JP2013179431A - Imaging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To capture a precisely horizontal image in real time.SOLUTION: An imaging system comprises: an imaging apparatus 1 and 2; a universal head 3 connectable with the imaging apparatus; and communication means 30 which performs communication between the imaging apparatuses and the universal head. The imaging apparatus comprises tilt detection means 8 and 5 for detecting a degree of tilting in a rolling direction with respect to a light axis of imaging. The universal head comprises: reception means 25 for receiving a detection result obtained by the tilt detection means via the communication means; and rotation drive means 29 which rotates the imaging apparatus in the rolling direction of the light axis of imaging. The rotation drive means rotates, on the basis of the detection result obtained by the tilt detection means, the imaging apparatus so that an image captured by the imaging apparatus becomes horizontal with respect to the horizontal surface.

Description

  The present invention relates to an imaging system including an imaging device such as a digital camera or a digital video camera, a camera platform that can be connected to the imaging device, and a communication unit that communicates between the imaging device and the camera platform. .

  In recent years, electronic level devices equipped with functions to inform the degree of tilt from the horizontal plane and the direction of tilt have been installed in image capture devices such as digital cameras and digital video cameras in order to capture captured images without tilt. There is an imaging device. Further, in order to automatically perform horizontal correction of the captured image, the camera platform connected to the imaging device is notified of the degree of tilt of the imaging device, the platform is driven in the horizontal direction, and the captured image is An imaging apparatus and a pan / tilt head system for controlling the pan / tilt head have been proposed.

  For example, in Japanese Patent Application Laid-Open No. 5-328195 (Patent Document 1), a video camera is obtained by processing a video signal obtained by imaging a subject having a horizontal portion by attaching a lens cap type level to an imaging lens. Has been proposed to perform horizontal control of the imaging device while imaging the level so as to be in a horizontal state.

Japanese Patent Laid-Open No. 5-328195

  However, in the technique of Patent Document 1, when performing horizontal control of the imaging device, a special level is attached to the imaging lens, and horizontal control is performed while imaging the level, so that the actual imaging action It is impossible to perform horizontal control while performing. When shooting while tracking the subject with a pan head, etc., a level is attached to the imaging lens at each shooting timing, and the imaging action is performed and horizontal control is performed. It is difficult to perform horizontal control and shooting. Also, since the level control is performed by taking an image of the level, it takes a relatively long time for the horizontal control.

(Object of invention)
An object of the present invention is to provide an imaging system capable of capturing an image that is accurately leveled in real time.

  In order to achieve the above object, an imaging system according to the present invention includes an imaging device, a camera platform that can be connected to the imaging device, and a communication unit that communicates between the imaging device and the camera platform. The imaging apparatus includes an inclination detection unit that detects a degree of inclination in the roll direction with respect to the imaging optical axis, and the camera platform receives the detection result of the inclination detection unit via the communication unit. And a rotation driving unit that rotates the imaging device in a direction around the imaging optical axis, and the rotation driving unit determines that a captured image of the imaging device is a horizontal plane based on a detection result of the tilt detection unit. The image pickup apparatus is rotated so as to be horizontal with respect to.

  According to the present invention, it is possible to capture an image that is accurately horizontal.

1 is a block diagram illustrating a basic configuration of an imaging system that is an embodiment of the present invention. It is a figure which shows the relationship with the pan head at the time of the horizontal position of the imaging device in an Example. It is a figure which shows a head and a relationship at the time of the vertical position of the imaging device in an Example. It is a flowchart which shows the 1st operation | movement method in the horizontal drive of an Example. It is a flowchart which shows the 2nd operation | movement method in the horizontal drive of an Example. It is a figure which shows the characteristic by the inclination of the measuring axis of the acceleration sensor in an Example.

  The mode for carrying out the present invention is as described in the following examples.

FIG. 1 shows a basic block diagram of an imaging system which is an embodiment of the present invention.
FIG. 1 shows an outline of the main part of an imaging system when a digital single-lens reflex camera is used as an example of an imaging apparatus. The configuration of the embodiment will be described below.

  Reference numeral 1 denotes a camera body, and reference numeral 2 denotes a photographing lens for forming a subject image on an image sensor 12 in the camera body 1 (hereinafter, 1 and 2 are collectively referred to as an imaging device). Reference numeral 5 denotes a camera microcomputer, which is a microprocessor for controlling the entire camera body 1. The camera microcomputer 5 controls the AF sensor 6 for focusing on the subject. Further, from the image obtained from the AF sensor 6, communication to the lens microcomputer 21 is performed in order to drive the focus drive mechanism 22 of the photographing lens 2 based on the calculation for focusing and the calculation result. Further, based on the control of the AE sensor 7 for adjusting the exposure of the subject and the information obtained from the AE sensor 7, the exposure calculation program control for determining the combination of the shutter speed and the aperture value according to the set ISO is performed. In addition, it has means for receiving information from the SW operation system 9 serving as a user interface such as a release button and an electronic dial. Although not described here, the mirror drive mechanism 10 for driving the main mirror for separating the subject image captured from the photographing lens 2 into a finder system and an imaging system is controlled. Furthermore, the shutter control mechanism 11 that controls the focal plane shutter having the front curtain and the rear curtain is controlled according to the shutter speed determined according to the program in the camera body 1 based on the information obtained by the AE sensor 7.

  Reference numeral 8 denotes an acceleration sensor that detects the degree of tilt of the camera body 1 in the roll direction. The acceleration sensor 8 has two measurement axes. In this embodiment, the acceleration sensor 8 is mounted on a plane parallel to the imaging surface, and can detect the rotation angle of the imaging optical axis with respect to the roll direction ( 2 and 3). Although details are shown in FIG. 6, FIG. 6 is a graph showing the inclination of the acceleration sensor 8 with respect to the roll direction (roll angle 40 with respect to the gravity direction) and the characteristics of the gravity acceleration data 41. Reference numerals 42 and 43 denote data of two measurement axes of the acceleration sensor 8. When the imaging device (1, 2) is placed horizontally at the horizontal position, a state indicated by 44 is obtained. In addition, the upper side of the grip of the camera body 1 is 47 and the lower side of the camera body 1 is indicated by 45. Reference numeral 46 denotes a state when the position is reversed. The grip 4 is shown in FIGS. 2 and 3.

  The camera microcomputer 5 acquires the data 42 and 43 of the two measurement axes shown in FIG. 6, and calculates the roll angle 40 based on the data.

  Further, as described above, since the acceleration sensor 8 can detect the roll direction of the imaging optical axis at 360 degrees, it can detect the posture of the camera (horizontal position, vertical position (on the grip, below)). For example, referring to FIG. 6, the angle recognized as the horizontal position is -15 to 90 degrees, the angle recognized as the vertical position (under the grip) is 90 to 180 degrees, and the angle recognized as the vertical position (on the grip) is 270 to 360 degrees.

  Next, the operation of the taking lens 2 will be described. The photographic lens 2 mainly transmits focus information calculated by the camera microcomputer 5 from the camera microcomputer 5 to the lens microcomputer 21 by communication. Based on the result, the focus driving mechanism 22 for driving the focus adjustment lens is provided in the lens microcomputer 21. Control and focus. Further, the aperture value calculated by the camera microcomputer 5 is transmitted from the camera microcomputer 5 to the lens microcomputer 21 by communication, and based on the result, the aperture drive mechanism 23 for controlling the aperture blades is controlled by the lens microcomputer 21 to obtain a predetermined exposure. Control is performed as follows.

Next, the digital units 15 to 20 will be described.
The DSP 15 (digital signal processor) is connected to the camera microcomputer 5 and controls the TG 18 (timing generator) when the imaging request from the camera microcomputer 5 is generated, and comprehensively controls the image sensor 17 and the AD converter 16 to perform imaging. Perform the action. The image obtained by the imaging operation is subjected to image processing of the captured image using the memory group 19 connected to the DSP 15. Further, an operation of finally recording in the removable memory group 19 is performed. Further, the image processing image and the GUI related to each user interface are displayed on the display unit 20 connected to the DSP 15.

  Reference numeral 17 denotes an image sensor that takes out subject light as an analog electric signal by photoelectric conversion. Reference numeral 16 denotes an AD converter that converts an analog electrical signal obtained from the image sensor 17 into digital data. Further, the TG 18 performs imaging drive control of the image sensor 17 and transmits a synchronous clock to the AD converter 16 that is AD-converted by the AD converter 16 in synchronization with an analog signal output from the image sensor 17. The TG 18 controls the DSP 15 to transmit the digital data from the AD converter 16 to the DSP 15 by transmitting a timing clock signal for performing data latching in the DSP 15 to the DSP 15. The memory group 19 is a RAM that can be temporarily stored for processing data, or a recording medium that can permanently record image data processed by the DSP 15. The display unit 20 is an external liquid crystal panel, for example, and displays images and shooting information.

  Next, the configuration of the pan head 3 will be described. The camera platform 3 can be connected to the imaging devices (1, 2). A pan head microcomputer 25 controls the pan head 3. Reference numeral 26 denotes a switch operating unit that is operated from the outside, and can be connected to the pan head microcomputer 25 to drive the pan head 3 in the pan direction and the tilt direction by an external operation. Reference numeral 27 denotes a mechanical drive mechanism A for driving the pan head 3 in the pan direction, and reference numeral 28 denotes a mechanical drive mechanism B for driving the pan head 3 in the tilt direction. The control is performed by Reference numeral 29 denotes a mechanical drive mechanism C that rotates the imaging device (1, 2) in the roll direction of the imaging optical axis of the imaging device mounted on the camera platform 3.

  The imaging device (1, 2) and the camera platform 3 are mechanically connected at the horizontal position (FIG. 3) and vertical position (FIG. 4) of the imaging device, and the camera microcomputer of the imaging device (1, 2). 5 and the pan / tilt head microcomputer 25 of the pan / tilt head 3 are electrically connected to each other and have a communication means 30 between the respective microcomputers. The imaging devices (1, 2), the camera platform 3 and the communication means 30 constitute an imaging system.

Next, the connection method of the imaging devices (1, 2) and the camera platform 3 and the mechanical drive of the camera platform 3 will be described with reference to FIGS.
FIG. 2 shows a state in which the imaging device (1, 2) is connected to the camera platform 3 in a state where the imaging device (1, 2) is set in a horizontal position in advance. The mechanical drive mechanism A (27) is a mechanism that rotationally drives the rotating body 33 in a direction around the rotation shaft 36, and performs pan driving at the lateral position of the imaging apparatus. The mechanical drive mechanism B (28) is a mechanism that rotates with respect to the rotating body 32 in the direction around the rotation shaft 35, and is tilt-driven at the lateral position of the imaging apparatus. The mechanical drive mechanisms A and B both drive the image pickup apparatus toward the subject when the user manually operates the switch operation unit 26. Reference numeral 31 denotes a support member that rotatably supports the rotating body 32.

  The mechanical drive mechanism C (29) is a mechanism for rotating the rotating body 34 in a direction around the rotation axis 37, and driving the imaging optical axis in the roll direction at the lateral position of the imaging apparatus. Become. The rotating body 34 is driven by communication from the imaging devices (1, 2). Although details are omitted here, it can be driven to rotate at an arbitrary angle with respect to the rotation direction around the rotation shaft 37.

  FIG. 3 shows a state in which the imaging device (1, 2) is connected to the camera platform 3 in a state where the imaging device (1, 2) is set in a vertical position in advance. The functions of the mechanical drive mechanism A (27), the mechanical drive mechanism B (28), and the mechanical drive mechanism C (29) are the same as those in FIG.

Next, two operation methods in the horizontal drive by the imaging devices (1, 2) and the camera platform 3 will be described with reference to FIGS.
The first operation method will be described with reference to FIG.
In the first operation method, when the imaging device (1, 2) and the camera platform 3 are connected and the power is turned on, the camera platform 3 always keeps the horizontal position of the imaging device (1, 2). It is an example which performs control.

  First, when the user turns on the power of the camera body 1 by operating the SW operation system 9 (S1), the camera microcomputer 5 of the camera body 1 is activated (S2). Next, the acceleration sensor 8 is activated (S3). Next, the camera microcomputer 5 confirms the connection with the camera platform microcomputer 25 via the communication means 30 (S4). At this time, if the power of the camera platform 3 is already turned on (S15), then the camera platform microcomputer 25 is activated (S16) and the camera platform microcomputer 25 is in the standby state (S17), the camera microcomputer 5 It is possible to communicate with the microcomputer 25 (S5). However, in a state where the head 3 is not turned on, the camera microcomputer 5 cannot communicate with the head microcomputer 25, and the camera head is brought into a shooting state in which the automatic head function is not used (S6).

  When the head 3 is turned on, the head microcomputer 25 is activated and enters a standby state. The user operates the mechanical drive mechanism A (27) by operating the switch operation unit 26 of the camera platform 3, and operates the pan drive (manual) (S18) of the image pickup apparatus or the mechanical drive mechanism B (28) to set the image pickup apparatus. Tilt drive (manual) is performed (S19). Next, when there is a communication request from the camera microcomputer 5 (S20), the camera platform microcomputer 25 notifies the camera microcomputer 5 of a reception completion signal, and enters a ready state for roll rotation (S21). The pan head microcomputer 25 is in a standby state (S17) of the pan head microcomputer 25 unless there is a communication request from the camera microcomputer 5 or a pan / tilt drive request from the switch operation unit 26.

  Next, when receiving a reception completion notification from the pan / tilt head microcomputer 25 on the imaging device side, the connection of the pan / tilt head 3 is confirmed (S5). ), Information on the degree of tilt in the roll direction with respect to the imaging optical axis of the imaging device is acquired and transmitted to the pan / tilt head microcomputer 25 (S9).

  At this time, in the camera microcomputer 5, the offset amount is 45 degrees when the value of the acceleration sensor 8 is the normal position of the imaging device (a state where the acceleration sensor 8 is accurately aligned with the horizontal plane in the horizontal position). The amount is transmitted to the pan / tilt microcomputer 25 with a value obtained by subtracting 135 degrees or 315 degrees. As described above, the camera microcomputer 5 performs the tilt calculation by adding the offset amount. Specifically, at an angle of 15 to 90 degrees recognized as the horizontal position, 45 degrees are canceled, and at an angle of 90 to 180 degrees recognized as the vertical position (under the grip), 135 degrees are canceled and the vertical position (on the grip) ) Is recognized, the 315 degrees are canceled and transmitted to the pan / tilt head microcomputer 25.

  When the pan / tilt microcomputer 25 acquires (receives) the acceleration sensor information (detection result of the tilt detecting means) from the camera microcomputer 5 (S22), the mechanical drive mechanism C (29) so that the transmitted tilt data becomes zero. Is driven (S23). When the mechanical drive mechanism C (29) completes the predetermined drive (S24), it notifies the camera microcomputer 5 and enters a roll drive standby state (S25).

  The camera microcomputer 5 obtains information from the acceleration sensor 8 and continues to send it to the pan / tilt head microcomputer 25 until the captured image based on the attitude of the imaging apparatus is within a predetermined horizontal accuracy. Based on this, the carriage microcomputer 25 operates the mechanical drive mechanism C (29) to perform horizontal drive. Eventually, when the captured image falls within a predetermined horizontal accuracy, transmission to the pan / tilt head microcomputer 25 stops, and thus driving in the pan / tilt head 3 in the horizontal direction stops.

  In this operation, when a photographing request from the user is generated via the SW operation system 9 (S10), transmission to the pan head microcomputer 25 is stopped, and the pan head 3 is stopped. If the photographing operation is further continued, a focus detection operation for operating the AF sensor 6, the lens microcomputer 21, and the focus driving mechanism 22, and a photometric operation for operating the AE sensor 7 are performed (S <b> 11). You can shoot with automatic leveling.

  Further, the pan head 3 is in a ready state of roll driving until the power is turned off by the user's switch operation unit 26, and the operation is completely stopped by turning off the power (S26).

  Next, the second operation method is as follows. When the imaging device (1, 2) and the camera platform 3 are connected and the power is turned on, and when the user performs a shooting operation, the camera platform 3 is operated. Is an example of performing horizontal control of the imaging device (1, 2). A second operation method will be described with reference to FIG.

  First, when the user turns on the power of the camera body 1 by operating the SW operation system 9 (S50), the camera microcomputer 5 of the camera body 1 is activated (S51). Next, the acceleration sensor 8 is activated (S52). Next, the camera microcomputer 5 confirms the connection with the camera platform microcomputer 25 via the communication means 30 (S53). At this time, if the camera platform 5 is already turned on (S65), the camera platform microcomputer 25 is activated, and the camera platform microcomputer 25 is in the standby state (S67), the camera microcomputer 5 is connected to the camera platform microcomputer 25. It is possible to communicate. However, in a state where the head 3 is not turned on, the camera microcomputer 5 cannot communicate with the head microcomputer 25, and the camera head is brought into a photographing state where the automatic head function is not used (S55).

  When the head 3 is turned on, the head microcomputer 25 is activated and enters a standby state. The user operates the mechanical drive mechanism A (27) by operating the switch operation unit 26 of the camera platform 3, and operates the pan drive (manual) (S68) of the image pickup apparatus or the mechanical drive mechanism B (28) to thereby change the image pickup apparatus. Tilt drive (manual) is performed (S69). Next, when there is a communication request from the camera microcomputer 5 (S70), the camera platform microcomputer 25 notifies the camera microcomputer 5 of a reception completion signal and enters a ready state for roll rotation (S70). The pan head microcomputer 25 is in the standby state (S67) of the pan head microcomputer 25 unless there is a communication request from the camera microcomputer 5 or a pan / tilt drive request from the switch operation unit 26.

  Next, when receiving a reception completion notification from the pan head microcomputer 25 on the imaging device side, the connection of the pan head 3 is confirmed (S54), and the attitude information of the imaging device and the imaging optical axis of the imaging device are checked from the acceleration sensor 8. Information on the degree of tilt in the roll direction is acquired (S56), and a shooting standby state is entered (S57). Next, when a photographing request is generated from the user via the SW operation system 9 (S58), the latest information acquired from the acceleration sensor 8 is transmitted to the pan / tilt microcomputer 25 (S59). Information is acquired (S72), and the driving in the roll direction based on the information is performed. Furthermore, when the driving in the roll direction is completed, the camera enters the ready state in the roll direction and notifies the camera microcomputer 5 of a driving completion signal.

  On the other hand, the imaging apparatus waits until a roll direction driving completion signal for the camera platform 3 is received (S60), and if a driving completion notification is received, the captured image of the imaging apparatus is within a predetermined horizontal accuracy (within a predetermined value). It is confirmed whether it exists (S61). If it is within the predetermined value, photographing is permitted, and a focus detection operation for operating the AF sensor 6, the lens microcomputer 21, and the focus drive mechanism 22 is performed. Further, a photometric operation for operating the AE sensor 7 is performed (S62), and it is possible to take a picture in a state where the image picked up by the camera platform 3 is automatically leveled. If it is not within the predetermined value, the information is acquired again from the acceleration sensor 8 and continuously sent to the pan / tilt microcomputer 25 (S59). Eventually, when the captured image falls within the predetermined horizontal accuracy, transmission to the pan head microcomputer 25 stops, so that the pan head 3 stops driving in the horizontal direction, and the auto leveling is performed. I can do it.

Claims (3)

An imaging system comprising an imaging device, a camera platform that can be connected to the imaging device, and a communication unit that communicates between the imaging device and the camera platform,
The imaging device
Having an inclination detection means for detecting the degree of inclination in the roll direction relative to the imaging optical axis;
The pan head is a receiving means for receiving a detection result of the tilt detecting means via the communication means;
Rotation drive means for rotating the imaging device around the imaging optical axis,
The rotation driving unit rotates the imaging device based on a detection result of the tilt detection unit so that a captured image of the imaging device is horizontal with respect to a horizontal plane. The imaging device further includes:
Attitude detecting means for detecting the attitude of each of the horizontal position and the vertical position by the imaging device;
The imaging system according to claim 1, further comprising an inclination calculating unit that adds an offset amount to information on a degree of inclination in a roll direction with respect to an imaging optical axis based on posture information of the imaging apparatus.   The imaging system according to claim 1 or 2, wherein imaging is permitted when a captured image of the imaging apparatus has a degree of inclination with respect to a horizontal plane within a predetermined value.

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