Imaging system and movable body having same

Abstract

This imaging system comprises: an imaging device that is mounted on a movable body; a blur compensation mechanism that compensates, on the basis of a movement blur compensation amount, blur occurring in the movement direction of the moving body during the imaging performed by the imaging device while the moving body is moving; and a control device that controls the imaging timing of the imaging device. The blur compensation mechanism drives a blur compensation unit for compensating for the blur occurring in the movement direction. The blur compensation unit has a reference position at which an axis orthogonal to a to-be-imaged object plane is parallel to the optical axis of a light incident upon the blur compensation unit. The control device causes the imaging performed by the imaging device to start in synchronization with the time when the blur compensation unit is positioned within a range in which the deviation amount from the reference position is equal to or less than a threshold value during the driving of the blur compensation unit.

Description

[Technical field]

[0001] The present disclosure relates to an imaging system that corrects blurring in accordance with the movement of a moving object, and a moving object including the imaging system. [Background technology]

[0002] As transportation infrastructure ages, there is an increasing demand for infrastructure inspection. Instead of visual inspection by humans, the efficiency of inspection can be improved dramatically by capturing images of infrastructure facilities while moving with a mobile vehicle and detecting defects through image processing of the captured images. However, because the image is captured while moving, the captured images are subject to blurring.

[0003] For example, Patent Document 1 uses Saccade mirror technology to correct blurring caused by camera movement during exposure. The blurring is reduced by irradiating the subject with light, and the light reflected by the subject is reflected by a mirror that rotates for a preset exposure time and then enters the camera. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2015 / 060181 Summary of the Invention [Problem to be solved by the invention]

[0005] However, if the frame interval for imaging is fixed, imaging is performed at different rotation positions of the mirror depending on the moving speed of the moving object, and the subject distance to the imaging target surface varies, which can reduce the accuracy of blur correction.

[0006] The present disclosure provides an imaging system that suppresses deterioration in the accuracy of blur correction, and a moving object including the imaging system. [Means for solving the problem]

[0007] The imaging system of the present disclosure includes an imaging device disposed on a moving body, and a camera that detects blurring in the moving direction of the moving body when the moving body is imaged by the imaging device while moving. Wobble The imaging device includes a blur correction mechanism that corrects blur based on a blur correction amount, and a control device that controls the imaging timing of the imaging device. The blur correction mechanism drives the blur correction unit to correct blur in the moving direction. The blur correction unit has a reference position where an axis perpendicular to the imaging target surface is parallel to the optical axis of light incident on the blur correction unit. The control device synchronizes the blur correction unit with the imaging device and starts imaging when the blur correction unit is located within a range where the amount of displacement from the reference position is equal to or less than a threshold while the blur correction unit is being driven.

[0008] The moving object of the present disclosure is equipped with the imaging system described above. Effect of the Invention

[0009] According to the imaging system and the moving body including the imaging system of the present disclosure, it is possible to provide an imaging system and a moving body including the imaging system that suppresses a decrease in the accuracy of blur correction. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram for explaining a vehicle equipped with an imaging system according to a first embodiment. [Diagram 2] FIG. 1 is a block diagram showing an internal configuration of an imaging system according to a first embodiment. [Diagram 3] FIG. 1 is an explanatory diagram for explaining blur correction in an imaging system; [Figure 4] FIG. 1 is an explanatory diagram illustrating an imaging device with ideal imaging timing. [Diagram 5] 1 is a flowchart showing blur-prevention imaging processing according to the first embodiment. [Figure 6] Graph showing the relationship between exposure timing and mechanism swing angle in embodiment 1. [Figure 7] An explanatory diagram showing the mirror at each mechanism swing angle [Figure 8] FIG. 13 is an explanatory diagram showing captured images in a case where images are captured continuously. [Figure 9]FIG. 11 is a block diagram showing the internal configuration of an imaging system according to a second embodiment. [Figure 10] FIG. 1 is an explanatory diagram illustrating an imaging system when a change in vehicle attitude occurs. [Figure 11] 11 is a flowchart showing blur-prevention imaging processing in the second embodiment. [Figure 12] Graph showing the relationship between exposure timing and mechanism swing angle in embodiment 2. [Figure 13] FIG. 1 is an overall perspective view showing a rotatable imaging device; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (Embodiment 1) Hereinafter, the first embodiment will be described with reference to the drawings. In the first embodiment, a case will be described in which the moving object is a vehicle 3 such as an automobile, and the imaging system 1 is attached to the top of the vehicle 3.

[0012] [1. Imaging system configuration] Fig. 1 is a diagram for explaining an imaging system 1. Fig. 2 is a block diagram showing an internal configuration of the imaging system 1. In Fig. 1, a vehicle 3 is traveling, for example, in a tunnel 5. For example, a hole 5b and a crack 5c are generated on a wall surface 5a in the tunnel 5.

[0013] The imaging target of the imaging system 1 is at least a part of the structure around the vehicle 3, and is an target that moves relatively in accordance with the moving speed of the vehicle 3 as the vehicle 3 moves. The imaging target area 9 is an area of ​​this imaging target that is acquired as an image. Note that in addition to the inner wall of the tunnel 5, the side or bottom of an overpass, utility poles, and electric wires may also be the imaging targets. This makes it possible to detect holes, cracks, lifting, peeling, joints, tilt of utility poles, and bending of electric wires in the imaging target by image processing from the acquired image.

[0014] The vehicle 3 is provided with a speed detection device 3a that detects the moving speed of the vehicle 3. The speed detection device 3a is, for example, a vehicle speed sensor that detects the moving speed from the rotation speed of the axle of the vehicle 3. The vehicle 3 is also provided with a receiver for a GPS (Global Positioning System) system.

[0015] An imaging system 1 is installed on the upper surface of a vehicle 3. Although the imaging system 1 is fixed so as to capture an image of a wall surface 5a of a tunnel 5 above the vehicle 3 in Fig. 1, the imaging system 1 may be installed so as to capture an image of a wall surface 5a on the side or diagonally to the side of the vehicle 3 or an image of a road surface below the vehicle 3.

[0016] The imaging system 1 includes an imaging device 11, a blur correction mechanism 31, a control device 15, a storage unit 17, an operation unit 19, and a speed detection device 3a. The imaging device 11 captures an image of the surroundings of the vehicle 3, and when the vehicle 3 travels through, for example, a tunnel 5, it captures an image of a wall surface 5a of the tunnel 5. The imaging device 11 includes a camera body 21, a lens 23, a shutter 24, an imaging element 25, and a camera control unit 27.

[0017] The camera body 21 has a replaceable lens 23 attached thereto, and houses an imaging element 25 and a camera control unit 27. The imaging element 25 is disposed at a position of the focal length F of the lens 23. The camera body 21 is disposed on the vehicle 3 so that the orientation of the lens 23 is parallel to the moving direction of the vehicle 3. For example, the camera body 21 is disposed so that the lens 23 faces forward or backward of the vehicle 3. The camera body 21 and the lens 23 may be integral, and in this case, the lens 23 may be disposed so that the orientation and the moving direction of the lens 23 are perpendicular to each other. The camera control unit 27 opens the shutter 24 while receiving an exposure instruction signal from the control device 15. The shutter 24 may be configured to open and close a plurality of aperture blades, or may be an electronic shutter. The imaging element 25 converts the received light into an electric signal according to the intensity, and is, for example, a solid-state imaging element such as a CCD image sensor, a CMOS image sensor, or an infrared image sensor.

[0018] The blur correction mechanism 31 corrects the optical path of light incident on the imaging system 1 so that blurring of the image of the imaging target area 9 is reduced even if the imaging device 11 captures an image while the vehicle 3 is moving.

[0019] The blur correction mechanism 31 corrects the optical path of the light L1 reflected by the imaging target area 9 as the vehicle 3 moves. The blur correction mechanism 31 aligns the direction of the light L1 reflected by the imaging target area 9 as the ambient light with the imaging direction of the imaging element 25. The blur correction mechanism 31 includes, for example, a mirror 41 as a blur correction unit and a mirror drive unit 43. The mirror 41 as a blur correction unit is rotated in response to the movement of the vehicle 3 while facing the imaging target surface 9a (see FIG. 3). Note that the blur correction mechanism 31 is not limited to this, and may include an imaging device drive mechanism 32 that drives the imaging device 11A having the lens barrel 26 (camera body 21) in which the lens 23 and the imaging element 25 are integrated, to rotate around two rotation axes, for example, in the pan direction or the tilt direction, as shown in FIG. 13. The imaging device drive mechanism 32 includes, for example, an arm 32a that supports the lens barrel 26 rotatably in a tilt direction, which is the vertical direction, and a base 32b that supports the arm 32a rotatably in a pan direction, which is the horizontal direction. The arm 32a and the base 32b include a motor and gears as a drive mechanism. The imaging device 11A, which also functions as a shake correction unit, is rotated in response to the movement of the vehicle 3 while facing the lens 23 to the imaging target surface 9a. The imaging device 11A also includes a shutter 24, an imaging element 25, and a camera control unit 27, just like the imaging device 11. The imaging device drive mechanism 32 is controlled by the control device 15 in terms of the drive direction and drive amount. The shake correction mechanism 31 may also include a mechanism that drives the entire imaging device 11 in a translational manner parallel to the imaging target area 9.

[0020] The mirror 41 is rotatably disposed so as to face the lens 23. The mirror 41 can be rotated, for example, in either a forward or reverse clockwise direction, and the rotatable angle range may be less than 360 degrees or may be 360 ​​degrees or more. The mirror 41 totally reflects ambient light reflected by the imaging target toward the imaging device 11. The mirror driving unit 43 drives the mirror 41 to rotate from an initial angle, which is the rotation start position, to a specified angle, and after rotating to the specified angle, returns the mirror 41 to the initial angle. Note that this initial angle varies depending on the moving speed. The mirror driving unit 43 is, for example, a motor.

[0021] The rotation angle of the mirror 41 is limited by the mechanical constraints of the mirror drive unit 43, and the mirror 41 can be rotated up to the maximum swing angle of the mirror 41 determined by this constraint.

[0022] Blur correction by blur correction mechanism 31 will be described with reference to Fig. 3. Fig. 3 is an explanatory diagram for explaining blur correction of imaging system 1. For example, imaging system 1 located at position A moves to position B together with vehicle 3 during the exposure time. Imaging starts at position A, and in the image that can be acquired at this timing, for example, hole 5b in imaging target area 9 is imaged, but since the exposure time is insufficient, the image is dark and not clear.

[0023] Therefore, exposure is continued until the vehicle 3 moves to position B. In this case, if no blur correction is performed, the image capture target area 9 moves relatively in the opposite direction to the moving direction of the vehicle 3, resulting in an image in which the hole 5b moves relatively. In the image with continued exposure, the amount of movement of the pixels is detected as the amount of blur. In this way, the image captured by the imaging device 11 while the vehicle 3 is moving will be a blurred image.

[0024] Therefore, by rotating the mirror 41 during the exposure time in a direction in which the end 41a of the mirror 41 in the moving direction cancels out the relative movement of the imaging target, depending on the moving speed of the imaging system 1 and the vehicle 3, the imaging system 1 can capture the same imaging target area 9 in the captured image during the exposure time, and obtain an image with significantly reduced blur. In Fig. 3, the mirror 41 is rotated by the shake correction swing angle α clockwise so that the end 41a of the mirror 41 in the moving direction rotates toward the imaging target during the exposure time. By rotating the mirror 41 by the shake correction swing angle α, the movement amount of pixels in the captured image is corrected to zero.

[0025] The focal length F is a value determined by the lens 23. The subject magnification M is a value determined by the focal length F and the subject distance. The subject distance is the distance from the principal point of the lens 23, which is disposed between the subject, that is, the imaging target, and the imaging element 25, to the imaging target. The subject distance may be a known value measured in advance, or may be a value measured by a rangefinder during imaging.

[0026] As shown in FIG. 2, the control device 15 includes a swing angle calculation unit 73 that calculates a shake correction swing angle by which the mirror 41 serving as a shake correction unit is rotated for shake correction during image capture, and a rotation speed calculation unit 75 that calculates the rotation speed Vm of the mirror 41 based on the shake correction swing angle calculated by the swing angle calculation unit 73 and the exposure time.

[0027] The control device 15 controls the blur correction operation of the blur correction mechanism 31 based on the rotation speed of the mirror 41 and the exposure time calculated by the rotation speed calculation unit 75. The control device 15 also controls the image capture timing of the image capture device 11, and Rub During the deflection correction operation, when the mirror 41 is positioned within a range in which the amount of displacement from the reference position is equal to or less than a threshold value, imaging by the imaging device 11 is started in synchronization.

[0028] The control device 15 may be configured such that a control device for controlling the image blur correction mechanism 31 and a control device for controlling the image capture timing of the image capture device 11 are separate devices.

[0029] The swing angle calculation unit 73 calculates the shake correction swing angle α of the mirror 41 during image capture in the following manner based on the moving speed V of the vehicle 3, the set exposure time Tp, the subject magnification M, and the focal length F of the lens 23. Note that the exposure time Tp may be set manually by the user via the operation unit 19, or may be set automatically by the control device 15 according to the brightness of the surrounding environment of the image capture target.

[0030] The amount of movement L of the vehicle 3 that has moved between the time t1 when the image capture starts and the time t2 when the image capture ends is calculated from the moving speed V and the exposure time Tp by the following formula (1). L [mm] = V [km / h] x 10 6 ×Tp[ms] / (60 2 ×10 3 )...Equation (1)

[0031] The amount of movement P of pixels on the imaging element 25 between the imaging start times t1, t3, and t5 and the imaging end times t2, t4, and t6 is calculated from the amount of movement L of the vehicle 3 and the subject magnification M according to the following equation (2). P [mm] = L [mm] × M (2)

[0032] This pixel movement amount P is the cause of blurring, so to prevent blurring, Tebu The optical path of the light incident on the lens 23 is changed by the deflection correction angle θ. . The image distortion correction angle θ is calculated from the pixel movement amount P and the focal length F by the following formula (3). θ[deg]=arctan(P / F)...Equation (3) As described above, the subject magnification M is calculated from the focal length F [mm] and the subject distance D [m] according to the following formula (4). M = F / (D×10 3 )...Equation (4) From equations (1), (2), (3), and (4), θ = arctan(V×10 6 ×Tp / (60 2 ×10 3 ) / (D×10 3 )) = arctan(V×Tp / (D×60 2 ))...Equation (5) Like this , The deviation correction angle θ is calculated from the moving speed V, the exposure time Tp, and the subject distance D.

[0033] The shake correction swing angle α required for shake correction during exposure is , Since it is half the magnitude of the deflection correction angle θ, it is calculated by the following formula (6). α=θ / k (6) Here, k is the mirror swing angle α as the mechanical swing angle of the drive mechanism and the optical correction angle by which the light incident on the lens 23 is corrected. Nobu 1, in the case of a configuration in which light from an image capture target travels through mirror 41, lens 23, and image sensor 25 in that order, conversion coefficient k=2. In the case of a configuration in which imaging device 11 and image blur correction mechanism 31 are integrated into a pan-tilt mechanism or the entire camera is driven, conversion coefficient k=1.

[0034] In this manner, the oscillation angle calculation unit 73 calculates the shake correction oscillation angle α of the mirror 41.

[0035] The rotation speed calculation unit 75 calculates the rotation speed Vm of the mirror 41 from the shake correction swing angle α and the exposure time Tp by the following formula (7). Vm=α / Tp...Equation (7)

[0036] Therefore, after starting imaging, by rotating the mirror 41 in the opposite direction to the moving direction at a rotation speed Vm, the imaging device 11 can receive the light L1 from the same imaging target area 9 during the exposure time, and the captured image Nib The occurrence of leakage can be suppressed.

[0037] The storage unit 17 is a storage medium that stores programs and data necessary to realize the functions of the control device 15. The storage unit 17 can be realized by, for example, a hard disk drive (HDD), an SSD, a RAM, a DRAM, a ferroelectric memory, a flash memory, a magnetic disk, or a combination of these.

[0038] The operation unit 19 is an input device for a user to give instructions to the control device 15. The operation unit 19 may be an input device dedicated to the imaging system 1, or may be a mobile terminal such as a smartphone. When a mobile terminal is used as the operation unit 19, data is transmitted and received between the operation unit 19 and the control device 15 via wireless communication. The user may use the operation unit 19 to instruct whether the imaging target area is a dark area indoors, such as a tunnel, or a bright area outdoors, such as a mountain slope.

[0039] Next, the problem of the present disclosure will be described in detail. As described above, since imaging is performed while rotating the mirror 41, the subject distance of the light L1 from the imaging target area 9 changes depending on the angle of the mirror 41 with respect to the imaging target. For example, when imaging is started at position A in FIG. 3, the reflecting surface of the mirror 41 is not inclined at 45 degrees with respect to the imaging surface (imaging element 25 of the camera body 21) and the imaging target surface 9a, so that the subject distances in the light L1 are not uniform, and the accuracy of blur correction is reduced. Conventionally, exposure was performed at a constant moving distance interval in synchronization with the acquisition of the vehicle speed pulse signal, or exposure was performed at a constant time interval with a predetermined imaging frame period. Therefore, depending on the position of the blur correction mechanism during exposure, the axis perpendicular to the imaging target surface and the optical path from the imaging target area 9 to the mirror 41 may not be parallel, and the subject distances in the imaging plane may vary. Subject distances in the imaging plane vary Fly In particular, if the axis perpendicular to the image capture target surface and the optical path from the image capture target area 9 to the mirror 41 are never parallel during the exposure time, the accuracy of the blur correction decreases.

[0040] 4, when the imaging plane is perpendicular to the imaging target surface and the first mechanism swing angle θ1, which is the swing angle of the mirror 41 with respect to the horizontal, is 45 degrees, the axis perpendicular to the imaging target surface 9a of the imaging target area 9 becomes parallel to the optical path from the imaging target area 9 to the mirror 41. Therefore, by capturing an image at a rotation position of the mirror 41 such that the axis perpendicular to the imaging target surface 9a of the imaging target area 9 becomes parallel to the optical path from the imaging target area 9 to the mirror 41, the object distances within the imaging plane of the image sensor 25 become uniform, and the object distances become uniform according to the object distances. Tebu Set the amount of correction Rub In practice, imaging is performed within a predetermined angle range that includes the rotation position of mirror 41 such that an axis perpendicular to imaging target surface 9a of imaging target area 9 becomes parallel to the optical path from imaging target area 9 to mirror 41. To achieve this, exposure is performed in synchronization with the rotation of mirror 41 of the shake correction mechanism through shake correction oscillation angle α.

[0041] [1-2. Operation of the imaging system] Next, the operation of the imaging system 1 will be described with reference to Figs. 5 and 6. Fig. 5 is a flowchart showing imaging processing performed by the imaging system 1. Fig. 6 is a graph showing the relationship between the second mechanism swing angle β of the shake correction mechanism and exposure. Fig. 6(a) is a graph showing the moving speed of the vehicle 3 that changes over time. Fig. 6(b) is a graph showing the timing of the exposure time. Fig. 6(c) is a graph showing the fluctuation of the second mechanism swing angle β of the shake correction mechanism. The imaging processing shown in Fig. 5 is started, for example, when an instruction to start imaging is given from the operation unit 19 while the vehicle 3 is moving.

[0042] Here, when the posture of the vehicle 3 is kept horizontal and the first mechanism swing angle θ1 of the mirror 41 is 45 degrees with respect to the horizontal, the second mechanism swing angle β of the mirror 41 is set to 0 degrees, and this state is set to the reference position of the blur correction mechanism 31 (see FIG. 4). The second mechanism swing angle β indicates the displacement angle (amount of displacement) of the mirror 41 from the reference position, and for example, the reference position is a position where the angle of the mirror 41 with respect to the horizontal is 45 degrees (first mechanism swing angle θ1=45). For example, the second mechanism swing angle β has a positive sign in the rotation direction from the reference position toward the traveling direction of the vehicle 3 and a negative sign in the rotation direction opposite to the traveling direction, but the positive and negative signs may be reversed when designed (see FIGS. 4 and 7).

[0043] Please refer to FIG. 5. In step S1, the user measures in advance the subject distance from the imaging element 25 of the camera body 21 to the wall surface 5a of the tunnel 5 to be imaged, and sets the measured subject distance in the control device 15 using the operation unit 19. Also, by setting the section of the road to be imaged, for example, the control device 15 can determine whether the vehicle has traveled on the road in the set section based on the acquired GPS information and travel distance. Note that the first image Im1 has already been imaged, and the flow of image capture for the second image Im2 and subsequent images will be described in the following steps.

[0044] In step S2, the speed detection device 3a detects the moving speed V0 of the traveling vehicle 3. The detected moving speed is sent to the control device 15. Fig. 6(a) shows the change in the moving speed of the vehicle 3, in which the moving speed of the vehicle 3 increases from the moving speed V0 when the first image Im1 is captured to the moving speed V1 by the time the second image Im2 is captured, further increases to the moving speed V2 when the second image Im2 is captured, and decreases to the moving speed V3 when the third image Im3 is captured.

[0045] In step S3, the swing angle calculation unit 73 calculates the swing angle based on the moving speed V0 and the exposure time Tp2 of the next image Im2 to be captured. , The shake correction swing angle α2 as the amount of shake correction is calculated from the above-mentioned formulas (1) to (6). Here, Tp2=t4-t3. The exposure times Tp1, Tp2, and Tp3 of the images Im1 to Im3 may be the same or may be changed according to the illuminance of the ambient light. The rotation speed calculation unit 75 calculates the rotation speed Vm2 of the mirror 41 based on the shake correction swing angle α2. Furthermore, the swing angle calculation unit 73 calculates the rotation start position β1. When capturing an image in synchronization with a vehicle speed pulse signal, ,The time interval (imaging interval) until the next imaging can be estimated from the moving speed V0 of the vehicle 3 used to calculate the blur correction angle θ, or from the frame rate if imaging is performed at a fixed frame rate. Within this estimated time, it is necessary to perform rotation in the correction direction and rotation in the opposite direction to ensure a rotation range in the correction direction to ensure the responsiveness of the blur correction mechanism. The rotation speed in the correction direction and the rotation speed in the opposite direction to the correction direction may be different from each other, or may be the same for simplification. When the respective rotation speeds are the same, rotation speed Vm × half the estimated time = β1.

[0046] In step S4, as shown in FIG. 6(c) and FIG. 7, the control device 15 rotates the mirror 41 in the direction opposite to the correction direction to displace it to the rotation start position β1 in the correction direction of the calculated swing angle α2. The driving period of the mirror 41 is from the timing when the exposure is completed to the timing when the exposure of the next image is completed. The direction in which the mirror 41 is rotated in the correction direction is defined as the positive direction. When the mirror 41 reaches the rotation start position β1 in the correction direction, the control device 15 rotates the mirror 41 at the calculated rotation speed Vm2 in the mirror drive unit 43, and the mirror 41 starts to rotate from the rotation start position β1 in the correction direction of the second mechanism swing angle β, which is larger than the calculated mirror swing angle α2. In this manner, the blur correction of the imaging device 11 is performed.

[0047] In step S5, control device 15 determines whether the drive direction of blur correction mechanism 31 is the correction direction. Here, the correction direction is the direction in which mirror 41 is rotated to correct blur. If control device 15 determines that the drive direction of blur correction mechanism 31 is not the correction direction (No in step S5), it understands that mirror 41 is rotating in the reverse direction toward the rotation start position in the correction direction, and continues with step S4.

[0048] When the control device 15 determines that the drive direction of the blur correction mechanism 31 is the correction direction (Yes in step S5), it determines whether the second mechanism swing angle β of the mirror 41 is equal to or smaller than the threshold value TH (TH=TH2). The threshold value TH is greater than 0 degrees. The threshold value TH is a value indicating a predetermined range in which imaging can be performed from the reference position. The threshold value TH is determined based on the blur correction swing angle α of the imaging device 11. For example, , In order to center the exposure time when the distortion correction unit is at the origin (mechanism angle 0), , Since exposure should start when the half of the correction amount is on the positive side of FIG. Habu The amount of correction is half that of the original amount. , The amount of correction varies for each image capture, so the threshold value TH Habu The amount of compensation will be determined based on the , Since the amount of correction is calculated based on the moving speed, the exposure time, and the subject distance, the threshold value TH is also determined based on the moving speed, the exposure time, and the subject distance. The threshold value TH may be changed according to the moving speed of the vehicle 3. The control device 15 may increase the threshold value TH as the moving speed of the vehicle 3 increases, and decrease the threshold value TH as the moving speed decreases. In FIG. 6(c), three threshold values ​​TH1, TH2, and TH3 are shown as the threshold value TH, where the threshold value TH1 corresponds to the moving speed used when capturing the first image Im1, the threshold value TH2 corresponds to the moving speed V0 used when capturing the second image Im2, and the threshold value TH3 corresponds to the moving speed V2 used when capturing the third image Im3. As the moving speed (vehicle speed) increases, the value increases from the threshold value TH1 to the threshold value TH3.

[0049] When the control device 15 determines that the second mechanism swing angle β of the mirror 41 is not equal to or less than the threshold value TH2 (No in step S6), it understands that the second mechanism swing angle β of the mirror 41 has not reached near 0 degrees (reference position), and continues with steps S4 and S5.

[0050] When the control device 15 determines that the second mechanism swing angle β of the mirror 41 is equal to or smaller than the threshold value TH2 (Yes in step S6), it understands that the second mechanism swing angle β of the mirror 41 has reached near 0 degrees, and in step S7, it continues to send a Hi signal instructing exposure as an exposure control signal to the camera control unit 27 for the exposure time Tp. This makes it possible to capture an image when the second mechanism swing angle β of the mirror 41 is within the range of the blur correction swing angle α2 that includes 0 degrees. By determining the timing of exposure based on the threshold value TH, it is possible to start exposure before the mirror 41 reaches the reference position, and it is possible to bring the position of the mirror 41 at the center of the exposure time closer to the reference position.

[0051] In the imaging device 11, the camera control unit 27 acquires an image by opening the shutter 24 and exposing the image while receiving the Hi signal, and stores the acquired image in the storage unit 17. When the exposure time Tp2 has elapsed, the control device 15 continues to send a Low signal to the camera control unit 27 as an OFF signal that instructs the camera control unit 27 to stop exposure. The camera control unit 27 closes the shutter 24 while receiving the Low signal. Note that the Low signal may be used as an ON signal that instructs the camera to start exposure, and the Hi signal may be used as an OFF signal that instructs the camera control unit 27 to stop exposure.

[0052] In step S8, the control device 15 judges whether or not the vehicle 3 has finished traveling the predetermined section. If the control device 15 judges that the vehicle 3 has finished traveling the predetermined section, the control device 15 ends the mobile imaging since it has finished acquiring images of the road in this section. If the control device 15 judges that the vehicle 3 has not finished traveling the predetermined section, the control device 15 returns to step S2 and performs mobile imaging again.

[0053] When images are captured continuously, the flow of capturing images from the first image Im1 to the third image Im3, including the operation of the imaging system 1 after returning to step S2, will be further described with reference to FIG. 6 and FIG. 8. As shown in FIG. 8, in the continuous imaging mode, when the second image Im2 is captured, the image is captured so that the end area on the opposite side to the moving direction in the image Im2 captured in the second image overlaps with the end area in the moving direction in the image Im1 captured in the first image. When the third image Im3 is captured, the image is captured so that the end area on the opposite side to the moving direction in the image Im3 captured in the third image overlaps with the end area in the moving direction in the image Im2 captured in the second image. In the same manner, the fourth and subsequent images are captured continuously in order, so that the captured images can be obtained in a row. Note that in FIG. 8, the widths of the images Im1 to Im4 in the Y-axis direction are different for ease of understanding, but the actual widths are all the same.

[0054] The first image Im1 is captured at a blur correction swing angle α1. Based on the moving speed V0 of the vehicle 3 when the first image Im1 is captured, the blur correction swing angle α2 and the rotation speed Vm2 of the second image Im2 are calculated. After the first image Im1 is captured, the mirror driver 43 rotates the mirror 41 in the reverse direction to the rotation start position β1 in the correction direction. After the exposure is completed, the rotation speed of the mirror 41 in the reverse direction may be the same as or different from the rotation speed in the forward direction. When the rotation speed is the same in the forward and reverse directions, after the exposure of the first image Im1 is completed, the mirror driver 43 rotates the mirror 41 in the reverse direction at the rotation speed Vm2, and when the mirror 41 reaches the rotation start position β1 in the correction direction, the mirror driver 43 rotates the mirror 41 in the forward direction at the rotation speed Vm2. When the second mechanism swing angle β of the mirror 41 falls within the threshold value TH2, the control device 15 instructs exposure, the shutter 24 opens, and the second image Im2 is captured at the blur correction swing angle α2. Here, the threshold value TH2 may be, for example, a value in the range of TH2≦α2.

[0055] A blur correction swing angle α3 for the third image Im3 is calculated based on the moving speed V2 of the vehicle 3 when the second image Im2 is captured. After capturing the second image Im2, the mirror driver 43 rotates the mirror 41 in the reverse direction to the rotation start position β2 in the correction direction. When the mirror 41 reaches the rotation start position β2, the mirror driver 43 rotates the mirror 41 in the forward direction at the calculated rotation speed Vm3. When the second mechanism swing angle β of the mirror 41 falls within the threshold value TH3, the control device 15 instructs exposure, the shutter 24 is opened, and the third image Im3 is captured.

[0056] In this way, the blur correction swing angle α2, the rotation speed Vm2, and the rotation start position β1 of the correction direction when exposing the second image Im2 are determined from the moving speed V0 of the vehicle 3 when the first image Im1 is exposed. The second image Im2 is obtained by continuing exposure when the mirror 41 is located in front of or behind the reference position. , This allows exposure to be performed at the optimal timing synchronized with the image distortion correction.

[0057] [1-3. Effects, etc.] The imaging system 1 includes an imaging device 11 disposed in a vehicle 3, a blur correction mechanism 31 that corrects blur in the moving direction of the vehicle 3 when the vehicle 3 is moving and the imaging device 11 is imaging the vehicle 3 while the vehicle 3 is moving, based on a blur correction swing angle α, and a control device 15 that controls the imaging timing of the imaging device 11. The blur correction mechanism 31 drives a mirror 41 to correct blur in the moving direction. The mirror 41 has a reference position where an axis perpendicular to the imaging target surface 9a is parallel to the optical axis of light L1 incident on the mirror 41. The control device 15 starts imaging by the imaging device 11 in synchronization with the mirror 41 when the mirror 41 is positioned within a range where the amount of displacement from the reference position is equal to or less than a threshold value TH while the mirror 41 is being driven.

[0058] This allows the imaging device 11 to capture an image reliably when the mirror 41 is located at the reference position, thereby reducing the variation in the subject distance within the imaging plane and allowing the imaging device 11 to capture an image according to the subject distance. Tebu Set the shake correction angle α as the shake correction amount. Rub The accuracy of the correction is improved.

[0059] The mirror 41 is driven by an amount larger than the shake correction swing angle α for correcting shake in the moving direction. This ensures the drive responsiveness required for blur correction in the moving direction by driving the mirror 41 by an amount larger than the shake correction swing angle α. This also makes it easier to time the imaging device 11 to start imaging.

[0060] The control device 15 updates the threshold value TH based on the shake correction swing angle α of the imaging device 11. This makes it possible to set a highly accurate threshold value TH for shake correction.

[0061] In addition, the control device 15 may cause the imaging device 11 to start imaging when the mirror 41 is located at the reference position or before the mirror 41 reaches the reference position, and may end imaging after the mirror 41 passes the reference position. In this way, the mirror 41 passes the reference position while the imaging device 11 is imaging, so that the subject distance in the imaging plane becomes uniform, and the imaging distance is adjusted according to the subject distance. Tebu Set the shake correction angle α as the shake correction amount. Rub The accuracy of the correction is improved. , It is possible to obtain an image with reduced distortion.

[0062] Furthermore, the blur correction mechanism 31 rotates the mirror 41 in the correction direction to correct blur in the moving direction, and reverses the drive direction of the mirror 41 to the opposite direction to the correction direction based on the imaging end timing. If the blur correction mechanism 31 is configured not to rotate the mirror 41 in the opposite direction to the correction direction, the rotation is controlled to 360 degrees, so the drive range of the mirror 41 becomes wider and the control resolution (angle command accuracy) decreases. By rotating the mirror 41 in the opposite direction to the correction direction, it is possible to improve the rotation accuracy since it is only necessary to rotate the mirror 41 within a range of ±10 degrees or less, for example.

[0063] The blur correction mechanism 31 rotates the mirror 41 in a correction direction for correcting blur in the moving direction. ,The amount of blur correction is a blur correction swing angle α by which the mirror 41 is rotated in the correction direction, which corresponds to the amount of movement P of the pixel on the imaging element of the imaging device 11 due to the movement of the vehicle 3. Since the blur correction swing angle α corresponds to the amount of movement P of the pixel, Rub This can reduce the leakage.

[0064] The shake correction mechanism 31 rotates the mirror 41 in the correction direction to correct the shake in the moving direction, and the threshold value TH is smaller than the shake correction swing angle α, and the control device 15 sets the threshold value TH in the direction opposite to the correction direction from the reference position. Since the imaging device 11 captures an image while the mirror 41 is rotating by the shake correction swing angle α, the mirror 41 always passes through the reference position during imaging. Therefore, , This makes it possible to improve the accuracy of the correction.

[0065] Furthermore, mirror 41 serves as a blur correction unit and reflects light L1 from imaging target surface 9a to imaging device 11, and blur correction mechanism 31 includes mirror driver 43 that rotates mirror 41. By using mirror 41 as a blur correction unit, blur correction can be appropriately performed.

[0066] The control device 15 causes the imaging device 11 to capture images each time the mirror 41 is positioned within a range where the displacement from the reference position is equal to or less than the threshold value TH, and captures images in a row so that the end regions in the movement direction of each of the captured images Im1 to Im3 overlap with the end regions on the opposite side to the movement direction of each of the next captured images Im2 to Im4. This prevents missed images between captured images, and allows consecutive captured images to be captured.

[0067] The blur correction mechanism 31 may also include an imaging device drive mechanism 32 that rotates the imaging device 11A, and the imaging device drive mechanism 32 may rotate the imaging device 11A itself as a blur correction unit. This allows the imaging device 11A to capture an image reliably when the lens 23 is located at the reference position, reducing the variation in subject distance within the imaging plane and correcting the blur according to the subject distance. Tebu Set the shake correction angle α as the shake correction amount. Rub The accuracy of the correction is improved.

[0068] The mirror rotation method for rotating the mirror 41 and the camera drive method for rotating the lens 23 and the image sensor 25 have been described. In theory, both methods can equalize the subject distance in the image capture plane by changing the inclination of the mirror 41 as a blur correction unit or the lens 23 and the image sensor according to the attitude of the vehicle 3. In the case of the mirror rotation method, as the inclination with respect to the image capture plane approaches parallel from 45 degrees, the reflection angle becomes acute, and the end of the mirror 41 may enter the lens surface of the lens 23 on the optical path, resulting in vignetting. As the inclination with respect to the image capture plane approaches perpendicular from 45 degrees, the reflected light may deviate from the lens 23. In these cases, it may not be possible to capture the desired range. This does not occur with the camera drive method.

[0069] (Embodiment 2) An imaging system 1A in embodiment 2 will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a block diagram showing the internal configuration of the imaging system 1A in embodiment 2. Fig. 10 is an explanatory diagram for explaining the imaging system 1A when a posture change occurs in the vehicle 3.

[0070] In the first embodiment, the imaging timing is adjusted to an appropriate range of the second mechanism swing angle β of the shake correction mechanism 31. However, when the vehicle 3 changes its attitude, the axis perpendicular to the imaging target surface 9a and the optical axis may not be parallel, and the subject distance in the imaging plane may vary. For example, as shown in FIG. 10, when the vehicle 3 changes its attitude in the pitch direction, even if the first mechanism swing angle θ1, which is the mechanical angle of the mirror 41, is 45 degrees, the entire imaging system 1 is tilted by the attitude change angle γ, so that the subject distance of the light L1 varies. The imaging system 1 is rotated in the opposite direction to the change direction of the attitude change angle γ by the amount of the mechanism swing angle corresponding to the attitude change angle γ of the entire imaging system 1, thereby reducing the variation in the subject distance. Therefore, in the second embodiment, the imaging timing is adjusted in response to the attitude change of the vehicle 3. For example, the control device 15A may correct the timing at which the imaging device 11 starts imaging by correcting the rotation angle of the mirror 41 corresponding to the reference position based on the amount of attitude change of the vehicle 3.

[0071] 9, the imaging system 1A in the second embodiment is configured by adding an attitude detection device 33 that detects an amount of change in attitude of the imaging device 11 and a composite angle calculation unit 77 to the imaging system 1 in the first embodiment. Other than this point and the points described below, the imaging system 1A in the second embodiment has the same configuration as the imaging system 1 in the first embodiment.

[0072] In the second embodiment, the imaging device 11 can be regarded as one rigid body integrated with the vehicle 3, and therefore the attitude change angle of the imaging device 11 is the same as the attitude change angle of the vehicle 3. The attitude detection device 33 detects the amount of attitude change of the imaging device 11 by detecting the attitude change angle γ (see FIG. 10) in the rotation direction in which the shake correction mechanism 31 corrects the shake, with respect to the reference attitude of the vehicle 3. The attitude detection device 33 is, for example, a gyro sensor or an acceleration sensor. The detected attitude change angle γ is output to the control device 15A. In the second embodiment, the attitude detection device 33 detects at least the attitude change angle γ in the pitch direction of the vehicle 3, with a state in which the vehicle 3 is kept horizontal being the reference attitude. The attitude detection device 33 may detect the attitude change angle in the yaw direction or roll direction in addition to the pitch direction.

[0073] The control device 15A includes a composite angle calculation unit 77 that calculates a composite angle ψ, which is the sum of the attitude change angle γ detected by the attitude detection device 33 and kβ obtained by multiplying the second mechanism swing angle β by a conversion coefficient k. Here, the positive and negative directions of the attitude change angle γ and the second mechanism swing angle β are set to coincide with each other. The composite angle calculation unit 77 does not need to calculate the composite angle ψ when the blur correction mechanism 31 drives the mirror 41 in the direction opposite to the correction direction.

[0074] The control device 15A determines whether the composite angle ψ is equal to or greater than 0 [deg], which is the reference position of the mirror 41, and equal to or less than a threshold value TH. When the control device 15A determines that the composite angle ψ is equal to or greater than 0 and equal to or less than the threshold value TH, it transmits an exposure control signal of Hi to the camera control unit 27, and causes the imaging device 11 to capture an image.

[0075] Next, the operation of the imaging system 1A in the second embodiment will be described with reference to FIG. 11 and FIG. 12. FIG. 11 is a flowchart showing the imaging process in the second embodiment. In the operation of the imaging system 1A in the second embodiment, step S11 is added to the operation of the imaging system 1 in the first embodiment, and step S6 is replaced with step S12. FIG. 12 is a graph showing the relationship between the second mechanism swing angle β of the shake correction mechanism and exposure. FIG. 12(a) is a graph showing the moving speed of the vehicle 3 that changes over time. FIG. 12(b) is a graph showing the timing of the exposure time. FIG. 12(c) is a graph showing the fluctuation of the second mechanism swing angle β of the shake correction mechanism. FIG. 12(d) is a graph showing the fluctuation of the attitude change angle γ detected by the attitude detection device 33, and illustrates an example of a graph up to the exposure of the second image Im2. FIG. 12(e) is a graph showing the fluctuation of the composite angle ψ, and illustrates an example of a graph from the exposure of the first image Im2 to the exposure of the second image Im2.

[0076] Steps S1 to S5, S7, and S8 are the same as the operation of the imaging system 1 of the first embodiment, so the description will be omitted. In step S4, blur correction driving is performed. Without considering the change in the attitude of the vehicle 3 from time t2 to time ta, the mirror driving unit 43 displaces the mirror 41 to the rotation start position β1, and then in step S11, the attitude detection device 33 detects the attitude change angle γ of the vehicle 3. The positive direction of the attitude change angle γ and the positive rotation direction of the second mechanism swing angle β are the same direction. The detected attitude change angle γ is sent to the control device 15, and the composite angle calculation unit 77 calculates a composite angle ψ (= k × β + γ) by adding the attitude change angle γ to k × β, which is obtained by multiplying the second mechanism swing angle β by a conversion coefficient k. The composite angle ψ can also be said to be a correction position with respect to the imaging target surface 9a.

[0077] In step S12, the control device 15 judges whether or not the composite angle ψ is equal to or smaller than a threshold value TH. The threshold value TH is greater than 0 degrees. That is, the control device 15 judges whether or not the following formula (8) is satisfied. 0≦ψ≦TH···(8) formula

[0078] When the control device 15 determines that the composite angle ψ is not equal to or less than the threshold value TH (No in step S12), it continues with step S4. When the control device 15 determines that the composite angle ψ is equal to or greater than 0 and equal to or less than the threshold value TH (Yes in step S12), it continues to send a Hi signal instructing exposure to the camera control unit 27 for the exposure time Tp in step S7, and performs imaging.

[0079] By starting to capture images when the composite angle ψ is greater than or equal to 0 and less than or equal to the threshold value TH, images can be captured at the timing when the change in posture of the vehicle 3 and kβ, which is the second mechanism swing angle β of the mirror 41 converted into an optical angle, cancel each other out. This allows images to be captured when the change in subject distance due to the change in posture of the vehicle 3 is small, and reduces the deterioration of the accuracy of blur correction.

[0080] In the case of the camera drive method, it is necessary to change the inclination by the same angle to offset the inclination of the lens 23 and the image sensor 25. However, in the case of the mirror method, it is possible to offset the inclination by tilting the camera in the opposite direction by half the inclination (optical angle), so the angle that offsets the change in vehicle attitude can be half the angle of the change in vehicle attitude. Therefore, the mirror method has better responsiveness.

[0081] In this way, the imaging system 1A includes an attitude detection device 33 that detects the attitude change angle γ of the vehicle 3, and the control device 15A corrects the position of the mirror 41 corresponding to the reference position based on the attitude change angle γ, thereby correcting the timing at which the imaging device 11 starts imaging. When the attitude of the vehicle 3 changes in the pitch direction, the rotation position of the mirror 41 corresponding to the reference position where the axis perpendicular to the imaging target surface 9a and the optical axis of the light incident on the mirror 41 are parallel also differs depending on the attitude of each vehicle 3. In such a state, the control device 15A corrects the position corresponding to the reference position based on the attitude change angle γ, where the composite angle ψ obtained by correcting the second mechanism swing angle β of the mirror 41 becomes 0, as the reference position, and corrects the timing at which the imaging device 11 starts imaging based on the timing at which the composite angle ψ becomes 0. This reduces the effect of the attitude change of the vehicle 3 on the subject distance. , It is possible to suppress a decrease in the accuracy of the deviation correction.

[0082] In addition, the control device 15A starts imaging with the imaging device 11 at the timing when the composite angle ψ as a correction position calculated based on the attitude change angle γ and the second mechanism swing angle β during the shake correction operation of the mirror 41 becomes equal to or smaller than the threshold value TH from the reference position. This reduces the effect of the attitude change of the vehicle 3 on the subject distance. , It is possible to suppress a decrease in the accuracy of the deviation correction.

[0083] (Other embodiments) As described above, the above embodiment has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are appropriately performed. Therefore, other embodiments will be exemplified below.

[0084] In the above embodiment, the imaging device 11 and the blur correction mechanism 31 are separate entities, but this is not limiting. The imaging device 11 may be configured such that the camera body 21, the lens 23, and an optical axis changing mechanism that replaces the blur correction mechanism 31 are integrated together, and may have, for example, a tilt function that rotates the camera body 21 and the lens 23 vertically and a pan function that rotates them horizontally. Also, instead of the blur correction mechanism 31, a mechanism that rotates the entire imaging device 11 in two directions that are mutually orthogonal may be provided. Also, the blur correction mechanism 31 may be configured with two mirrors and a motor whose respective rotation axes are orthogonal to each other.

[0085] In the above embodiment, the information on the moving speed V1 from the speed detection device 3a of the vehicle 3 is used, but this is not limited to the above. The imaging system 1 may be equipped with a speed detection device that detects the moving speed of the imaging system 1. The speed detection device may also be one that utilizes a GPS system.

[0086] In the above embodiment, the imaging system 1 captures images of the wall surfaces above and to the sides of the vehicle 3, but this is not limiting. The imaging system 1 may capture images of the road surface below the vehicle 3. Potholes, cracks, ruts, and the like that have occurred on the road surface can be detected from the captured images by image processing.

[0087] In the above embodiment, the moving body is a vehicle 3 such as an automobile. However, the moving body is not limited to a vehicle 3, and may be a vehicle that runs on the ground such as a train or a motorcycle, a ship that travels on the sea, or an air vehicle such as an airplane or a drone that flies in the sky. When the moving body is a ship, the imaging system 1 images the bottom surfaces of bridge piers and bridge girders, and structures constructed along the shore. When the moving body is a train, the position and wear of the overhead wires can be detected by imaging the overhead wires.

[0088] In the above embodiment, an image is captured using ambient light reflected from the imaging target area 9, but this is not limited to the above. Light may be irradiated from a moving body or an imaging system toward the imaging target area 9, and an image may be captured using reflected light of the irradiated light.

[0089] (Overview of the embodiment) (1) The imaging system of the present disclosure includes an imaging device disposed on a moving body, and a camera that detects blurring in the moving direction of the moving body when the moving body is imaged by the imaging device while moving. Wobble The image capture device includes a blur correction mechanism that corrects blur based on the amount of blur correction, and a control device that controls the image capture timing of the image capture device. The blur correction mechanism drives a blur correction unit to correct blur in the moving direction, and the blur correction unit has a reference position where an axis perpendicular to the image capture target surface is parallel to the optical axis of light incident on the blur correction unit. The control device synchronizes the blur correction unit with the image capture device and starts image capture when the blur correction unit is located within a range where the amount of displacement from the reference position is equal to or less than a threshold while the blur correction unit is being driven.

[0090] This allows the imaging device to reliably capture images when the blur correction unit is located at the reference position, thereby reducing variation in the subject distance between the imaging device and the imaging target surface, reducing blurring of the captured image, and enabling an image to be captured with an appropriate exposure time.

[0091] (2) In the imaging system of (1), the blur correction unit corrects blur in the moving direction. Nobu The amount of drive is greater than the correction amount.

[0092] (3) In the imaging system according to (1) or (2), the control device is Nobu The threshold is updated based on the amount of correction.

[0093] (4) In any of the imaging systems (1) to (3), the control device causes the imaging device to start imaging when the blur correction unit is located at a reference position or before the blur correction unit reaches the reference position, and causes the control device to end imaging after the blur correction unit has passed the reference position.

[0094] (5) In the imaging system according to (1) to (4), the blur correction mechanism rotates the blur correction unit in a correction direction to correct blur in the moving direction, and the threshold value is , The control device sets a threshold value in the direction opposite to the correction direction from the reference position so that the difference is smaller than the correction amount.

[0095] (6) In the imaging system of (5), the blur correction mechanism reverses the drive direction of the blur correction unit to a direction opposite to the correction direction based on the imaging end timing.

[0096] (7) In any of the imaging systems (1) to (6), a posture detection device is provided that detects an amount of posture change of a moving body, and the control device corrects the position of the blur correction unit corresponding to a reference position based on the amount of posture change, thereby correcting the timing at which the imaging device starts imaging.

[0097] (8) In any of the imaging systems (1) to (6), a posture detection device is provided that detects a posture change amount of a moving body, and the control device causes the imaging device to start imaging at a timing when a correction position calculated based on the posture change amount and a position during blur correction operation of the blur correction unit becomes equal to or smaller than a threshold value from a reference position.

[0098] (9) In the imaging system according to any one of (1) to (8), the blur correction unit is an imaging device, and the blur correction mechanism includes an imaging device drive mechanism that drives and rotates the imaging device.

[0099] (10) In any one of the imaging systems (1) to (8), the blur correction unit is a mirror that reflects light from the imaging target surface to the imaging device, and the blur correction mechanism includes a mirror drive mechanism that drives the mirror to rotate.

[0100] (11) In any one of the imaging systems (1) to (10), the blur correction mechanism rotates the blur correction unit in a correction direction for correcting blur in the moving direction. , The blur correction amount is a rotation amount by which the blur correction unit is rotated in the correction direction, which corresponds to the amount of movement of pixels on the image sensor of the image pickup device due to the movement of the moving body.

[0101] (12) In any of the imaging systems (1) to (11), the control device causes the imaging device to capture an image each time the blur correction unit is positioned within a range where the amount of displacement from the reference position is equal to or less than a threshold, and acquires consecutive images in a line so that an end area in the direction of movement in a captured image overlaps with an end area on the opposite side to the direction of movement in the next captured image.

[0102] (13) In any one of the imaging systems (1) to (12), the control device increases the threshold value as the moving speed of the moving object increases, and decreases the threshold value as the moving speed of the moving object decreases.

[0103] (14) In any one of the imaging systems according to (1) to (13), a speed detection device is provided for detecting the moving speed of a moving object, and the control device is configured to: , The amount of correction is calculated.

[0104] (15) A moving object according to the present disclosure includes an imaging system according to any one of (1) to (14). This allows the imaging system to capture an image of the surroundings of the moving object with reduced blur while the moving object is moving. [Industrial Applicability]

[0105] The present disclosure is applicable to an imaging system installed on a moving vehicle. [Explanation of symbols]

[0106] 1. 1A Imaging System 3. Vehicle 3a Speed ​​detection device 5. Tunnels 5a Wall 5b hole 5c Cracks 9. Imaging area 11 Imaging device 15 Control device 17 Memory section 19 Control section 21 Camera body 23 Lens 24 Shutter 25 Image sensor 26 Telescope tube 27 Camera control unit 28a, 28b Rotating shaft 31 Image stabilization mechanism 32 Imaging device drive mechanism 32a Arm 32b base 33 Attitude detection device 41 Mirror 43 Mirror drive unit 73 Swing angle calculation section 75 Rotation speed calculation unit 77 Composite angle calculation section α Image Stabilization Angle β Second mechanism swing angle β1, β2 rotation start position θ B Correction angle θ1 First mechanism swing angle F focal length L Vehicle movement L1 light M Subject magnification P pixel movement amount Tp Exposure time t1, t2, t3, t4, t5, t6 time V, V0, V1, V2, V3 movement speed Vm Rotation speed

Claims

1. An imaging device disposed on a moving object; a blur correction mechanism that corrects blur along a moving direction of the moving object in an image captured by an imaging device while the moving object is moving, based on a blur correction amount; A control device for controlling an image capturing timing of the image capturing device, the blur correction mechanism drives a blur correction unit to correct blur in the movement direction; a driving range of the blur correction unit includes a reference position where an axis perpendicular to an image pickup target surface and an optical axis of the imaging device that is incident on the blur correction unit from the image pickup target surface are parallel to each other; the control device starts imaging by the imaging device when the blur correction unit is located within a range where a difference between the blur correction unit and the reference position is equal to or smaller than a threshold value while the blur correction unit is being driven; Imaging system.

2. the blur correction unit is driven by an amount larger than the blur correction amount for correcting blur in the moving direction, The imaging system according to claim 1 .

3. the control device updates the threshold value based on the blur correction amount of the imaging device. The imaging system according to claim 2 .

4. the control device causes the imaging device to start capturing an image when the blur correction unit is located at the reference position or before the blur correction unit reaches the reference position, and causes the imaging device to end capturing an image after the blur correction unit has passed the reference position. The imaging system according to claim 3 .

5. the blur correction mechanism rotates the blur correction unit in a correction direction to correct blur in the movement direction; The threshold value is smaller than the blur correction amount, The control device sets the threshold value in a direction opposite to the correction direction from the reference position. The imaging system according to claim 3 .

6. the blur correction mechanism inverts the drive direction of the blur correction unit to a direction opposite to the correction direction based on an image capture end timing; The imaging system according to claim 5 .

7. the imaging system includes an attitude detection device that detects an attitude change amount of the moving object, the control device corrects a position of the blur correction unit corresponding to the reference position based on the amount of change in posture, thereby correcting a timing for starting image capture by the image capture device. The imaging system according to claim 3 .

8. the imaging system includes an attitude detection device that detects an attitude change amount of the moving object, the control device causes the imaging device to start imaging at a timing when a corrected position calculated based on the amount of change in posture and a position during a blur correction operation of the blur correction unit becomes equal to or smaller than the threshold value from the reference position. The imaging system according to claim 3 .

9. the blur correction unit is the imaging device, the image blur correction mechanism includes an image capture device drive mechanism that drives the image capture device to rotate; The imaging system according to claim 1 .

10. the blur correction unit is a mirror that reflects light from the imaging target surface to the imaging device, The image blur correction mechanism includes a mirror drive mechanism that drives the mirror to rotate. The imaging system according to claim 1 .

11. the blur correction mechanism rotates the blur correction unit in a correction direction for correcting blur in the moving direction, the blur correction amount is a rotation amount by which the blur correction unit is rotated in the correction direction, the rotation amount corresponding to a movement amount of a pixel on an imaging element of the imaging device due to a movement of the moving body; The imaging system according to claim 1 .

12. the control device causes the imaging device to capture an image each time the blur correction unit is positioned within a range where the amount of displacement from the reference position is equal to or less than the threshold value, and acquires images successively in a line such that an end region in the movement direction of a captured image overlaps with an end region on the opposite side to the movement direction of a next captured image. The imaging system according to claim 3 .

13. The control device increases the threshold value as the moving speed of the moving object increases, and decreases the threshold value as the moving speed of the moving object decreases. The imaging system according to claim 3 .

14. a speed detection device for detecting a moving speed of the moving object, The control device calculates the blur correction amount based on the detected moving speed. The imaging system according to claim 3 .

15. The reference position is a position at which the blur correction unit is tilted with respect to the imaging surface of the imaging device so that an axis perpendicular to the imaging target surface and an optical axis of the imaging device, which is an optical axis of light incident on the blur correction unit from the imaging target surface, are parallel to each other; the control device starts image capture by the imaging device when an angular difference between the image blur correction unit and the reference position becomes equal to or smaller than a threshold while the image blur correction unit is being driven; The imaging system according to claim 1 .

16. A moving object comprising the imaging system according to any one of claims 1 to 15.

17. An imaging device disposed on a moving object; a blur correction mechanism that corrects blur in a moving direction of the moving object based on a blur correction amount when an image of the moving object is captured by an imaging device while the moving object is moving; A control device for controlling an image capturing timing of the image capturing device, the blur correction mechanism rotates the imaging device to correct blur in the moving direction; a rotation range of the imaging device includes a reference position where an axis perpendicular to an imaging target surface is parallel to an optical axis of light incident on the imaging device; the control device starts imaging when the imaging device is positioned within a range where a difference between the imaging device and the reference position is equal to or smaller than a threshold value during rotational driving of the imaging device. Imaging system.