JP2022000678A - Imaging apparatus, control method for the same, and program - Google Patents

Abstract

To reduce the influence due to rolling swing.SOLUTION: An imaging apparatus is installed in a state in which the rotation axis of a rolling mechanism unit is inclined with respect to an optical axis of imaging means, and has correction means that corrects a photographic range of the imaging means by controlling the rolling mechanism unit according to rolling swing with respect to the imaging apparatus.SELECTED DRAWING: Figure 7

Description

The present invention relates to an image pickup apparatus, a control method thereof, a program, and a recording medium.

Conventionally, there has been known an imaging device that detects vibration applied to an imaging means and corrects shaking of an imaging screen based on the detected result (Patent Document 1).

Japanese Unexamined Patent Publication No. 2006-80837

An object of the present invention is to suppress the influence of rolling shaking.

The image pickup apparatus according to one aspect of the present invention is an image pickup apparatus installed in a state where the rotation axis of the rotation mechanism portion is inclined with respect to the optical axis of the image pickup means, and is described above in response to rolling shaking with respect to the image pickup apparatus. It is characterized by having a correction means for correcting the photographing range of the image pickup means by controlling the rotation mechanism unit.

It is a figure for demonstrating the kind of shaking which occurs on a ship. It is a figure which shows an example at the time of pan driving at a tilt angle of 0 degree. It is a figure which shows an example at the time of pan driving at a tilt angle of 90 degrees. It is a figure for demonstrating the installation method of an image pickup apparatus. It is a figure which shows an example of the structure which added the adjustment mechanism to the image pickup apparatus. It is a figure which shows an example of the arrangement relation between a subject and an image pickup apparatus. It is a figure which shows an example of the arrangement relation between a subject and an image pickup apparatus. It is a block diagram which shows an example of the structure of an image pickup apparatus. It is a flowchart which shows an example of the process of 1st Embodiment. It is a flowchart which shows an example of the process of 2nd Embodiment. It is a figure for demonstrating the installation method of an image pickup apparatus. It is a figure which shows an example of the image pickup apparatus at the time of tilt drive. It is a figure which shows an example of the image pickup apparatus at the time of tilt drive. It is a flowchart which shows an example of the process of 3rd Embodiment.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In this embodiment, a case where an image pickup device is installed on a ship and the shooting range is corrected according to the shaking generated on the ship will be described.
FIG. 1 is a diagram for explaining the types of shaking that occur on a ship. In FIG. 1, the front-rear direction of the ship 101 is the x-axis, the left-right direction is the y-axis, and the x-axis and the direction orthogonal to the y-axis are shown as the z-axis. Here, it is assumed that the optical axis of the image pickup device to be described later installed on the ship is oriented in the x-axis direction.
The sway that affects the image captured by the image pickup apparatus includes bow sway 102, pitch sway 103, and rolling sway 104.

As shown in the upper surface view 105 of the ship, the bow sway 102 appears as a vibration that rotates and sways about the z-axis with respect to the image pickup apparatus. Such bow sway 102 is called yawing sway. As shown in the side view 106 of the ship, the pitching 103 appears as a vibration that rotates and sways about the y-axis with respect to the image pickup apparatus. Such pitching motion 103 is called pitching shaking. As shown in the front view of the ship 107, the rolling sway 104 appears as a vibration that rotates and sways about the x-axis with respect to the image pickup apparatus.

(First Embodiment)
The image pickup apparatus 201 of the present embodiment corrects the deviation of the photographing range caused by the rolling shaking by pan-driving.
2 and 3 are views showing an example of the configuration of the image pickup apparatus 201. Specifically, FIG. 2 is a diagram showing an example of a shooting range when pan-driven when the tilt angle is 0 degrees. 2 (a) is a side view of the image pickup apparatus 201 seen from one direction, and FIG. 2 (b) is a side view of the image pickup apparatus 201 seen from the direction of arrow A1 of FIG. 2 (a). FIG. 3 is a diagram showing an example of a shooting range when pan-driven when the tilt angle is 90 degrees. 3A is a side view of the image pickup apparatus 201 seen from one direction, and FIG. 3B is a side view of the image pickup apparatus 201 seen from the direction of arrow A2 of FIG. 3A.

The image pickup device 201 includes a pan head 202, a lens barrel 203, an image pickup unit 204, and the like.
The pan head 202 includes a base portion 211, a support portion 212, and a rotation mechanism portion. The base portion 211 is a portion for fixing the image pickup apparatus 201 to the installation portion. The base portion 211 rotatably supports the support portion 212 around the pan axis Pa (around the first axis). The support portion 212 is a portion for supporting the lens barrel 203. The support portion 212 rotatably supports the lens barrel 203 around the tilt axis Ta (around the second axis) orthogonal to the pan axis Pa. The lens barrel 203 accommodates the imaging unit 204. The image pickup unit 204 includes a lens group, an image pickup element, a motor for driving the lens, and the like. The lens group includes a zoom lens.

The rotation mechanism unit includes a pan rotation unit (first rotation unit) and a tilt rotation unit (second rotation unit). The pan rotation unit includes an electric drive unit such as a motor, and pan-drives the image pickup unit 204 by rotating it in the pan direction. Specifically, the pan rotating portion rotates the support portion 212 around the pan axis Pa with respect to the base portion 211. The pan axis Pa is the rotation axis of the pan rotation portion. The tilt rotation unit includes an electric drive unit such as a motor, and tilt drive by rotating the image pickup unit 204 in the tilt direction. Specifically, the tilt rotation unit rotates the lens barrel 203 around the tilt axis Ta with respect to the support portion 212. The tilt axis Ta is the rotation axis of the tilt rotation unit. The rotation mechanism portion is not limited to the case where it is provided on the pan head 202, and may be provided on, for example, the support portion 212 or the like.

The image pickup apparatus 201 shown in FIGS. 2A and 2B has a tilt angle of 0 degrees, and the optical axis 205 is in the horizontal direction parallel to the horizontal plane (ground). The tilt angle of 0 degrees means that the pan axis Pa and the optical axis 205 are orthogonal to each other. Here, as shown in FIG. 2A, it is assumed that the shooting range is the shooting range 207 of FIG. 2C when the subject 206 is in the direction of the optical axis 205. From this state, when the pan rotating unit is pan-driven to move the imaging unit 204 in the pan direction 208, the shooting range moves horizontally, as shown in the shooting range 209 of FIG. 2 (d).
On the other hand, the image pickup apparatus 201 shown in FIGS. 3A and 3B has a tilt angle of 90 degrees, and the optical axis 205 is in the direction perpendicular to the horizontal plane. The tilt angle of 90 degrees means that the pan axis Pa and the optical axis 205 are parallel to each other. Here, as shown in FIG. 3A, it is assumed that the shooting range is the shooting range 301 in FIG. 3C when the subject 206 is in the direction of the optical axis 205. From this state, when the pan rotation unit is pan-driven to move the image pickup unit 204 in the pan direction 208, the shooting range is rotated to be as shown in the shooting range 302 of FIG. 3 (d).

<How to install the image pickup device>
FIG. 4 is a diagram for explaining a method of installing the image pickup apparatus 201.
In the present embodiment, the image pickup apparatus 201 is installed with the pan axis Pa tilted with respect to the horizontal optical axis 205. Specifically, by attaching the pan head 202 of the image pickup apparatus 201 to the installation surface 402 of the ceiling 401 inclined with respect to the horizontal plane, the pan axis Pa is inclined with respect to the optical axis 205. Therefore, the pan axis Pa is inclined with respect to the horizontal plane and also with respect to the vertical line perpendicular to the horizontal plane. Further, in order to take a picture in the horizontal direction, the image pickup unit 204 is driven in the tilt direction 403. Here, the tilt angle α is an angle larger than 0 degrees and smaller than 90 degrees, which is approximately 45 degrees in FIG. In this way, since the tilt angle is larger than 0 degrees, when the imaging unit 204 is driven in the pan direction 208, it also moves to the rolling component. Therefore, when rolling sway occurs on the ship, the pan rotation unit is controlled according to the rolling sway, and the image pickup unit 204 is driven in the pan direction 208 to rotate the screen, and the shooting range of the image pickup unit 204 is increased. It can be corrected. Correcting the shooting range of the image pickup unit 204 by controlling the rotation mechanism unit in response to shaking or the like with respect to the image pickup device 201 in this way is called PT image stabilization.

The image pickup device 201 is not limited to the case where it is attached to the installation surface 402 that is inclined with respect to the horizontal plane. FIG. 5 is a diagram showing a configuration in which the adjustment mechanism 501 is added to the image pickup apparatus 201. FIG. 5A shows the state before adjustment, and FIG. 5B shows the state after adjustment.
The adjustment mechanism 501 is provided between the installation surface 402 of the ceiling 401 and the image pickup device 201, and the pan axis Pa can be manually and continuously adjusted to an arbitrary angle with respect to the horizontal plane. As the adjusting mechanism 501, for example, a mechanism that can manually adjust the angle at which the pan head 202 is tilted can be used. The adjustment mechanism 501 may be integrated with the image pickup device 201 or may be a separate body.

<Cut out image>
FIG. 6 is a diagram showing an arrangement relationship between the image pickup apparatus and the subject. In FIG. 6, the image pickup apparatus 201 installed on the ship 101 faces the optical axis direction 601, that is, the paper surface depth direction. The subject 602 is in the optical axis direction 601 of the image pickup apparatus 201. The shooting range at this time is assumed to be the shooting range 603 shown in FIG. The image pickup device 201 cuts out a part of the image 604 from the shooting range and outputs it to the display device in order to display the image in the same range even if the shooting range is deviated. By cutting out the image from the shooting range in this way, even if the shooting range shifts due to the bow shaking, the image in the same range can be displayed.

FIG. 7 is a diagram showing a case where the ship 101 is tilted by a wave and a rolling sway is generated along the optical axis of the image pickup apparatus 201. As shown in FIG. 7, when the ship 101 is tilted, the image pickup apparatus 201 is also tilted, so that the photographing range is rotated according to the tilted portion of the ship 101 as in the photographing range 603 shown in FIG. By controlling the pan rotation unit for rolling shaking and performing PT image stabilization to drive the image pickup unit 204 in the pan direction 208, the shooting range becomes as shown in FIG. 7. At this time, the shooting range shifts not only to the rolling component but also to the horizontal component due to the PT image stabilization. For this reason, the shooting range after the PT blur correction is shifted horizontally as compared with the shooting range before the PT blur correction is performed. In the present embodiment, the image pickup device 201 cuts out an image matching the image 604 of FIG. 6 from the shooting range after the PT blur correction and outputs the image to the display device, so that the same is true even if the shooting range is deviated by the PT blur correction. The image of the range can be displayed.

FIG. 8 is a block diagram showing an example of the configuration of the image pickup apparatus 201.
The image pickup device 201 includes an image pickup unit 901, an image processing unit 902, an output unit 903, a shake detection unit 904, a control unit 905, a pan rotation unit 906, a tilt rotation unit 907, a zoom function unit 908, a calculation unit 909, and a correction setting unit 910. Has.

The image pickup unit 901 captures a subject in the optical axis direction. The image pickup unit 901 has the same configuration as the image pickup unit 204 described above. The image pickup unit 901 transmits the captured image to the image processing unit 902.
The image processing unit 902 performs various image processing on the image captured by the image pickup unit 901. Further, the image processing unit 902 cuts out a part of the image taken by the image pickup unit 901 and transmits it to the output unit 903.

The output unit 903 outputs the image cut out by the image processing unit 902 to the display device connected to the image pickup device 201 by wire or wirelessly.
The shaking detection unit 904 detects yawing shaking, bow shaking, and pitching shaking with respect to the image pickup apparatus 201. For the shaking detection unit 904, for example, an acceleration sensor, a gyro sensor, or the like can be used.
The control unit 905 controls the entire image pickup device 201 by controlling each section constituting the image pickup device 201. The control unit 905 realizes the processing of the flowchart described later by executing a program stored in a recording medium (not shown).

The pan rotation unit 906 is pan-driven by rotating the image pickup unit 901 in the pan direction based on the control by the control unit 905.
The tilt rotation unit 907 is tilt-driven by rotating the image pickup unit 901 in the tilt direction based on the control by the control unit 905.
The zoom function unit 908 changes the zoom ratio by moving the zoom lens of the image pickup unit 901 based on the control by the control unit 905.

The calculation unit 909 calculates the pan angle when the pan is driven to correct the rolling sway, and calculates the tilt angle when the tilt is driven to correct the vertical sway.
The correction setting unit 910 sets whether or not to perform PT blur correction. The correction setting unit 910 sets PT image stabilization to on when the user selects to perform PT image stabilization, and sets PT image stabilization to when the user selects not to perform PT image stabilization. Set to off. The correction setting unit 910 is not limited to the case where the PT blur correction is set on or off according to the selection by the user, and the PT blur correction may be set on or off according to the instruction by the control unit 905.

FIG. 9 is a flowchart showing an example of processing of the image pickup apparatus 201 of the first embodiment.
The flowchart of FIG. 9 is realized by the control unit 905 executing a program stored in a recording medium (not shown). Further, the flowchart of FIG. 9 is started by activating the image pickup apparatus 201 and taking a picture by the image pickup unit 901. Further, the image processing unit 902 transmits an image obtained by cutting out a part of the shooting range captured by the imaging unit 901 to the output unit 903, and the output unit 903 starts a process of outputting the received image to the display device. do. At this time, the image processing unit 902 can cut out an area according to an instruction from the user.

In S901, the control unit 905 determines whether or not the PT image stabilization setting set in the correction setting unit 910 is on. If the PT image stabilization setting is on, the process proceeds to S902, and if the PT image stabilization setting is off, the process waits until the image is turned on.

In S902, the control unit 905 determines whether or not there is rolling sway. Specifically, the control unit 905 determines that there is rolling sway when the sway detection unit 904 detects rolling sway. If there is rolling sway, the process proceeds to S903, and if there is no rolling sway, the process proceeds to S908.

In S903, the control unit 905 acquires the information on the sway angle of the rolling sway from the sway detection unit 904, and transmits the information on the sway angle to the calculation unit 909.
In S904, the control unit 905 acquires the information on the current tilt angle of the image pickup apparatus 201 and transmits the information on the tilt angle to the calculation unit 909.

In S905, the calculation unit 909 calculates the pan angle for correcting the rolling sway based on the information on the sway angle of the rolling sway and the information on the current tilt angle, and the calculated pan angle information is transmitted to the control unit 905. Send.
In S906, the control unit 905 controls the pan rotation unit 906 in order to correct the rolling sway, and rotates the image pickup unit 901 in the pan direction by the received pan angle to drive the pan. Therefore, it is possible to correct the shooting range of the image pickup unit 901 that has been displaced due to the rolling shaking, and it is possible to suppress the influence of the rolling shaking.

In S907, the image processing unit 902 cuts out an image in the same region as the image cut out before the PT blur correction from the image in which the shooting range is corrected. Specifically, the image processing unit 902 receives the pan angle information calculated from the calculation unit 909, and cuts out the image by calculating the position of the region to be cut out based on the received pan angle. The image processing unit 902 is based on a table in which three pieces of information, that is, the position of the area cut out before the PT blur correction, the pan angle, and the position of the cut out area after the PT blur correction are associated in advance, are used for the PT. An image in the same area as the image cut out before the image stabilization may be cut out.

Further, the image processing unit 902 may detect an image similar to the image cut out before the PT blur correction by pattern matching, and cut out the detected image. The image processing unit 902 transmits the cut-out image to the output unit 903, and the output unit 903 outputs the received image to the display device. Therefore, in addition to the rolling sway, it is possible to correct the photographing range of the image pickup unit 901 that has been displaced in the horizontal direction due to the bow sway.

In S908, the control unit 905 corrects the pitching when there is pitching. Specifically, the control unit 905 acquires the information on the pitch angle of the pitch from the motion detection unit 904, and transmits the information on the pitch angle to the calculation unit 909. The calculation unit 909 calculates a tilt angle for correcting the pitching based on the information on the pitching angle, and transmits the calculated tilt angle information to the control unit 905. The control unit 905 controls the tilt rotation unit 907 to correct the pitching, and drives the image pickup unit 901 in the tilt direction by the received tilt angle. Therefore, it is possible to correct the shooting range of the image pickup unit 901 that has been displaced due to the pitch shake, and it is possible to suppress the influence of the pitch shake.

As described above, according to the present embodiment, the image pickup apparatus 201 is installed in a state where the rotation axis of the rotation mechanism unit, specifically, the pan axis of the pan rotation unit 906 is tilted with respect to the optical axis of the image pickup unit 901. The control unit 905 corrects the shooting range of the image pickup device 201 by controlling the rotation mechanism section, specifically, the pan rotation section 906, in response to the rolling shaking with respect to the image pickup device 201. Therefore, it is possible to correct the shooting range of the image pickup unit 901 that has been displaced due to the rolling shaking, and it is possible to suppress the influence of the rolling shaking.

(Second Embodiment)
FIG. 10 is a flowchart showing an example of processing of the image pickup apparatus 201 of the second embodiment.
Of the flowcharts of FIG. 10, the same processing as that of the flowchart of FIG. 9 will be omitted as appropriate. In the second embodiment, a case where the zoom ratio is changed by the zoom function unit 908 of the image pickup apparatus 201 will be described in addition to the processing of the first embodiment.
S1001 to S1005 are the same as the processes of S901 to S905 of FIG.
In S1006, the control unit 905 acquires information on the current zoom ratio of the image pickup apparatus 201.

In S1007, the calculation unit 909 pan-drives the image pickup unit 901 in the pan direction for the pan angle for correcting the rolling shake, and when the current zoom ratio is lowered, can the same shooting range as before the correction be accommodated? Judge whether or not. Specifically, the control unit 905 transmits the controlled zoom factor information to the calculation unit 909. The calculation unit 909 obtains the same shooting range as before the correction when the rolling shake is corrected from the calculated pan angle information necessary for correcting the rolling shake and the current zoom factor information and the zoom factor is lowered. Determine if it fits. If it is determined that the same shooting range can be accommodated, the process proceeds to S1008, and if not, the process proceeds to S1012.

In S1008, the control unit 905 changes the zoom ratio so that the same shooting range can be accommodated. Specifically, the control unit 905 acquires information on the zoom factor calculated by the calculation unit 909 when the same shooting range as before the correction can be accommodated. The control unit 905 sets the zoom rate by controlling the zoom function unit 908 based on the acquired zoom rate information.

In S1009, the control unit 905 controls the pan rotation unit 906 in order to correct the rolling sway, and drives the image pickup unit 901 in the pan direction by the pan angle acquired in S1005. This process is the same as that of S906 in FIG.
In S1010, the image processing unit 902 cuts out an image in the same region as the image cut out before the correction from the image in which the shooting range is corrected. The image processing unit 902 transmits the cut-out image to the output unit 903, and the output unit 903 outputs the received image to the display device.
In S1011, the control unit 905 corrects the pitching motion when there is pitching motion. This process is the same as S908 in FIG.

On the other hand, in S1012, the control unit 905 controls the zoom function unit 908 to widen the angle of view to the Wide end. Specifically, the control unit 905 widens the angle of view to the Wide end by acquiring information from the calculation unit 909 that the same shooting range as before the correction cannot be accommodated, that is, changes the zoom ratio to the minimum.
In S1013, the control unit 905 controls the pan rotation unit 906 in order to correct the rolling sway, and drives the image pickup unit 901 in the pan direction by the pan angle acquired in S1005. This process is the same as that of S906 in FIG.
In S1014, the image processing unit 902 cuts out an image in the maximum region from the corrected shooting range. The image processing unit 902 transmits the cut-out image to the output unit 903, and the output unit 903 outputs the received image to the display device.

As described above, according to the present embodiment, when the shooting range of the imaging unit 204 is corrected, the same shooting range can be accommodated before and after the correction by changing the zoom ratio to be lowered.

(Third Embodiment)
In the third embodiment, a case where the magnitudes of bow sway and rolling sway are taken into consideration in addition to the processing of the second embodiment will be described.
Ship sway includes bow sway and rolling sway, but the ratio of both is not always the same. As shown in FIG. 11, when the image pickup device 201 is installed at an angle, the ratio that can be corrected for bow sway and rolling sway is fixed, and the optimum installation angle may not be obtained. In the present embodiment, the tilt angle is controlled in order to change the ratio that can cope with the bow sway and the rolling sway of the image pickup apparatus 201.

When the rate of bow sway is large, it is necessary to pan drive the tilt angle to 45 degrees or less in order to move the shooting range in the horizontal direction. On the other hand, when the rate of rolling shaking is large, it is necessary to pan drive the tilt angle at 45 degrees or more in order to move the shooting range according to the rolling direction. Therefore, when rolling sway is detected, the angle between the bow sway and the rolling sway is acquired, and the ratio between the bow sway and the rolling sway is calculated. According to the calculated ratio, the tilt angle is controlled to be optimum to cope with bow sway and rolling sway.

The image pickup device 201 shown in FIG. 11 has a tilt angle of 45 degrees, and the optical axis 1101 is in the horizontal direction parallel to the ground. FIG. 11 shows a shooting range 1102 before widening the angle of view and a shooting range 1103 after widening the angle of view. In FIG. 11, the angle β on the acute angle side of the angle between the optical axis 1101 and the pan axis Pa is shown.
Here, for example, assuming that the rate of bow sway is large, the tilt angle of the image pickup apparatus 201 is tilt-driven in the 0-degree direction as shown in FIG. That is, the tilt drive is performed so that the angle β between the optical axis 1101 and the pan axis Pa becomes large. In this case, the optical axis 1101 moves at the control angle 1201 minutes and moves to the controlled optical axis 1202, so that the shooting range shifts. Therefore, by widening the angle of view from the shooting range 1102 and changing to the shooting range 1103 with the widened angle of view, the shooting range 1102 when the tilt angle is not moved can be accommodated.
On the other hand, for example, assuming that the ratio of rolling shaking is large, the tilt angle of the image pickup apparatus 201 is tilt-driven in the 90-degree direction as shown in FIG. That is, the tilt drive is performed so that the angle β between the optical axis 1101 and the pan axis Pa becomes small. In this case, the optical axis 1101 moves at the control angle of 1301 minutes and moves to the controlled optical axis 1302, so that the shooting range shifts. Therefore, by widening the angle of view from the shooting range 1102 and changing to the shooting range 1103 with the widened angle of view, the shooting range 1102 when the tilt angle is not moved can be accommodated.

FIG. 14 is a flowchart showing an example of processing of the image pickup apparatus 201 of the third embodiment.
Of the flowcharts of FIG. 14, the same processing as that of the flowchart of FIG. 10 will be omitted as appropriate.
S1401 to S1402 are the same as the processes of S1001 to S1002 in FIG.
In S1403, the control unit 905 acquires the bow sway angle information and the rolling sway angle information from the sway detection unit 904, and transmits the sway angle information to the calculation unit 909.
In S1404, the calculation unit 909 calculates the ratio between the bow sway and the rolling sway based on the received sway angle information.
In S1405, the calculation unit 909 calculates the optimum tilt angle of the image pickup apparatus 201 for pan-driving based on the calculated ratio.

In S1406, the control unit 905 acquires information on the current zoom factor of the image pickup apparatus 201.
In S1407, the calculation unit 909 determines whether or not the same shooting range as before the tilt drive can be obtained by widening the angle of view when the tilt drive is performed to the optimum tilt angle. Specifically, the control unit 905 transmits the controlled zoom factor information to the calculation unit 909. The calculation unit 909 changes the tilt angle to the optimum tilt angle for pan drive, which is calculated based on the ratio of bow sway and rolling sway, and tilt drives when the angle of view is widened from the current zoom ratio. Determine if the same shooting range as before can be accommodated. If it is determined that the same shooting range can be accommodated, the process proceeds to S1408, and if not, the process proceeds to S1410.

In S1408, the control unit 905 changes the zoom ratio so that the same shooting range can be accommodated. Specifically, the control unit 905 acquires information on the zoom factor calculated by the calculation unit 909 that the same shooting range as before the tilt angle is changed can be accommodated. The control unit 905 sets the zoom rate by controlling the zoom function unit 908 based on the acquired zoom rate information.
In S1409, the control unit 905 changes to the optimum tilt angle. Specifically, the control unit 905 acquires information on the optimum tilt angle from the calculation unit 909, and controls the tilt rotation unit 907 so as to obtain the acquired optimum tilt angle.

On the other hand, in S1410, the control unit 905 controls the zoom function unit 908 to widen the angle of view to the Wide end. Specifically, the control unit 905 expands the angle of view to the Wide end by acquiring information from the calculation unit 909 that the same shooting range as before the tilt angle is changed, that is, the zoom ratio is minimized. Change to.
In S1411, the control unit 905 changes the tilt angle closest to the optimum tilt direction that can accommodate the same shooting range. Specifically, the calculation unit 909 calculates the tilt angle closest to the optimum tilt direction that can accommodate the same shooting range, and transmits the calculated tilt angle information to the control unit 905. The control unit 905 acquires tilt angle information from the calculation unit 909, and controls the tilt rotation unit 907 so as to obtain the acquired tilt angle.

In S1412, the calculation unit 909 calculates the pan angle for correcting the rolling sway based on the information on the sway angle of the rolling sway and the information on the current tilt angle, and the calculated pan angle information is transmitted to the control unit 905. Send.
S1413 to S1420 are the same as the processes of S1008 to S1014 in FIG.

As described above, according to the present embodiment, when the tilt rotation unit 907 is controlled according to the rolling sway and the bow sway to change the shooting range of the image pickup unit 901, the pan is driven by PT image stabilization. It is possible to prevent the position of the shooting range from shifting before and after the correction.

(Other embodiments)
The present invention is also realized by executing the following processing. That is, in a process in which a program that realizes the functions of the above-described embodiment is supplied to a system or device via a network or various recording media, and a computer (CPU, MPU, etc.) of the system or device reads and executes the program code. be. In this case, the program and the recording medium containing the program constitute the present invention.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiment, and can be changed within the scope of the present invention, and the above-described embodiments can be combined in a timely manner. You may.
Further, in each of the above-described embodiments, the above-mentioned various controls described as those performed by the image processing unit 902, the control unit 905, the calculation unit 909, and the like may be performed by one hardware, and a plurality of hardware (for example, for example). A plurality of processors or circuits) may share the processing.
Further, in each of the above-described embodiments, the case where the image pickup device 201 has the shake detection unit 904 has been described, but the present invention is not limited to this case, and the image pickup device 201 does not have the shake detection unit 904 and is a separate shake. The shaking information may be acquired from the detection unit.

201: Image pickup device 204: Image pickup unit 901: Image pickup unit 902: Image processing unit 904: Shake detection unit 905: Control unit 906: Pan rotation unit 907: Tilt rotation unit 908: Zoom function unit 909: Calculation unit

Claims (15)

An image pickup device installed in a state where the rotation axis of the rotation mechanism is tilted with respect to the optical axis of the image pickup means.
An image pickup apparatus comprising: a correction means for correcting an imaging range of the image pickup means by controlling the rotation mechanism unit in response to rolling shaking with respect to the image pickup apparatus. The rotation mechanism unit includes a first rotation unit that rotates the image pickup means around the first axis.
It is installed with the first axis tilted with respect to the optical axis.
The correction means
The imaging device according to claim 1, wherein the imaging range of the imaging means is corrected by controlling the first rotating portion in response to rolling shaking with respect to the imaging device. It has a shaking detecting means for detecting shaking with respect to the image pickup apparatus, and has a shaking detecting means.
The correction means
2. The second aspect of the present invention is characterized in that the shooting range of the image pickup means is corrected by controlling the first rotating portion in response to the detection of rolling shake with respect to the image pickup device by the shake detection means. Imaging device. It has an output means for cutting out and outputting an image of a part of the area from the shooting range of the image pickup means.
The output means is
The image pickup apparatus according to any one of claims 1 to 3, wherein an image of a part of the region is cut out from the shooting range corrected by the correction means and output. The rotation mechanism unit includes a second rotation unit that rotates the image pickup apparatus around a second axis orthogonal to the first axis.
The correction means
The image pickup apparatus according to claim 2, wherein the imaging range of the image pickup means is corrected by controlling the second rotating portion according to the pitching shaking with respect to the image pickup apparatus. Has a changing means to change the zoom factor,
The changing means is
One of claims 1 to 5, wherein when the shooting range of the imaging means is corrected by the correction means, the zoom ratio is lowered so that the same shooting range can be accommodated before and after the correction. The image pickup apparatus according to the above. The changing means is
A claim characterized by changing the zoom factor to the minimum when the same shooting range cannot be accommodated before and after the correction even if the zoom factor is lowered when the shooting range of the imaging means is corrected by the correction means. Item 6. The image pickup apparatus according to Item 6. The rotation mechanism unit includes a second rotation unit that rotates the image pickup apparatus around a second axis orthogonal to the first axis.
The imaging according to claim 2, wherein the imaging apparatus has a control means for controlling the second rotating portion according to rolling shaking and yawing shaking to change the photographing range of the imaging means. Device. The control means is
When the ratio of yawing shaking to rolling shaking is large, the second rotating portion is controlled so that the angle on the acute angle side between the optical axis of the imaging means and the first axis becomes large. The image pickup apparatus according to claim 8. The control means is
When the ratio of rolling sway to yawing sway is large, the second rotating portion is controlled so that the angle on the acute angle side between the optical axis of the imaging means and the first axis becomes smaller. The imaging apparatus according to claim 8 or 9. Has a changing means to change the zoom factor,
The changing means is
6. The imaging device described. The changing means is
A claim characterized by changing the zoom ratio to the minimum when the same shooting range cannot be accommodated before and after the change even if the zoom ratio is lowered when the shooting range of the image pickup means is changed by the control means. Item 11. The imaging device according to item 11. It is a control method of an image pickup device installed in a state where the rotation axis of the rotation mechanism portion is inclined with respect to the optical axis of the image pickup means.
A control method for an image pickup apparatus, which comprises a correction step for correcting an imaging range of the image pickup means by controlling the rotation mechanism unit in response to rolling shaking with respect to the image pickup apparatus. A program for making a computer function as each means of the image pickup apparatus according to any one of claims 1 to 12. A computer-readable recording medium containing a program for causing the computer to function as each means of the image pickup apparatus according to any one of claims 1 to 12.

Images