areas AR, if an object exists in the target area AR, the focal position is adjusted to the object, and the imaging device 100 is caused to execute a predetermined process. On the other hand, for other target areas AR, if an object exists in the target area AR, the focal position is adjusted to the object, but the imaging device 100 is not caused to execute a predetermined process. In this embodiment, the predetermined process refers to a process of capturing an image by the imaging control unit 36. That is, in this embodiment, for some of the target areas AR, if an object exists in the target area AR, the focus position control unit 34 adjusts the focus position to the object, and the imaging control unit 36 ​​captures an image. That is, in this case, the imaging control unit 36 ​​captures an image with the focus position adjusted to the object. On the other hand, for other target areas AR, if an object exists in the target area AR, the focus position control unit 34 adjusts the focus position to the object, but the imaging control unit 36 ​​does not capture an image.

[0038] It can be said that the imaging device 100 is constantly capturing images when it displays images within the imaging area AR on the display unit 18 in real time. However, when recording is not in progress, the images are temporarily stored in a buffer or the like and then automatically deleted without being saved in the storage unit 22. In this embodiment, "capturing an image" does not refer to capturing an image that is automatically deleted without being saved in the storage unit 22, but refers to capturing an image that is automatically saved in the storage unit 22, in other words, capturing an image for recording and saving it in the storage unit 22.

[0039] An example of the focus position setting described above will be described with reference to FIG. 2. FIG. 2 illustrates an example in which a predetermined process is not executed when an object is located in the first target area AR1, and a predetermined process is executed when the object is located in the second target area AR2. FIG. 2 also illustrates an example in which object A moves from position A0, passing through positions A1, A2, and A3, toward image capture device 100 to position A4. Position A0 is farther from image capture device 100 than first distance L1 and is outside the ranges of first target area AR1 and second target area AR2. Position A1 is within the range of first target area AR1, position A2 is within the range of second target area AR2, and position A3 is within the range of first target area AR1. Position A4 is closer to image capture device 100 than second distance L2 and is outside the ranges of first target area AR1 and second target area AR2.

[0040] When object A is at position A0, the focus position control unit 34 does not focus on object A, but instead focuses on a set position, for example. At this time, the imaging control unit 36 ​​does not capture an image. Then, when object A is at position A1, i.e., when object A enters the first target area AR1, the focus position control unit 34 focuses on object A. The focus position control unit 34 continues to focus on object A while object A remains within the first target area AR1. Furthermore, the imaging control unit 36 ​​does not capture an image while object A remains within the first target area AR1. Then, when object A is at position A2, i.e., when object A moves directly from the first target area AR1 to the second target area AR2, the focus position control unit 34 continues to focus on object A while object A remains within the second target area AR2. On the other hand, the imaging control unit 36 ​​starts capturing an image at the timing when the object A enters the second target area AR2, and continues capturing an image while the object A continues to exist within the second target area AR2.

[0041] Thereafter, when object A is at position A3, i.e., when object A moves directly from the second target region AR2 to the first target region AR1, the focal position control unit 34 continues to focus on object A while object A remains within the first target region AR1. Meanwhile, the imaging control unit 36 ​​stops capturing images when object A moves from the second target region AR2 to the first target region AR1. The imaging control unit 36 ​​continues to stop capturing images while object A remains within the first target region AR1. Thereafter, when object A is at position A4, i.e., when object A moves from the first target region AR1 to outside the range of the first target region AR1 and the second target region AR2, the focal position is shifted away from object A and returned to the set position. That is, the focus position control unit 34 adjusts the focus position to object A from the moment object A enters the target area AR, moves the focus position to match the moving object A while object A is moving within the target area AR, and removes the focus position from object A when object A moves out of the target area AR. The imaging control unit 36 ​​continues to capture an image when object A is located within the second target area AR2, and does not capture an image when object A is located out of the second target area AR2.

[0042] In the above description, capturing an image is described as the predetermined process (a process when an object is present in the second target area AR2), but the predetermined process is not limited to capturing an image. The predetermined process may be any process other than a process of focusing on an object, and may be, for example, at least one of a process of capturing an image, a process of irradiating an object with light (e.g., a process of irradiating illumination light), and a process of outputting information indicating the presence of an object in the second target area AR2 (e.g., a sound output process). A plurality of predetermined processes may be set, and in this case, for example, when an object is present in the second target area AR2, all of the plurality of predetermined processes may be executed. Furthermore, when three or more target areas AR are set, a different predetermined process may be assigned to each target area AR. That is, for example, when a first target area, a second target area, and a third target area are set, a predetermined process may not be executed when an object is present in the first target area, a first predetermined process may be executed when an object is present in the second target area, and a second predetermined process different from the first predetermined process may be executed when an object is present in the third target area.

[0043] The focal position may also be set by the user. In this case, for example, the camera may be able to switch between an auto mode in which the focal position is automatically set and a manual mode in which the focal position is set by the user. In the auto mode, the focal position is set by the focal position control unit 34, as described above. On the other hand, in the manual mode, the user inputs an operation to set the focal position into the input unit 16, and the focal position control unit 34 sets the focal position in accordance with the user's operation.

[0044] Furthermore, the image may also be captured by the user. In this case, for example, it may be possible to switch between an auto mode in which the image is captured automatically and a manual mode in which the image is captured by a user operation. In the auto mode, as described above, the image capture control unit 36 ​​captures an image while the object A is present in the second target area AR2. On the other hand, in the manual mode, the user inputs an operation to capture an image into the input unit 16, and the image capture control unit 36 ​​captures an image in accordance with the user operation.

[0045] (imaging control unit) The imaging control unit 36 ​​controls imaging by the imaging device 100 and causes the imaging device 100 to capture an image as described above. The imaging control unit 36 ​​controls, for example, the imaging element 12 to cause the imaging element 12 to acquire an image signal. For example, the imaging control unit 36 ​​may cause the imaging element 12 to acquire an image signal automatically, or may cause the imaging element 12 to acquire an image signal in response to a user operation.

[0046] (Image acquisition section) The image acquisition unit 38 acquires image data acquired by the imaging element 12. The image acquisition unit 38, for example, controls the image processing circuit 13 to cause the image processing circuit 13 to generate image data from the image signal generated by the imaging element 12, and acquires the image data. The image acquisition unit 38 stores the image data in the storage unit 22.

[0047] (Focus position setting flow) Next, the process flow for setting the focal position described above will be described. FIG. 6 is a flowchart illustrating the process flow for setting the focal position. As shown in FIG. 6, the control unit 24 acquires information about the target area AR using the target area acquisition unit 30 (step S10) and acquires the content of the predetermined process (step S12). The content of the predetermined process is information indicating the target area AR among the multiple target areas AR on which the predetermined process is to be executed (i.e., information indicating which target area AR is the target area on which the predetermined process is to be executed) and information indicating the content of the predetermined process (e.g., capturing an image). The content of the predetermined process may be set in advance or may be specified by the user. Here, the description will continue assuming that the second target area AR2 is the target area AR on which the predetermined process is to be executed and that the predetermined process is a process for capturing an image.

[0048] The control unit 24 acquires object position information using the object information acquisition unit 32 (step S14). Steps S10, S12, and S14 may be performed in any order. The control unit 24 determines whether the object is located within the first target area AR1 using the focus position control unit 34 based on the object position information (step S16). If the object is located within the first target area AR1 (step S16; Yes), the focus position control unit 34 adjusts the focus position on the object (step S18), but does not execute a predetermined process (here, capturing an image). Thereafter, if the process is to be ended (step S20; Yes), the process ends. If the process is not to be ended (step S20; No), the process returns to step S14 and continues. On the other hand, if the object is not located within the first target area AR1 (step S16; No) and the object is not located within the second target area AR2 (step S22; No), the process proceeds to step S20 without adjusting the focus position or executing a predetermined process. On the other hand, if the object is located within the second target area AR2 (step S22; Yes), the focus position control unit 34 adjusts the focus position to the object, while the imaging control unit 36 ​​executes a predetermined process (here, capturing an image) (step S24). Thereafter, the process proceeds to step S20.

[0049] Note that the process of executing a predetermined process on a portion of the target area AR (here, the second target area AR2) as described above is not essential. The image capture device 100 may set a plurality of target areas AR and perform control to focus on an object present in each target area AR.

[0050] (effect) As described above, the imaging device 100 according to this embodiment includes the imaging element 12, the object information acquisition unit 32 that acquires position information of an object present in the imaging area AR0 of the imaging element 12, the target area acquisition unit 30 that acquires position information of multiple target areas AR, and the focus position control unit 34 that controls the focal position of the imaging device 100. The multiple target areas AR are located between a first position AX1 at a first distance L1 from the imaging device 100 and a second position AX2 at a second distance L2 from the imaging device 100 that is shorter than the first distance L1. For each target area AR, if an object is present within the target area AR, the focus position control unit 34 adjusts the focal position to the object.

[0051] Here, autofocus imaging devices are required to appropriately adjust the focal position. In contrast, the imaging device 100 according to this embodiment sets multiple target areas AR, and if an object exists in one of these target areas AR, the focal position is adjusted to that object. Therefore, even if there are multiple areas that require attention in surveillance, for example, it is possible to adjust the focus to an object existing in each area. Therefore, according to this embodiment, it is possible to appropriately adjust the focal position.

[0052] Furthermore, in this embodiment, at least a first target area AR1 and a second target area AR2 are set as the multiple target areas AR. When an object is present in the second target area AR2, the control unit 24 causes the image capture device 100 to execute a predetermined process while focusing on the object. On the other hand, when an object is present in the first target area AR1, the control unit 24 causes the image capture device 100 to execute a predetermined process while focusing on the object. According to this embodiment, the image capture device 100 is divided into an area where the predetermined process is performed while focusing on the object, and an area where the predetermined process is performed but the focus is not performed, thereby enabling appropriate image capture and other operations to be performed.

[0053] In this embodiment, the predetermined process is at least one of a process of capturing an image of an object, a process of irradiating light onto the object, and a process of outputting information indicating that an object is present in the second target area AR2. By performing these processes when an object is present in the second target area AR2, it is possible to appropriately perform imaging and the like.

[0054] (Second embodiment) Next, a second embodiment will be described. The second embodiment differs from the first embodiment in a specific respect when objects exist in different target areas AR at the same time. In the second embodiment, a description of the configuration common to the first embodiment will be omitted.

[0055] The object information acquisition unit 32 causes the object position measurement unit 14 to measure the relative position of each object and acquires position information of each object present in the imaging area AR0. The focus position control unit 34 determines whether each object is located within the target area AR based on the position information of each object. When the focus position control unit 34 determines that objects are located in different target areas AR at the same time, it sets the focus position based on priority information. The priority information is information indicating a target area AR that is prioritized within each target area AR, and is acquired by the target area acquisition unit 30. The priority information may be, for example, information indicating the priority order of each target area AR.

[0056] The target area acquisition unit 30 may acquire the priority information in any manner. For example, the priority information may be set in advance. In this case, the target area acquisition unit 30 may read the preset priority information from the storage unit 22, or may acquire the priority information from another device via the communication unit 20. Furthermore, for example, if the priority information is not set in advance, the target area acquisition unit 30 may automatically set the priority information. Furthermore, for example, the priority information may be set by the user. In this case, for example, the user inputs information specifying the priority information (e.g., a priority order for each target area AR) into the input unit 16, and the target area acquisition unit 30 acquires the priority information by the user.

[0057] The focus position control unit 34 adjusts the focus position based on the priority information so that focusing on an object located in a priority target area AR is given priority over focusing on an object located in a target area AR other than the priority target area AR. In other words, the focus position control unit 34 adjusts the focus position so that focusing on an object located in a target area AR with a higher priority is given priority over focusing on an object located in a target area AR with a lower priority. A specific example of how to adjust the focus position based on the priority information will be described below.

[0058] FIG. 7 is a schematic diagram illustrating the setting of the focal position in the second embodiment. For example, the focal position control unit 34 may focus on an object located in the priority target area AR without focusing on an object located outside the priority target area AR. In other words, the focal position control unit 34 may focus on an object located in the target area AR with the highest priority, and not focus on objects located in the other target areas AR. In FIG. 7, an example will be described in which the second target area AR2 has a higher priority than the first target area AR1, and an object Aa is located in the first target area AR1 and an object Ab is located in the second target area AR2 at the same time. In this case, the focal position control unit 34 continues to focus on the object Ab, but does not focus on the object Aa.

[0059] Further, for example, the focus position control unit 34 may switch the focus position so that the focus position overlaps with an object in each target area AR. In this case, for example, the focus position control unit 34 may set the period during which the focus position is kept focused on an object located in a priority target area AR longer than the period during which the focus position is kept focused on an object located in a target area AR other than the priority target area AR. In other words, the focus position control unit 34 may set the period during which the focus position is kept focused on an object located in a target area AR with a higher priority longer than the period during which the focus position is kept focused on an object located in a target area AR with a lower priority. In other words, the higher the priority, the longer the period during which the focus position is kept focused. Using FIG. 7 as an example, the focus position control unit 34 sets the focus position so that the focus position switches between a position overlapping with object Aa and a position overlapping with object Ab. In this case, the focus position control unit 34 sets the period during which the focus position is kept on the object Ab located in the second target area AR2, which has a higher priority, longer than the period during which the focus position is kept on the object Aa located in the first target area AR1, which has a lower priority.

[0060] For example, the focus position control unit 34 may first focus on an object located in a target area AR with a higher priority before focusing on an object located in a target area AR other than the priority target area AR. In other words, the focus position control unit 34 may continue to focus on an object located in a target area AR with a higher priority before focusing on an object located in a target area AR with a lower priority. That is, the higher the priority, the earlier the timing for focusing on the object may be. Using FIG. 7 as an example, the focus position control unit 34 sets the focus position so that the focus position switches between a position overlapping with object Aa and a position overlapping with object Ab. In this case, the focus position control unit 34 first focuses on object Ab located in the second target area AR2, and then focuses on an object located in the first target area AR1 with a lower priority.

[0061] Next, the process flow for setting the focus position explained above will be described. Fig. 8 is a flowchart illustrating the process flow for setting the focus position in the second embodiment. As shown in Fig. 8, the control unit 24 acquires information on the target area AR using the target area acquisition unit 30 (step S30), and acquires priority information (step S32).

[0062] The control unit 24 acquires object position information using the object information acquisition unit 32 (step S34). Steps S10, S12, and S14 may be performed in any order. The control unit 24 determines, using the focus position control unit 34, whether the object is located in at least one of the first target area AR1 and the second target area AR2 based on the object position information (step S36). If the object is located in at least one of the first target area AR1 and the second target area AR2 (step S36; Yes), and if the object is located in both the first target area AR1 and the second target area AR2 (step S38; Yes), the focus position control unit 34 adjusts the focus position based on the priority information (step S40). Thereafter, if the processing is to be ended (step S42; Yes), this processing is ended. If the processing is not to be ended (step S42; No), the processing returns to step S34 and continues. On the other hand, if an object is not located in either the first target region AR1 or the second target region AR2 (step S38; No), that is, if an object is located in only one of the first target region AR1 or the second target region AR2, the focus position control unit 34 adjusts the focus position to the object (step S44) and proceeds to step S42. Also, if an object is not located in at least either the first target region AR1 or the second target region AR2 (step S36; No), that is, if an object is not located in either the first target region AR1 or the second target region AR, focus position control is not performed and the process proceeds to step S42.

[0063] As described above, in the second embodiment, when objects exist in multiple target areas AR at the same time, the focus position control unit 34 sets the focus position based on priority information indicating an object that has priority among the objects in each target area AR. According to the second embodiment, even when objects move into multiple target areas AR at the same time, the focus position can be appropriately set based on the priority information.

[0064] The focus position control unit 34 may focus on an object located in the target area AR that is given priority in the priority information, without focusing on an object located outside the target area AR that is given priority in the priority information. Therefore, even when objects move into multiple target areas AR at the same time, the focus position can be appropriately adjusted to the object that is given priority.

[0065] The focus position control unit 34 may switch the focus position so that the focus position overlaps with an object in each target area AR. In this case, the focus position control unit 34 sets the period during which the focus position is adjusted to an object located in the priority target area AR longer than the period during which the focus position is adjusted to an object located in a target area AR other than the priority target area AR. Therefore, the focus position can be adjusted to the priority object for a longer period.

[0066] (Third embodiment) Next, a third embodiment will be described. The third embodiment differs from the first embodiment in that the focal position is adjusted to an object that exists within the target area AR and satisfies a predetermined condition. Explanations of parts of the third embodiment that are common to the first embodiment will be omitted. The third embodiment can also be applied to the first embodiment.

[0067] In the third embodiment, the focus position control unit 34 adjusts the focus position on an object that exists within the target area AR and satisfies a predetermined condition. The focus position control unit 34 does not adjust the focus position on an object that does not satisfy at least one of the following conditions: existence within the target area AR; and the predetermined condition. The focus position control unit 34 continues to adjust the focus position on the object for a period during which the object satisfies the predetermined condition and remains within the target area AR. On the other hand, the focus position control unit 34 shifts the focus position from the object when the object no longer satisfies at least one of existence within the target area AR and the predetermined condition. That is, for example, the focus position control unit 34 shifts the focus position from the object when the object satisfies the predetermined condition but moves outside the target area AR, or when the object exists within the target area AR but no longer satisfies the predetermined condition.

[0068] The focus position control unit 34 may determine whether the predetermined conditions are met using any method, but may determine whether the predetermined conditions are met based on at least one of object position information and an image of the object. The object position information here may refer to the measurement results of the object position measurement unit 14, and the image of the object may refer to image data of the object acquired by the image sensor 12.

[0069] The predetermined condition here may be any condition other than the presence of an object within the target area AR. For example, the predetermined condition may be at least one of the following: the object is performing a predetermined motion, the object has a predetermined shape, and the object is facing a predetermined direction. Alternatively, any two of these may be the predetermined conditions, or all of these may be the predetermined conditions. When multiple predetermined conditions are set, the focus position control unit 34 determines that the predetermined conditions are met when all of the conditions are met.

[0070] A case where object movement is the predetermined condition will be described. In this case, the focus position control unit 34 determines whether the object is performing a predetermined movement based on the object's position information continuously acquired in time series. The focus position control unit 34 adjusts the focus position to an object that exists within the target area AR and is performing a predetermined movement. The focus position control unit 34 does not adjust the focus position to an object that does not satisfy at least one of the conditions of being present within the target area AR and performing a predetermined movement. The focus position control unit 34 continues to adjust the focus position to the object for a period during which the object is present within the target area AR and continues performing a predetermined movement. On the other hand, if the object no longer satisfies at least one of the conditions of being present within the target area AR and performing a predetermined movement, the focus position control unit 34 removes the focus position from the object. Note that the movement of the object here refers to the object's movement mode, and may refer to, for example, the object's movement direction and movement speed. For example, if the predetermined movement refers to vertically downward movement at a speed of 10 m / h or more, the focus position control unit 34 adjusts the focus position on an object moving vertically downward within the target area AR at a speed of 10 m / h or more. Note that the movement of an object is not limited to the direction and speed of the object's movement, but may refer to any movement pattern. For example, the movement of an object may refer to at least one of the direction and speed of the object's movement.

[0071] FIG. 9 is a schematic diagram illustrating an example in which the predetermined condition is the movement of an object. In the example of FIG. 9, the predetermined condition is the vertical downward movement of the object (opposite to the Z direction), i.e., the movement direction of the object. The example of FIG. 9 illustrates a case in which object A moves vertically downward from position A0a, passing through positions A1a and A2a, to position A3a, and stops at position A3a. Position A0a is outside the target area AR, while positions A1a, A2a, and A3a are within the target area AR. In this case, when object A is located at position A0a, object A is outside the target area AR, so the focus position control unit 34 does not focus on object A, but instead focuses on a set position, for example. Then, when object A is located at position A1a, i.e., when object A enters the target area AR while moving vertically downward, the focus position control unit 34 focuses on object A. The focal position control unit 34 continues to adjust the focal position to the object A even when the object A is at the position A2a, and when the object A moves to the position A3a and stops, it removes the focal position from the object A and returns the focal position to the set position.

[0072] Next, a case where the shape of an object is set as a predetermined condition will be described. In this case, the focus position control unit 34 determines whether the object has a predetermined shape based on image data containing the object. The focus position control unit 34 adjusts the focus position to an object that exists within the target area AR and has a predetermined shape. The focus position control unit 34 does not adjust the focus position to an object that does not satisfy at least one of the conditions of being present within the target area AR and having a predetermined shape. The focus position control unit 34 continues to adjust the focus position to the object for a period during which the object has the predetermined shape and continues to exist within the target area AR. On the other hand, if the object no longer satisfies at least one of the conditions of being present within the target area AR and having a predetermined shape, the focus position control unit 34 removes the focus position from the object. The shape of the object here may be, for example, at least one of the size and the outer shape of the object. For example, if the predetermined shape refers to an object that is equal to or larger than a predetermined size, the focus position control unit 34 adjusts the focus position to an object that exists within the target area AR and has the predetermined size or larger. Note that 3D shape information acquired by the object information acquisition unit 32 may be used to acquire the shape information of the object.

[0073] A case where the orientation of an object is set as a predetermined condition will be described. In this case, the focus position control unit 34 determines whether the object is facing a predetermined direction based on image data containing the object. The focus position control unit 34 adjusts the focus position to an object that exists within the target area AR and faces the predetermined direction. The focus position control unit 34 does not adjust the focus position to an object that does not satisfy at least one of the conditions of being present within the target area AR and facing the predetermined direction. The focus position control unit 34 continues to adjust the focus position to the object for a period during which the object continues to exist within the target area AR while facing the predetermined direction. On the other hand, if the object no longer satisfies at least one of the conditions of being present within the target area AR and facing the predetermined direction, the focus position control unit 34 removes the focus position from the object. Note that 3D shape information acquired by the object information acquisition unit 32 may be used to acquire information about the object's orientation.

[0074] The predetermined conditions may be set in any manner, for example, they may be set in advance. In this case, the focus position control unit 34 may read information indicating the predetermined conditions (e.g., movement direction and movement speed) from the storage unit 22, or may acquire the predetermined conditions from another device via the communication unit 20. Furthermore, for example, if the predetermined conditions are not set in advance, the focus position control unit 34 may automatically set the predetermined conditions. Furthermore, for example, the user may set the predetermined conditions. In this case, for example, the user may input information specifying the predetermined conditions (e.g., movement direction and movement speed) to the input unit 16, and the focus position control unit 34 may set the predetermined conditions based on the information specified by the user.

[0075] As described above, in the third embodiment, the focus position control unit 34 may adjust the focus position on an object that is present in the target area AR and is performing a predetermined motion. The focus position control unit 34 continues to adjust the focus position on the object while the object is performing the predetermined motion, and removes the focus position from the object when the object stops performing the predetermined motion. In this way, by setting the condition for adjusting the focus position as being within the target area AR and also satisfying the predetermined motion, it becomes possible to track an object performing a specific motion and adjust the focus position appropriately.

[0076] In the third embodiment, the focus position control unit 34 may adjust the focus position to an object that exists in the target area AR and has a predetermined shape. In this way, by setting the condition for adjusting the focus position that the object has a predetermined shape in addition to being within the target area AR, it becomes possible to track an object of a specific shape and adjust the focus position appropriately.

[0077] In the third embodiment, the focus position control unit 34 may adjust the focus position to an object that exists in the target area AR and faces a predetermined direction. In this way, by setting the condition for adjusting the focus position as facing a predetermined direction in addition to being within the target area AR, it becomes possible to track an object facing a specific direction and adjust the focus position appropriately.

[0078] Although the embodiments of the present invention have been described above, the embodiments are not limited by the content of these embodiments. Furthermore, the above-described components include those easily conceivable to those skilled in the art, those that are substantially identical, and those within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate, and the configurations of each embodiment can be combined. Furthermore, various omissions, substitutions, or modifications of components can be made without departing from the spirit of the above-described embodiments. Furthermore, while each embodiment has been described with the focus position adjustment operation as a characteristic feature, the focus position adjustment operation may be combined with other operations. For example, the focus position adjustment operation may be combined with a zooming operation. Furthermore, in the description of each embodiment, the focus position adjustment operation may be replaced with other operations. For example, the focus position adjustment operation may be replaced with a zooming operation. Furthermore, in each embodiment, the control unit 24 of the imaging device may send a notification to a predetermined destination via the communication unit 20 when a set condition is met, such as an object entering or leaving a predetermined target area AR or moving in a predetermined direction. The set condition here may refer to, for example, adjusting the focus position to an object when the object moves into the target area AR. [Explanation of symbols]

[0079] 10 Optical Elements 12 Image sensor 14 Object position measurement section 30 Target area acquisition unit 32 Object information acquisition unit 34 Focus position control unit AR target area AR0 imaging area AR1 First Target Area AR2 Second Target Area AX1 1st position AX2 2nd position L1 1st distance L2 2nd distance

Claims

1. An imaging device capable of imaging an object, An imaging element; an object information acquisition unit that acquires position information of an object present in an imaging area of ​​the imaging element; a first position at a first distance from the imaging device; and a second position at a second distance that is shorter than the first distance. a target region acquisition unit for acquiring the target region; a focus position control unit that controls a focus position of the imaging device; and At least a first target area and a second target area are set as the plurality of target areas, and the focus position control unit causes the imaging device to execute a predetermined process while adjusting the focus position on the object when an object exists in the second target area, and causes the imaging device to not execute the predetermined process while adjusting the focus position on the object when an object exists in the first target area. Imaging device.

2. The predetermined processing includes a processing for capturing an image of the object and a processing for irradiating light onto the object. and outputting information indicating that an object is present in the second target region. The imaging device according to claim 1 , wherein both the first and second optical axes are one.

3. 3. The method according to claim 1, wherein the second target area is surrounded by the first target area. Imaging device.

4. The focus position control unit detects whether an object exists in a plurality of the target areas at the same time. In this case, based on priority information indicating a prioritized target area among the target areas, The imaging device according to claim 1 , wherein the focal position is set.

5. The focus position control unit sets the focus position for an object located outside the priority target area.

5. The method according to claim 4, wherein the focus position is not adjusted to an object located in the priority target area, but adjusted to an object located in the priority target area. The imaging device described.

6. The focus position control unit is configured to adjust the focus position so that the focus position overlaps with the object in each of the target regions. The focus position is switched so that the object located in the priority target area is focused on the focus position. The period during which the focus position is adjusted to an object located in a target area other than the priority target area is extended. The imaging device according to claim 4 , wherein the period for adjusting the focus is set to be longer than the period for adjusting the focus.

7. An imaging method for imaging an object, comprising: acquiring position information of an object present in an imaging area; a first position at a first distance from the imaging device; and a second position at a second distance shorter than the first distance. Steps to get it, controlling a focus position of the imaging device; Including, In the step of controlling the focal position, at least a first target area and a second target area are set as the plurality of target areas, and when an object is present in the second target area, the focal position is adjusted to the object while the imaging device is caused to execute a predetermined process, and when an object is present in the first target area, the focal position is adjusted to the object while the imaging device is not caused to execute the predetermined process. Imaging method.

8. A program for causing a computer to execute an imaging method for imaging an object, acquiring position information of an object present in an imaging area; a first position at a first distance from the imaging device; and a second position at a second distance shorter than the first distance. Steps to get it, controlling a focus position of the imaging device; causing the computer to execute In the step of controlling the focal position, at least a first target area and a second target area are set as the plurality of target areas, and when an object is present in the second target area, the focal position is adjusted to the object while the imaging device is caused to execute a predetermined process, and when an object is present in the first target area, the focal position is adjusted to the object while the imaging device is not caused to execute the predetermined process. program.

Images