JP2022062346A - Imaging apparatus, method for controlling imaging apparatus, and control program - Google Patents

Abstract

To provide an imaging apparatus, a method for controlling an imaging apparatus, and a program that can appropriately drive a pan-tilt mechanism even when a lens barrel is not covered by an outer package.SOLUTION: An imaging apparatus has: a movable unit that can rotate a lens barrel with respect to a stationary unit; a drive control unit that drives the movable unit; a first detection unit that detects the position of the movable unit; a second detection unit that detects vibration; a correction unit that causes the drive control unit to drive the movable unit to correct vibration; and a determination unit that determines the state of the movable unit by using an output signal from the first detection unit. When the determination unit determines that the movable unit is being held, the drive control unit stops the movable unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to an image pickup apparatus having a pan / tilt mechanism, a control method thereof, and a control program.

Conventionally, there is known an image pickup device that performs vibration isolation control for correcting image blur by driving a movable portion in response to shaking detected by the detection unit. Patent Document 1 describes a device that detects vibration generated when a movable part is displaced according to a predetermined signal based on the output of the detection unit, and determines that the detection unit is not normal when the output of the detection unit is equal to or less than a predetermined value. Is disclosed.

Japanese Unexamined Patent Publication No. 2010-38942

In the above-mentioned image pickup device, if the movable part is grasped and lifted in order to move the image pickup device when the movable part is not covered with an exterior or the like, the detection unit does not need to perform vibration isolation control. The moving part continues to drive in order to cancel the detected shaking. As a result, the user feels uncomfortable and power is wasted.

An object of the present invention is to provide an image pickup device, a control method for the image pickup device, and a program capable of appropriately driving the pan / tilt mechanism even when the movable portion is not covered with an exterior or the like.

The image pickup apparatus as one aspect of the present invention includes a movable portion capable of rotating the lens barrel with respect to the fixed portion, a drive control unit for driving the movable portion, and a first detection unit for detecting the position of the movable portion. , The state of the movable part is determined using the output signal of the second detection unit that detects the vibration, the correction unit that corrects the vibration by driving the movable part to the drive control unit, and the output signal of the first detection unit. When it is determined by the determination unit and the determination unit that the movable portion is being gripped, the drive control unit is characterized in that the movable portion is stopped.

Further, the control method of the image pickup apparatus as another aspect of the present invention includes a movable portion capable of rotating the lens barrel with respect to the fixed portion, a drive control unit for driving the movable portion, and a detection unit for detecting vibration. , A control method for an image pickup device having a correction unit that corrects vibration by driving the movable unit to the drive control unit, using a step of detecting the position of the movable portion and information on the position of the movable portion. It is characterized by having a step of determining the state of the movable portion and a step of stopping the movable portion when it is determined that the state of the movable portion is in a grasped state.

According to the present invention, it is possible to provide an image pickup device, a control method for the image pickup device, and a program capable of appropriately driving the pan / tilt mechanism even when the movable portion is not covered with an exterior or the like.

It is a schematic diagram of the image pickup apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of an image pickup apparatus. It is a block diagram which shows the structure of a control part. It is a graph which shows the position change of a pan rotation unit in a state where a movable part is grasped. It is a flowchart which shows the process of the moving part grasping determination function of Example 1. FIG. It is a flowchart which shows the inflection point storage process of Example 1. FIG. It is a flowchart which shows the moving part grasping determination process of Example 1. FIG. It is a flowchart which shows the process of the moving part grasping determination function of Example 2. It is a graph which shows the deviation between the target position and the present position of a pan rotation operation unit in a state where a movable part is grasped. It is a figure which shows the state which rotated in the pan direction with the image pickup apparatus grasped. It is a flowchart which shows the moving part grasping determination process of Example 2.

Hereinafter, examples of the present invention will be described in detail with reference to the drawings. In each figure, the same member is given the same reference number, and duplicate description is omitted.

FIG. 1 is a schematic view of an image pickup apparatus (hereinafter referred to as a camera) 101 according to an embodiment of the present invention. FIG. 1A is an external perspective view of the camera 101.

The camera 101 has a lens barrel 102, a movable portion 110, and a fixed portion 103. The movable portion 110 connected to the lens barrel 102 is rotatable with respect to the fixed portion 103. The tilt rotation unit 204 can rotate the movable portion 110 in the tilt direction (vertical direction). As a result, the direction of the optical axis 108 of the image pickup optical system provided in the lens barrel 102 is changed from the direction shown in FIG. 1 (a) to the direction shown in FIGS. 1 (b) and 1 (c). Can be done. The pan rotation unit 205 can rotate the movable portion 110 in the pan direction (horizontal direction).

FIG. 2 is a block diagram showing the configuration of the camera 101, and FIG. 3 is a block diagram showing the configuration of the control unit 210.

The lens barrel 102 has an imaging optical system including a zoom unit 202 and a focus unit 203. The zoom unit 202 includes a zoom lens for scaling. The zoom drive control unit 213 drives the zoom unit 202. The focus unit 203 includes a focus lens for adjusting the focus. The focus drive control unit 214 drives the focus unit 203. The image pickup unit 215 receives the light that has passed through the image pickup optical system, and outputs charge information corresponding to the amount of the light to the image processing unit 206 as analog image data.

The image processing unit 206 applies image processing such as distortion correction, white balance adjustment, and color interpolation processing to the digital image data A / D converted from the analog image data, and outputs the applied digital image data. do. Further, the image processing unit 206 converts the digital image data into a video signal (video signal) conforming to a format such as NTSC or PAL and supplies the digital image data to the image memory 207. The image conversion unit 208 outputs the video signal stored in the image memory 207 based on the image conversion amount calculated by the control unit 210. The image recording unit 209 is a recording medium such as a non-volatile memory, and records a video signal from the image conversion unit 208.

The motion vector detection unit (third detection unit) 230 detects a motion vector from a plurality of images acquired from the image memory 207.

The tilt rotation drive control unit 212 drives the tilt rotation unit 204. The pan rotation drive control unit 221 drives the pan rotation unit 205. The tilt rotation drive control unit 212 and the pan rotation drive control unit 221 drive the tilt rotation unit 204 and the pan rotation unit 205, respectively, to rotate the lens barrel 102 connected to the movable unit 110 in the tilt direction and the pan direction. Can be done.

The shaking detection unit (second detection unit) 216 is provided in the fixed unit 103 and detects the shaking (vibration) of the image pickup apparatus 101. The shaking detection unit 216 is, for example, an angular velocity meter (gyro sensor) that detects the angular velocity of the camera 101 in the three-axis direction.

The power supply unit 217 supplies electric power to each unit of the camera 101.

The control unit 210 controls the entire system of the camera 101. The control unit 210 executes, for example, a shooting program, a program for determining the grip of a movable portion, or the like as a computer program stored in the memory 222. Further, the control unit 210 corrects the vibration detected by the vibration detection unit 216 by rotating the tilt rotation unit 204 and the pan rotation unit 205 via the tilt rotation drive control unit 212 and the pan rotation drive control unit 221. It also functions as a department.

The operation unit 211 includes a power button and a button that can change the setting of the camera 101, and is used for the user to give an instruction to the control unit 210. For example, when the power button is operated, power is supplied from the power supply unit 217 to each unit of the camera 101, and the camera 101 is activated.

The display unit 223 is a liquid crystal display or the like. For example, when it is determined by the movable unit grip determination unit 303 that the movable unit 110 is in a state of being gripped, a warning message may be displayed on the display unit 223 to notify the user. Further, when it is determined that the movable portion 110 is in a grasped state, the user may be notified by changing the color or blinking pattern of the LED 224 or by sounding a voice or a beep sound on the speaker 225.

The fixed portion contact detection unit 218 is a contact sensor or the like, and can notify the control unit 210 that an accessory such as a pedestal is attached to the fixed portion 103.

The cable insertion detection unit 231 detects that the USB power supply cable or the like has been inserted into the terminal, and notifies the control unit 210 of the detected information. Specifically, the cable insertion detection unit 231 detects that the cable is inserted into the terminal when the terminal of the camera 101 and the terminal of the cable come into contact with each other.

The control unit 210 includes a target position setting unit (setting unit) 302, a movable unit grip determination unit (determination unit) 303, and a drive control method determination unit 306.

The target position setting unit 302 sets the target positions of the tilt rotation unit 204 and the pan rotation unit 205 using the information acquired from the image processing unit 206, the operation unit 211, and the like.

A method of setting a target position using the information acquired from the image processing unit 206 will be described. The image processing unit 206 detects the subject using the image information acquired from the image pickup unit 215. The subject is detected by face detection processing or the like. The subject information is sent to the control unit 210. When the subject or the user holding the camera 101 moves laterally, the subject may deviate from the angle of view. In order to continue shooting the subject, it is necessary to rotate the tilt rotation unit 204 and the pan rotation unit 205. At that time, the target position setting unit 302 sets the target positions of the tilt rotation unit 204 and the pan rotation unit 205 by using information such as the size and position of the subject on the image information.

Further, a method of setting the target position using the information acquired from the operation unit 211 will be described. The target position setting unit 302 sets the target position by using the operation amount of the operation member such as the button or the control wheel acquired from the operation unit 211. If the subject is not captured, it is necessary to rotate the tilt rotation unit 204 and the pan rotation unit 205 in order to search for the subject. In that case, the target position setting unit 302 sets a predetermined position as the target position.

In order for the tilt rotation unit 204 and the pan rotation unit 205 to reach the target position, it is necessary to perform feedback control so as to eliminate the deviation between the target position and the current position. In the present embodiment, the tilt rotation unit 204 and the pan rotation unit 205 each have a position detection unit (first detection unit) 311, 312 for detecting the position of the corresponding rotation unit. The zoom unit 202 also has a position detection unit 310. The position detection units 310 to 312 are composed of, for example, an encoder or the like.

The movable unit grip determination unit 303 determines the state of the movable unit 110 by using the information regarding the target position set by the target position setting unit 302 and the output signals of the position detection units 311, 312 (position information of each rotating unit). judge.

The drive control method determination unit 306 determines the drive control method of the actuator of each rotating unit based on the determination result by the movable unit grip determination unit 303. The actuator of each rotation unit is driven by executing the drive control by each drive control unit based on the drive control method determined by the drive control method determination unit 306.

FIG. 4 is a graph showing a change in the position of the pan rotation unit 205 in a state where the movable portion 110 is grasped. FIG. 4A shows the target position of the pan rotation unit 205 and the output signal of the position detection unit 312. FIG. 4B shows a graph in which the change with time and the inflection point of the output signal of the position detection unit 312 are plotted. FIG. 4C shows the position change of the pan rotation unit 205 in the state in which the movable portion 110 is grasped and in the normal state.

In order to bring the pan rotation unit 205 to the target position, feedback control is performed so as to eliminate the deviation between the target position and the current position. However, when the user grabs and lifts the movable portion 110, the shake detection unit 216 detects the shake of the camera 101. At this time, the pan rotation unit 205 is driven toward the target position set by the target position setting unit 302 in order to cancel the vibration of the pan direction component among the detected vibrations. However, in the state where the movable portion 110 is grasped, the shake generated by the drive of the pan rotation unit 205 for canceling the shake is transmitted to the shake detection unit 216, and the pan rotation unit 205 reverses the drive direction and continues to drive. .. That is, as shown in FIG. 4A, the target position changes in a sinusoidal shape, and the position of the pan rotation unit 205 also changes accordingly. In this embodiment, the drive direction in which the current position increases with respect to the reference position of the pan rotation unit 205 is the forward direction, and the drive direction in which the current position decreases is the reverse direction.

As shown in FIG. 4 (b), when the position change of the pan rotation unit 205 is plotted, there are a plurality of inflection points. The inflection point is the apex of the unevenness of the plot. In this embodiment, the two inflection points used to calculate the period and amplitude of the position change are the inflection points A and B, the position of the inflection point A is Ya, and the corresponding time (elapsed time) is Ta. The position of the inflection point B is defined as Yb, and the corresponding time (elapsed time) is defined as Tb. In this embodiment, the time Ta is smaller than the time Tb.

In FIG. 4C, the first current position shows the position change of the pan rotation unit 205 in the state where the movable portion 110 is grasped. The second current position indicates a change in the position of the pan rotation unit 205 due to vibration isolation control when shaking is detected by walking or the like. The third current position indicates a change in the position of the pan rotation unit 205 due to vibration isolation control when shaking is detected due to camera shake or the like. In this embodiment, the walking shot is to shoot while walking, and the handheld shooting is to shoot while the user is standing. Further, during handheld shooting, the camera shake is transmitted to the camera 101 by the shaking of the user's body.

Since the sway generated during walking photography is a large sway having a large amplitude and period, the amplitude and period of the position change of the pan rotation unit 205 due to the sway generated by walking photography are both large. Further, since the shaking generated at the time of camera shake is a small shaking having a small amplitude and period, the amplitude and period of the position change of the pan rotation unit 205 due to the shaking generated by the camera shake are both small. On the other hand, the amplitude of the position change of the pan rotation unit 205 in the state where the movable portion 110 is grasped is large, and the period is small. The amplitude of the position change of the pan rotation unit 205 when the movable part 110 is grasped and when the moving part 110 is grasped during walking shooting, and the pan rotation unit 205 when the camera shake vibration isolation and when the movable part 110 is grasped. The period of change in position may be close. That is, the combination of the amplitude and the period of the position change of the pan rotation unit 205 in the state where the movable portion 110 is grasped cannot normally occur. Therefore, by setting the threshold value so that both the amplitude and the period satisfy a predetermined condition, it is possible to determine whether or not the movable portion 110 is in a grasped state. In this embodiment, the movable portion grasping determination unit 303 determines whether or not the amplitude or period acquired by using a plurality of inflection points exceeds a predetermined value, thereby determining whether or not the movable portion 110 is gripped. To judge.

Hereinafter, the processing of the movable portion grip detection function of this embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing the processing of the movable portion grip determination function of this embodiment. In the movable portion grip determination function of this embodiment, the inflection point storage process and the movable portion grip determination process are executed. The inflection point storage process is a process of storing information related to the positions of the inflection points A and B of the position change of the movable portion and the corresponding time (hereinafter referred to as inflection point information). The movable portion grip determination process is a process of determining whether or not the movable portion 110 is in a gripped state by using the cycle and amplitude of the position change of the movable portion based on the inflection point information. The variables used in each process and the detailed flow will be described later. Further, in this embodiment, the pan rotation unit 205 when the movable portion 110 is grasped will be described as an example.

In step S501, the control unit 210 initializes the count value used in the movable unit grip determination process.

In step S502, the control unit 210 initializes the inflection point information.

In step S503, the control unit 210 causes the pan rotation drive control unit 221 to perform drive control for causing the pan rotation unit 205 to reach the target position.

In step S504, the control unit 210 executes the inflection point storage process.

In step S505, the control unit 210 determines whether or not the inflection point information is stored. If it is determined that the inflection point information is stored, the process proceeds to step S506, and if not, the process returns to step S503.

In step S506, the control unit 210 (movable unit grip determination unit 303) executes the movable unit grip determination process. Specifically, the control unit 210 determines whether or not the movable unit 110 is in a state of being grasped by using the amplitude and the period based on the inflection point information.

In step S507, the control unit 210 determines whether or not the state flag stored in step S506 is a flag indicating that the movable unit 110 is in a grasped state. If it is determined that the state flag is a flag indicating that the movable portion 110 is in the grasped state, the process proceeds to step S509, and if not, the process proceeds to step S508.

In step S508, the control unit 210 updates the information about the inflection point B (information about the position and time of the inflection point B) as the information about the inflection point A (information about the position and time of the inflection point A). Initialize the information about inflection point B.

In step S509, the control unit 210 causes the pan rotation drive control unit 221 to stop driving the pan rotation unit 205.

Hereinafter, the inflection point storage process and the movable part grip determination process will be described.

First, the inflection point storage process will be described with reference to FIGS. 4 (b) and 6. FIG. 6 is a flowchart showing the inflection point storage process.

In step S601, the control unit 210 acquires information on the position and drive direction of the pan rotation unit 205, and information on time.

In step S602, the control unit 210 determines whether or not the current drive direction of the pan rotation unit 205 is the same as the previous drive direction acquired in the previous drive cycle. If the current drive direction is the same as the previous drive direction, the process proceeds to step S603, and if not, the process proceeds to step S604. Since the previous drive direction cannot be acquired in the first process, it is assumed that the direction is the same as the current drive direction. Further, the determination result that the current drive direction is different from the previous drive direction means that the drive direction of the pan rotation unit 205 is reversed.

In step S603, the control unit 210 updates the information regarding the position and time of the pan rotation unit 205 as the information regarding the previous position and time.

In step S604, the control unit 210 determines whether or not the information regarding the inflection point A is stored. If the information regarding the inflection point A is stored, the process proceeds to step S606, and if not, the process proceeds to step S605.

In step S605, the control unit 210 stores the previous position Ya and the previous time Ta as information regarding the inflection point A.

In step S606, since the information regarding the inflection point B is not stored, the control unit 210 stores the previous position Yb and the previous time Tb as the information regarding the inflection point B.

In step S607, the control unit 210 updates the current drive direction as the previous drive direction.

Next, with reference to FIG. 7, the movable portion grip determination process of the present embodiment executed by the movable portion grip determination unit 303 will be described. FIG. 7 is a flowchart showing a movable portion grip determination process of the present embodiment. In the movable portion grasping determination process, it is determined whether or not the movable portion 110 is in a grasped state by using the information regarding the inflection points A and B stored in the inflection point storage process.

Here, the count value used in the movable part grip determination process will be described. The count value is added when the period of position change is smaller than the predetermined value and the amplitude is larger than the predetermined value. When the count value reaches a predetermined number of times (when the state in which the movable portion 110 is grasped is continued for a predetermined time), it is determined that the movable portion 110 is in the grasped state.

In step S701, the movable portion grip determination unit 303 acquires an amplitude based on the absolute value of the positional difference (Ya—Yb) between the inflection points A and B.

In step S702, the movable portion grip determination unit 303 determines whether or not the amplitude acquired in step S701 is larger than the predetermined value (first predetermined value) X. If the amplitude is larger than the predetermined value X, the process proceeds to step S703, and if not, the process proceeds to step S706. It should be noted that it is possible to arbitrarily set which step to proceed when the amplitude is equal to the predetermined value X.

In step S703, the movable portion grip determination unit 303 acquires a cycle based on the time difference (Tb—Ta) between the inflection points A and B.

In step S704, the movable portion grip determination unit 303 determines whether or not the cycle acquired in step S703 is smaller than the predetermined value (second predetermined value) Y. If the period is smaller than the predetermined value Y, the process proceeds to step S705, and if not, the process proceeds to step S706. It should be noted that it is possible to arbitrarily set which step to proceed when the period is equal to the predetermined value Y.

In step S705, the movable unit grip determination unit 303 adds a count value because the amplitude and the period satisfy the conditions when the movable unit 110 is gripped.

In step S706, the movable portion grip determination unit 303 initializes the count value to 0.

In step S707, the movable portion grasping determination unit 303 determines whether or not the count value is larger than the predetermined number of times N. If the count value is larger than the predetermined number of times N, the process proceeds to step S708, and if not, the movable portion grip determination process is terminated. It should be noted that it is possible to arbitrarily set which step to proceed when the count value is equal to the predetermined number of times N.

In step S708, the movable portion grasping determination unit 303 stores a state flag indicating that the movable portion 110 is in a grasped state.

In this embodiment, the period is determined after the amplitude is determined, but the order may be changed.

Hereinafter, a method of setting predetermined values X and Y used when determining the amplitude and the period in the movable part grip determination process will be described.

As described above, the amplitude of the position change of the movable portion in the state where the movable portion 110 is grasped is larger than the amplitude of the position change of the movable portion due to the vibration isolation control when the shaking is detected due to camera shake or the like. Further, the cycle of the position change of the movable portion in the state where the movable portion 110 is grasped is smaller than the cycle of the position change of the movable portion by the vibration isolation control when the shaking is detected by walking shot or the like. Therefore, in this embodiment, the amplitude of the position change of the movable part due to the vibration isolation control when the shaking is detected by the predetermined value X, and the vibration isolation when the shaking is detected by walking and taking the predetermined value Y. It is set to the cycle of the position change of the movable part by control.

The predetermined values X and Y may be set by using the position change of the movable portion acquired while actually grasping the movable portion 110. Further, the predetermined values X and Y may be updated by using the amplitude and the period acquired when the user actually uses the camera 101.

Hereinafter, a method of setting a predetermined number of times N used when determining the count value in the movable portion grip determination process will be described. The predetermined number of times N may be measured in advance and an appropriate number of times may be set. If it is desired to stop the drive of the movable portion due to the grip of the movable portion 110 earlier, the predetermined number of times N may be set to a small value. Further, when it is desired to notify the user that the movable portion 110 is being grasped by driving the movable portion, N may be set to a large value a predetermined number of times.

Further, when the user can change the enable / disable of the power saving mode of the camera 101 by using the operation unit 211, the setting of N may be changed a predetermined number of times according to the user operation. For example, the predetermined number of times when the power saving mode is enabled may be set as N1, and the predetermined number of times when the power saving mode is disabled may be set as N2 (> N1). Further, the setting of N may be changed a predetermined number of times according to the remaining battery level of the camera 101. For example, when the battery level becomes low, N may be set to a small value a predetermined number of times.

Determining whether the movable portion 110 has been grasped even when a cable for power supply or communication is inserted in the terminal provided on the fixed portion 103, or even when an accessory such as a pedestal is attached to the fixed portion 103. May be done. When the cable is inserted into the terminal, the cable bends when the fixed portion 103 rotates, which may change the characteristics of the position change of the movable portion. Further, when the accessory is attached to the fixed portion 103, the weight of the fixed portion 103 changes as compared with the state where the accessory is not attached, so that the characteristic of the position change of the movable portion may change. Therefore, the predetermined values X and Y and the predetermined number of times N may be changed when the cable is inserted into the terminal provided in the fixed portion 103 or when the accessory is attached to the fixed portion 103.

The cable insertion detection unit 231 can detect the insertion of the cable into the terminal. Further, the attachment of the accessory can be detected by the fixed portion contact detecting portion 218. If the fixed part contact detection part 218 is not provided, for example, if you take a picture while driving the movable part with an accessory for fixing to clothes attached, it is possible to capture a part of the body at a predetermined angle at a close distance. There is sex. In that case, the attachment of the accessory may be detected by using the image information.

In this embodiment, a method for determining whether or not the movable portion 110 is in a gripped state, which is different from the method described in the first embodiment, will be described.

Hereinafter, the processing of the movable portion grip detection function of this embodiment will be described with reference to FIG. FIG. 8 is a flowchart showing the movable portion grip determination function of this embodiment. In this embodiment, as in the first embodiment, the movable portion will be described as the pan rotation unit 205.

In step S801, the control unit 210 initializes the count value used in the movable unit grip determination process.

In step S802, the control unit 210 causes the pan rotation drive control unit 221 to perform drive control for causing the pan rotation unit 205 to reach the target position.

In step S803, the control unit 210 (movable unit grip determination unit 303) executes the movable unit grip determination process. Specifically, is the control unit 210 in a state where the movable unit 110 is grasped by using the deviation between the target position and the current position of the pan rotation unit 205 and the motion vector of the subject obtained from a plurality of images? Judge whether or not.

In step S804, the control unit 210 determines whether or not the state flag stored in step S803 is a flag indicating that the movable unit 110 is in a grasped state. If it is determined that the state flag is a flag indicating that the movable portion 110 is in the grasped state, the process proceeds to step S805, and if not, the process returns to step S802.

In step S805, the control unit 210 causes the pan rotation drive control unit 221 to stop driving the pan rotation unit 205.

Hereinafter, the movable portion grip determination process using the position information of the movable portion and the image information will be described.

FIG. 9 is a graph showing the deviation between the target position Yt and the current position Yc of the pan rotation unit 205 at time T in a state where the movable portion 110 is grasped. As described in the first embodiment, in the state where the movable portion 110 is grasped, the pan rotation unit 205 continues to drive while reversing the drive direction. Therefore, as shown in FIG. 9, the deviation between the target position Yt and the current position Yc becomes a predetermined value or more.

Hereinafter, the movement of the movable portion 110 when the user grabs the camera 101 will be described with reference to FIG. FIG. 10 is a diagram showing a state in which the camera 101 is rotated in the pan direction while being grasped. 10 (a) and 10 (b) show a state in which the movable portion 110 is grasped and a state in which the fixed portion 103 is held, respectively. In the state of FIG. 10B, when the swing in the pan direction is intentionally given, the pan rotation unit 205 is driven while reversing the drive direction toward the target position in order to cancel the swing. In this case, the subject will be blurred unless anti-vibration control is performed. Therefore, it is necessary to determine whether the movable portion 110 is in the grasped state or in the state where the fixed portion 103 is held, and to switch the drive control.

The motion vector detected in the states of FIGS. 10 (a) and 10 (b) will be described. When the movable portion 110 is grasped by hand, the image may be blurred due to the shaking transmitted from the user's hand. However, when the fixed portion 103 is held and rotated, the pan rotation unit 205 rotates in order to cancel the shaking. Therefore, when the fixed portion 103 is held and rotated, the direction of the lens barrel 102 changes significantly according to the movement of the movable portion 110 as compared with the case where the movable portion 110 is grasped and rotated. The vector becomes greater than or equal to a predetermined value.

Hereinafter, the movable portion grip determination process executed by the movable portion grip determination unit 303 will be described with reference to FIG. 11. FIG. 11 is a flowchart showing a movable portion grip determination process of this embodiment.

In step S1101, the movable portion grasping determination unit 303 acquires the absolute value of the position deviation (Yc—Yt) between the target position and the current position of the rotation of the pan rotation unit 205 at the time T.

In step S1102, the movable portion grasping determination unit 303 determines whether or not the absolute value of the position deviation acquired in step S1101 is larger than the predetermined value (third predetermined value) S. If the absolute value of the position deviation is larger than the predetermined value S, the process proceeds to step S1103. If the absolute value of the position deviation is smaller than the predetermined value S, the process proceeds to step S1104. It should be noted that it is possible to arbitrarily set which step to proceed when the absolute value of the position deviation is equal to the predetermined value S.

In step S1103, the movable unit grip determination unit 303 acquires a motion vector from the motion vector detection unit 230. The motion vector detection unit 230 calculates a motion vector using two or more image information of the present and the previous frame acquired from the image memory 207. At this time, the target for which the motion vector is obtained may be either the subject to be photographed or the subject automatically recognized to be the same from the characteristics such as color and shape in the plurality of images.

In step S1104, the movable portion grip determination unit 303 initializes the count value to 0.

In step S1105, the movable portion grip determination unit 303 determines whether or not the motion vector acquired in step S1103 is larger than the predetermined value (fourth predetermined value) V. If the motion vector is smaller than the predetermined value V, the process proceeds to step S1106, and if not, the process proceeds to step S1104. It should be noted that it is possible to arbitrarily set which step to proceed when the motion vector is equal to the predetermined value V.

In step S1106, the movable portion grip determination unit 303 adds the count value.

In step S1107, the movable portion grasping determination unit 303 determines whether or not the count value is larger than the predetermined number of times N. If the count value is larger than the predetermined number of times N, the process proceeds to step S1108, and if not, the movable portion grip determination process is terminated. It should be noted that it is possible to arbitrarily set which step to proceed when the count value is equal to the predetermined number of times N.

In step S1108, the movable portion grasping determination unit 303 stores a state flag indicating that the movable portion 110 is in a grasped state.

In each embodiment, the method of using the position change of the pan rotation unit 205 has been described, but the same effect can be obtained by using the position change of the tilt rotation unit 204.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and modifications can be made within the scope of the gist thereof.

Further, when a software program that realizes the functions of the above-described embodiment is supplied to a system or device having a computer capable of executing the program directly from a recording medium or by using wired / wireless communication, and the program is executed. Is also included in the present invention. Therefore, in order to realize the functional processing of the present invention on a computer, the program code itself supplied and installed on the computer also realizes the present invention. That is, the computer program itself for realizing the functional processing of the present invention is also included in the present invention. In that case, as long as it has the function of the program, the form of the program such as the object code, the program executed by the interpreter, the script data supplied to the OS, etc. does not matter. The recording medium for supplying the program may be, for example, a hard disk, a magnetic recording medium such as a magnetic tape, an optical / optical magnetic storage medium, or a non-volatile semiconductor memory. Further, as a method of supplying the program, a method is conceivable in which the computer program forming the present invention is stored in a server on the computer network, and the connected client computer downloads and programs the computer program.

101 Image pickup device 102 Lens lens barrel 103 Fixed unit 110 Movable unit 210 Control unit (correction unit)
212 Tilt rotation drive control unit (drive control unit)
216 Shake detection unit (second detection unit)
221 Pan rotation drive control unit (drive control unit)
303 Movable part grip judgment part (judgment part)
311 Position detection unit (first detection unit)
312 Position detection unit (first detection unit)

Claims (10)

A movable part that can rotate the lens barrel with respect to the fixed part,
The drive control unit that drives the movable unit and
A first detection unit that detects the position of the movable unit, and
A second detector that detects vibration, and
A correction unit that corrects the vibration by driving the movable unit to the drive control unit,
It has a determination unit for determining the state of the movable unit using the output signal of the first detection unit.
An image pickup apparatus characterized in that when the determination unit determines that the movable portion is in a grasped state, the drive control unit stops the movable portion. The determination unit is gripped by the movable unit when the amplitude of the output signal is larger than the first predetermined value and the period of the output signal is smaller than the second predetermined value for a predetermined time. The imaging device according to claim 1, wherein it is determined to be in a state. A setting unit that sets the target position of the movable unit, and a setting unit that sets the target position of the movable unit.
It further has a third detection unit that detects the motion vector of the subject using a plurality of images.
The image pickup apparatus according to claim 1, wherein the determination unit determines a state of the movable portion using the output signal and the motion vector. In the determination unit, the deviation between the target position and the position detected by the first detection unit is larger than the third predetermined value, and the motion vector quantity is smaller than the fourth predetermined value only for a predetermined time. The imaging device according to claim 3, wherein if the continuation is continued, it is determined that the movable portion is in a grasped state. The image pickup apparatus according to any one of claims 1 to 4, wherein when the cable is inserted, the determination unit changes a predetermined value used when determining the state of the movable unit. The invention according to any one of claims 1 to 4, wherein when the accessory is attached to the fixed portion, the determination portion changes a predetermined value used when determining the state of the movable portion. Imaging device. The imaging device according to claim 2 or 4, wherein the determination unit changes the predetermined time according to the remaining battery level. The imaging device according to claim 2 or 4, wherein the determination unit changes the predetermined time according to the power mode. The movable portion capable of rotating the lens barrel with respect to the fixed portion, the drive control unit for driving the movable portion, the detection unit for detecting vibration, and the drive control unit for driving the movable portion. It is a control method of an image pickup apparatus having a correction unit for correcting vibration.
The step of detecting the position of the movable part and
A step of determining the state of the movable part using information on the position of the movable part, and
A method for controlling an imaging device, which comprises a step of stopping the movable portion when it is determined that the state of the movable portion is in a grasped state. A program for causing a computer to execute the control method of the image pickup apparatus according to claim 9.

Images