JP2023047943A - Imaging device, imaging method, and program - Google Patents

Abstract

To properly adjust a focal position.SOLUTION: An imaging device 100 includes: an imaging element; an object information acquisition part for acquiring the positional information on an object existing in an imaging region AR0 of the imaging element; an object region acquisition part for acquiring the positional information on a plurality of object regions AR, located between a first position AX1 which becomes a first distance L1 in the distance from the imaging device 100 and a second position AX2 becoming a second distance L2 which is shorter than the first distance L1 in the distance from the imaging device 100; and a focus position control part for controlling the focal position of the imaging device 100. When the object exists in the object region AR, the focus position control part aligns the focal position with the object in each object region AR.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; Position information of a plurality of target regions located between a first position at a first distance from a device and a second position at a second distance from the imaging device at a second distance shorter than the first distance. and a focus position control unit that controls the focus position of the imaging device, and the focus position control unit controls each of the target regions so that an object exists in the target region. If so, the focus position is adjusted to the object.

An image capturing method according to an aspect of the present invention is an image capturing method for capturing an image of an object, comprising a step of acquiring position information of an object existing in an image capturing area; and a second position where the distance from the imaging device is a second distance shorter than the first distance; acquiring position information of a plurality of target regions; and, in the step of controlling the focal position, for each of the target regions, if an object exists within the target region, the focal position is adjusted to the object.

A program according to one 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 steps of acquiring position information of an object existing in an image capturing area, and and a second position where the distance from the imaging device is a second distance shorter than the first distance, acquiring position information of a plurality of target regions; and causing the computer to execute the step of controlling the focal position of the apparatus, and in the step of controlling the focal position, for each of the target regions, if an object exists in the target region, the object is focused on the object. Align.

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 flowchart for explaining the processing flow for setting the focal position. FIG. 7 is a schematic diagram for explaining setting of the focal position in the second embodiment. FIG. 8 is a flowchart for explaining the processing flow for setting the focal position in the second embodiment. FIG. 9 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 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.

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 a plurality of target areas 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 respective target areas AR are located at different positions, and are preferably set so as not to overlap each other.

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, each target area AR is an area located between the first position AX1 and the second position AX2 within the imaging area AR0. 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, each 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 a space that exists within the bounded range. 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 .

In FIGS. 2 and 3, a case where a first target area AR1 and a second target area AR2 are set as the target area AR is taken as an example. In the examples of FIGS. 2 and 3, the first target area AR1 and the second target area AR2 are located within the imaging area AR0 and between the first position AX1 and the second position AX2. In the examples of FIGS. 2 and 3, the area within the imaging area AR0 and between the first position AX1 and the second position AX2 is divided into a first target area AR1 and a second target area AR2, In other words, here, it can be said that the entire area between the first position AX1 and the second position AX2 is divided into a plurality of target areas. In the examples of FIGS. 2 and 3, the second target area AR2 is positioned so as to be surrounded by the first target area AR1.

4 and 5 are schematic diagrams showing other examples of target regions. 2 and 3, the first target area AR1 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 first target area AR1 in the widening direction of the angle of view coincides with the end surface of the imaging area AR0 in the widening direction of the angle of view. However, the first target area AR1 is not limited to this, and the first target area AR1 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 first target area AR1 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 first target area AR1 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.

The position of each target area AR is not limited to the above description, and may be arranged at any position between the first position AX1 and the second position AX2 within the imaging area AR0. For example, the second target area AR2 may not be arranged so as to be surrounded by the first target area AR1. The size and shape of the target area AR are not limited to those described above, and may be arbitrary. Also, the number of target areas AR is not limited to two, and any plural number such as three or more may be set. 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 AR 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 each target area AR may be set in advance. In this case, the target area acquisition unit 30 may read the preset position information of each target area AR from the storage unit 22, or may read each target area AR from another device via the communication unit 20. AR location information may be acquired. Further, for example, when the positions of the target areas AR are not set in advance, the target area acquiring unit 30 may automatically set the positions of the respective target areas AR. Further, for example, the user may set the position of each target area AR. In this case, for example, the user inputs information specifying the position of each 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 obtains the target area. The unit 30 may set each 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. For example, in the example of FIG. 2, coordinates P1, P2, P3, and P4, which are the vertex positions of the first target area AR1, and coordinates P5, P6, P7, and P8, which are the vertex positions of the second target area AR2, are specified. Alternatively, the area surrounded by the coordinates P5 to P8 is set as the second target area AR2, and the area outside the second target area AR2 and surrounded by the coordinates P1 to P4 is set as the first target area AR1. You can

(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 .

For each target area AR, the focus position control unit 34 adjusts the focus 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 . In the examples of FIGS. 2 and 3, the first target area AR1 and the second target area AR2 are set as the target area AR. 2, the object in the first target area AR1 is focused, and if the object exists in the second target area AR2, the object in the second target area AR2 is focused.

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. Taking the case of focusing on an object within the first target area AR1 as an example, the focus position control unit 34 sets the focus position on the object while the object continues to exist within the first target area AR1. , and when the object moves out of the first target area AR1, the focus position is removed from the object. However, if the object moves directly from the first target area AR1 into the second target area AR2 (i.e., without going out of the range of the first target area AR1 and the second target area AR2, the first target area When moving from the area AR1 to the second area of interest AR2), it may continue to focus on the object that has moved to the second area of interest AR2.

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 the present embodiment, for some target areas AR among the respective target areas AR, if an object exists in the target area AR, the imaging device 100 performs predetermined processing while focusing on the object. to run. On the other hand, for some other target areas AR among the respective target areas AR, if an object exists in the target area AR, the object is focused, but the imaging device 100 executes a predetermined process. don't let Predetermined processing in this embodiment refers to processing for capturing an image by the imaging control unit 36 . That is, in the present embodiment, for some target areas AR among the target areas AR, if an object exists in the target area AR, the focus position control unit 34 adjusts the focus position to the object. Meanwhile, the imaging control unit 36 captures an image. That is, in this case, the image capturing control unit 36 captures an image while the object is in focus. On the other hand, for some other target areas AR among the respective target areas AR, if an object exists in the target area AR, the focus position control unit 34 adjusts the focus position to the object, but the imaging control Unit 36 does not capture images.

In addition, it can be said that the imaging device 100 constantly captures an image when displaying an image within the imaging area AR on the display unit 18 in real time. However, when the image is not being recorded, it is automatically deleted without being saved in the storage unit 22 after being temporarily stored in a buffer or the like. In the present embodiment, "picking an image" does not mean capturing an image that is automatically deleted without being saved in the storage unit 22, but an image that is automatically saved in the storage unit 22. In other words, it refers to capturing an image for recording and storing it in the storage unit 22 .

An example of setting the focal position described above will be described with reference to FIG. In FIG. 2, the case where the predetermined process is not executed when the object is located in the first target area AR1 and the predetermined process is executed when the object is located in the second target area AR2 is taken as an example. . Also, FIG. 2 shows an example in which the object A is moving from the position A0, through the positions A1, A2, and A3 to the position A4 toward the imaging device 100. As shown in FIG. The position A0 is farther from the imaging device 100 than the first distance L1 and is outside the range of the first target area AR1 and the second target area AR2. The position A1 is within the first target area AR1, the position A2 is within the second target area AR2, and the position A3 is within the first target area AR1. Further, the position A4 is closer to the imaging device 100 than the second distance L2 and is outside the range of the first target area AR1 and the second target area AR2.

At the timing when the object A is present at the position A0, the focus position control unit 34 does not focus on the object A, but focuses on the set position, for example. Also, at this timing, the imaging control unit 36 does not capture an image. Then, the focal 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 first target area AR1. The focus position control unit 34 continues to focus on the object A while the object A continues to exist within the first target area AR1. In addition, the imaging control unit 36 does not capture an image while the object A continues to exist within the first target area AR1. Then, the focus position control unit 34 also adjusts the focus position to the object A at the timing when the object A exists at the position A2, that is, at the timing when the object A directly moves from the first target area AR1 to the second target area AR2. continue. The focus position control unit 34 continues to focus on the object A while the object A continues to exist within the second target area AR2. On the other hand, the imaging control unit 36 starts imaging at the timing when the object A enters the second target area AR2, and continues imaging while the object A continues to exist within the second target area AR2. .

After that, the object A continues to be focused even at the timing when the object A is present at the position A3, that is, at the timing when the object A directly moves from the second target area AR2 to the first target area AR1. The focus position control unit 34 continues to focus on the object A while the object A continues to exist within the first target area AR1. On the other hand, the imaging control unit 36 stops imaging the image at the timing of moving from the second target area AR2 to the first target area AR1. The imaging control unit 36 continues to stop imaging while the object A continues to exist within the first target area AR1. After that, at the timing when the object A exists at the position A4, that is, at the timing when the object A moves from the first target area AR1 to the outside of the range of the first target area AR1 and the second target area AR2, the focal position is shifted from the object A. Remove it and return the focal position 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. The imaging control unit 36 continues to capture an image when the object A is positioned within the second target area AR2, and does not capture an image when the object A is positioned outside the second target area AR2.

In the above description, capturing an image is defined as a predetermined process (processing when an object exists in the second target area AR2), but the predetermined process is not limited to capturing an image. The predetermined process may be any process other than the process of adjusting the focus position on the object, but for example, the process of capturing an image and the process of irradiating light toward the object (for example, the process of irradiating illumination light). and a process of outputting information indicating that an object exists in the second target area AR2 (for example, a process of outputting a sound). Also, a plurality of predetermined processes may be set, and in this case, for example, when an object exists in the second target area AR2, all of the plurality of predetermined processes may be executed. Further, when three or more target areas AR are set, a different predetermined process may be assigned to each target area AR. That is, for example, when a first target region, a second target region, and a third target region are set, if an object exists in the first target region, the predetermined processing is not performed, and if an object exists in the second target region, If the object exists, a first predetermined process may be performed, and if the object exists in the third target area, a second predetermined process different from the first predetermined process may be performed.

Also, 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.

Also, the image capturing may be performed by the user. In this case, for example, it may be possible to switch between an auto mode in which an image is automatically captured and a manual mode in which an image is captured by a user's operation. In the auto mode, as described above, an image is captured by the imaging control unit 36 while the object A is present in the second target area AR2. On the other hand, in the manual mode, the user inputs an operation to the input unit 16 to capture an image, and the image capturing control unit 36 captures an image according to the user's operation.

(imaging control unit)
The imaging control unit 36 controls imaging by the imaging device 100, and causes an image to be captured as described above. 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. 6 is a flowchart for explaining the processing flow for setting the focal position. As shown in FIG. 6, the control unit 24 acquires information on the target area AR using the target area acquisition unit 30 (step S10), and acquires the content of the predetermined process (step S12). The content of the predetermined process is information indicating the target area AR on which the predetermined process is to be performed among the plurality of target areas AR (that is, information indicating which target area AR is the target area on which the predetermined process is to be performed); , and the content of predetermined processing (for example, capturing an image). The contents of the predetermined process may be set in advance or may be specified by the user. Here, the second target area AR2 is the target area AR on which the predetermined process is executed, and the predetermined process is the process of capturing an image.

The control unit 24 acquires the position information of the object using the object information acquisition unit 32 (step S14). The order in which steps S10, S12, and S14 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 first target area AR1 based on the position information of the object (step S16). If the object is located within the first target area AR1 (step S16; Yes), the focus position control unit 34 adjusts the focus position to the object (step S18). Not executed. After that, if the process is to be ended (step S20; Yes), this process is ended, and if the process is not to be ended (step S20; No), the process returns to step S14 and continues. On the other hand, when the object is not located within the first target area AR1 (step S16; No) and when the object is not located within the second target area AR2 (step S22; No), the focus position is adjusted. Without executing a predetermined process, the process proceeds to step S20. On the other hand, if the object is located within the second target area AR2 (step S22; Yes), the focus position control unit 34 focuses on the object, and the imaging control unit 36 executes a predetermined process (here, image imaging) is executed (step S24). After that, the process proceeds to step S20.

It should be noted that the process of executing the predetermined process for the partial target area AR (here, the second target area AR2) as described above is not essential. The image capturing apparatus 100 may set a plurality of target areas AR, and perform control for each target area AR to focus on an object existing within the target area AR.

(effect)
As described above, the imaging apparatus 100 according to the present embodiment includes the imaging device 12, the object information acquisition unit 32 that acquires the position information of an object existing in the imaging area AR0 of the imaging device 12, and the plurality of target areas AR and a focus position control unit 34 that controls the focus position of the imaging device 100 . The plurality of target areas AR includes a first position AX1 at a first distance L1 from the imaging device 100 and a second position AX2 at a second distance L2 shorter than the first distance L1 from the imaging device 100. located between For each target area AR, if an object exists within the target area AR, the focus position control unit 34 adjusts the focus position to the object.

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 sets a plurality of target areas AR, and when an object exists in one of those target areas AR, the object is focused. Therefore, even when there are a plurality of areas to be focused on, for example, in monitoring, objects present in each area can be brought into focus. Therefore, according to this embodiment, it is possible to appropriately adjust the focal position.

Further, in the present embodiment, at least a first target area AR1 and a second target area AR2 are set as the plurality of target areas AR. When an object exists within the second target area AR2, the control unit 24 causes the imaging device 100 to execute predetermined processing while focusing on the object. On the other hand, when the object exists within the first target area AR1, the control unit 24 does not execute the predetermined process while focusing on the object. According to this embodiment, since the area is divided into the area where the predetermined processing is performed while the focus position is adjusted and the area where the focus position is adjusted but the predetermined process is not performed, it is possible to appropriately perform imaging and the like.

Further, in the present embodiment, the predetermined processing includes processing for capturing an image of an object, processing for irradiating the object with light, and outputting information indicating that the object exists in the second target area AR2. and at least one of processing. By executing these processes when an object exists within the second target area AR2, it is possible to appropriately execute imaging and the like.

(Second embodiment)
Next, a second embodiment will be described. The second embodiment differs from the first embodiment in a predetermined point when objects exist in different target areas AR at the same timing. In the second embodiment, descriptions of parts having the same configuration as in the first embodiment are omitted.

The object information acquisition unit 32 causes the object position measurement unit 14 to measure the relative position of each object, and acquires the position information of each object existing within the imaging area AR0. The focal position control unit 34 determines whether each object is positioned within the target area AR based on the position information of each object. If the focus position control unit 34 determines that objects are positioned in different target areas AR at the same timing, it sets the focus position based on the priority information. The priority information is information indicating a priority target area AR within each target area AR, and is acquired by the target area acquiring unit 30 . The priority information may be, for example, information indicating the priority of each target area AR.

The target area acquisition unit 30 may acquire priority information by any method. For example, priority information may be preset. In this case, the target area acquisition unit 30 may read preset priority information from the storage unit 22 or may acquire priority information from another device via the communication unit 20 . Further, for example, if the priority information is not set in advance, the target area acquiring unit 30 may automatically set the priority information. Alternatively, for example, the user may set the priority information. In this case, for example, the user inputs information specifying priority information (for example, the priority order for each target area AR) to the input unit 16, and the target area acquisition unit 30 acquires the priority information by the user.

Based on the priority information, the focus position control unit 34 focuses on the object located in the priority target area AR rather than focusing on the object located in the target area AR other than the priority target area AR. Adjust the focus position so that In other words, the focus position control unit 34 focuses on an object located in the target area AR with a higher priority than on an object located in the target area AR with a lower priority. Adjust the focus position so that A specific example of how to adjust the focus position based on the priority information will be described below.

FIG. 7 is a schematic diagram for explaining setting of the focal position in the second embodiment. For example, the focus position control unit 34 may focus on an object located in the priority target area without focusing on the object located outside the priority target area AR. In other words, the focus position control unit 34 may focus on the object located in the target area AR with the highest priority and not focus on the object located in the other target areas AR. In FIG. 7, when the second target area AR2 has a higher priority than the first target area AR1, and the object Aa is positioned in the first target area AR1 and the object Ab is positioned in the second target area AR2 at the same timing. will be described as an example. In this case, the focus position control unit 34 continues to focus on the object Ab and does not focus on the object Aa.

Further, for example, the focal position control unit 34 may switch the focal position so that the focal position overlaps with the object in each target area AR. In this case, for example, the focus position control unit 34 changes the period during which the focus position is kept on the object located in the priority target area AR to the period during which the focus position is kept on the object located in the target area AR other than the priority target area AR. may be longer than In other words, the focus position control unit 34 continues to focus on the object located in the target area AR with lower priority during the period in which the focus position is kept on the object located in the target area AR with higher priority. It may be longer than the period. That is, the higher the priority, the longer the period during which the focus position is kept adjusted. Taking FIG. 7 as an example, the focal position control unit 34 sets the focal position such that the focal position switches between a position overlapping the object Aa and a position overlapping the object Ab. At this time, the focus position control unit 34 shifts the period in which the focus position is kept on the object Ab located in the second target area AR2 with the higher priority to the object Aa located in the first target area AR1 with the lower priority. Make it longer than the period during which the focus position is kept on.

Further, for example, the focus position control unit 34 first focuses on the object located in the priority target area AR before focusing on the object located in the target area AR other than the priority target area AR. may In other words, the focus position control unit 34 shifts the focus position to the object located in the target area AR with the higher priority before the timing for adjusting the focus position on the object located in the target area AR with the lower priority. You can keep matching. That is, the higher the priority, the earlier the timing for adjusting the focal position. Taking FIG. 7 as an example, the focal position control unit 34 sets the focal position such that the focal position switches between a position overlapping the object Aa and a position overlapping the object Ab. At this time, the focus position control unit 34 first focuses on the object Ab located in the second target area AR2, and then shifts the focus position to the object located in the first target area AR1, which has a lower priority. to match.

Next, a processing flow for setting the focal position described above will be described. FIG. 8 is a flowchart for explaining the processing flow for setting the focal position in the second embodiment. As shown in FIG. 8, the control unit 24 acquires information on the target area AR using the target area acquisition unit 30 (step S30), and acquires priority information (step S32).

The control unit 24 acquires the position information of the object using the object information acquisition unit 32 (step S34). The order in which steps S10, S12, and S14 are performed may be arbitrary. The control unit 24 uses the focus position control unit 34 to determine whether the object is positioned in at least one of the first target area AR1 and the second target area AR2 based on the position information of the object (step S36). . If the object is located in at least one of the first target area AR1 and the second target area AR2 (step S36; Yes) and the object is located in both the first target area AR1 and the second target area AR2 If so (step S38; Yes), the focus position control unit 34 adjusts the focus position based on the priority information (step S40). After that, if the process is to be terminated (step S42; Yes), this process is terminated, and if the process is not to be terminated (step S42; No), the process returns to step S34 and continues. On the other hand, if the object is not positioned in both the first target area AR1 and the second target area AR2 (step S38; No), that is, either the first target area AR1 or the second target area AR2 If the object is positioned only in the direction of the object, the focal position control unit 34 adjusts the focal position to the object (step S44), and proceeds to step S42. If the object is not located in at least one of the first target area AR1 and the second target area AR2 (step S36; No), that is, the object is not located in the first target area AR1 or the second target area AR. In this case, control of the focus position is not performed, and the process proceeds to step S42.

As described above, in the second embodiment, when objects exist in a plurality of target areas AR at the same timing, the focal position control unit 34 gives priority to objects in the respective target areas AR. A focus position is set based on the priority information indicating the object. According to the second embodiment, even when objects move to a plurality of target areas AR at the same time, the focal position can be appropriately set based on the priority information.

The focus position control unit 34 may focus on the object positioned in the priority target area AR without adjusting the focus position on the object positioned other than the priority target area AR in the priority information. Therefore, even when objects move to a plurality of target areas AR at the same time, the focus position can be properly adjusted to the preferential object.

The focal position control unit 34 may switch the focal position so that the focal position overlaps with the object in each target area AR. In this case, the focus position control unit 34 makes the period during which the object located in the priority target area AR is focused longer than the period during which the focus position is aligned with the object located in the target area AR other than the priority target area AR. Lengthen. Therefore, the priority object can be focused longer.

(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. 9 is a schematic diagram illustrating an example in which motion of an object is set as a predetermined condition. In the example of FIG. 9, the predetermined condition is that the object moves downward in the vertical direction (direction opposite to the Z direction), that is, the moving direction of the object. In the example of FIG. 9, 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.

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 AR1 first target area AR2 second target area AX1 first position AX2 second position L1 first distance L2 second distance

Claims (9)

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 plurality of target regions located between a first position at a first distance from the imaging device and a second position at a second distance shorter than the first distance from the imaging device. a target area acquisition unit that acquires position information;
a focus position control unit that controls the focus position of the imaging device;
has
For each of the target areas, the focus position control unit adjusts the focus position to the object if an object exists in the target area.
Imaging device. At least a first target region and a second target region are set as the plurality of target regions, and when an object exists in the second target region, the focus position is adjusted to the object, and the 2. The imaging according to claim 1, wherein the imaging device is caused to execute a predetermined process, and when an object exists within the first target area, the predetermined process is not executed while the focus position is adjusted to the object. Device. The predetermined process includes at least a process of capturing an image of the object, a process of irradiating the object with light, and a process of outputting information indicating that the object exists in the second target area. 3. The imaging device of claim 2, wherein there is one. 4. The imaging device according to claim 2, wherein said second target area is surrounded by said first target area. When an object exists in a plurality of target areas at the same timing, the focus position control unit sets the focus position based on priority information indicating a priority target area among the target areas. The imaging device according to any one of claims 1 to 4. 6. The imaging apparatus according to claim 5, wherein the focus position control unit does not adjust the focus position to an object positioned outside the priority target area, but adjusts the focus position to an object positioned in the priority target area. . The focal position control unit switches the focal position so that the focal position overlaps the object in each of the target regions, and adjusts the period in which the focal position is adjusted to the object located in the priority target region. 6. The image pickup apparatus according to claim 5, wherein the period for adjusting the focus position on an object located in a target area other than a priority target area is set longer. An imaging method for imaging an object,
a step of acquiring position information of an object existing in the imaging area;
Positions of a plurality of target regions located between a first position at a first distance from an imaging device and a second position at a second distance from the imaging device at a second distance shorter than the first distance. obtaining information;
controlling the focus position of the imaging device;
including
In the step of controlling the focus position, for each of the target regions, if an object exists within the target region, the focus position is adjusted to the object;
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;
Positions of a plurality of target regions located between a first position at a first distance from an imaging device and a second position at a second distance from the imaging device at a second distance shorter than the first distance. obtaining information;
controlling the focus position of the imaging device;
causing said computer to execute
In the step of controlling the focus position, for each of the target regions, if an object exists within the target region, the focus position is adjusted to the object;
program.

Images