JP2023047714A - Imaging apparatus, imaging method, and program - Google Patents

Abstract

To properly adjust a focal position.SOLUTION: An imaging apparatus 100 comprises: an image pickup device; a self position acquisition unit for acquiring position information of the imaging apparatus 100; an object information acquisition unit for acquiring position information of an object existing in an image-pickup area AR0 of the image pickup device; a target area acquisition unit for setting a target area AR within the image-pickup area AR0; and a focal position control unit which in a case where an object exists in the target area AR, controls the focal position of the imaging apparatus 100 so as to adjust the focal position on the object. The target area acquisition unit keeps the fixed position of the target area AR when the self position acquisition unit determines that the imaging apparatus 100 has moved.SELECTED DRAWING: Figure 2

Description

The present invention relates to an imaging device, an imaging method, and a program.

2. Description of the Related Art An autofocus imaging device that automatically sets a focal position is known. For example, Japanese Patent Application Laid-Open No. 2002-200002 describes that a predetermined position designated by a user is focused.

WO2017/141746

2. Description of the Related Art Autofocus imaging apparatuses are required to be properly focused.

In view of the above problems, an object of the present invention is to provide an imaging apparatus, an imaging method, and a program capable of appropriately adjusting the focus.

An imaging device according to an aspect of the present invention is an imaging device capable of imaging an object, and includes an imaging device, a self-position acquisition unit that acquires position information of the imaging device, and an imaging region of the imaging device. an object information acquisition unit that acquires position information of an object; a target region acquisition unit that sets a target region within the imaging region; and a focal position control unit that controls the focal position of the imaging device, and the target region acquisition unit determines the position of the target region when the self-position acquisition unit determines that the imaging device has moved. remain fixed.

An image capturing method according to an aspect of the present invention is an image capturing method for capturing an image of an object, and includes a step of acquiring position information of an image capturing device, a step of acquiring position information of an object existing in an image capturing area of an image sensor, and setting a target area within the imaging area; and, if an object exists within the target area, controlling the focal position of the imaging device so as to focus on the object, In the step of setting the target area, the position of the target area is kept fixed when it is determined that the imaging device has moved.

A program according to an aspect of the present invention is a program that causes a computer to execute an image capturing method for capturing an image of an object, the program comprising: acquiring position information of an image capturing device; setting a target area within the imaging area; and, if an object exists within the target area, controlling the focal position of the imaging device so as to focus on the object. and setting the target area, the position of the target area is kept fixed when it is determined that the imaging device has moved.

According to the present invention, it is possible to appropriately focus.

FIG. 1 is a schematic block diagram of an imaging device according to the first embodiment. FIG. 2 is a schematic diagram for explaining an example of the target area. FIG. 3 is a schematic diagram for explaining an example of the target area. FIG. 4 is a schematic diagram showing another example of the target area. FIG. 5 is a schematic diagram showing another example of the target area. FIG. 6 is a schematic diagram showing an example of the target area when the first mode is set. FIG. 7 is a schematic diagram showing an example of the target area when the second mode is set. FIG. 8 is a flowchart for explaining the target area setting flow when the imaging device is moved. FIG. 9 is a flowchart for explaining the processing flow for setting the focal position. FIG. 10 is a schematic block diagram of an imaging device according to the second embodiment. FIG. 11 is a schematic diagram showing an example of a target area in the second embodiment. FIG. 12 is a flowchart for explaining the alarm notification flow. FIG. 13 is a schematic diagram illustrating an example in which motion of an object is set as a predetermined condition.

BEST MODE FOR CARRYING OUT THE INVENTION Below, embodiments of the present invention will be described in detail based on the drawings. In addition, this invention is not limited by embodiment described below.

(First embodiment)
(Configuration of imaging device)
FIG. 1 is a schematic block diagram of an imaging device according to the first embodiment. An imaging device 100 according to the first embodiment is an imaging device that images an object within an imaging range. The imaging device 100 is an autofocus camera capable of automatically setting a focal position. The imaging device 100 may be a video camera that captures a moving image by capturing each predetermined frame, or may be a camera that captures a still image. The imaging device 100 may be used for any purpose, and may be used, for example, as a monitoring camera set at a predetermined position inside a facility or outdoors.

As shown in FIG. 1, the imaging device 100 includes an optical device 10, an imaging device 12, an image processing circuit 13, an object position measurement unit 14, a self-position measurement unit 15, an input unit 16, and a display unit 18. , a communication unit 20 , a storage unit 22 , and a control unit 24 .

The optical element 10 is an element of an optical system such as a lens. The number of optical elements 10 may be one or plural.

The imaging device 12 is a device that converts light incident through the optical device 10 into an image signal that is an electrical signal. The imaging element 12 is, for example, a CCD (Charge Coupled Device) sensor, a CMOS (Complementary Metal Oxide Semiconductor) sensor, or the like.

The image processing circuit 13 generates image data for each frame from the image signal generated by the imaging element 12 . The image data is, for example, data including luminance and color information of each pixel in one frame, and may be data to which a gradation is assigned to each pixel.

The object position measuring unit 14 is a sensor that measures the position of the object to be measured with respect to the imaging device 100 (relative position of the object). An object here may be any object, and may be a living thing or an inanimate object, and the same shall apply hereinafter. Also, the object here may refer to a movable object, but is not limited to that and may refer to an immovable object.

In this embodiment, the object position measuring unit 14 measures the distance from the imaging device 100 to the object as the relative position of the object. The object position measuring unit 14 may be any sensor capable of measuring the relative position of an object, and may be, for example, a TOF (Time Of Flight) sensor. When the object position measuring unit 14 is a TOF sensor, for example, a light emitting element (e.g., LED (Light Emitting Diode)) that emits light and a light receiving unit that receives light are provided. The distance to the object is measured from the time of flight of the light that has returned to the light-receiving unit.The object position measuring unit 14 measures the distance from the imaging device 100 to the object as the relative position of the object. For example, the direction in which the object exists with respect to the imaging device 100 may also be measured.In other words, the object position measurement unit 14 measures the position (coordinates) of the object in a coordinate system having the imaging device 100 as the origin, and calculates the relative position of the object. May be measured as position.

The self-position measuring unit 15 is a sensor that measures the position of the imaging device 100 (that is, the self-position). In this embodiment, the self-localization unit 15 measures the position (coordinates) and orientation (orientation) of the imaging device 100 . The self-localization unit 15 may be any sensor capable of measuring the position and orientation of the imaging device 100, but may be, for example, a three-dimensional acceleration sensor or a gyro sensor that measures acceleration in three axes of the imaging device 100. you can For example, the self-localization unit 15 measures the acceleration in three axes of the imaging device 100 to determine the position and orientation of the imaging device 100, that is, the position and orientation of the imaging device 100 before movement. 100 positions and orientations can be measured. However, the self-localization unit 15 is not limited to measuring both the position and orientation of the imaging device 100 , and may measure at least one of the position and orientation of the imaging device 100 .

The input unit 16 is a mechanism for receiving input (operation) from the user, and may be, for example, buttons, a keyboard, a touch panel, or the like.

The display unit 18 is a display panel that displays images. The display unit 18 may be capable of displaying an image for the user to set a target area AR, which will be described later, in addition to the image captured by the imaging device 100 .

The communication unit 20 is a communication module that communicates with an external device, and may be, for example, an antenna or a Wi-Fi (registered trademark) module. The imaging device 100 communicates with an external device by wireless communication, but may be wired communication, and any communication method may be used.

The storage unit 22 is a memory that stores various types of information such as captured image data, calculation contents of the control unit 24, and programs. At least one of a storage device and an external storage device such as a HDD (Hard Disk Drive) is included. The program for the control unit 24 stored in the storage unit 22 may be stored in a recording medium readable by the imaging device 100 .

The control unit 24 is an arithmetic device and includes an arithmetic circuit such as a CPU (Central Processing Unit). The control unit 24 includes a self-position acquisition unit 28 , a target area acquisition unit 30 , an object information acquisition unit 32 , a focus position control unit 34 , an imaging control unit 36 and an image acquisition unit 38 . By reading and executing a program (software) from the storage unit 22, the control unit 24 controls the self-position acquisition unit 28, the target area acquisition unit 30, the object information acquisition unit 32, the focus position control unit 34, and the imaging control unit 36. An image acquisition unit 38 is implemented to execute those processes. Note that the control unit 24 may execute these processes by one CPU, or may be provided with a plurality of CPUs and may execute the processes by the plurality of CPUs. Moreover, at least part of the processing of the self-position acquisition unit 28, the target area acquisition unit 30, the object information acquisition unit 32, the focus position control unit 34, the imaging control unit 36, and the image acquisition unit 38 is realized by hardware circuits. may

(Self-position acquisition unit)
The self-position acquisition unit 28 acquires position information of the imaging device 100 . The position information of the imaging device 100 is information indicating the position (coordinates) and orientation (orientation) of the imaging device 100 . The self-position acquisition unit 28 controls the self-position measurement unit 15 to cause the self-position measurement unit 15 to measure the position and orientation of the imaging device 100 . The self-position acquisition unit 28 acquires the measurement result of the position and orientation of the imaging device 100 by the self-position measurement unit 15 as position information of the imaging device 100 . The object information acquisition unit 32 sequentially acquires the position information of the imaging device 100 by acquiring the position information of the imaging device 100 at predetermined time intervals. Note that the position information of the imaging device 100 is not limited to both the position and orientation of the imaging device 100 , and may be information indicating at least one of the position and orientation of the imaging device 100 .

Based on the position information of the imaging device 100, the self-position acquisition unit 28 determines whether the imaging device 100 has moved. The self-position acquisition unit 28 determines that the imaging device 100 has moved when the position information of the imaging device 100 has changed, and determines that the imaging device 100 has moved when the position information of the imaging device 100 has not changed. decide not to. The change in the position information of the imaging device 100 means that the previously acquired position information of the imaging device 100 (here, at least one of the position and orientation) and the currently acquired position information of the imaging device 100 (here, at least one of the position and orientation). on the other hand) is equal to or greater than a predetermined value.

The self-position acquisition unit 28 may acquire the degree of movement of the imaging device 100 when determining that the imaging device 100 has moved. The degree of movement of the imaging device 100 here refers to the direction and amount of movement of the position (coordinates) and orientation (orientation) of the imaging device 100 . The self-position acquisition unit 28 uses the direction and amount of change when the position and orientation of the imaging device 100 acquired immediately before to the position and orientation of the imaging device 100 acquired this time as the degree of movement of the imaging device 100. can be calculated.

(Target area acquisition unit)
(Acquisition of target area)
The target area acquisition unit 30 acquires information on the target area AR set within the imaging area of the imaging device 100 . The target area AR is an area set for automatically adjusting the focal position. The information of the target area AR is information indicating the position of the target area AR, that is, the position information of the target area AR. The target area AR will be described below.

2 and 3 are schematic diagrams for explaining an example of the target area. 2 is a view of the imaging device 100 and the target area AR viewed from above in the vertical direction, and FIG. 3 is a view of the imaging device 100 and the target region AR viewed from the horizontal direction. Hereinafter, the direction Z is defined as a vertical direction, the direction X is defined as one horizontal direction orthogonal to the direction Z, and the direction Y is defined as a direction orthogonal to the direction Z and the direction X (horizontal direction). As shown in FIGS. 2 and 3, the range in which an image can be captured by the imaging device 100 is defined as an imaging area AR0. The imaging area AR0 refers to an area (space) within the angle of view of the imaging device 12, in other words, refers to a range captured as an image in real space. The target area AR is an area (space) set within the range of the imaging area AR0.

More specifically, the target area AR is an area within the imaging area AR0 and between the first position AX1 and the second position AX2. The first position AX1 is a position that is the first distance L1 from the imaging device 100, and the second position AX2 is the second distance L2 that is shorter than the first distance L1 from the imaging device 100. position. As shown in FIGS. 2 and 3, in the present embodiment, the first position AX1 is a virtual position (coordinates) including positions (coordinates) at a first distance L1 from the imaging device 100 in the imaging area AR0. It can be said that it is a positive aspect. Similarly, the second position AX2 can be said to be a virtual plane that includes positions (coordinates) within the imaging region AR0 that are the second distance L2 from the imaging device 100 . That is, the target area AR is surrounded by a virtual plane at a second distance L2 from the imaging device 100 and a virtual plane at a first distance L1 from the imaging device 100 in the imaging region AR0. It can be said that it is space. Note that the first position AX1 is not limited to a virtual plane in which all positions (coordinates) included in the first position AX1 are the first distance L1 from the imaging device 100, and at least A part of the positions (coordinates) may be a virtual plane that is the first distance L1 from the imaging device 100 . Similarly, the second position AX2 may be a virtual plane in which at least some positions (coordinates) included in the second position AX2 are the second distance L2 from the imaging device 100 .

4 and 5 are schematic diagrams showing other examples of target regions. 2 and 3, the target area AR is separated from the imaging area AR0 by the first position AX1 and the second position AX2 in the optical axis direction of the imaging device 100 (the depth direction of the image). However, the radiation direction (the direction in which the angle of view spreads) with respect to the optical axis direction of the imaging device 100 is not partitioned with respect to the imaging area AR0. In other words, the end surface of the target area AR in the widening direction of the angle of view matches the end surface of the imaging area AR0 in the widening direction of the angle of view. However, the target area AR may be separated from the imaging area AR0 also in the widening direction of the angle of view. That is, for example, as shown in FIGS. 4 and 5, the target area AR may be separated from the imaging area AR0 by the third position AX3 also in the widening direction of the angle of view. In this example, the third position AX3 is a virtual surface (here, a closed curved surface of a cylindrical side surface) including a position (coordinates) at a predetermined distance radially outward from the optical axis LX of the imaging device 100. is. In this case, the target area AR is an area (space) surrounded by the first position AX1, the second position AX2, and the third position AX3. Note that the third position AX3 is not limited to a virtual plane in which all positions (coordinates) included in the third position AX3 are the first distance L1 from the optical axis LX, and at least A part of the positions (coordinates) may be a virtual plane that is the third distance L3 from the optical axis LX. For example, the third position AX3 may be a virtual plane that spreads outward in the radial direction (horizontal direction and elevation angle direction) at a predetermined angle as it moves away from the imaging device 100 along the optical axis direction.

Note that the size and shape of the target area AR are not limited to those described above and may be arbitrary. Also, the position of the target area AR is not limited to the above description and may be arbitrary. For example, the target area AR is not limited to being positioned between the first position AX1 and the second position AX2. Also, in the above description, the target area AR is an area set within the imaging area AR0, but it is not limited to this. For example, if the range in which distance measurement is possible by the object position measuring unit 14 is a ranging area (ranging space), the target area AR may be an area set within the ranging area. In this case, the imaging area AR0 in FIGS. 2 to 5 may be treated as the ranging area.

The target area acquisition unit 30 may acquire information on the target area AR by any method. For example, the position of the target area AR may be set in advance. In this case, the target area acquisition unit 30 may read the preset position information of the target area AR from the storage unit 22, or may receive the position information of the target area AR from another device via the communication unit 20. may be obtained. Further, for example, when the position of the target area AR is not set in advance, the target area acquiring unit 30 may automatically set the position of the target area AR. Further, for example, the user may set the position of the target area AR. In this case, for example, the user inputs information specifying the position of the target area AR (for example, the values of the first distance L1, the second distance L2, and the third distance L3) to the input unit 16, and the target area acquisition unit 30 may set the target area AR based on the position information of the target area AR specified by the user. Further, for example, the target area AR may be set by specifying coordinates. That is, for example, in the example of FIG. 2, coordinates P1, P2, P3, and P4, which are the vertex positions of the target area AR, may be specified, and an area surrounded by the coordinates P1 to P4 may be set as the target area AR.

(Target area when imaging device moves)
Here, it is required to appropriately set the target area AR even when the imaging device 100 moves. On the other hand, when the self-position acquiring unit 28 determines that the imaging device 100 has moved, the target area acquiring unit 30 fixes the position of the target area AR and does not move the target area AR. Accordingly, by fixing the target area AR, it is possible to suppress unintentional change of the area of interest due to the movement of the imaging device 100 .

Furthermore, in this embodiment, the target area acquisition unit 30 acquires mode information indicating whether or not to move the target area AR, and the self-position acquisition unit 28 determines that the imaging device 100 has moved. If so, it is determined whether or not to move the target area AR based on the mode information. A specific description will be given below.

The target area acquisition unit 30 acquires mode information. Mode information is information indicating whether or not to move the target area AR when the imaging device 100 moves. Either information indicating the first mode or information indicating the second mode is assigned to the mode information. The first mode is a mode in which the target area AR is not moved (the position of the target area AR is fixed) when the imaging device 100 is moved. This is the mode for moving the AR.

FIG. 6 is a schematic diagram showing an example of the target area when the first mode is set. When the target area acquisition unit 30 acquires the mode information indicating the first mode, the target area acquisition unit 30 sets the target area AR to the first mode in which the target area AR is fixed, and the self-position acquisition unit 28 determines that the imaging device 100 has moved. Also, the target area AR is not moved. That is, in the first mode, regardless of the position of the imaging device 100, the position of the target area AR is fixed. FIG. 6 exemplifies a case where the imaging device 100 moves from the position 100a to the position 100b. In this case, the position of the imaging area AR0 moves from the position AR0a to the position AR0b. However, when the first mode is set, the position of the target area AR remains fixed and does not move. Since the range-finding area also moves along with the movement of the imaging device 100, it can be said that the range-finding area moves from the position AR0a to the position AR0b.

FIG. 7 is a schematic diagram showing an example of the target area when the second mode is set. When the target area acquisition unit 30 acquires the mode information indicating the second mode, the target area acquisition unit 30 sets the target area AR to the second mode that permits the movement of the target area AR. If so, the target area AR is moved. In this case, the target area acquiring unit 30 preferably moves the target area AR so that the shape and size of the target area AR are kept the same. Further, the target area acquiring unit 30 preferably moves the target area AR based on the degree of movement of the imaging apparatus 100 so that the position (relative position) of the target area AR with respect to the imaging apparatus 100 is kept the same. That is, it is preferable not to change the position (relative position) of the target area AR with respect to the imaging device 100 before and after the target area AR is moved. In this case, for example, the target area acquiring unit 30 moves the target area AR by the same amount as the degree of movement of the imaging device 100 . FIG. 7 exemplifies a case where the imaging device 100 moves from the position 100a to the position 100b. In this case, the position of the imaging area AR0 moves from the position AR0a to the position AR0b. When the second mode is set, the position of the target area AR moves from the position ARa to the position ARb. That is, when the imaging device 100 is at the position 100a, the target area AR is positioned at the position ARa, and when the imaging device 100 moves to the position 100b, the target area AR moves to the position ARb.

Note that when the imaging device 100 does not move, the target area acquisition unit 30 preferably does not move the position of the target area AR in either the first mode or the second mode.

The target area acquisition unit 30 may acquire the information of the mode information by any method. For example, mode information, that is, whether to set the first mode or the second mode may be set in advance. In this case, the target area acquisition unit 30 may read preset mode information from the storage unit 22 or acquire mode information from another device via the communication unit 20 . Further, for example, when the mode information is not set in advance, the target area acquiring section 30 may automatically set the mode information. Alternatively, for example, the user may set the mode information. In this case, for example, the user inputs information designating the mode (information designating whether the first mode or the second mode) to the input unit 16, and the target area acquisition unit 30 receives the information specified by the user. The mode may be set based on the mode information obtained.

The target region acquisition unit 30 may switch between the first mode and the second mode. In this case, when the target area acquiring section 30 acquires the mode information indicating that the mode is to be switched, the target area acquiring section 30 may switch the mode based on the mode information.

The flow of setting the target area AR when the imaging apparatus 100 moves as described above will be described based on a flowchart. FIG. 8 is a flowchart for explaining the target area setting flow when the imaging device is moved. As shown in FIG. 8, the control unit 24 acquires the mode information and the information of the target area AR by the target area acquiring unit 30 (step S10), sets the mode based on the mode information, and sets the mode to the information of the target area AR. Based on this, the target area AR is set. Then, the control unit 24 uses the self-position acquisition unit 28 to determine whether the imaging device 100 has moved (step S12). Based on the position information of the imaging device 100, the self-position acquisition unit 28 determines whether the imaging device 100 has moved. When it is determined that the imaging device 100 has moved (step S12; Yes) and when the second mode is set (step S14; Yes), the target region acquiring unit 30 acquires the target region AR. Move (step S16). Thereafter, if the process is not to be ended (step S18; No), the process returns to step S12, and if the process is to be ended (step S18; Yes), this process is ended. On the other hand, when it is determined that the imaging device 100 does not move (step S12; No), the process proceeds to step S18 without moving the target area AR. If it is determined that the imaging device 100 has moved and the second mode is set (step S14; No), the process proceeds to step S18 without moving the target area AR.

In the first embodiment, it is not essential to set either the first mode or the second mode as described above, and even if the imaging device 100 moves, the position of the target area AR moves. It is sufficient if it can be set so as not to do so.

(Object information acquisition unit)
The object information acquisition unit 32 acquires position information of an object existing within the imaging area AR0. The object information acquisition unit 32 controls the object position measurement unit 14 to cause the object position measurement unit 14 to measure the relative position of the object with respect to the imaging device 100 . The object information acquisition unit 32 acquires the measurement result of the relative position of the object with respect to the imaging device 100 by the object position measurement unit 14 as the position information of the object. The object information acquisition unit 32 sequentially acquires the position information of the object by acquiring the position information of the object at predetermined time intervals. The object information acquisition unit 32 can also acquire information indicating the shape of the object (for example, the 3D shape of the object) based on the positional information of the object. For example, the object information acquisition unit 32 can acquire the 3D shape of the object by accumulating a plurality of pieces of position information such as TOF image information.

(Focus position control unit)
The focus position control section 34 sets the focus position of the imaging device 100 . The focal position control section 34 controls the focal position by controlling the position of the optical element 10 , that is, by moving the position of the optical element 10 .

The focal position control unit 34 adjusts the focal position to an object existing within the target area AR. In other words, the focal position control unit 34 sets the focal position to the position of the object determined to exist within the target area AR. In this embodiment, the focus position control unit 34 determines whether the object exists within the target area AR based on the position information of the object acquired by the object information acquisition unit 32 . When the position of the object acquired by the object information acquiring unit 32 overlaps with the position of the target area AR, the focus position control unit 34 determines that the object exists within the target area AR, and the object information acquiring unit Focus on the position of the object obtained by 32 . That is, for example, when the distance from the imaging device 100 to the object is the first distance L1 or less and the second distance L2 or more, the focus position control unit 34 determines that the object exists within the target area AR. Decide and focus on the object. On the other hand, the focus position control unit 34 does not adjust the focus position for an object that does not exist within the target area AR. That is, for example, when the distance from the imaging device 100 to the object is longer than the first distance L1 or shorter than the second distance L2, the focus position control unit 34 determines that the object does not exist within the target area AR. Make a decision and do not focus on that object.

The focal position control unit 34 continues to focus on the object while the object on which the focal position is adjusted exists within the target area AR. That is, the focal position control unit 34 determines whether the object continues to exist within the target area AR based on the position information of the object obtained by the object information obtaining unit 32 at predetermined time intervals, and determines whether the object continues to exist within the target area AR. During the period in which the object continues to exist within the target area AR, the object continues to be focused. On the other hand, when the focused object moves out of the target area AR, that is, when it no longer exists within the target area AR, the focus position control unit 34 removes the focus position from the object. , focus on a position other than the object.

Note that the focal position control unit 34 does not need to focus on an object existing within the target area AR from the start of operation of the imaging device 100 (timing when imaging becomes possible). . That is, the focal position control section 34 may adjust the focal position with respect to an object that has entered the target area AR after the start of operation. In other words, the focal position control unit 34 controls an object that exists within the target area AR at a certain timing but does not exist within the target area AR at a timing prior to that timing. You can adjust the focal position from the timing. In other words, when an object moves from outside the target area AR into the target area AR, the object may be recognized as an object to be focused on by the focus position control section 34 . That is, the focal position control unit 34 may focus on an object that has moved from outside the target area AR into the target area AR.

Further, the focal position control unit 34 may adjust the focal position to a preset set position when an object does not exist within the target area AR. The set position may be set arbitrarily, but is preferably set within the target area AR, such as the center position of the target area AR.

In addition, it is preferable that the focus position control unit 34 does not focus on a stationary object, but focuses on a moving object. More specifically, when the second mode is set, the focus position control unit 34 moves the target area AR along with the movement of the imaging device 100 so that the stationary (non-moving) object is If the object is located within the target area AR, the object is not focused. That is, the focal position control unit 34 does not treat a stationary object as an object to be focused on, even if the object is located within the target area AR. Do not align. On the other hand, when the moving object is positioned within the target area AR, that is, when the moving object reaches the target area AR, the focus position control unit 34 adjusts the focus position to the object. Whether or not the object is moving can be determined based on the position information of the object obtained by the object information acquisition unit 32 . That is, when the position information of an object that is continuous in time series changes, it can be determined that the object is moving.

An example of setting the focal position described above will be described with reference to FIG. FIG. 2 shows an example in which the object A moves from position A0, through positions A1 and A2, to position A3, toward the imaging device 100. In FIG. The position A0 is farther from the imaging device 100 than the first distance L1 and is outside the target area AR. The positions A1 and A2 are within the target area AR because the distances to the imaging device 100 are equal to or less than the first distance L1 and equal to or more than the second distance L2. The position A3 is closer to the imaging device 100 than the second distance L2 and is outside the target area AR. In this case, the focus position control unit 34 does not focus on the object A at the timing when the object A is present at the position A0, and instead focuses on the set position, for example. Then, the focus position control unit 34 focuses on the object A at the timing when the object A is present at the position A1, that is, at the timing when the object A enters the target area AR. The focus position control unit 34 continues to focus on the object A even at the timing when the object A is present at the position A2, and at the timing when the object A moves to the position A3, that is, when the object A moves out of the target area AR. At this timing, the focal position is removed from the object A and the focal position is returned to the set position. That is, the focus position control unit 34 adjusts the focus position to the object A from the timing when the object A enters the target area AR, and during the period when the object A is moving within the target area AR, the moving object A , and the focal position is removed from the object A at the timing when the object A moves out of the target area AR.

Note that the focus position may be set by the user. In this case, for example, it may be possible to switch between an auto mode in which the focal position is automatically set and a manual mode in which the user sets the focal position. In the auto mode, the focal position is set by the focal position control section 34 as described above. On the other hand, in the manual mode, the user inputs an operation to set the focal position to the input unit 16, and the focal position control unit 34 sets the focal position according to the user's operation.

(imaging control unit)
The imaging control unit 36 controls imaging by the imaging device 100 to capture an image. The imaging control unit 36 controls, for example, the imaging element 12 and causes the imaging element 12 to acquire an image signal. For example, the imaging control unit 36 may cause the imaging element 12 to automatically acquire an image signal, or may acquire an image signal according to a user's operation.

(Image acquisition unit)
The image acquisition unit 38 acquires image data acquired by the imaging device 12 . For example, the image acquisition unit 38 controls the image processing circuit 13 to cause the image processing circuit 13 to generate image data from the image signal generated by the imaging element 12, and acquires the image data. The image acquisition unit 38 causes the storage unit 22 to store the image data.

(Focus position setting flow)
Next, a processing flow for setting the focal position described above will be described. FIG. 9 is a flowchart for explaining the processing flow for setting the focal position. As shown in FIG. 9, the control unit 24 acquires information about the target area AR using the target area acquiring unit 30 (step S20), and acquires object position information using the object information acquiring unit 32 (step S22). . The order in which steps S20 and S22 are performed may be arbitrary. The controller 24 uses the focus position controller 34 to determine whether the object is positioned within the target area AR based on the position information of the object (step S24). If the object is not located within the target area AR (step S24; No), the process returns to step S22 to continue acquiring the position information of the object. On the other hand, if the object is located within the target area AR (step S24; Yes), the focus position control unit 34 focuses on the object (step S26). After that, the acquisition of the position information of the object is continued, and it is determined whether the object has moved outside the target area AR (step S28). If the object does not move outside the target area AR (step S28; No), that is, if the object continues to exist within the target area AR, the process returns to step S26 to continue focusing on the object. If the object has moved outside the target area AR (step S28; Yes), the focus position control unit 34 defocuses the object (step S30). Thereafter, if the process is not to be ended (step S32; No), the process returns to step S22, and if the process is to be ended (step S32; Yes), this process is ended.

(effect)
As described above, the imaging device 100 according to the present embodiment includes the imaging element 12, the self-position acquisition unit 28, the object information acquisition unit 32, the target area acquisition unit 30, and the focal position control unit 34. . The self position acquisition unit 28 acquires position information of the imaging device 100, the object information acquisition unit 32 acquires position information of an object existing in the imaging area AR0 of the imaging device 12, and the target area acquisition unit 30 acquires the image A target area AR is set within the area AR0, and if an object exists within the target area AR, the focus position control unit 34 controls the focus position of the imaging device 100 so as to focus on the object. The target area acquiring unit 30 fixes the position of the target area AR when the self-position acquiring unit 28 determines that the imaging device 1000 has moved.

Here, in an autofocus imaging apparatus, it is required to appropriately adjust the focal position. On the other hand, the imaging device 100 according to the present embodiment controls the focal position of the imaging device 100 so that the focal position is aligned with the object when the object exists within the target area AR. Then, even when the imaging device 100 moves, the position of the target area AR is fixed. Therefore, according to the present embodiment, the position of the target area AR can be fixed even if the imaging area AR0 moves, so that the object in the target area can be appropriately focused while changing the imaging area AR0. be able to.

In addition, when the target area acquisition unit 30 is set to the first mode in which the position of the target area AR is fixed, the target area acquisition unit 30 determines that the imaging device 100 has moved when the self-position acquisition unit 28 determines that the imaging device 100 has moved. Fix the AR position. On the other hand, when the target area acquisition unit 30 is set to the second mode in which the position of the target area AR is not fixed, the target area acquisition unit 30 determines that the imaging device 100 has moved. Change the position of AR. Therefore, according to the present embodiment, it is possible to set whether the focused area is changed or fixed in accordance with the imaging area AR0 depending on the situation, so that the focal position can be adjusted appropriately.

Further, the target area acquisition unit 30 determines that the target area AR is located at a first position AX1 at which the distance from the imaging device 100 is the first distance L1, and at a second distance L2 at which the distance from the imaging device 100 is shorter than the first distance L1. The target area AR may be set so as to be located between the second position AX2 where Therefore, it is possible to properly focus on an object that has entered the target area AR.

(Second embodiment)
Next, a second embodiment will be described. In the second embodiment, when the imaging device 100A moves while the position of the target area AR is fixed, and the distance between the boundary of the imaging area AR0 and the target area AR becomes less than the predetermined distance, This differs from the first embodiment in that an alarm is notified. In the second embodiment, descriptions of parts having the same configuration as in the first embodiment are omitted.

FIG. 10 is a schematic block diagram of an imaging device according to the second embodiment. As shown in FIG. 10 , an imaging device 100</b>A according to the second embodiment includes a notification control section 40 in the control section 24 .

The notification control unit 40 according to the second embodiment calculates the distance D when the position of the target area AR does not move even when the imaging device 100A moves (that is, when the first mode is set). A distance D is the distance between the boundary B of the imaging area AR0 and the target area AR. The boundary B of the imaging area AR0 refers to the boundary position between the inside of the imaging area AR0 and the outside of the imaging area AR0, in other words, the edge of the imaging area AR0. The notification control unit 40 calculates, as a distance D, the shortest distance between the boundary B of the imaging area AR0 and the target area AR when the target area AR is located within the imaging area AR0. That is, it can be said that the notification control unit 40 regards the length of the shortest straight line as the distance D among the straight lines connecting each point on the periphery of the target area AR to each point on the boundary B of the imaging area AR0. Note that the distance D may be calculated by any method. , and the position of the set target area AR, the distance D may be calculated.

Notification control unit 40 determines whether distance D is less than a predetermined distance. That is, the notification control unit 40 determines whether the distance D has become less than the predetermined distance due to the movement of the imaging device 100A. The predetermined distance here may be set arbitrarily. The notification control unit 40 causes the imaging device 100A to output an alarm when the distance D is less than the predetermined distance. The warning here is information indicating that the distance D is less than a predetermined distance, and may be of any content. For example, the notification control unit 40 may cause the display unit 18 to display arbitrary information (for example, characters or symbols indicating a warning) indicating that the distance D is less than a predetermined distance. Any sound (for example, an alarm) indicating that the distance D is less than a predetermined distance may be output to a sound output unit (speaker) (not shown), or a tactile stimulus (not shown) provided in the imaging device 100A (for example, A device that outputs a vibration) may output any tactile stimulus (eg, vibration) that indicates that the distance D is less than a predetermined distance. On the other hand, the notification control unit 40 does not output an alarm when the distance D is not less than the predetermined distance, that is, when the distance D is equal to or greater than the predetermined distance.

The above processing will be described based on FIG. FIG. 11 is a schematic diagram showing an example of a target area in the second embodiment. FIG. 11 exemplifies a case where the imaging device 100A moves from the position 100Aa to the position 100Ab. In this case, the position of the imaging area AR0 moves from the position AR0a to the position AR0b. In this example, since the first mode is set, the position of the target area AR is fixed and does not move. In this example, when the imaging device 100A is at the position 100Aa, the distance Da from the boundary Ba of the imaging region AR0 to the target region AR is greater than or equal to the predetermined distance, and when the imaging device 100A is at the position 100Ab, A distance Db from the boundary Bb of the imaging area AR0 to the target area AR is less than the predetermined distance. Therefore, the notification control unit 40 does not output an alarm when the imaging device 100A is at the position 100Aa, and outputs an alarm when the imaging device 100B is at the position 100Ab. Since the range-finding area also moves along with the movement of the imaging device 100, the range-finding area moves from the position AR0a to the position AR0b, and the boundary between the range-finding areas can also be called the boundary B. FIG.

In this way, by outputting an alarm when the distance D is less than the predetermined distance, the user is notified that there is a risk that the target area AR may move out of the range of the imaging area AR0 due to movement of the imaging device 100A, for example. can be notified in advance. Therefore, it is possible to prevent the target area AR from moving out of the range of the imaging area AR0 by further moving the imaging apparatus 100A.

In the above description of the second embodiment, the mode is set to either the first mode or the second mode, and in the first mode, the distance between the boundary of the imaging area AR0 and the target area AR is predetermined. It was assumed that an alarm would be issued when the distance becomes less than the distance. However, in the second embodiment, either the first mode or the second mode may not be set, and the position of the target area AR is set so as not to move even if the imaging device 100A moves. It should be possible. That is, the imaging apparatus 100A according to the second embodiment is set so that the position of the target area AR does not move even if the imaging apparatus 100 moves, and the distance between the boundary of the imaging area AR0 and the target area AR is less than a predetermined distance, an alarm may be issued.

(Warning notification flow)
Next, the notification flow of the above-described alarm will be described. FIG. 12 is a flowchart for explaining the alarm notification flow. As shown in FIG. 12, the control unit 24 acquires information on the target area AR using the target area acquisition unit 30 (step S40), and sets the target area AR. Then, the control unit 24 uses the self-position acquisition unit 28 to determine whether the imaging device 100A has moved (step S42). If it is determined that the imaging device 100A has moved (step S42; Yes), the control unit 24 causes the notification control unit 40 to determine whether the distance D between the target area AR and the boundary B is less than a predetermined distance ( step S44). If the distance D between the target area AR and the boundary B is less than the predetermined distance, the notification control unit 40 outputs an alarm (step S46). Thereafter, if the process is not to be ended (step S48; No), the process returns to step S42, and if the process is to be ended (step S48; Yes), this process is ended. On the other hand, when it is determined that the imaging device 100A does not move (step S42; No), the process also proceeds to step S48. Further, when it is determined that the imaging device 100A has moved and the distance D between the target area AR and the boundary B is not less than the predetermined distance (step S44; No), that is, the distance D is equal to or greater than the predetermined distance. If there is, the process proceeds to step S48 without moving the target area AR.

As described above, in the second embodiment, as the image pickup apparatus 100A moves, the image pickup area AR0 moves, and the distance from the target area AR to the boundary B between the inside of the image pickup area AR0 and the outside of the image pickup area AR0 When D becomes less than the predetermined distance, the notification control unit 40 outputs an alarm. In this way, by outputting an alarm when the distance D is less than the predetermined distance, the user is notified that there is a risk that the target area AR may move out of the range of the imaging area AR0 due to movement of the imaging device 100A, for example. can be notified in advance. Therefore, it is possible to prevent the target area AR from moving out of the range of the imaging area AR0 by further moving the imaging apparatus 100A.

For example, when the imaging device 100A is automatically moved by a moving mechanism (not shown), when the distance D becomes less than a predetermined distance, the control unit 24 controls the moving mechanism so that the distance D is further increased. The movement of the imaging device 100A in the shortening direction may be stopped. This movement stop processing may be performed together with the output of the alarm, or the movement stop processing may be performed instead of the output of the alarm.

(Third embodiment)
Next, a third embodiment will be described. The third embodiment differs from the first embodiment in that the focal position is adjusted to an object that exists within the target area AR and satisfies a predetermined condition. In the third embodiment, descriptions of parts that are common to the first embodiment will be omitted. The third embodiment is also applicable to the second embodiment.

In the third embodiment, the focal position control unit 34 adjusts the focal position to an object that exists within the target area AR and satisfies a predetermined condition. The focal position control unit 34 does not focus on an object that does not satisfy at least one of being present in the target area AR and satisfying a predetermined condition. The focal position control unit 34 continues to focus on the object while the object on which the focal position is adjusted satisfies a predetermined condition and continues to exist within the target area AR. On the other hand, the focus position control unit 34 removes the focus position from the object when at least one of the existence of the object within the target area AR and the satisfaction of the predetermined condition is no longer satisfied. That is, for example, if the object satisfies the predetermined condition but has moved out of the target area AR, or if it exists within the target area AR but no longer satisfies the predetermined condition, the focal position control unit 34 detects that the object Remove the focus position from

The focal position control unit 34 may determine whether or not the predetermined condition is satisfied by any method. You can The positional information of the object here may refer to the measurement result of the object position measuring unit 14, and the image of the object may refer to image data of the object captured by the imaging device 12. FIG.

The predetermined condition here may be any condition other than that the object exists within the target area AR. For example, the predetermined condition may be at least one of that the object is performing a predetermined motion, that the object has a predetermined shape, and that the object faces a predetermined direction. Also, any two of these may be used as the predetermined conditions, or all of them may be used as the predetermined conditions. When a plurality of predetermined conditions are set, the focus position control unit 34 determines that the predetermined conditions are satisfied when all the conditions are satisfied.

A case where motion of an object is a predetermined condition will be described. In this case, the focus position control unit 34 determines whether the object is moving in a predetermined manner based on the position information of the object that is continuously acquired in time series. The focal position control unit 34 adjusts the focal position with respect to an object existing within the target area AR and performing a predetermined motion. The focal position control unit 34 does not focus on an object that does not meet at least one of being within the target area AR and performing a predetermined movement. The focal position control unit 34 keeps the focal position on the object while the object on which the focal position is adjusted exists in the target area AR and continues a predetermined movement. On the other hand, the focus position control unit 34 removes the focus position from the object when the object no longer satisfies at least one of being present in the target area AR and performing a predetermined movement. Note that the motion of the object here refers to the mode of movement of the object, and may refer to, for example, the direction and speed of movement of the object. For example, if the predetermined motion means moving downward in the vertical direction at a speed of 10 m/h or more, the focal position control unit 34 moves downward in the vertical direction by 10 m/h or more in the target area AR. Focus on an object moving at a speed of Note that the motion of an object is not limited to indicating the moving direction and moving speed of an object, and may refer to any mode of movement. For example, motion of an object may refer to at least one of the direction and speed of movement of the object.

FIG. 13 is a schematic diagram illustrating an example in which motion of an object is set as a predetermined condition. In the example of FIG. 13, the predetermined condition is that the object moves downward in the vertical direction (the direction opposite to the Z direction), that is, the moving direction of the object. In the example of FIG. 13, the object A moves vertically downward from position A0a through positions A1a and A2a to position A3a and stops at position A3a. The position A0a is outside the target area AR, and the positions A1a, A2a, and A3a are inside the target area AR. In this case, the focus position control unit 34 does not focus on the object A because the object A is outside the target area AR at the timing when the object A exists at the position A0a. . Then, the focal position control unit 34 focuses on the object A at the timing when the object A is present at the position A1a, that is, at the timing when the object A enters the target area AR while moving downward in the vertical direction. The focus position control unit 34 continues to focus on the object A even at the timing when the object A is present at the position A2a, and removes the focus position from the object A at the timing when the object A moves to the position A3a and stops. , to return the focal position to the set position.

Next, a case where the shape of an object is set as a predetermined condition will be described. In this case, the focus position control section 34 determines whether the object has a predetermined shape based on the image data showing the object. The focal position is adjusted to an object that exists within the target area AR and has a predetermined shape. The focal position control unit 34 does not focus on an object that does not satisfy at least one of being within the target area AR and having a predetermined shape. The focal position control unit 34 continues to focus on the object while the object on which the focal position is adjusted has a predetermined shape and continues to exist within the target area AR. On the other hand, the focus position control unit 34 removes the focus position from the object when the object no longer satisfies at least one of being in the target area AR and having a predetermined shape. The shape of the object here may be, for example, at least one of the size of the object and the outline of the object. For example, when the predetermined shape indicates a predetermined size or more, the focus position control unit 34 adjusts the focus position to an object of a predetermined size or more that exists within the target area AR. . Note that 3D shape information acquired by the object information acquiring unit 32 may be used to acquire the shape information of the object.

A case where the orientation of an object is a predetermined condition will be described. In this case, the focal position control unit 34 determines whether the object faces a predetermined direction based on the image data showing the object. A focal position is adjusted to an object that exists within the target area AR and faces in a predetermined direction. The focal position control unit 34 does not focus on an object that does not satisfy at least one of being in the target area AR and being oriented in a predetermined direction. The focal position control unit 34 continues to focus on the object while the object on which the focal position is adjusted continues to exist within the target area AR while facing the predetermined direction. On the other hand, when the object no longer satisfies at least one of being in the target area AR and facing a predetermined direction, the focus position control unit 34 removes the focus position from the object. . Note that 3D shape information acquired by the object information acquisition unit 32 may be used to acquire information on the orientation of the object.

Note that the predetermined condition may be set by any method, and may be set in advance, for example. In this case, the focal position control unit 34 may read out information indicating a predetermined condition (for example, moving direction and moving speed) from the storage unit 22, or may read the information indicating the predetermined condition from the storage unit 22, or may transmit the information to another device via the communication unit 20. A predetermined condition may be obtained from. Further, for example, when the predetermined condition is not set in advance, the focus position control section 34 may automatically set the predetermined condition. Alternatively, for example, the user may set a predetermined condition. In this case, for example, the user inputs information specifying a predetermined condition (for example, moving direction and moving speed) to the input unit 16, and the focal position control unit 34 controls the predetermined condition based on the information specified by the user. may be set.

As described above, in the third embodiment, the focus position control unit 34 may focus on an object that is present in the target area AR and is performing a predetermined movement. The focus position control unit 34 keeps the focus position on the object while the object is moving in a predetermined manner, and removes the focus position from the object when the object stops moving in the predetermined direction. In this way, in addition to being within the target area AR, satisfying a predetermined motion is also a condition for focusing, so that an object that is moving in a specific manner can be tracked and the focus position can be adjusted appropriately. It is possible to match. For example, it is possible to detect a fall within the target area AR.

In the third embodiment, the focus position control unit 34 may focus on an object that exists in the target area AR and has a predetermined shape. In this way, in addition to being within the target area AR, the object having a predetermined shape is also a condition for adjusting the focus position, so that an object with a specific shape can be tracked and the focus position can be appropriately adjusted. It becomes possible.

In the third embodiment, the focal position control unit 34 may focus on an object that exists in the target area AR and faces in a predetermined direction. In this way, in addition to being within the target area AR, by setting the condition that the object is oriented in a predetermined direction as a condition for adjusting the focus position, an object in a specific direction is tracked and the focus position is appropriately adjusted. becomes possible.

Although the embodiments of the present invention have been described above, the embodiments are not limited by the contents of these embodiments. In addition, the components described above include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those within the so-called equivalent range. Furthermore, the components described above can be combined as appropriate, and it is also possible to combine the configurations of the respective embodiments. Furthermore, various omissions, replacements, or modifications of components can be made without departing from the gist of the above-described embodiments. Further, in each embodiment, the operation of adjusting the focal position has been described as a characteristic point, but the operation of adjusting the focal position may be combined with another operation. For example, the operation of adjusting the focal position may be combined with the operation of zooming. Also, in the description of each embodiment, the operation of adjusting the focal position may be replaced with another operation. For example, in the description of each embodiment, the operation of adjusting the focal position may be replaced with the operation of zooming. Further, the control unit 24 of the imaging device in each embodiment, for example, when a set condition such as an object entering or exiting a predetermined target area AR or an object moving in a predetermined direction is satisfied, the communication unit 20 You may make it notify to a predetermined transmission destination through. The set condition here may mean, for example, that the movement of the object within the target area AR is used as a trigger to bring the object into focus.

10 optical device 12 imaging device 14 object position measurement unit 15 self position measurement unit 28 self position acquisition unit 30 target area acquisition unit 32 object information acquisition unit 34 focal position control unit 40 notification control unit AR target area AR0 imaging area

Claims (6)

An imaging device capable of imaging an object,
an imaging device;
a self-position acquisition unit that acquires position information of the imaging device;
an object information acquisition unit that acquires position information of an object existing in the imaging area of the imaging device;
a target area acquiring unit that sets a target area within the imaging area;
a focal position control unit that controls the focal position of the imaging device so that the focal position is aligned with the object when the object exists in the target area;
has
The target area acquisition unit keeps the position of the target area fixed when the self-position acquisition unit determines that the imaging device has moved.
Imaging device. The target area acquisition unit is
When the first mode for fixing the position of the target area is set, fixing the position of the target area when the self-position acquisition unit determines that the imaging device has moved,
and changing the position of the target area when the position of the target area is not fixed and the position of the target area is determined to be moved by the self-position acquisition unit. 1. The imaging device according to 1. An alarm is issued when the imaging area moves due to the movement of the imaging device and the distance from the target area to the boundary position between the inside of the imaging area and the outside of the imaging area becomes less than a predetermined distance. 3. The imaging apparatus according to claim 1, further comprising a notification control unit for outputting. The target region acquisition unit is configured such that the target region is located at a first position where the distance from the imaging device is a first distance, and a second position where the distance from the imaging device is a second distance shorter than the first distance. 4. The imaging apparatus according to any one of claims 1 to 3, wherein the target area is set so as to be located between and. An imaging method for imaging an object,
a step of obtaining position information of the imaging device;
a step of acquiring position information of an object existing in an imaging area of an imaging device;
setting a target area within the imaging area;
a step of controlling the focus position of the imaging device so as to adjust the focus position to the object when the object exists in the target area;
including
In the step of setting the target area, when it is determined that the imaging device has moved, the position of the target area is kept fixed.
Imaging method. A program for causing a computer to execute an imaging method for imaging an object,
a step of obtaining position information of the imaging device;
a step of acquiring position information of an object existing in an imaging area of an imaging element;
setting a target area within the imaging area;
a step of controlling the focus position of the imaging device so as to adjust the focus position to the object when the object exists in the target area;
causing the computer to execute
In the step of setting the target area, when it is determined that the imaging device has moved, the position of the target area is kept fixed.
program.

Images