JP3755260B2

JP3755260B2 - Imaging device

Info

Publication number: JP3755260B2
Application number: JP31193997A
Authority: JP
Inventors: 一成雲井
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 1997-11-13
Filing date: 1997-11-13
Publication date: 2006-03-15
Anticipated expiration: 2017-11-13
Also published as: JPH11146261A

Description

【０００１】
【発明の属する技術分野】
この発明は、車両、船舶、航空機などの移動体に搭載される撮像装置において、ブレのない安定な画像を得るための画像ずれ補正手段を備えた撮像装置に関するものである。
【０００２】
【従来の技術】
図７に移動体に搭載される撮像装置全般の運用形態の例を示す。図において、１は撮像装置である。図のように、撮像装置は航空機のような移動体１ａに搭載され、遠距離にある物体、暗闇下にある人体など、肉眼では視認しにくい被写体１ｂを画像として捕え、移動体に設置されたモニタ、あるいは基地局に設置されたモニタ等に映像として映し出し操作する人の視認を可能とする物である。
【０００３】
図８は従来の撮像装置の一例を示す図で、（ａ）は撮像装置を上から見た断面図、（ｂ）は（ａ）を紙面右側の側面から見た断面図、（ｃ）は（ａ）を紙面上方の側面から見た断面図である。図において、１１は装置全体を支える筐体、１２はその筐体に固定されるジンバルベース、１３はジンバルベース１２に固定され内輪が自由に回転することのできる旋回軸受、１４は旋回軸受１３の内輪に固定された旋回フレーム、１５は旋回フレーム１４に固定されたウインドシェル、１６はウインドシェル１５に固定され内輪が自由に回転することのできる俯仰軸受、１７は俯仰軸受１６の内輪に固定された俯仰フレーム、２１は上記ウインドシェル１５に固定され外部から発せられた光を装置内部に導くウインドウ、２２は上記俯仰フレーム１７に固定されウインドウ２１から導かれた光を集光する第１のレンズ、２３は同じく俯仰フレーム１７に固定され、第１のレンズ２２が集光した光を俯仰軸受の回転軸（俯仰軸）に平行な方向に反射するミラーやプリズム等のような光学部品を有する第１の反射手段、２４は俯仰フレーム１７に固定され、第１の反射手段２３が反射した光を屈折する第２のレンズ、２５はウインドシェル１５に固定され、第２のレンズ２４で屈折した光を反射するミラーのような光学部品を有する第２の反射手段、２６はウインドシェル１５に固定され、第２の反射手段２５に導かれた光を反射する第３の反射手段、２７は旋回フレーム１４に固定され、第３の反射手段２６に導かれた光を旋回軸受の回転軸（旋回軸）に平行な方向に光を反射するミラーのような光学部品を有する第４の反射手段、２８は旋回フレーム１７に固定され第２の反射手段２５、第３の反射手段２６、第４の反射手段２７を支える反射手段支持フレーム、３１は上記ジンバルベース１２と旋回フレーム１４にそれぞれステータ、ロータが固定され旋回フレーム１４を駆動するための旋回モータ、３２はウインドシェル１５と俯仰フレーム１７にそれぞれステータ、ロータが固定され俯仰フレーム１７を駆動するための俯仰モータ、３３は俯仰フレーム１７の俯仰および旋回方向の角速度を検出するジャイロ、１０は上記１１〜３３のジンバル機構で構成される視軸安定系、４１は第４の反射手段２７に導かれた光を反射するミラーのような光学部品を有する第５の反射手段、４２は第５の反射手段４１が反射した光を集光する第３のレンズ、４３は筐体１１に固定され反射手段４１とレンズ４２を支える光学フレーム、４０は上記４１〜４３で構成される光学系、５１は筐体１１に固定されレンズ４２が結像した画像を電気信号に変換する撮像素子５２を有し、図示されないケーブルあるいはＣＲＴのようなモニタに映像情報を出力する撮像機である。
【０００４】
一般に高解像度、高感度の撮像機は大型なものになる。そのため、撮像機をウインドシェル内に配置するにはウインドシェルを大型化するか、さもなければ他の筐体を設けて、撮像機をウインドシェル内以外の他の筐体の中に配置することとなる。また、撮像機が搭載される移動体１ａを構成する上では、移動体１ａの外部にはできるだけ突起部を避けることが望ましく、止むを得ず突起させるときにも空気抵抗を小さくし、軽量化し、美観を損なわない等の目的でできるだけ小型化する方が望ましい。すなわち、撮像機をウインドシェル内に収めることが難しくなり、図８のように視軸安定系を構成するウインドシェル外に撮像機を配置し、ウインドシェルを介して入射する映像を光学系を介して光学的に導くことが必要となり、上記のような構成をとることが多い。
【０００５】
従来の撮像装置は上記のように構成され、外部の光を導入・屈折・反射し撮像機５１に導き、撮像装置外部に映像信号を送信する。しかし、撮像装置全体が搭載される移動体１ａの母体は常に旋回・動揺・振動などの運動をしているため、撮像装置は常にその影響を受け、そのままでは視線（第１のレンズ２２の視軸１ｃ）は一定しない。そこで、俯仰フレーム１７に搭載されたジャイロ３３によって視線の角速度を検出し、旋回モータ３１と俯仰モータ３２を駆動制御し、ジャイロ３３の角速度が零となる方向に旋回フレーム１４と俯仰フレーム１７を回転させることにより、視線を一定の方向に安定させ、ブレのない画像を得ていた。例えば、図９（ａ）に示すように移動体１ａの母体が旋回する場合、撮像装置の視軸安定部１０は、旋回フレーム１４に固定されたウインドシェル１５を旋回させて視線が一定の方向を向くように駆動制御される。また、図９（ｂ）に示すように移動体１ａの母体が動揺する場合、撮像装置の視軸安定部１０は、俯仰フレーム１７を俯仰させて視線が一定方向を向くように駆動制御されていた。
【０００６】
【発明が解決しようとする課題】
従来の撮像装置は上記のように構成されているので、母体全体の動揺など装置全体が傾斜することにより発生する画像のブレに対しては、視線の動きによる角速度をジャイロ３３によって検出することができるので、視線を空間に対し安定させることができ、画像のブレに対する補正が可能であった。しかし、撮像装置がマウントされる母体のひずみや動揺加速度その他の外力などにより図１０に示すように撮像装置を支持する筐体１１そのものが変形し、光学系４０と撮像機５１が相対変位した場合、図のようにジャイロ３３の角速度が零に保たれ、視軸安定系１０の視線の方向が一定であっても、撮像機５１の撮像素子５２上を画像が移動することになり、ブレとなって映像に現れるという課題があった。
【０００７】
また、撮像装置を支持する筐体１１が変形する場合でなくても、図１１のように風圧などの外力を受けて視軸安定系１０を構成するジンバルベース１２、旋回軸受１３、旋回フレーム１４、ウインドシェル１５等が歪み変形することにより、旋回軸受１３付近を支点として、変形し傾いた場合、俯仰フレーム１７の角速度が零に保たれ、視軸安定系１０の視線が一定していても、視軸安定系１０から撮像機５１に対して出射される光の光軸と撮像機５１の光軸との相対位置とがずれて画像がずれるという課題もあった。
【０００８】
例えば、図１２に従来の撮像装置の画像および映像信号の流れを表したブロック図を示す。被写体から撮像装置１内部に入射した画像Ａは２２〜２４を介し２５〜２７へ至る。２２〜２４での外乱は上記のようにジャイロ３３で検出でき補正が可能であるため外乱入力として現れない。しかし、２５〜２７で入力される外乱Ｃ（たとえば上記の図１０、１１における振動・衝撃や風圧による変形）はＡ＋Ｃとなって撮像機５１に入力される。画像Ａは被写体の移動により変動する予測不可能な変動値である。外乱Ｃも予測不可能な変動値である。よって撮像機５１から出力される映像信号Ａ＋Ｃからでは、ＡとＣがどちらも変動値であるので、どちらが変動したのか判別することができず、両者を分離することができないため、外乱Ｃを補正することが必要となっていた。
【０００９】
一方、従来外乱Ｃを補正する方法として、撮像機によって得られた画像を時系列に羅列し比較することにより、補正を加えるという手段があった。しかし、この方法の場合、移動しない固定された被写体に対しては有効であるが、移動することが予想される被写体に対しては、画像のずれであるのか被写体の移動によるものなのかを判別することができなかった。
【００１０】
このため、画像処理によって背景と被写体を識別し、背景の動きから画像のずれを判別するという手段が考えられていたが、航空機のように上空を移動する被写体に対しては、背景が単色の空であることが多いので、背景の動きを検出することはできないという課題があった。
【００１１】
この発明は上記のような課題を解決するためになされたもので、車両、船舶、航空機のような母体全体の動揺に対して視線を安定させることに加え、撮像装置を支持する筐体の変形や、視軸安定系の傾きによって生じる画像ずれに対してまでも映像を安定させてブレのない映像を映すことのできる撮像装置を得ることを目的とする。
【００１２】
【課題を解決するための手段】
この発明に係る撮像装置は、自分自体の角速度を検出する手段を有し、上記角速度に基づいて視軸が一定方向を向くように制御され、外部からの入射光を所定の方向に伝達する視軸安定部と、上記視軸安定部に固定され、上記視軸に平行な視軸を有し、外部からの入射光を結像し映像を出力する第１の撮像手段と、上記視軸安定部から供給される光を結像する撮像素子を有する第２の撮像手段とを具備し、上記第２の撮像手段は、上記第１の撮像手段から得られる映像と上記撮像素子から得られる映像のずれを検出し、上記ずれを小さくするように上記撮像素子からの映像の切り出し位置を移動させる画像ずれ補正手段を有するものである。
【００１３】
また、この発明に係る撮像装置は、自分自体の角速度を検出する手段を有し、上記角速度に基づいて視軸が一定方向を向くように制御され、外部からの入射光を所定の方向に伝達する視軸安定部と、上記視軸安定部に固定され、上記視軸安定部からの出射光に平行な光を出射する発光手段と、上記視軸安定部からの出射光および上記発光手段から供給される光を結像する撮像素子を有する第２の撮像手段とを具備し、上記第２の撮像手段は、上記発光手段から供給され上記撮像素子に結像される像とこの像の基準位置との映像のずれを検出し、上記ずれを小さくするように上記撮像素子からの映像の切り出し位置を移動させる画像ずれ補正手段を有するものである。
【００１４】
また、この発明に係る撮像装置は、筐体と、上記筐体に対し旋回軸まわりに回動自在に支持される旋回部、上記旋回部に対し俯仰軸まわりに回動自在に支持される俯仰部、上記俯仰部に固定され、外部から入射する光を集光するレンズ、上記俯仰部に固定され、上記レンズの集光した光を俯仰軸に平行な方向に反射する第１の反射手段、上記俯仰部に固定され、上記レンズの光軸に平行な光軸を有し、外部からの入射光を結像し映像を出力する第１の撮像手段、上記旋回部に固定され、上記第１の反射手段から反射される光を上記旋回軸に平行な方向に反射する第２の反射手段、および上記俯仰部の角速度を検出し、上記角速度に基づいて上記レンズの視軸を一定方向に安定させるように上記旋回部と上記俯仰部を駆動させる視軸安定化手段とを有する視軸安定部と、上記筐体に固定され、上記第２の反射手段からの光を集光する光学部品と、上記光学部品によって集光された光を結像し映像を出力する撮像素子を有する第２の撮像手段とを備え、上記第２の撮像手段は、上記第１の撮像手段から得られる映像と上記撮像素子から得られる映像とのずれを検出し、上記ずれを小さくするように上記撮像素子からの映像の切り出し位置を移動させる画像ずれ補正手段を有するものである。
【００１５】
さらにまた、この発明に係る撮像装置は、筐体と、上記筐体に対し旋回軸まわりに回動自在に支持される旋回部、上記旋回部に対し俯仰軸まわりに回動自在に支持される俯仰部、上記俯仰部に固定され、外部から入射する光を集光するレンズ、上記俯仰部に固定され、上記レンズの集光した光を俯仰軸に平行な方向に反射する第１の反射手段、上記俯仰部に固定され、上記第１の反射手段から反射される光に平行な光を出射する発光手段、上記旋回部に固定され、上記第１の反射手段および上記発光手段から供給される光を上記旋回軸に平行な方向に反射する第２の反射手段、および上記俯仰部の角速度を検出し、上記角速度に基づいて上記レンズの視軸を一定方向に安定させるように上記旋回部と上記俯仰部を駆動させる視軸安定化手段とを有する視軸安定部と、上記筐体に固定され、上記第２の反射手段からの光を集光する光学部品と、上記光学部品によって集光された光を結像し映像を出力する撮像素子を有する撮像手段とを備え、上記撮像手段は、上記発光手段から出射され上記撮像素子で結像される像とこの像の基準位置との映像上のずれを検出し、上記ずれを小さくするように上記撮像素子からの映像の切り出し位置を移動させる画像ずれ補正手段を有するものである。
【００１６】
【発明の実施の形態】
実施の形態１．
以下、この発明の撮像装置の一実施の形態を図によって説明する。
【００１７】
図１はこの発明にかかる撮像装置の一例を示す図で、（ａ）は撮像装置を上から見た断面図、（ｂ）は（ａ）を紙面右側の側面から見た断面図、（ｃ）は（ａ）を紙面上方の側面から見た断面図である。図において、１０〜５１は従来の機器と同じ物で、６１は俯仰フレーム１７上の第１の反射手段２３近傍に固定された小型カメラである。
【００１８】
図２はこの発明にかかる撮像装置の画像および映像信号の流れを表したブロック図である。８１は撮像機５１から得られた映像と小型カメラ６１から得られた映像を比較し両者のずれ量を算出する映像ずれ比較回路、８３は映像ずれを補正した映像信号を出力する信号選択回路である。
【００１９】
この発明は図のように構成され、以下のように作用する。俯仰フレーム１７脇に設けられた小型カメラ（例えば解像度の低いモノクロ可視カメラ）６１によって、視軸安定系１０の視線方向に存在しウインドウ２１、第１のレンズ２２を介して入射する像の映像を取得し、その取得された常に視軸安定系１０の視線方向と同じ方向を向いた映像信号を、ケーブルのような信号伝達手段を通じて撮像機５１へ送る。
【００２０】
撮像機５１内部の撮像素子５２から得られた映像のみでは、撮像装置を支持する筐体１１や視軸安定系１０などの変形に伴う画像のズレなのか、被写体が移動したのかを判別することができない。しかし、小型カメラ６１は俯仰フレーム１７と常に同じ視線方向を指向しているので、小型カメラ６１の解像度の低い粗な映像に対し撮像素子５２からの解像度の高い密な映像がどれだけずれているのかを映像ずれ比較回路８１において比較することにより、変形に伴う画像のズレと被写体の移動を分離することが可能となる。
【００２１】
映像ずれ比較回路８１の処理の一例として、小型カメラ６１と撮像機５１の映像を、画像処理することにより被写体と背景を分離し、両方の画像における目標を図形として認識し、両方の図形の重心を算出し、その重心間の距離と相対位置を求めることによって、小型カメラ６１と撮像機５１の映像ずれの大きさと方向を求めることができるという方法がある。
【００２２】
例えば、通常の状態においては図３（ｂ）のように従来の装置と同じくブレのない安定した画像が得られる。よって、撮像機５１における撮像素子５２から映像信号を受ける信号選択回路８３において、破線イで囲まれた部分の信号を選択して読み出し、たとえばその信号をモニタへ送れば、モニタでは常に安定した映像を映し出すことができる。
【００２３】
しかし、振動・衝撃などの外力によって図１０のように撮像装置を支持する筐体１１が変形したとき、筐体１１の変形は、ジャイロ３３によって変形量を検知できず、またモータよって変形を修正できないので、筐体１１に固定された撮像機５１が変動し、ジャイロ３３に対し相対的に回転するため、撮像素子から出力される映像上で被写体の位置が移動する。例えば図３（ｂ）に示すように、通常の撮像素子からの映像上で破線イに囲まれた部分の中心に重心位置のあった被写体１ｂは、図３（ｃ）に示すように、筐体１１の変形によってその重心位置が矢印ロの方向に移動する。しかし、俯仰フレーム１７は、そこに固定されたジャイロ３３によって空間に対する角速度を検出し、この角速度が零になるように駆動制御されているので、ジャイロ３３近辺において俯仰フレーム１７に固定され、その視軸を第１のレンズ２３の視軸に一致させた小型カメラ６１も空間に対し安定するように保持される（この場合、小型カメラ６はジャイロ３３近辺にあるので、ジャイロ３３の示す角速度と同じ角速度になる。）。このため、小型カメラ６１は筐体１１の変形には関係なく視線の方向が一定するので、振動・衝撃などの外力による変形の影響を受けにくく、図３（ａ）のように、被写体１ｂの重心位置が映像上で破線イに囲まれた部分の中心にあり、常に安定した画像を捕えることになる。したがって、比較回路８１で算出された映像ずれの大きさと方向に基づき、信号選択回路８３において映像ずれを打ち消す方向に、映像ずれを打ち消す大きさの分だけ撮像機５１から来た信号の切り出し枠の位置を移動し、移動された切り出し枠内の映像を送る。
例えば図３（ｄ）に示すように、被写体１ｂの重心位置が破線ハに囲まれた部分の中心に来るように撮像素子からの映像信号の切り出し枠の位置を選択し、選択された映像信号を読み出して送信すれば、受信した側では常に安定した映像を移し出すことが可能となる。移動体１ａが航空機である場合、撮像装置から送信される被写体１ｂ（例えば他の航空機のような移動物体）の映像が機体に設置されたＣＲＴモニタで受信され、航空機のパイロットはＣＲＴモニタを通じて常に安定した高画質な映像を見られる。
【００２４】
次に、図１１のように風圧のような外力を受け、視軸安定系１０が旋回軸受１３を支点にして筐体１１に固定された撮像機５１に対し相対的に倒れ、撮像装置が変形した場合は、俯仰フレーム１７の角速度が零に保たれ、視軸安定系１０の視線が一定していても、視軸安定系１０から出てくる光の光軸と撮像機５１の光軸との相対位置がずれて映像のずれが生じる。しかし、この場合も上記の小型カメラ６１からの映像と同じように比較回路８１で映像のずれを算出し、信号選択回路８３で映像のずれを補正するように映像信号の切り出し枠の位置を変え、補正された映像信号を送れば、受信した側では被写体１ｂの映像ずれのない常に安定した映像を映し出すことが可能となる。
【００２５】
なお、この実施の形態では、図３において矢印イの方向に画像が移動したときの対処の例を示しているが、それぞれ撮像素子の切り出し方向を変えれば、他の方向の画像の移動にも対処できる。
【００２６】
続いて、図２によりこの実施の形態の画像および映像信号の流れを説明する。被写体から撮像装置１内部に入射した画像Ａは、レンズおよび反射手段２２〜２４を介し２５〜２７へ至ると同時に、小型カメラ６１にも入力される。２２〜２４に入射した画像は、従来の装置と同様２５〜２７で外乱Ｃ（たとえば上記の振動・衝撃や風圧による変形）を受け、Ａ＋Ｃとなって撮像機５１に入力される。画像Ａは被写体の移動により変動する予測不可能な変動値である。外乱Ｃも予測不可能な変動値である。一方、小型カメラ６１から入った画像はそこで映像信号に変換される画像のブレのない安定した映像信号となっているので、外乱Ｃの影響を受けない。比較回路８１には小型カメラ６１からの映像信号Ａと撮像機５１からの映像信号Ａ＋Ｃが入力される。ＡもＣも変動値であるが、比較回路８１においてＡとＡ＋Ｃを比較することにより、Ａ＋ＣのＡに対するずれ量、すなわちＣに相当する値を信号選択回路８３に出力する（模式的には（Ａ＋Ｃ）−Ａ→Ｃと書き表すことができる）。信号選択回路８３は撮像機５１からの映像信号Ａ＋Ｃと比較回路８１からずれ量Ｃが入力される。Ｃの値が分かっているので、Ａ＋Ｃの内からＡのみを抽出することが可能となる（模式的には（Ａ＋Ｃ）−Ｃ→Ａと書き表すことができる）。したがって映像信号Ａのみを出力できるため、外乱Ｃの影響を受けない画像を出力することが可能となる。
【００２７】
実施の形態２．
以下、撮像装置の一実施の形態を図によって説明する。
【００２８】
図４はこの発明にかかる撮像装置の一例を示す図である。図において、１０〜５１は従来の機器と同じ物で、７１は第１のレンズから入射する光が第１の反射手段２３において反射する反射面と相対する面側に配置され、第１の反射手段２３が反射する光の光軸と平行な方向に光軸を有するように、第１の反射手段２３に固定されたレーザ光源である。なお、第１の反射手段２３にはレーザ光を通すように穴を設けてある。本実施の形態においては、レーザ光を通すように第１の反射手段２３に穴を設けているが、片面の光を反射しその反対面から入射したレーザ光をとおすものであれば、この形態に限る必要はなく、ハーフミラーやプリズムなどの反射手段を用いてもかわまない。また、第１の反射手段２３に設けた穴は極小孔なので、画像全体に占める面積は小さく、その周辺の画像は少し暗くなるだけで、像が欠如することはない。
【００２９】
図５はこの発明にかかる撮像装置の働きの一例を示すブロック図である。８２はレーザ光の像の位置を識別する画像処理回路で、８３は実施の形態１と同じ物である。
【００３０】
この発明は図のように構成され、以下のように動作する。第１の反射手段２３の中心に設けられたレーザ光源（たとえば半導体レーザ）１７は、光軸と平行なレーザ光線を発している。撮像素子５２は第２、３、４、５の反射手段２５、２６、２７、４１を介してこのレーザ光線を受光し、素子上のどの位置にレーザ光線が当たっているか、常に知ることができる。
【００３１】
通常のレーザ光線の位置とそのときのレーザ光線の位置との差が画像のずれ量であると考えられる。あらかじめ、静的な状態で、レーザ光線の像の撮像素子５２上の位置（たとえば画面の中心から水平方向に零画素、垂直方向に零画素ずれた位置である等）を読取っておき、それを初期値とする。
画像処理回路８２において撮像機５１からの映像信号およびレーザ光源７１からのレーザ光線の像を画像処理することにより、両者を分離し、レーザ光線の像が撮像素子５２上のどの位置にあるか検出し、上記の初期値を減算することにより、レーザ光線の像のずれの大きさと方向を求めることができる。
レーザ光源７１は第１の反射手段２３に固定されているので、俯仰フレーム１７とともに空間に対し安定しているので、レーザ光源７１は常に画像内におけるブレのない安定した像を供給している。よって、撮像素子５２とレーザ光線の像の相対位置から、撮像装置を支持する筐体や視軸安定系の変形に伴う画像のズレ量のみを検出することが可能となる。
【００３２】
例えば、通常の状態においては図６（ａ）のように従来の装置と同じくブレのない安定した画像が得られる。よって、撮像機５１における撮像素子５２から映像信号を受ける信号選択回路８３において、破線イで囲まれた部分の信号を選択して読み出し、たとえばその信号をモニタへ送れば、モニタでは常に安定した映像を映し出すことができる。
【００３３】
しかし、振動・衝撃などの外力によって図１０のように撮像装置を支持する筐体１１が変形したとき、図６（ｂ）のように画像は矢印ロの方向に移動する。しかし、俯仰フレーム１７はジャイロ３３によって空間に対する角速度を検出しそれが零になるように駆動制御しているので、俯仰フレーム１７に固定された第１の反射手段２３およびレーザ光源７１も空間に対し安定するように保持される。よって、筐体１１の変形には関係なくレーザ光線の方向は一定するので、振動・衝撃などの外力による変形の影響を受けにくく、常に画像とともに移動することになる。よって、画像処理回路８２で算出したレーザ光線の像のずれの算出結果に基づき、映像ずれを打ち消す方向に信号選択回路８３において撮像機５１から来た信号を選択し切り出し位置を変えて、例えば、図６（ｃ）の破線ハで囲まれた部分の信号のみを選択して読み出し、映像信号を送れば、受信した側では常に安定した映像を映し出すことが可能となる。
【００３４】
次に、図１１のように風圧のような外力によって視軸安定系１０が撮像機５１に対して相対的に倒れ、撮像装置が変形したときも、画像のずれが生じる。しかし、上記と同様にレーザ光源７１の受光点の移動量を画像処理回路８２で検出し、信号選択回路８３で画像のずれを補正するように映像信号の切り出し枠を変え、補正された映像信号を送れば、受信した側では常に安定した映像を映し出すことが可能となる。
【００３５】
なお、この実施の形態では、図６において矢印イの方向に画像が移動したときの対処の例を示しているが、それぞれ撮像素子の切り出し方向を変えれば、他の方向の画像の移動にも対処できる。
【００３６】
続いて、図５によりこの実施の形態の画像および映像信号の流れを説明する。被写体から撮像装置１内部に入射した画像Ａはレンズおよび反射手段２２〜２４を介し２５〜２７に入力する。第１の反射手段２３にレーザ光源７１が設けられており、レーザ光線を発している。そのレーザ光線は画像内におけるレーザ光線の像の所定の位置を示す、位置情報Ｂ（一定値）を出力することにつながる。２２、２３に入射した画像Ａにレーザ光線の位置情報Ｂが重畳され、Ａ＋Ｂとなり２４〜２７に入力される。画像Ａと位置情報Ｂはそれぞれ従来の装置と同様２４〜２７で外乱Ｃ（たとえば上記の振動・衝撃や風圧による変形）を受け、画像は（Ａ＋Ｃ）＋（Ｂ＋Ｃ）となって撮像機５１に入力される。映像信号に変換された（Ａ＋Ｃ）＋（Ｂ＋Ｃ）が画像処理回路８２と信号選択回路８３に出力される。画像処理回路８２において映像信号（Ａ＋Ｃ）＋（Ｂ＋Ｃ）を（Ａ＋Ｃ）と（Ｂ＋Ｃ）に分離する。その分離の方法の一例として、被写体が発すると予想される光の波長帯とレーザ光線の波長帯が異なるようにレーザ光源７１の波長帯を設定し、波長帯の違いによって分離するという方法がある。画像Ａは被写体の移動により変動する予測不可能な変動値である。外乱Ｃも予測不可能な変動値である。一方、レーザ光源７１から発せられるレーザ光線による位置情報Ｂは一定値である。Ｂは所定の値であり一定値であるので、分離した（Ｂ＋Ｃ）からずれ量Ｃの値を抽出できる（模式的には（Ｂ＋Ｃ）−Ｂ→Ｃと書き表すことができる）。信号選択回路８３は撮像機５１からの映像信号（Ａ＋Ｃ）＋（Ｂ＋Ｃ）と比較回路８１からのずれ量Ｃが入力される。Ｃの値が分かっているので、（Ａ＋Ｃ）＋（Ｂ＋Ｃ）の内からＡ＋Ｂのみを抽出することが可能となる。模式的には（Ａ＋Ｃ）＋（Ｂ＋Ｃ）−２Ｃ→Ａ＋Ｂと書き表すことができる。したがって映像信号Ａ＋Ｂのみを出力できるため、外乱Ｃの影響を受けない画像を出力することが可能となる。なお、Ｂは映像の上では、光の点であり画面上を動かないので、問題とならない。一般的には、画面上には、視軸安定系１０の角度情報や画面の中心を示す十字印を表示することが多いため、光の点をその位置に設定することにより、画面上には現れないようにすることも可能である。
【００３７】
【発明の効果】
以上説明したとおり、この発明によれば、従来の装置では補正が不可能であった、撮像装置本体の歪みや視軸安定系の傾斜に伴う映像のブレを検出し補正することを可能としたので、常に安定した映像の表示が可能となるという効果がある。
【図面の簡単な説明】
【図１】この発明の撮像装置の実施の形態１を示す断面図。
【図２】この発明の実施の形態１の動作を示すブロック図。
【図３】この発明の実施の形態１の動作を示す概念図。
【図４】この発明の撮像装置の実施の形態２を示す断面図。
【図５】この発明の実施の形態２の動作を示すブロック図。
【図６】この発明の実施の形態２の動作を示す概念図。
【図７】撮像装置の運用形態を示す図。
【図８】従来の撮像装置の実施例を示す断面図。
【図９】従来の撮像装置の動作を示す図。
【図１０】撮像装置が外力により変形する様子を示す図。
【図１１】撮像装置が外力により変形する様子を示す図。
【図１２】従来の撮像装置の動作を示すブロック図。
【符号の説明】
１撮像装置、１０撮像系、１１筐体、１２ジンバルベース、１３旋回軸受、１４旋回フレーム、１５ウインドシェル、１６俯仰軸受、１７俯仰フレーム、２１ウインドウ、２２第１のレンズ、２３第１の反射手段、２４第２のレンズ、２５第２の反射手段、２６第３の反射手段、２７第４の反射手段、２８反射手段支持フレーム、３１旋回モータ、３２俯仰モータ、３３ジャイロ、４０光学系、４１第５の反射手段、４２第３のレンズ、５１撮像機、６１小型カメラ、７１レーザ光源、８１比較回路、８２画像処理回路、８３信号選択回路。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an imaging apparatus equipped with an image shift correction means for obtaining a stable image without blurring in an imaging apparatus mounted on a moving body such as a vehicle, a ship, and an aircraft.
[0002]
[Prior art]
FIG. 7 shows an example of the operation mode of the entire imaging apparatus mounted on the moving body. In the figure, reference numeral 1 denotes an imaging device. As shown in the figure, the imaging device is mounted on a moving body 1a such as an aircraft, and captures an object 1b that is difficult to see with the naked eye, such as an object at a long distance or a human body in the dark, and is installed on the moving body. It is an object that allows a person who is projected and operated as an image on a monitor or a monitor installed in a base station.
[0003]
8A and 8B are diagrams illustrating an example of a conventional imaging device, where FIG. 8A is a cross-sectional view of the imaging device viewed from above, FIG. 8B is a cross-sectional view of FIG. 8A viewed from the right side surface, and FIG. It is sectional drawing which looked at (a) from the side surface above the paper surface. In the figure, 11 is a housing that supports the entire apparatus, 12 is a gimbal base that is fixed to the housing, 13 is a slewing bearing that is fixed to the gimbal base 12 and the inner ring can freely rotate, and 14 is a slewing bearing 13. A swing frame fixed to the inner ring, 15 is a wind shell fixed to the swing frame 14, 16 is a lifting bearing fixed to the wind shell 15, and the inner ring can freely rotate, and 17 is fixed to the inner ring of the lifting bearing 16. A lifting frame 21 is a window that is fixed to the wind shell 15 and guides light emitted from the outside to the inside of the apparatus, and 22 is a first lens that is fixed to the lifting frame 17 and collects the light guided from the window 21. , 23 are also fixed to the elevation frame 17, and the light collected by the first lens 22 is parallel to the rotation axis (elevation axis) of the elevation bearing. First reflecting means 24 having optical parts such as reflecting mirrors and prisms, 24 is fixed to the elevating frame 17, a second lens that refracts the light reflected by the first reflecting means 23, and 25 is a windshell. The second reflecting means 26, which has an optical component such as a mirror that is fixed to 15 and reflects light refracted by the second lens 24, is fixed to the windshell 15 and led to the second reflecting means 25. Third reflecting means 27 for reflecting light, 27 is fixed to the turning frame 14, and mirror for reflecting the light guided to the third reflecting means 26 in a direction parallel to the rotation axis (turning axis) of the turning bearing. The fourth reflecting means 28 having optical components such as 28 is fixed to the turning frame 17, and the reflecting means supporting frame 31 for supporting the second reflecting means 25, the third reflecting means 26, and the fourth reflecting means 27 is provided. Above gin Rotation motor 32 for driving the slewing frame 14 with the stator and rotor fixed to the base 12 and the slewing frame 14, respectively, 32 for driving the swaying frame 17 with the stator and rotor fixed to the wind shell 15 and the elevation frame 17, respectively. The raising / lowering motor 33 is a gyro for detecting the raising / lowering of the raising / lowering frame 17 and the angular velocity in the turning direction, 10 is a visual axis stabilizing system constituted by the gimbal mechanisms 11 to 33, and 41 is led to the fourth reflecting means 27. Fifth reflecting means having an optical component such as a mirror for reflecting light, 42 is a third lens for collecting the light reflected by the fifth reflecting means 41, and 43 is fixed to the casing 11 and is the reflecting means 41. And an optical frame that supports the lens 42, 40 is an optical system composed of the above 41 to 43, 51 is fixed to the housing 11 and the lens 42 forms an image. This is an image pickup device having an image pickup element 52 for converting an image into an electric signal and outputting video information to a monitor (not shown) such as a cable or a CRT.
[0004]
In general, a high-resolution and high-sensitivity imager is large. Therefore, to arrange the image pickup device in the windshell, enlarge the windshell, or provide another case, and place the image pickup device in another case other than the inside of the windshell. It becomes. Further, in configuring the moving body 1a on which the image pickup device is mounted, it is desirable to avoid protrusions as much as possible outside the moving body 1a, and it is unavoidable to reduce air resistance and reduce weight when protruding. It is desirable to reduce the size as much as possible for the purpose of not deteriorating the beauty. That is, it becomes difficult to fit the image pickup device in the wind shell, and the image pickup device is arranged outside the wind shell constituting the visual axis stabilization system as shown in FIG. 8, and the image incident through the wind shell is transmitted through the optical system. Therefore, it is necessary to guide optically, and the above configuration is often adopted.
[0005]
The conventional imaging apparatus is configured as described above, introduces, refracts, and reflects external light, guides it to the imaging device 51, and transmits a video signal to the outside of the imaging apparatus. However, since the base body of the moving body 1a on which the entire image pickup apparatus is mounted always moves, such as turning, shaking, and vibration, the image pickup apparatus is always affected by this, and the line of sight (viewing the first lens 22 as it is). The axis 1c) is not constant. Therefore, the gyro 33 mounted on the elevation frame 17 detects the angular velocity of the line of sight, drives and controls the turning motor 31 and the elevation motor 32, and rotates the turning frame 14 and the elevation frame 17 in a direction in which the angular velocity of the gyro 33 becomes zero. By doing so, the line of sight was stabilized in a certain direction, and a blur-free image was obtained. For example, as shown in FIG. 9A, when the base body of the moving body 1a turns, the visual axis stabilizing unit 10 of the imaging apparatus turns the wind shell 15 fixed to the turning frame 14 so that the line of sight is constant. The drive is controlled so as to face. Also, as shown in FIG. 9B, when the base body of the moving body 1a is shaken, the visual axis stabilizing unit 10 of the imaging apparatus is driven and controlled so that the elevation frame 17 is elevated and the line of sight faces a certain direction. It was.
[0006]
[Problems to be solved by the invention]
Since the conventional imaging device is configured as described above, the gyro 33 can detect the angular velocity due to the movement of the line of sight for image blurring caused by the tilting of the entire device, such as the whole body shaking. As a result, the line of sight can be stabilized with respect to the space, and the image blur can be corrected. However, when the housing 11 itself supporting the imaging device is deformed as shown in FIG. 10 due to distortion of the mother body on which the imaging device is mounted, vibration acceleration, or other external force, the optical system 40 and the imaging device 51 are relatively displaced. As shown in the figure, even if the angular velocity of the gyro 33 is kept at zero and the direction of the line of sight of the visual axis stabilization system 10 is constant, the image moves on the image sensor 52 of the image pickup device 51, and blurring occurs. There was a problem of appearing in the video.
[0007]
Even if the housing 11 that supports the imaging apparatus is not deformed, the gimbal base 12, the swivel bearing 13, and the swivel frame 14 that form the visual axis stabilizing system 10 by receiving an external force such as wind pressure as shown in FIG. When the wind shell 15 or the like is deformed and deformed, and is deformed and tilted with the vicinity of the slewing bearing 13 as a fulcrum, the angular velocity of the elevation frame 17 is maintained at zero, and the line of sight of the visual axis stabilization system 10 is constant. There is also a problem in that the relative position between the optical axis of the light emitted from the visual axis stabilizing system 10 to the image pickup device 51 and the optical axis of the image pickup device 51 shifts and the image shifts.
[0008]
For example, FIG. 12 shows a block diagram showing the flow of images and video signals of a conventional imaging apparatus. An image A that has entered the imaging apparatus 1 from the subject reaches 25 to 27 via 22 to 24. The disturbances 22 to 24 do not appear as disturbance inputs because they can be detected and corrected by the gyro 33 as described above. However, the disturbance C input at 25 to 27 (for example, deformation due to vibration / impact or wind pressure in FIGS. 10 and 11 described above) is input to the image pickup device 51 as A + C. Image A is an unpredictable variation that varies with the movement of the subject. The disturbance C is also a fluctuation value that cannot be predicted. Therefore, from the video signal A + C output from the image pickup device 51, since both A and C are fluctuating values, it is impossible to determine which one has fluctuated, and the two cannot be separated, so the disturbance C is corrected. It was necessary to do.
[0009]
On the other hand, as a conventional method of correcting the disturbance C, there has been a means of correcting by arranging the images obtained by the imaging device in time series and comparing them. However, this method is effective for a fixed subject that does not move, but for a subject that is expected to move, it is determined whether the image is shifted or due to the movement of the subject. I couldn't.
[0010]
For this reason, there has been considered a means for discriminating the background and the subject by image processing and discriminating the deviation of the image from the movement of the background. However, for a subject moving in the sky like an aircraft, the background is monochromatic. Since it is often empty, there is a problem that it is impossible to detect the movement of the background.
[0011]
The present invention has been made to solve the above-described problems, and in addition to stabilizing the line of sight with respect to fluctuations of the entire mother body such as a vehicle, a ship, and an aircraft, the deformation of the casing that supports the imaging device Another object of the present invention is to obtain an imaging apparatus capable of stabilizing a video and projecting a blur-free video even with respect to an image shift caused by the tilt of the visual axis stabilization system.
[0012]
[Means for Solving the Problems]
The imaging apparatus according to the present invention has a means for detecting its own angular velocity, is controlled so that the visual axis is directed in a certain direction based on the angular velocity, and transmits the incident light from the outside in a predetermined direction. An axis stabilizing unit, a first imaging unit that is fixed to the visual axis stabilizing unit, has a visual axis parallel to the visual axis, forms an image of incident light from the outside, and outputs an image; and the visual axis stable A second imaging unit having an imaging element that forms an image of light supplied from the unit, wherein the second imaging unit includes an image obtained from the first imaging unit and an image obtained from the imaging element. The image shift correction means for detecting the shift and moving the cutout position of the video from the image sensor so as to reduce the shift is provided.
[0013]
In addition, the imaging apparatus according to the present invention has a means for detecting its own angular velocity, is controlled so that the visual axis is directed in a certain direction based on the angular velocity, and transmits incident light from the outside in a predetermined direction. From the visual axis stabilizing part, the light emitting means fixed to the visual axis stabilizing part and emitting light parallel to the light emitted from the visual axis stabilizing part, and the light emitted from the visual axis stabilizing part and the light emitting means. A second imaging unit having an imaging element that forms an image of the supplied light, and the second imaging unit includes an image supplied from the light emitting unit and focused on the imaging element, and a reference for the image An image shift correction unit that detects a shift of the image from the position and moves the cutout position of the image from the image sensor so as to reduce the shift.
[0014]
In addition, an imaging apparatus according to the present invention includes a housing, a turning portion supported to be rotatable about a turning axis with respect to the housing, and a raising / lowering supported to be rotatable about an elevation axis with respect to the turning portion. A first reflecting means fixed to the elevating part and collecting light incident from the outside, and being fixed to the elevating part and reflecting the light collected by the lens in a direction parallel to the elevating axis; A first imaging means fixed to the elevation part, having an optical axis parallel to the optical axis of the lens, imaging incident light from the outside and outputting an image; fixed to the swivel part; The second reflecting means for reflecting the light reflected from the reflecting means in a direction parallel to the turning axis, and the angular velocity of the elevation part are detected, and the visual axis of the lens is stabilized in a certain direction based on the angular velocity. Visual axis stabilization means for driving the swivel unit and the supine / elevating unit A visual axis stabilizing portion having an optical component, an optical component that is fixed to the housing and collects light from the second reflecting means, and an image that images the light collected by the optical component and outputs an image. A second imaging unit having an element, wherein the second imaging unit detects a deviation between an image obtained from the first imaging unit and an image obtained from the imaging element, and reduces the deviation. As described above, the image shift correction means for moving the cutout position of the image from the image pickup device is provided.
[0015]
Furthermore, an imaging apparatus according to the present invention is supported so as to be rotatable about an elevation axis with respect to the case, a turning part supported to be rotatable about a turning axis with respect to the case, and the turning part. An elevating part, a lens fixed to the elevating part and collecting light incident from the outside, a first reflecting means fixed to the elevating part and reflecting the light collected by the lens in a direction parallel to the elevating axis A light emitting means fixed to the elevation part and emitting light parallel to the light reflected from the first reflecting means; fixed to the swivel part and supplied from the first reflecting means and the light emitting means; A second reflecting means for reflecting light in a direction parallel to the turning axis, and an angular velocity of the elevation part, and the turning unit so as to stabilize the visual axis of the lens in a certain direction based on the angular velocity. Visual axis stabilization means for driving the supine and ridge portions; A visual axis stabilizing portion having an optical component that is fixed to the housing and collects light from the second reflecting means, and an imaging device that forms an image of the light collected by the optical component and outputs an image. The imaging means detects a deviation on the image between an image emitted from the light emitting means and imaged by the imaging element and a reference position of the image so as to reduce the deviation. And an image shift correction means for moving the cutout position of the video from the image sensor.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
Hereinafter, an embodiment of an imaging apparatus of the present invention will be described with reference to the drawings.
[0017]
1A and 1B are diagrams showing an example of an imaging apparatus according to the present invention, in which FIG. 1A is a sectional view of the imaging apparatus as viewed from above, FIG. 1B is a sectional view of FIG. ) Is a cross-sectional view of FIG. In the figure, reference numerals 10 to 51 are the same as conventional devices, and 61 is a small camera fixed in the vicinity of the first reflecting means 23 on the elevation frame 17.
[0018]
FIG. 2 is a block diagram showing the flow of images and video signals of the imaging apparatus according to the present invention. 81 is a video shift comparison circuit that compares the video obtained from the image pickup device 51 with the video obtained from the small camera 61 and calculates the shift amount between them, and 83 is a signal selection circuit that outputs a video signal with corrected video shift. is there.
[0019]
The present invention is configured as shown in the figure and operates as follows. A small camera (for example, a low-resolution monochrome visible camera) 61 provided on the side of the elevation frame 17 is used to display an image of an image that is present in the line-of-sight direction of the visual axis stabilizing system 10 and is incident through the window 21 and the first lens 22. The acquired video signal is always sent to the image pickup device 51 through a signal transmission means such as a cable.
[0020]
Only the image obtained from the image sensor 52 inside the image pickup device 51 is used to determine whether the image is shifted due to deformation of the casing 11 supporting the image pickup device, the visual axis stabilization system 10, or the like, or the subject has moved. I can't. However, since the small camera 61 is always directed in the same line-of-sight direction as the elevation frame 17, how much the high-resolution dense video from the image sensor 52 is shifted from the low-resolution coarse video of the small camera 61. In the video shift comparison circuit 81, it is possible to separate image displacement and subject movement due to deformation.
[0021]
As an example of the processing of the video shift comparison circuit 81, the subject and the background are separated by performing image processing on the video of the small camera 61 and the image pickup device 51, the target in both images is recognized as a figure, and the center of gravity of both figures There is a method in which the magnitude and direction of the image shift between the small camera 61 and the imaging device 51 can be obtained by calculating the distance between the center of gravity and the relative position.
[0022]
For example, in a normal state, as shown in FIG. 3B, a stable image having no blur can be obtained as in the conventional apparatus. Therefore, in the signal selection circuit 83 that receives a video signal from the image pickup device 52 in the image pickup device 51, a signal in a portion surrounded by a broken line a is selected and read, and if the signal is sent to the monitor, for example, a stable video is always displayed on the monitor. Can be projected.
[0023]
However, when the casing 11 that supports the imaging device is deformed as shown in FIG. 10 due to an external force such as vibration or impact, the deformation of the casing 11 cannot be detected by the gyro 33, and the deformation is corrected by the motor. Since the imaging device 51 fixed to the housing 11 fluctuates and rotates relative to the gyro 33, the position of the subject moves on the image output from the imaging device. For example, as shown in FIG. 3 (b), a subject 1b having a center of gravity at the center of a portion surrounded by a broken line a on an image from a normal image sensor is shown in FIG. 3 (c). The position of the center of gravity moves in the direction of arrow B due to the deformation of the body 11. However, the elevation frame 17 detects the angular velocity with respect to the space by the gyro 33 fixed thereto, and is driven and controlled so that this angular velocity becomes zero. Therefore, the elevation frame 17 is fixed to the elevation frame 17 in the vicinity of the gyro 33 and The small camera 61 whose axis coincides with the visual axis of the first lens 23 is also held so as to be stable with respect to the space (in this case, since the small camera 6 is in the vicinity of the gyro 33, it is the same as the angular velocity indicated by the gyro 33). Angular velocity.) For this reason, since the direction of the line of sight of the small camera 61 is constant regardless of the deformation of the casing 11, the small camera 61 is not easily affected by deformation due to external forces such as vibration and impact, and the subject 1b is not affected by the deformation as shown in FIG. The center of gravity position is at the center of the portion surrounded by the broken line a on the video, and a stable image is always captured. Therefore, based on the magnitude and direction of the video shift calculated by the comparison circuit 81, the signal selection frame 83 has a cut-out frame of the signal coming from the image pickup device 51 in the direction to cancel the video shift in the direction to cancel the video shift. Move the position and send the image in the moved clipping frame.
For example, as shown in FIG. 3D, the position of the cutout frame of the video signal from the image sensor is selected so that the center of gravity of the subject 1b comes to the center of the portion surrounded by the broken line C, and the selected video signal Can be read out and transmitted, the receiving side can always transfer a stable video. When the moving body 1a is an aircraft, an image of a subject 1b (for example, a moving object such as another aircraft) transmitted from the imaging device is received by a CRT monitor installed on the aircraft, and the pilot of the aircraft always passes through the CRT monitor. You can see stable high-quality video.
[0024]
Next, an external force such as wind pressure is received as shown in FIG. 11, and the visual axis stabilization system 10 falls relative to the imaging device 51 fixed to the housing 11 with the slewing bearing 13 as a fulcrum, so that the imaging device is deformed. In this case, even if the angular velocity of the elevation frame 17 is maintained at zero and the line of sight of the visual axis stabilization system 10 is constant, the optical axis of the light coming out of the visual axis stabilization system 10 and the optical axis of the image pickup device 51 The relative positions of the images shift and the image shifts. However, in this case as well, the image shift is calculated by the comparison circuit 81 in the same way as the image from the small camera 61, and the position of the cutout frame of the video signal is changed so as to correct the image shift by the signal selection circuit 83. If the corrected video signal is sent, the receiving side can always display a stable video with no video shift of the subject 1b.
[0025]
In this embodiment, FIG. 3 shows an example of handling when the image is moved in the direction of arrow A. However, if the cutout direction of the image sensor is changed, the image in the other direction can be moved. I can deal with it.
[0026]
Next, the flow of the image and video signal of this embodiment will be described with reference to FIG. The image A that has entered the imaging apparatus 1 from the subject reaches the 25-27 through the lens and the reflecting means 22-24, and is simultaneously input to the small camera 61. The images incident on 22 to 24 are subjected to disturbance C (for example, deformation due to the above-described vibration / impact and wind pressure) at 25 to 27 as in the conventional apparatus, and are input to the image pickup device 51 as A + C. Image A is an unpredictable variation that varies with the movement of the subject. The disturbance C is also a fluctuation value that cannot be predicted. On the other hand, the image entered from the small camera 61 is a stable video signal free from blurring of the image converted into the video signal there, so that it is not affected by the disturbance C. The comparison circuit 81 receives the video signal A from the small camera 61 and the video signal A + C from the imaging device 51. Although both A and C are fluctuating values, the comparison circuit 81 compares A and A + C to output a deviation amount of A + C with respect to A, that is, a value corresponding to C to the signal selection circuit 83 (typically ( A + C) -A → C). The signal selection circuit 83 receives the video signal A + C from the imaging device 51 and the shift amount C from the comparison circuit 81. Since the value of C is known, only A can be extracted from A + C (schematically (A + C) -C → A can be written). Therefore, since only the video signal A can be output, an image that is not affected by the disturbance C can be output.
[0027]
Embodiment 2. FIG.
Hereinafter, an embodiment of an imaging apparatus will be described with reference to the drawings.
[0028]
FIG. 4 is a diagram showing an example of an imaging apparatus according to the present invention. In the figure, 10 to 51 are the same as the conventional devices, and 71 is arranged on the surface side opposite to the reflecting surface on which the light incident from the first lens is reflected by the first reflecting means 23, and the first reflecting The laser light source is fixed to the first reflecting means 23 so as to have an optical axis in a direction parallel to the optical axis of the light reflected by the means 23. The first reflecting means 23 is provided with a hole through which laser light can pass. In the present embodiment, a hole is provided in the first reflecting means 23 so as to allow the laser beam to pass. However, as long as the laser beam incident on the opposite surface is reflected through this surface, this mode can be used. However, it is not necessary to use a reflecting means such as a half mirror or a prism. Moreover, since the hole provided in the 1st reflection means 23 is a very small hole, the area which occupies for the whole image is small, the image of the periphery only becomes a little dark, and an image is not missing.
[0029]
FIG. 5 is a block diagram showing an example of the operation of the imaging apparatus according to the present invention. 82 is an image processing circuit for identifying the position of the image of the laser beam, and 83 is the same as in the first embodiment.
[0030]
The present invention is configured as shown in the figure and operates as follows. A laser light source (for example, a semiconductor laser) 17 provided at the center of the first reflecting means 23 emits a laser beam parallel to the optical axis. The image pickup element 52 receives this laser beam through the second, third, fourth, and fifth reflecting means 25, 26, 27, and 41, and can always know which position on the element the laser beam strikes. .
[0031]
The difference between the position of the normal laser beam and the position of the laser beam at that time is considered to be the image shift amount. In advance, in a static state, the position of the image of the laser beam on the image sensor 52 (for example, a position shifted by zero pixels in the horizontal direction and zero pixels in the vertical direction from the center of the screen) is read, and this is initialized. Value.
The image processing circuit 82 performs image processing on the video signal from the image pickup device 51 and the image of the laser beam from the laser light source 71, thereby separating the two and detecting where the image of the laser beam is on the image sensor 52. Then, by subtracting the initial value, the magnitude and direction of the laser beam image shift can be obtained.
Since the laser light source 71 is fixed to the first reflecting means 23, it is stable with respect to the space together with the elevation frame 17, so that the laser light source 71 always supplies a stable image without blurring in the image. Therefore, it is possible to detect only the image shift amount due to the deformation of the housing supporting the imaging device and the visual axis stabilization system from the relative positions of the imaging element 52 and the laser beam image.
[0032]
For example, in a normal state, as shown in FIG. 6A, a stable image having no blur can be obtained as in the conventional apparatus. Therefore, in the signal selection circuit 83 that receives a video signal from the image pickup device 52 in the image pickup device 51, a signal in a portion surrounded by a broken line a is selected and read, and if the signal is sent to the monitor, for example, a stable video is always displayed on the monitor. Can be projected.
[0033]
However, when the casing 11 that supports the imaging device is deformed as shown in FIG. 10 by an external force such as vibration or impact, the image moves in the direction of arrow B as shown in FIG. However, since the elevation frame 17 detects the angular velocity with respect to the space by the gyro 33 and is controlled to be zero, the first reflecting means 23 and the laser light source 71 fixed to the elevation frame 17 are also in relation to the space. Hold to be stable. Therefore, since the direction of the laser beam is constant regardless of the deformation of the casing 11, the direction of the laser beam is not easily affected by the external force such as vibration and impact, and the laser beam always moves with the image. Therefore, based on the calculation result of the image deviation of the laser beam calculated by the image processing circuit 82, the signal selection circuit 83 selects the signal coming from the imaging device 51 in the direction to cancel the image deviation, and changes the extraction position, for example, If only the signal in the portion surrounded by the broken line c in FIG. 6C is selected and read and a video signal is sent, a stable video can be always displayed on the receiving side.
[0034]
Next, as shown in FIG. 11, even when the visual axis stabilizing system 10 is tilted relative to the image pickup device 51 by an external force such as wind pressure, the image pickup device is deformed. However, similarly to the above, the moving amount of the light receiving point of the laser light source 71 is detected by the image processing circuit 82, and the cutout frame of the video signal is changed so that the image selection circuit 83 corrects the image shift, and the corrected video signal is corrected. , It is possible to always display a stable video on the receiving side.
[0035]
In this embodiment, FIG. 6 shows an example of handling when the image moves in the direction of arrow A. However, if the direction of the image pickup element is changed, the image in the other direction can be moved. I can deal with it.
[0036]
Next, the flow of the image and video signals of this embodiment will be described with reference to FIG. The image A that has entered the imaging apparatus 1 from the subject is input to 25 to 27 via the lens and the reflecting means 22 to 24. A laser light source 71 is provided on the first reflecting means 23 and emits a laser beam. The laser beam leads to outputting position information B (a constant value) indicating a predetermined position of the image of the laser beam in the image. The position information B of the laser beam is superimposed on the image A incident on the images 22 and 23 to be A + B and input to 24 to 27. The image A and the position information B are each subjected to disturbance C (for example, deformation due to the above-described vibration / impact or wind pressure) in the same manner as in the conventional apparatus, and the image becomes (A + C) + (B + C). Entered. The (A + C) + (B + C) converted into the video signal is output to the image processing circuit 82 and the signal selection circuit 83. In the image processing circuit 82, the video signal (A + C) + (B + C) is separated into (A + C) and (B + C). As an example of the separation method, there is a method in which the wavelength band of the laser light source 71 is set so that the wavelength band of the light expected to be emitted from the subject and the wavelength band of the laser beam are different, and separation is performed according to the difference in wavelength band. . Image A is an unpredictable variation that varies with the movement of the subject. The disturbance C is also a fluctuation value that cannot be predicted. On the other hand, the position information B by the laser beam emitted from the laser light source 71 is a constant value. Since B is a predetermined value and a constant value, the value of the shift amount C can be extracted from the separated (B + C) (schematically expressed as (B + C) −B → C). The signal selection circuit 83 receives the video signal (A + C) + (B + C) from the image pickup device 51 and the shift amount C from the comparison circuit 81. Since the value of C is known, only A + B can be extracted from (A + C) + (B + C). Typically, it can be expressed as (A + C) + (B + C) −2C → A + B. Therefore, since only the video signal A + B can be output, an image that is not affected by the disturbance C can be output. Note that B is a point of light on the image and does not move on the screen, so there is no problem. In general, the angle information of the visual axis stabilization system 10 and a cross mark indicating the center of the screen are often displayed on the screen, so by setting the light spot at that position, It is also possible not to appear.
[0037]
【The invention's effect】
As described above, according to the present invention, it has become possible to detect and correct image blur due to distortion of the imaging apparatus main body and inclination of the visual axis stabilization system, which cannot be corrected by the conventional apparatus. Therefore, there is an effect that it is possible to always display a stable image.
[Brief description of the drawings]
FIG. 1 is a sectional view showing Embodiment 1 of an imaging apparatus according to the present invention.
FIG. 2 is a block diagram showing the operation of the first embodiment of the present invention.
FIG. 3 is a conceptual diagram showing the operation of the first embodiment of the present invention.
FIG. 4 is a sectional view showing Embodiment 2 of the imaging apparatus of the present invention.
FIG. 5 is a block diagram showing the operation of the second embodiment of the present invention.
FIG. 6 is a conceptual diagram showing the operation of the second embodiment of the present invention.
FIG. 7 is a diagram illustrating an operation mode of the imaging apparatus.
FIG. 8 is a cross-sectional view showing an example of a conventional imaging apparatus.
FIG. 9 is a diagram illustrating an operation of a conventional imaging device.
FIG. 10 is a diagram illustrating a state in which the imaging device is deformed by an external force.
FIG. 11 is a diagram illustrating a state in which the imaging apparatus is deformed by an external force.
FIG. 12 is a block diagram showing the operation of a conventional imaging apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Imaging device, 10 Imaging system, 11 Housing | casing, 12 Gimbal base, 13 Rotating bearing, 14 Rotating frame, 15 Wind shell, 16 Hoisting bearing, 17 Hoisting frame, 21 Window, 22 1st lens, 23 1st reflection Means, 24 second lens, 25 second reflecting means, 26 third reflecting means, 27 fourth reflecting means, 28 reflecting means support frame, 31 turning motor, 32 elevation motor, 33 gyro, 40 optical system, 41 5th reflection means, 42 3rd lens, 51 imaging device, 61 small camera, 71 laser light source, 81 comparison circuit, 82 image processing circuit, 83 signal selection circuit.

Claims

A visual axis stabilizer that has a means for detecting its own angular velocity, is controlled so that the visual axis is directed in a certain direction based on the angular velocity, and transmits external incident light in a predetermined direction; and the visual axis The first imaging means fixed to the stable portion and having a visual axis parallel to the visual axis, forms an image of incident light from the outside and outputs an image, and the light supplied from the visual axis stable portion. A second image pickup unit having an image pickup device for imaging, wherein the second image pickup unit detects a shift between an image obtained from the first image pickup unit and an image obtained from the image pickup device. An image pickup apparatus comprising image shift correction means for moving a cutout position of a video image from the image pickup device so as to reduce the size of the image pickup device.

A visual axis stabilizer that has a means for detecting its own angular velocity, is controlled so that the visual axis is directed in a certain direction based on the angular velocity, and transmits external incident light in a predetermined direction; and the visual axis A light emitting unit that is fixed to the stabilizing unit and emits light parallel to the light emitted from the visual axis stabilizing unit, and an imaging element that forms an image of the light emitted from the visual axis stabilizing unit and the light supplied from the light emitting unit The second imaging means detects the image shift between the image supplied from the light emitting means and imaged on the imaging element and the reference position of the image, An image pickup apparatus comprising image shift correction means for moving a cutout position of a video from the image sensor so as to reduce the shift.

A housing, a turning portion supported to be rotatable about a turning axis with respect to the housing, a lifting portion supported to be rotatable about a raising / lowering shaft with respect to the turning portion, fixed to the raising / lowering portion, and externally A lens for condensing the light incident from the first and second elevating parts, and a first reflecting means for reflecting the light collected by the lens in a direction parallel to the elevating axis; A first imaging means that has an optical axis parallel to the optical axis, forms an image of incident light from the outside and outputs an image, and is fixed to the swivel unit and reflects light reflected from the first reflecting means; A second reflecting means for reflecting in a direction parallel to the turning axis, and an angular velocity of the elevation unit, and the turning unit and the elevation unit so as to stabilize the visual axis of the lens in a certain direction based on the angular velocity. A visual axis stabilizing part having a visual axis stabilizing means for driving, and the housing An optical component that is fixed and collects the light from the second reflecting means; and a second imaging means that has an imaging element that forms an image of the light collected by the optical component and outputs an image; The second imaging unit detects a shift between the video obtained from the first imaging unit and the video obtained from the image sensor, and determines a cutout position of the video from the image sensor so as to reduce the shift. An image pickup apparatus comprising image shift correction means for moving.

A housing, a turning portion supported to be rotatable about a turning axis with respect to the housing, a lifting portion supported to be rotatable about a raising / lowering shaft with respect to the turning portion, fixed to the raising / lowering portion, and externally A lens for condensing the light incident from the lens, fixed to the elevation part, and a first reflecting means for reflecting the light collected by the lens in a direction parallel to the elevation axis; fixed to the elevation part; A light emitting means for emitting light parallel to the light reflected from the reflecting means, fixed to the swivel unit, and reflecting light supplied from the first reflecting means and the light emitting means in a direction parallel to the swivel axis And a visual axis stabilizing means for detecting the angular velocity of the elevating part and driving the swivel part and the elevating part so as to stabilize the visual axis of the lens in a certain direction based on the angular velocity. Fixed to the housing An optical component that condenses the light from the second reflecting means, and an image pickup means that has an image pickup device that forms an image of the light collected by the optical component and outputs an image. A shift on the image between the image emitted from the light emitting means and formed on the image sensor and the reference position of the image is detected, and the cutout position of the image from the image sensor is moved so as to reduce the shift. An image pickup apparatus comprising an image shift correction unit.