JP2023047764A - 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; an object information acquisition unit for acquiring position information of an object existing in an image-pickup area R0 of the image pickup device; a target area acquisition unit for setting a target area AR to move within an 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.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, comprising: an imaging element; an object information acquisition unit that acquires position information of an object existing in an imaging area of the imaging element; is set to move within the imaging region; and when an object exists within the target region, the focal position of the imaging device is controlled so as to adjust the focal position to the object. and a position control unit.

An imaging method according to an aspect of the present invention is an imaging method for imaging an object, comprising a step of acquiring position information of an object existing in an imaging area, and setting a target area to move within the imaging area. and, if an object exists within the target area, controlling the focus position of the imaging device so as to focus on the object.

A program according to one aspect of the present invention is a program that causes a computer to execute an imaging method for imaging an object, the program comprising: acquiring position information of an object existing in an imaging area; The computer is caused to perform the steps of setting to move and, if an object exists within the target area, controlling the focal position of the imaging device so as to focus on the object.

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 flowchart for explaining the processing flow for setting the focal position. FIG. 5 is a schematic diagram for explaining an example of a target area according to the second embodiment. FIG. 6 is a schematic diagram showing an example when a plurality of reference objects are set. FIG. 7 is a flowchart for explaining the processing flow for setting the focal position. FIG. 8 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 element 10, an imaging element 12, an image processing circuit 13, an object position measuring unit 14, an input unit 16, a display unit 18, a communication unit 20, It has 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 device 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 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 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 . The control unit 24 reads out and executes a program (software) from the storage unit 22 to operate 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. Realize and 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 target region 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 may be realized by hardware circuits.

(Target area acquisition unit)
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 refers to the shape information and movement information of the target area AR, which will be described later in detail. 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.

The target area acquisition unit 30 sets the target area AR such that the target area AR moves within the imaging area AR0. The target area acquisition unit 30 acquires shape information and movement information of the target area AR, and based on the shape information and movement information of the target area AR, moves the target area AR so that the target area AR moves within the imaging area AR0. Set the area AR. The shape information of the target area AR is information indicating the shape and size of the target area AR, and the movement information of the target area AR is information indicating how the target area AR moves. The movement information of the target area AR may be, for example, the position of the reference coordinates of the target area AR for each time, or the initial position of the reference coordinates of the target area AR, the movement direction and the movement of the reference coordinates of the target area AR. speed and may be. The reference coordinates here are the center coordinates of the target area AR, and the target area AR is set as a circular (spherical) area having a predetermined radius around the reference coordinates. The target area acquisition unit 30 preferably moves the target area AR so that the shape and size of the target area AR are kept the same.

More specifically, the target area AR is preferably set to be located within the imaging area AR0 and within the area between the first position AX1 and the second position AX2. In other words, the target area AR is set so as to move within the imaging area AR0 and within the area between the first position AX1 and the second position AX2 (in other words, so as not to go out of this area). preferably. 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 may be set to move in 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 .

Note that the size and shape of the target area AR are not limited to those described above and may be arbitrary, and may not be a circular (spherical) area having a predetermined radius centered on the reference coordinates. 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 and 3 may be treated as a ranging area.

The target area acquisition unit 30 may acquire the shape information and movement information of the target area AR by any method. For example, shape information and movement information of the target area AR may be set in advance. In this case, the target area acquisition unit 30 may read the preset shape information and movement information of the target area AR from the storage unit 22, or may read the target area AR from another device via the communication unit 20. shape information and movement information may be acquired. Further, for example, when the shape information and movement information of the target area AR are not set in advance, the target area acquisition unit 30 may automatically set the shape information and movement information of the target area AR. Further, for example, the user may set the shape information and movement information of the target area AR. In this case, for example, the user inputs the shape information and movement information of the target area AR (for example, the size of the target area AR and the position of the reference coordinates for each time) to the input unit 16, and the target area acquisition unit 30 The target area AR may be set based on the shape information and movement information of the target area AR specified by .

(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. An object here preferably refers to a moving object. 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 . If the position of the object acquired by the object information acquisition unit 32 overlaps with the position of the target area AR at that timing, the focus position control unit 34 determines that the object exists within the target area AR, and determines that the object exists within the target area AR. The focal position is adjusted to the position of the object acquired by the information acquisition unit 32 . 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.

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 a stationary (non-moving) object is positioned within the target area AR due to the movement of the target area AR, the focal position control unit 34 does not focus. 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 the processing for adjusting the focal position described above will be described with reference to FIG. FIG. 2 exemplifies a case where the target area AR moves in order of position AR1, position AR2, position AR3, and position AR4. In the example of FIG. 2, since there is no object within the target area AR at the position AR1, the focus position control unit 34 does not focus on the object at the timing when the target area AR is at the position AR1, and the set position focus on. At the timing when the target area AR moves from the position AR1 to the position AR2, the stationary object Aa is positioned within the target area AR. In this case, the object Aa is stationary, and as the target area AR moves, the stationary object Aa is positioned within the target area AR. Adjust the focus position to the set position without adjusting the Since the set position here is set with reference to the target area AR, the set position also moves along with the movement of the target area AR. The set position is preferably moved while maintaining the same position (relative position) with respect to the target area AR.

At the timing when the target area AR moves from the position AR2 to the position AR3, the moving object Ab is positioned within the target area AR. In this case, the moving object Ab enters the target area AR. In the middle, keep focusing on the object Ab. After that, at the timing when the target area AR moves from the position AR3 to the position AR4, the object Ab moves out of the target area AR. The focus position control unit 34 removes the focus position from the object Ab at the timing when the object Ab moves out of the target area AR, and adjusts the focus position to the set position. That is, the focus position control unit 34 focuses on the object Ab from the timing when the moving object Ab enters the target area AR, and during the period when the object Ab is moving within the target area AR, The focus position is moved in accordance with the moving object Ab, and the focus position is removed from the object Ab at the timing when the object Ab 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. 4 is a flowchart for explaining the processing flow for setting the focal position. As shown in FIG. 4, the control unit 24 sets the target area AR so that the target area AR moves by the target area acquiring unit 30 (step S10). Then, the control unit 24 acquires the position information of the object using the object information acquisition unit 32 (step S12). The order in which steps S10 and S12 are performed may be arbitrary. The control unit 24 uses the focus position control unit 34 to determine whether the object is positioned within the target area AR based on the position information of the object (step S14). If the object is not located within the target area AR (step S14; No), the process returns to step S10 to continue acquiring the position information of the object while updating the target area AR (that is, moving the target area AR). On the other hand, if the object is located within the target area AR (step S14; Yes), the focus position control unit 34 determines whether the object is moving (step S16). If the object within the target area AR has not moved (step S16; No), the focus position control unit 34 returns to step S10 without focusing on the object, updates the target area AR, and adjusts the position of the object. Continue to acquire location information. If the object within the target area AR is moving (step S16; Yes), the focus position control unit 34 adjusts the focus position to the object (step S18). After that, while acquiring the position information of the reference object and updating the target area AR, 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 S20). If the object does not move outside the target area AR (step S20; No), that is, if the object continues to exist within the target area AR, the process returns to step S18 to continue focusing on the object. If the object has moved outside the target area AR (step S20; Yes), the focus position control unit 34 defocuses the object (step S22). After that, if the process is not to be ended (step S24; No), the process returns to step S10, and if the process is to be ended (step S24; Yes), this process is ended.

(effect)
As described above, the imaging device 100 according to the present embodiment has the imaging element 12, the object information acquisition section 32, the target area acquisition section 30, and the focus position control section . The object information acquisition unit 32 acquires position information of an object existing in the imaging area AR0 of the image sensor 12 . The target area acquisition unit 30 sets the target area AR so as to move within the imaging area AR0. When an object exists within the target area AR, the focus position control unit 34 controls the focus position of the imaging device 100 so that the focus position is aligned with the object.

Here, in an autofocus imaging apparatus, it is required to appropriately adjust the focal position. On the other hand, the imaging apparatus 100 according to the present embodiment is set to move the target area AR, and if an object exists within the target area AR, the focal point of the imaging apparatus 100 is set so as to adjust the focal position to the object. position control. Therefore, when an area to be noticed changes in time series, for example, in monitoring, it is possible to adjust the focus appropriately according to the change.

The focus position control unit 34 does not adjust the focus position to the object when the object which does not move is located within the target area AR, and when the object which moves is located within the target area AR, the object is not focused. can be focused on. Therefore, it is possible to suppress the focusing position on a stationary object that has entered the target area AR as a result of the movement of the target area AR, and appropriately adjust the focus position on a moving object that has entered the target area AR. be able to.

The target area acquisition unit 30 sets the target area AR to a first position AX1 at a first distance L1 from the imaging device 100 and a second distance L2 from the imaging device 100 that is shorter than the first distance L1. The target area AR may be set so as to be located between the second position AX2. 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. The second embodiment differs from the first embodiment in that the target area AR is set based on the position information of the moving reference object B. FIG. In the second embodiment, descriptions of the parts that are common to the first embodiment will be omitted.

FIG. 5 is a schematic diagram for explaining an example of a target area according to the second embodiment. As shown in FIG. 5, in the second embodiment, the target area acquisition unit 30 sets the target area AR based on the position information of the reference object B that moves. The reference object B is an object positioned within the imaging area AR0 that serves as a reference for setting the position of the target area AR, and is a moving object.

The reference object B may be an object positioned between the first position AX1 and the second position AX2 within the imaging area AR0. However, the reference object B is not limited to being positioned between the first position AX1 and the second position AX2, and may be positioned at any position.

The reference object B may be set by any method. For example, the target region acquiring unit 30 may set the reference object B automatically. In this case, for example, the target area acquiring unit 30 may select the reference object B by any method from among the objects positioned within the imaging area AR0. Further, for example, the reference object B may be set by the user. In this case, for example, the user inputs information for selecting the reference object B to the input unit 16, and the target region acquisition unit 30 sets the reference object B based on the information for specifying the reference object B specified by the user. may In this case, for example, an image within the imaging area AR is displayed on the display unit 18 in real time, and the user selects the image of the reference object B from among the objects shown in the image within the imaging area AR. , information for selecting the reference object B may be input.

The target area acquisition unit 30 sets the target area AR based on the position information of the reference object B acquired by the object information acquisition unit 32 . In the present embodiment, the target area acquiring unit 30 acquires a predetermined size area (space) around the reference object B, that is, a predetermined size area including the position of the reference object B as the target area AR. set as In the example of FIG. 5, the target area acquiring unit 30 sets a circle (here, a sphere) having a predetermined radius centered on the position of the reference object B as the target area AR. Furthermore, in this embodiment, as described above, the reference object B is positioned within the area AR0a between the first position AX1 and the second position AX2, so the target area AR is also located between the first position AX1 and the second position AX2. It is positioned within the area AR0a between the second position AX2. However, the target area AR is not limited to being set in a spherical shape centered on the position of the reference object B, and may be an area arbitrarily set based on the position information of the reference object B. FIG. Also, the target area AR does not have to be positioned within the area AR0a between the first position AX1 and the second position AX2.

FIG. 6 is a schematic diagram showing an example when a plurality of reference objects are set. A plurality of reference objects B may be set. In this case, the target area acquisition unit 30 sets the target area AR based on the position information of the plurality of reference objects B. FIG. For example, as shown in FIG. 6, the target area acquiring unit 30 may set an area (space) surrounded by a plurality of reference objects B as the target area AR.

Since the reference object B moves as described above, the object information acquisition unit 32 acquires the position information of the reference object B successively. The target area acquisition unit 30 sequentially sets the target area AR based on the position information of the reference object B acquired by the object information acquisition unit 32 . The target area acquisition unit 30 sets the target area AR such that the target area AR also moves as the reference object B moves, that is, as the position information of the reference object B changes. The target area acquisition unit 30 preferably sets the target area AR such that the target area AR is also moved while the position (relative position) of the target area AR with respect to the reference object B is kept the same. That is, it can be said that the target area acquiring unit 30 sequentially updates the position of the target area AR while keeping the same position of the target area AR with respect to the reference object B as the reference object B moves.

An example of the processing for adjusting the focal position described above will be described with reference to FIG. FIG. 5 exemplifies a case where the reference object B moves in the order of position B1, position B2, position B3, and position B4, and the target area AR is set as an area centered on the reference object B. . In this case, the target area AR also moves as the reference object B moves. In the following, the position of the target area AR at the timing when the reference object B is at the position B1 is assumed to be the position AR1, the position of the target area AR at the timing when the reference object B is at the position B2 is assumed to be the position AR2, and the reference object The position of the target area AR at the timing when B is at position B3 is assumed to be position AR3, and the position of the target area AR at the timing when reference object B is at position B4 is assumed to be position AR4. In the example of FIG. 5, since there is no object within the target area AR at the position AR1, at the timing when the reference object B is at the position B1 (the target area AR is at the position AR1), the focal position control unit 34 Instead of focusing on the object, focus on the set position. At the timing when the target area AR moves from the position AR1 to the position AR2, the stationary object Aa is positioned within the target area AR. In this case, the object Aa is stationary, and as the target area AR moves, the stationary object Aa is positioned within the target area AR. Adjust the focus position to the set position without adjusting the Since the set position here is set with reference to the target area AR, the set position also moves along with the movement of the target area AR. The set position is preferably moved while maintaining the same position (relative position) with respect to the target area AR.

At the timing when the target area AR moves from the position AR2 to the position AR3, the moving object Ab is positioned within the target area AR. In this case, since the moving object Ab is positioned within the target area AR, the focal position control unit 34 adjusts the focal position to the object Ab, and the object Ab is positioned within the target area AR. During the period, the focus position is kept on the object Ab. After that, at the timing when the target area AR moves from the position AR3 to the position AR4, the object Ab is positioned outside the target area AR. The focus position control unit 34 removes the focus position from the object Ab at the timing when the object Ab is positioned outside the target area AR, and adjusts the focus position to the set position.

Next, the processing flow for setting the focal position in the second embodiment will be described. FIG. 7 is a flowchart for explaining the processing flow for setting the focal position. As shown in FIG. 7, the control unit 24 acquires the position information of the reference object B by the object information acquisition unit 32 (step S30), and the target area acquisition unit 30 acquires the position information of the reference object B based on the position information of the reference object B. An area AR is set (step S32). Then, the control unit 24 acquires the position information of the object by the object information acquiring unit 32 (step S34). The order in which steps S30, S32, and S34 are performed may be arbitrary. The control unit 24 uses the focus position control unit 34 to determine whether the object is positioned within the target area AR based on the position information of the object (step S36). If the object is not located within the target area AR (step S36; No), the process returns to step S30 to continue acquiring the position information of the object while acquiring the position information of the reference object and updating the target area AR. On the other hand, if the object is located within the target area AR (step S36; Yes), the focus position control unit 34 determines whether the object is moving (step S38). If the object in the target area AR has not moved (step S38; No), the focus position control unit 34 returns to step S30, acquires the position information of the reference object, updates the target area AR, and adjusts the position of the object. Continue to acquire location information. If the object within the target area AR is moving (step S38; Yes), the focus position control unit 34 adjusts the focus position to the object (step S40). After that, while acquiring the position information of the reference object and updating the target area AR, 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 S42). If the object does not move outside the target area AR (step S42; No), that is, if the object continues to exist within the target area AR, the process returns to step S40 to continue focusing on the object. If the object has moved outside the target area AR (step S42; Yes), the focus position control unit 34 defocuses the object (step S44). Thereafter, if the process is not to be ended (step S46; No), the process returns to step S30, and if the process is to be ended (step S46; Yes), this process is ended.

As described above, in the second embodiment, the target area acquisition unit 30 sets the target area AR to move based on the position information of the moving reference object B acquired by the object information acquisition unit 32. . That is, the target area acquiring unit 30 sets the target area AR such that the target area AR moves as the reference object B moves. Therefore, for example, when an object of interest moves in monitoring or the like, by moving the target area AR in accordance with the object, it is possible to appropriately focus on the vicinity of the moving object.

Further, the target area acquisition unit 30 sets the target area AR to move as the reference object B moves so that the position of the target area AR with respect to the reference object B is kept the same. Therefore, by appropriately moving the target area AR in accordance with the object of interest, it is possible to more appropriately focus on the vicinity of the moving object.

(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 can also be applied to the first 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. 8 is a schematic diagram illustrating an example in which motion of an object is set as a predetermined condition. In the example of FIG. 8, 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. 8, the object A moves downward in the vertical direction 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.

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.

REFERENCE SIGNS LIST 10 optical device 12 imaging device 14 object position measurement unit 30 target area acquisition unit 32 object information acquisition unit 34 focus position control unit AR target area AR0 imaging area B reference object

Claims (7)

An imaging device capable of imaging an object,
an 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 region acquiring unit that sets the target region so as to move within the imaging region;
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;
having
Imaging device. The focus position control unit does not adjust the focus position to the object when an object that does not move is located within the target region, and if the object that moves is located within the target region, 2. The imaging device according to claim 1, wherein said focal position is adjusted to an object. 3. The imaging apparatus according to claim 1, wherein said target area acquisition unit sets said target area to move based on position information of a moving reference object acquired by said object information acquisition unit. 4. The imaging apparatus according to claim 3, wherein said target region acquisition unit sets said target region to move as said reference object moves so as to keep the same position of said target region with respect to said reference object. . 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. 5. The imaging apparatus according to any one of claims 1 to 4, wherein the target area is set so as to be located between and. An imaging method for imaging an object,
a step of acquiring position information of an object existing in the imaging area;
setting a region of interest to move within the imaging region;
a step of controlling the focal position of an imaging device so as to adjust the focal position to the object when the object exists within the target area;
including,
Imaging method. A program for causing a computer to execute an imaging method for imaging an object,
a step of acquiring position information of an object existing in the imaging area;
setting a region of interest to move within the imaging region;
a step of controlling the focal position of an imaging device so as to adjust the focal position to the object when the object exists within the target area;
causing said computer to execute
program.

Images