JP2002090821A - Imaging unit and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To photograph a plurality of partial images by making an overlapping rate to be nearly constant by only depressing the shutter once, when a stationary object is photographed as the plurality of partial images. SOLUTION: An angular velocity sensor 9 is provided for detecting the movement of a digital still camera. Angular velocity in the longitudinal direction and the lateral direction detected by angular velocity sensors 9X and 9Y of the angular velocity sensor 9 is supplied to a system control circuit 10. The angular velocity in the longitudinal direction and the lateral direction, supplied to the system control circuit 10, is supplied to integration circuits 12X and 12Y and a shutter control circuit 13. The angular velocity in the longitudinal direction and the lateral direction supplied is integrated by the integration circuits 12X and 12Y, so that the moved amount of the digital still camera in the longitudinal direction is obtained. The moved amount in the longitudinal direction and the lateral direction is supplied to the shutter control circuit 13. The digital still camera is controlled by the shutter control circuit 13 by using the angular velocity in the longitudinal direction and the lateral direction supplied from the angular velocity sensors 9X and 9Y, the moving amount in the longitudinal direction and the lateral direction from the integration circuits 12X and 12Y and the turn-on/off states of a start key inputted via a terminal 14 so as to photograph optimum images.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an imaging apparatus and an imaging method suitable for use in a digital still camera for photographing a still image.

[0002]

2. Description of the Related Art Conventionally, when a digital still camera shoots a subject in a range wider than the angle of view as a plurality of divided images (hereinafter, referred to as partial images), the direction of the digital still camera, that is, the direction of the optical axis, is changed. The number of shots was changed according to the number of necessary partial images.

[0003]

At this time, there is a problem that the shutter must be pressed a number of times corresponding to the number of necessary partial images. Further, it has been difficult to keep the overlap ratio between adjacent partial images substantially constant.

Accordingly, an object of the present invention is to photograph a still subject as a plurality of partial images, and to photograph a plurality of necessary partial images at a substantially constant overlap ratio by pressing the shutter once. It is an object of the present invention to provide an imaging device and an imaging method that can perform the imaging.

[0005]

According to a first aspect of the present invention, there is provided an image pickup apparatus in which continuous photographing is performed while panning or tilting to obtain a plurality of mutually overlapping images. An image pickup apparatus comprising: an angular velocity sensor for detecting; an integrating means for integrating an output of the angular velocity sensor; and a shutter control means for controlling a shutter timing based on an output of the integrating means so as to have a predetermined overlap ratio. .

According to a fourth aspect of the present invention, there is provided an imaging apparatus having an optical axis changing means for changing the direction of the optical axis, and performing continuous shooting while panning or tilting to obtain a plurality of overlapping images. , An angular velocity sensor for detecting a moving speed of the imaging unit, and a first integrating the output of the angular velocity sensor
And a second integrating means, a shutter controlling means for controlling a shutter timing so that a predetermined overlapping rate is obtained from an output of the first integrating means, and a pan or tilt operation according to an output of the second integrating means. An imaging apparatus comprising: a control unit that controls an optical axis changing unit so as to change an optical axis in a canceling direction.

According to an eighth aspect of the present invention, there is provided an imaging method in which continuous shooting is performed while panning or tilting to obtain a plurality of overlapping images, an angular velocity sensor detects a moving speed of the imaging unit, An imaging method, wherein an output of an angular velocity sensor is integrated, and a shutter timing is controlled so that a predetermined overlapping rate is obtained from an output of an integrating means.

According to an eleventh aspect of the present invention, there is provided an image pickup apparatus wherein an optical axis changing means for changing a direction of an optical axis and a continuous photographing operation while panning or tilting are performed to obtain a plurality of mutually overlapping images. The angular velocity sensor detects the moving speed of the imaging unit, the first and second integrating means integrate the output of the angular velocity sensor, and controls the shutter timing from the output of the first integrating means so as to have a predetermined overlapping rate. And the second
An imaging method characterized in that the optical axis is changed in a direction to cancel the pan or tilt operation in accordance with the output of the integrating means.

The shutter timing can be controlled so that a value obtained from the angular velocity sensor is integrated and a predetermined overlapping rate is obtained from the integrated value. Further, the optical axis can be changed in a direction to cancel the pan or tilt operation.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. It is to be noted that the same reference numerals are given to components having the same function throughout the drawings, and the description will not be repeated. FIG. 1 shows an overall configuration of an embodiment to which the present invention is applied. The image of the subject incident through the lens group indicated by 1 is supplied to the CCD image sensor 2. The lens group 1 is subjected to zoom control and focus control by a system controller (system controller) 10.

In the CCD image pickup device 2, incident light from a subject is accumulated as electric charges. The on / off of the electronic shutter of the CCD image pickup device 2 is controlled by the system controller 10. Thereby, the electronic shutter of the CCD image sensor 2 is driven, and the supplied image of the subject is captured. The captured image of the subject is digitized by an A / D converter (not shown), and a digital image signal (hereinafter, referred to as a digital image signal).
(Referred to as an image signal) is temporarily stored in the image memory 4 via the compression circuit 3.

The image memory 4 has a capacity to store images of several fields or several frames. The image signals stored in the image memory 4 are sequentially subjected to compression processing by the compression circuit 3. As an example, JPEG (Joint Photographic E) is applied to an image signal captured as a still image.
xperts Group), and an MPEG (Moving Picture Experts Group) is applied to images captured as moving images. The processed compressed image signal is supplied to the recording medium 5. The compressed image signal supplied to the recording medium 5 is recorded under the control of the system controller 10. Examples of the recording medium 5 include a magnetic tape, a magnetic disk,
A recording medium appropriately selected from a magneto-optical disk or a semiconductor memory is used.

A compressed image signal is read from the recording medium 5 under the control of the system controller 10 in accordance with designations from various operation key groups 11. The read compressed image signal is temporarily stored in the image memory 4 via the decompression circuit 6, and is subjected to decompression processing by the decompression circuit 6 sequentially. That is, the decompression circuit 6 performs JPEG or MPEG decoding. The expanded image signal is displayed on the display device 7 from the expansion circuit 6 and displayed on an external TV monitor or the like via the video output terminal 8.

As described above, the image memory 4 is used when compressing an image signal and when expanding a compressed image signal. At this time, the area of the image memory 4 in which the image signal to be compressed is stored and the area of the image memory 4 in which the compressed image signal to be expanded is stored may be divided by address. A flag for compression or a flag for decompression may be added to the stored signal. Also, a memory for compression and a memory for decompression may be provided separately.

An angular velocity sensor 9 is provided for detecting the movement of the digital still camera. The vertical angular velocity detected by the angular velocity sensor 9X of the angular velocity sensor 9 is supplied to the system controller 10. The lateral angular velocity detected by the angular velocity sensor 9Y of the angular velocity sensor 9 is supplied to the system controller 10.

The vertical angular velocity supplied to the system controller 10 is supplied to an integration circuit 12X and a shutter control circuit 13. The lateral angular velocity supplied to the system controller 10 is supplied to the integration circuit 12Y and the shutter control circuit 13. In the integration circuit 12X, the supplied vertical angular velocity is integrated, and the vertical movement amount of the digital still camera is obtained. The amount of movement in the vertical direction is supplied to the shutter control circuit 13. In the integration circuit 12Y, the supplied lateral angular velocity is integrated, and the lateral movement amount of the digital still camera is obtained. The lateral movement amount is supplied to the shutter control circuit 13.

The shutter control circuit 13 includes a vertical angular velocity from the angular velocity sensor 9X, a horizontal angular velocity from the angular velocity sensor 9Y, a vertical movement amount from the integrating circuit 12X, and a horizontal angular velocity from the integrating circuit 12Y. The movement amount in the direction and the ON / OFF state of the start key input via the terminal 14 are supplied. In the shutter control circuit 13, an optimal image can be captured from these supplied values,
The digital still camera is controlled.

For example, when the digital still camera is rotated in the horizontal direction (hereinafter, referred to as pan), if the rotation speed is too high, the overlapping rate of adjacent images decreases. As described above, the decrease in the overlap ratio due to the pan speed being too fast depends on the angle of view and the interval of continuous shooting. Also, if the pan speed is too fast, the image will blur.
As described above, the image blur caused by the pan speed being too fast depends on the angle of view and the shutter speed.

A method for solving the problem of the reduction of the overlapping ratio due to the excessively high pan speed and the blurring of the image will be described. First, a description will be given with reference to the graph shown in FIG. The limit angular velocity ωm of the pan, which is controlled at the interval of continuous photographing, is obtained. The parameter of the graph shown in FIG. 2 is an interval for continuously photographing, and 0.033 [s] from the top.
ec], 0.1 [sec], 0.2 [sec], 0.5 [sec], 1 [se
c], 2 [sec], 5 [sec], 10 [sec].

The minimum interval t2 for continuous photographing of the digital still camera is 0.5 [sec], and the angle of view θh is 26 [deg].
p0] (wide angle) and the target overlap rate k is 50 [%], and the limit value ωm [deg / sec] of the angular velocity is obtained as follows: ωm = 2 · θh / t2 · (100−k) / 100 = 52
[deg / sec].

If the panning is performed faster than the limit angular velocity ωm, the overlapping rate decreases. If the panning is performed slower than the limit angular velocity ωm, the photographing interval becomes longer by that amount, but the photographing can always be performed at an overlap rate of 50%. Therefore, it is possible to calculate the overlap rate from the angle of view and the angular velocity, and to perform the next photographing when the overlap rate reaches a preset value, for example, 50%.

On the other hand, the influence of the shutter speed is obtained with reference to the graph shown in FIG. The parameter in the graph of FIG. 3 is the exposure time, which is 1 [msec] and 2 [mse
c], 4 [msec], 8 [msec], 10 [msec], 20 [mse]
c], 40 [msec], 80 [msec], 100 [msec], 20
0 [msec], 400 [msec], 800 [msec], 1000
[msec].

The exposure time t of the digital still camera is set to 1
[msec] (high speed) and the horizontal angle of view θh is 26 [deg p0]
(Wide angle), the number of horizontal pixels nh is 1280 [pixel], and the allowable number of blurring pixels nb is 1.28 [pixel], the angular velocity ωs [deg / sec] is calculated as ωs · t / (2 From (θh) = nb / nh, ωs = (2 · θh) /t·nb/nh=52×1.28/1280·0.001=52 [deg / sec] Therefore, in the case of a high-speed shutter, panning may be performed at an angular speed similar to the limit angular speed ωm.

As described above, when the angle of view becomes narrow, both the limit angular velocity ωm and the angular velocity ωs become small, and if the panning is performed slowly, there is no blur, and it is possible to continuously shoot in the vicinity of the minimum interval for continuous shooting. it can.

As described above, it is good when the subject is bright and a high-speed shutter can be used. However, when the subject is not so bright, if a shutter of 1/100 second is used, ωs = 5.2.
[deg / sec] and pan at 10 times slower angular velocity. Therefore, even if the continuous shooting interval is 0.5 seconds, the image can be shot only at 5 second intervals.

Next, as another embodiment of the present invention, an optical axis variable element which can change the direction of the optical axis, for example, an optical element, so that the image can be taken at a practical speed without using a high-speed shutter. A method using a shake actuator will be described with reference to FIG. In this other embodiment, the vertical angular velocity detected by the angular velocity sensor 9X of the angular velocity sensor 9 is supplied to the integration circuit 16X. Similarly,
The lateral angular velocity detected by the angular velocity sensor 9Y is supplied to the integration circuit 16Y.

In the integration circuit 16X, the supplied vertical angular velocity is integrated, and the vertical movement amount of the digital camera is obtained. The amount of movement in the vertical direction is determined by the D / A converter 17.
It is digitized by X and supplied to the lens group 1. Similarly, in the integration circuit 16Y, the supplied lateral angular velocity is integrated, and the lateral movement amount of the digital camera is obtained. The amount of the lateral movement is digitized by the D / A converter 17Y and supplied to the lens group 1. In the lens group 1, according to the supplied vertical and horizontal movement amounts,
The optical axis variable element is driven so as to change the optical axis in a direction to cancel the movement of the digital camera.

A reset signal is supplied from the shutter control circuit 13 to the integration circuits 16X and 16Y, and the integration values are reset according to the reset signal. This reset is performed during a period in which the exposure of the CCD image sensor 2 is invalidated. That is, the reset is performed in units of fields or frames. Specifically, the integration circuits 15X and 15Y are activated at the timing of the start of exposure of the CCD imaging device 2, and the integration circuits 15X and 15Y are reset at the timing of the end of exposure.

By using the variable optical axis element, the direction of the optical axis can be changed in the opposite direction at the same angular speed as the pan speed during the exposure period. At this time, when the digital still camera is panned with the horizontal angle of view θh [deg p0], the number of horizontal pixels nh [pixel], and the angular velocity ω [deg / sec], blur occurs during the exposure time t [sec]. The number of pixels n
b [pixel] is calculated from ω · t / (2 · θh) = nb / nh to nb = ω · t · nh / (2 · θh). Therefore, the influence of blurring becomes maximum at the TELE end. Further, a multi-pixel CCD is easily blurred. If the exposure time is long, it becomes easy to blur.

Referring to the graph shown in FIG.
The parameters of the graph are exposure times, as in FIG. 3 described above, and are 1 [msec], 2 [msec], 4 [msec], 8 [msec] from the top.
[msec], 10 [msec], 20 [msec], 40 [msec], 8
0 [msec], 100 [msec], 200 [msec], 400 [m]
sec], 800 [msec], and 1000 [msec].

The graph shown in FIG. 5 is obtained when the number of blurred pixels nb [pixel] is set to 12.8 pixels, and 1.28 even if the gain of the correction system of the digital still camera is shifted by 10%. It fits in pixel blur. This means that the shutter speed needed to be 1/1000 second, but the same can be done in 1/100 second, so it is equivalent to 10 times brighter.

Conversely, at the WIDE end, the influence of blur is suppressed, so that the angular velocity ωs [deg / sec] and the exposure time t [sec]
Can be increased. At the WIDE end, when the angular velocity ωs [deg / sec] is large, the effective range θ of the optical axis variable element
m.

Referring to the graph shown in FIG. 6, the exposure time is the same as the parameter in the graph shown in FIG. It can be seen from the graph of FIG. 6 that when the horizontal angle of view θh [deg p0] exceeds 25 degrees, it is limited by the effective range θm of the optical axis variable element. At the TELE end, there is no risk of exceeding the effective range θm, but the amount of blur increases, and a residual error appears when the gain of the correction system is shifted, so that the angular velocity ωs [deg / sec]
Cannot be increased.

If the gain of the correction system is shifted by 10%, the residual error is 1.28 pixels. If the gain is shifted by only about 5% or the allowable range of the residual error is 2.5 pixels, the number of blurred pixels nb [pixel] is doubled as shown in FIG. good. Thus, the pan speed at the TELE end can be doubled.

For the above reasons, a warning LED is provided to notify an appropriate value of the pan speed. 80% of the limit angular velocity ωm
Set the appropriate value ωa at the place, and if it exceeds this, LE
D is turned on. If the user pans at such a speed as to turn on the LED, a blur-free image can be obtained at any time, and panning unnecessarily slows. In addition, a video signal may be added to the display device 7 of the digital still camera via a character generator instead of the LED.

FIG. 7 is a flowchart for explaining the control of this embodiment. In step S1, the start key included in the operation key group 11 is turned on, and preparations are made for continuous shooting. In step S2, when the digital still camera is moved, one image is taken in the direction of the predetermined optical axis. In step S3, when one image is taken, the integration circuits 12X and 12Y are reset.

In step S4, it is determined whether or not the output of the integrating circuits 12X and / or 12Y has a predetermined value A. When it is determined that the output of the integration circuits 12X and / or 12Y has the predetermined value A, the control returns to step S2, and when it is determined that the output does not reach the predetermined value A, step S5 is performed.
The control moves to.

In step S5, it is determined whether or not the value output from the angular velocity sensors 9X and / or 9Y exceeds a predetermined value B. Angular velocity sensor 9X and / or 9
When it is determined that the value output from Y exceeds the predetermined value B,
Control is transferred to step S7, and if it is determined that the predetermined value B is not exceeded, control is transferred to step S6. Step S
At 7, the LED is turned on for a certain period of time.

In step S6, it is determined whether or not the start key is off. If it is determined that the start key is on, control is transferred to step S4. If it is determined that the start key is off, the process proceeds to step S4. The control ends.

FIG. 8 shows a first example of the optical axis variable element included in the lens group 1 described above. FIG. 8 is an example in which a shift lens serving as an optical axis variable element is provided in a lens group 1 including a plurality of lenses. Usually, the shift lens is arranged at a position P1 indicated by a dotted line in FIG. Position A
The subject 1 is CCD through the shift lens at the position P1.
The light is projected onto a position A1 ′ on the image sensor 2. The subject is CC
When the light is projected at the position A1 ′ on the D image sensor 2,
When the digital still camera moves, the subject is projected at a position A2 'on the CCD image sensor 2. That is, when viewed from the digital still camera, the subject moves from the position A1 to the position A2. In such a case, the movement of the digital still camera is detected by the angular velocity sensor 9, and the shift lens is moved to a position P2 indicated by a solid line according to the detected movement amount. By moving the shift lens to the position P2, the subject at the position A2 is projected at the same position A1 'as before the movement of the digital still camera. Camera shake correction can also be performed using this shift lens.

FIG. 9 shows an example of a circuit for driving the shift lens. The angular velocity sensor 9 detects a moving speed of the digital still camera. The detected speed is L
It is supplied to a PF (low-pass filter) 21. LPF2
In 1, noise and the like are removed from the detected speed. The speed from which the noise has been removed is supplied to the integration circuit 16.
In the integrating circuit 16, the supplied speed is integrated and the moving amount is detected.

In the synchronization signal separation circuit 22 to which the video output is supplied, the vertical synchronization signal VD is separated as shown in FIG. The separated vertical synchronizing signal VD is a monomulti (monostable multivibrator, abbreviated as MM in the figure).
23. In the mono multi 23, a signal M1 shown in FIG. 10 is output from the supplied vertical synchronization signal VD. The signal M1 is supplied to the mono multi 24. In the mono multi 24, a signal M2 shown in FIG. 10 is output from the supplied signal M1. This signal M2 is supplied to the integration circuit 16 as a reset signal.

Then, the integration circuit 16 outputs an integrated value like a signal S shown in FIG. The signal S is supplied from the integration circuit 16 to the shift lens servo circuit 25.
The shift lens servo circuit 25 compares the signal S with the position information supplied from the shift lens 26, and generates a signal for driving the shift lens 26. The generated signal is supplied to the shift lens 26. The shift lens 26 moves according to the supplied signal. The information of the moved position is supplied from the shift lens 26 to the shift lens servo circuit 25 as a signal.

As described above, the signal S is activated at the falling edge of the signal M2, the integrator 16 is activated, and reset at the rising edge of the signal M2. During the period T1 when the signal M2 is at the low level, the direction of the optical axis is fixed. That is, the CCD image pickup device is exposed during this period T1.

In the embodiment described above, the angular velocity of pan and tilt (movement in the vertical direction) can be detected by using two sets of angular velocity sensors. The integration circuit 16 is reset at the timing of the exposure end, and the integration circuit 16 is activated at the timing of the exposure start. This allows
The output of the integrating circuit 16 is a 60 Hz sawtooth wave. The slope of the sawtooth wave in the period T1 is proportional to the output of the angular velocity sensor.

More specifically, the direction of the optical axis is moved in the opposite direction at the same speed as the pan speed, and the relative position between the subject and the CCD image pickup device 2 is kept constant for each field at least during the exposure time. It is.

The signal S shown in FIG. 11A is a waveform when the digital still camera slowly reciprocates right and left, and the signal S shown in FIG. 11B pans at a constant speed to the right and then at a constant speed to the left. It is a waveform when panning with. This figure 1
The waveforms shown in FIGS. 1A and 11B use only half of the dynamic range when panning in one direction.
Thus, as in a signal S shown in FIG. 11C, the amplitude can be doubled by removing the DC component using a high-pass filter. That is, the dynamic range can be doubled.

The signal S shown in FIG. 12A is an example of a waveform when dark. Since it is dark, it is necessary to lengthen the time (period T1) of exposure to the CCD image pickup device 2. Therefore, the movement of the digital still camera is slowed, and exposure is performed using, for example, one field. Since the movement of the digital still camera is slow, the output of the angular velocity sensor becomes small, and the waveform becomes as shown in FIG. 12A.

The signal S shown in FIG. 12B is an example of a waveform when the image is bright. Because of the brightness, the time (period T1) of exposure to the CCD image sensor 2 can be shortened, so that the movement of the digital still camera can be accelerated. Since the movement of the digital still camera is fast, the output of the angular velocity sensor increases, resulting in a waveform as shown in FIG. 12B. This FIG.
The maximum value of the slope in the period T1 shown in B can be increased, and faster panning can be supported. FIG. 12C shows an example of the reset signal supplied to the integration circuit 16 at this time. Further, the slope of the period T2 shown in FIG. 12D may be made smooth. At this time, it is necessary to change the time constant of the integration circuit 16.

Here, as a second example of the above-described variable optical axis element, a schematic diagram of an active prism is shown in FIG.
A brief description will be given. In this active prism, a front glass 31 and a rear glass 32 are connected by a bellows 33. A liquid 34 having a high refractive index n is placed between the two glasses.
Is enclosed. Each of the two glasses is provided with a rotation axis vertically and horizontally so that the glass can freely operate. By using this active prism as an optical axis variable element, the optical axis can be bent vertically and horizontally.

The liquid 34 at this time is (1) a substance having a refractive index n close to that of the front glass 31 and the rear glass 32 (2) a substance which does not cause abnormalities such as freezing in the operating temperature range of the camera (3) Should it be damaged Even if the liquid 34 flows out, the substance is harmless to the human body. These three conditions must be satisfied.

The operation of the active prism will be briefly described. The front glass 31 is held, for example, on a horizontal axis, and the rear glass 32 is held, for example, on a vertical axis, and can rotate independently around each axis. A movable coil is attached to the rotating shaft. The rotation angle (vertical angle) is determined by the current flowing through the coil. For example, when the camera is turned upward due to camera shake, the state of the active prism shown in FIG. 13A changes to the state of the active prism shown in FIG. 13B.

More specifically, as shown in FIG. 13A, when the two glass plates are parallel, the light beam incident on the active prism goes straight. Here, assuming that camera shake occurs and the two glass plates are rotated by a certain angle from the parallel position, the refractive index n inside the active prism causes a refraction as shown in FIG. I do.

Next, a third example of the optical axis variable element is shown in FIG. Note that FIG. 14 uses an active mirror as an optical axis variable element, and is not included in the lens group 1 and is different from the first and second examples described above, and is different from the lens group 1 ′. Is placed before the.

FIG. 14 is a sectional view showing the structure of the optical axis variable element. The variable optical axis element is arranged in front of the lens group 1 ′ as shown in FIG. 2, and the image of the subject is incident on the CCD image pickup element 2 via the variable optical axis element and the lens block 3. AA 'in FIG. 2 indicates the optical axis of the lens group 1'.

Reference numeral 42 denotes a planar mirror that reflects an image of a subject and guides the image to a CCD image pickup device. The mirror 42 is attached to the support plate 43,
Are ± with respect to the shaft portion 44 as indicated by the arrow shown in FIG.
It is configured to rotate about 15 °. That is, the shaft portion 44 is disposed so as to be orthogonal to the optical axis AA ′ of the lens block 3, and the mirror 42 is oriented in a direction forming an angle of about 45 ° with the optical axis AA ′ of the lens block 3. ±
It is possible to rotate about 15 °. The shaft portion 44 is supported by a frame 45, and the frame 45 is attached to the outer peripheral surface of a rotor 46 of the pan motor.

Reference numeral 50 designates a soft iron yoke having a U-shaped cross section which constitutes a magnetic circuit. Two magnets 47 and 48 are arranged to face the inner peripheral side of the yoke 50 to form a closed magnetic circuit.
A strong magnetic field is generated in the gap 49 between the gap and the gap 48. A magnetic circuit including the yoke 50 and the magnets 47 and 48 is attached to the outer peripheral surface side of the rotor 46 of the pan motor, similarly to the frame 46.

Further, what is indicated by 51 is a coil formed in a substantially semicircular shape. The coil 51 is supported by a support piece 52 extending from the support plate 43. This shows a mounted state of the coil 51, and the coil 51 is supported by the support piece 52 such that the linear portion is located in the gap 49. Therefore, when a current is applied to the coil 51, the torque that rotates the coil 51 and the support plate 52 about the shaft 44 between the gaps 49 due to the relationship between the magnetic field generated in the coil 51 and the magnetic fields of the magnets 47 and 48. Occurs. That is, the yoke 50 and the magnets 47 and 48
, A coil 51 and a support piece 52 constitute a magnetic actuator. The coil 5
In order to reduce the moment of inertia when the rotor 46 described later rotates, the center of 1 is arranged so as to be shifted from the optical axis AA ′ of the lens block 3 by 5 ° to 10 ° as shown in FIG. I have.

On the other hand, what is indicated by 62 is a shaft portion of the pan motor, which is arranged, for example, so as to coincide with the optical axis AA ′ of the lens block 3. The shaft portion 62 includes the stator 5
5 and is rotatably supported by bearings of two ball bearings provided on the shaft 62 and the rotor 4.
6 are connected. A magnet 53 is attached to the inner peripheral surface side of the rotor 46, and a coil and a magnetic pole 54 of a three-phase motor (pan motor) fixed to a stator 55 are arranged at a position facing the magnet 53. Accordingly, when a current is applied to the coil and the coil of the magnetic pole 54, a torque is generated around the shaft portion 62, and the optical axis A- of the lens block 3 as indicated by the arrow shown in FIG.
It is configured to rotate 360 ° about A ′.

A dome-shaped cover 56 fixes the pan motor stator 55.
The transparent cover 41 is further extended with respect to the cover 56,
The transparent cover 41 includes a lens block 3 and a CCD.
It is coupled to the image sensor 5 side.

Further, a cup-shaped extending portion is provided on the side opposite to the shaft portion 62 of the pan motor to which the rotor 46 is connected, and an annular magnetic stripe 57 is provided at an end of the extending portion.
Are formed, and a light shielding plate 61 is attached to a predetermined position of the cup-shaped extending portion. On the other hand, at a predetermined position corresponding to the annular magnetic stripe 57 of the stator 55, a two-phase MR (Magneto Resi
stance) sensor 58 is provided. From the two-phase MR sensor 58, two sine waves of 360 waves in one rotation are 90
° phase difference. Using the output signal of the two-phase MR sensor 58, the rotor 46 can be controlled to an arbitrary angle in units of 0.25 °. Also, the stator 5
At a predetermined position corresponding to the light shielding plate 61, a photo interrupter 59 is mounted via a support piece 60.
The horizontal angle of the mirror 42 is detected by the photo interrupter 59.

The above-described annular magnetic stripe 57,
The same components as the light shielding plate 61, the two-phase MR sensor 58, and the photo interrupter 59 are also mounted between the support plate 43 and the frame 45. The vertical angle of the mirror 42 is detected by a two-phase MR sensor, a photo interrupter, and the like attached between the support plate 43 and the frame 45.

By driving the actuator of the optical axis variable element configured as described above by the mirror servo based on the output signals of the two-phase MR sensor and the photo interrupter, the mirror 42 rotates, for example, in the vertical direction and moves in the predetermined direction. Will be retained. Further, by driving the pan motor by the motor control circuit based on the output signals of the two-phase MR sensor 58 and the photo interrupter 59, the mirror 42 and the frame 45 rotate in the horizontal direction, for example, and are held in a predetermined direction.

In this embodiment, when the resetting of the integrating circuit is performed in units of fields, an image in units of fields can be obtained. When the resetting is performed in units of frames, an image in units of frames can be obtained. it can. Further, a period from when the output of the angular velocity sensor reaches a predetermined value may be set as a period from the start of exposure to the end of exposure irrespective of a field unit and a frame unit.

[0065]

According to the present invention, a stationary subject can be
When continuously photographing a plurality of images that are overlapped with each other, the overlap ratio can be kept substantially constant, the photographing can be performed in a short time, and the blurring of any image can be equal to or less than an allowable value.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a digital still camera to which the present invention is applied.

FIG. 2 is an example graph for explaining the present invention.

FIG. 3 is an example graph for explaining the present invention.

FIG. 4 is a block diagram showing another embodiment of a digital still camera to which the present invention is applied.

FIG. 5 is an example graph for explaining the present invention.

FIG. 6 is an example graph for explaining the present invention.

FIG. 7 is a flowchart for explaining an embodiment of the present invention.

FIG. 8 is a schematic diagram for explaining a first example of an optical axis variable element applied to the present invention.

FIG. 9 is a block diagram showing an example of a circuit for driving an optical axis variable element applied to the present invention.

FIG. 10 is a timing chart of an example of a circuit for driving an optical axis variable element applied to the present invention.

FIG. 11 is a timing chart of an example of a circuit for driving an optical axis variable element applied to the present invention.

FIG. 12 is a timing chart of an example of a circuit for driving an optical axis variable element applied to the present invention.

FIG. 13 is a schematic diagram for explaining a second example of the optical axis variable element applied to the present invention.

FIG. 14 is a schematic diagram for explaining a third example of the optical axis variable element applied to the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Lens group, 2 ... CCD image sensor, 3 ...
Compression circuit, 4 ... Image memory, 5 ... Recording medium, 6
... Expansion circuit, 7 ... Display device, 9, 9X, 9Y
..Angular velocity sensor, 10 ... syscon, 11 ... operation key group, 12X, 12Y ... integration circuit, 13 ...
Shutter control circuit

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Claims (14)

[Claims] 1. An imaging apparatus for performing continuous shooting while panning or tilting to obtain a plurality of mutually overlapping images, comprising: an angular velocity sensor for detecting a moving speed of an imaging section; and an output of the angular velocity sensor integrated. An image pickup apparatus comprising: an integrating means for performing shutter operation; and a shutter control means for controlling a shutter timing so that a predetermined overlapping rate is obtained from an output of the integrating means. 2. The method according to claim 1, wherein a limit angular velocity of pan or tilt is calculated from an angle of view and an exposure time, an appropriate angular velocity is set from the calculated limit angular velocity, and the limit angular velocity or the appropriate angular velocity is displayed. The imaging device according to claim 1, wherein: 3. The imaging apparatus according to claim 1, wherein the integration means is periodically reset during a period in which the exposure of the imaging element is invalidated. 4. An image pickup apparatus comprising an optical axis changing means for changing the direction of an optical axis, performing continuous shooting while panning or tilting to obtain a plurality of mutually overlapping images. An angular velocity sensor for detecting a velocity; first and second integrating means for integrating the output of the angular velocity sensor; and shutter control for controlling a shutter timing from the output of the first integrating means to obtain a predetermined overlapping rate. Means for controlling the optical axis variable means so as to change the optical axis in a direction to cancel the pan or tilt operation in accordance with the output of the second integrating means. apparatus. 5. The imaging device according to claim 1, wherein the predetermined overlapping rate is 30% to 90%. 6. A limit angular velocity for moving the imaging section is calculated from an effective range of the optical axis changing means, an angle of view, and an exposure time, and an appropriate angular velocity is set from the calculated limit angular velocity. The imaging apparatus according to claim 4, wherein the limit angular velocity or the appropriate angular velocity is displayed. 7. The imaging apparatus according to claim 4, wherein said first and / or second integration means is periodically reset during a period in which exposure of said imaging element is invalidated. . 8. An imaging method in which continuous shooting is performed while panning or tilting to obtain a plurality of mutually overlapping images, wherein an angular velocity sensor detects a moving speed of an imaging unit and integrates an output of the angular velocity sensor. An imaging method, wherein the shutter timing is controlled so that a predetermined overlapping rate is obtained from the output of the integration means. 9. A method for calculating a limit angular velocity of pan or tilt from an angle of view and an exposure time, setting an appropriate angular velocity from the calculated limit angular velocity, and displaying the limit angular velocity or the appropriate angular velocity. 9. The imaging method according to claim 8, wherein: 10. The imaging method according to claim 8, wherein the integration value is periodically reset during a period in which the exposure of the imaging element is invalidated. 11. An optical axis changing means for changing the direction of an optical axis, and an image pickup apparatus for performing continuous photographing while panning or tilting to obtain a plurality of mutually overlapping images. Detecting the speed of the angular velocity sensor, integrating the output of the angular velocity sensor with the first and second integrating means, controlling the shutter timing from the output of the first integrating means so as to have a predetermined overlapping rate, An imaging method characterized in that the optical axis is changed in a direction to cancel the panning or tilting operation according to the output of the integrating means. 12. The predetermined duplication rate is 30% to 90%.
The imaging method according to claim 8, wherein: 13. A method of calculating a limit angular velocity for moving the image pickup unit from an effective range of the optical axis variable unit, an angle of view, and an exposure time, and setting an appropriate angular velocity from the calculated limit angular velocity; The imaging method according to claim 11, wherein the limit angular velocity or the appropriate angular velocity is displayed. 14. The imaging method according to claim 11, wherein the first and / or second integration means is periodically reset during a period in which the exposure of the imaging element is invalidated. .