JP6439166B1 - Imaging apparatus, imaging system, moving object, method, and program - Google Patents

Abstract

  An imaging apparatus according to the present invention includes an image sensor and an optical member disposed in front of the image sensor, vibrates the optical member at a first frequency that is a resonance frequency of the optical member, and further optically starts from the first frequency. After sweeping to a second frequency that is not the resonance frequency of the member, control is performed to vibrate the optical member at the first frequency.

Description

  The present invention relates to an imaging apparatus, an imaging system, a moving object, a method, and a program.

In Patent Document 1, first driving is performed to supply AC voltages having different phases to two piezoelectric elements, the phase difference of the two piezoelectric elements is different from that of the first driving, and the amplitude and frequency are set to the first. A foreign matter collecting method is disclosed in which second driving is performed to supply alternating voltages having different phases that are larger than those of the first driving.
Patent Document 1 JP 2010-44100 A

Challenges to be solved

  It is desired to more effectively remove deposits such as dust attached to the optical member.

General disclosure

  An imaging device according to one embodiment of the present invention may include an image sensor. The imaging device may include an optical member disposed in front of the image sensor. The imaging apparatus vibrates the optical member at a first frequency that is the resonance frequency of the optical member, and further sweeps from the first frequency to a second frequency that is not the resonance frequency of the optical member, and then vibrates the optical member at the first frequency. A control unit may be provided.

  The control unit oscillates the optical member at the first frequency to jump up the adhering matter attached to the optical member, and sweeps the adhering matter from the first frequency to the second frequency to move the adhering matter on the optical member. The deposit may be removed from the optical member by causing the deposit to jump up again by vibrating the optical member at a frequency.

  The first frequency may be the first resonance frequency of the optical member. The second frequency may be closer to the first frequency than the second resonance frequency of the optical member adjacent to the first resonance frequency.

  The first frequency exists between the second frequency and a third frequency that is not the resonance frequency of the optical member. After sweeping to the second frequency and further sweeping from the second frequency to the third frequency, the control unit may vibrate the optical member at the first frequency.

  The first frequency may be the first resonance frequency of the optical member. The second frequency may be closer to the first frequency than the second resonance frequency of the optical member adjacent to the first resonance frequency. The third frequency may be closer to the first frequency than the third resonance frequency of the optical member adjacent to the first resonance frequency and different from the second resonance frequency.

  The first frequency may be a secondary or higher resonance frequency of the optical member.

  The imaging device may further include an electromechanical conversion element attached to the optical member. The control unit may vibrate the optical member by supplying a control signal for controlling the vibration of the optical member to the electromechanical conversion element.

  The imaging system which concerns on 1 aspect of this invention may be provided with the said imaging device. The imaging system may include a support mechanism that supports the imaging device and adjusts the attitude of the imaging device.

  A moving body according to one embodiment of the present invention may move with the imaging system.

  The method according to an aspect of the present invention may include the step of vibrating the optical member at a first frequency that is a resonance frequency of the optical member disposed in front of the image sensor. The method may comprise sweeping from a first frequency to a second frequency that is not the resonant frequency of the optical member. The method may comprise vibrating the optical member at a first frequency.

  The program which concerns on 1 aspect of this invention may make a computer perform the step which vibrates an optical member with the 1st frequency which is the resonant frequency of the optical member arrange | positioned ahead of an image sensor. The program may cause the computer to execute a step of sweeping from the first frequency to a second frequency that is not the resonance frequency of the optical member. The program may cause the computer to execute a step of vibrating the optical member at the first frequency.

  Deposits attached to the optical member can be efficiently removed using one resonance frequency.

  The above summary of the present invention does not enumerate all of the features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a figure which shows an example of the external appearance of an unmanned aircraft. It is a figure which shows an example of the functional block of an unmanned aircraft. It is a figure which shows an example of a structure of a dust removal part. It is a figure which shows the external appearance of an example of an imaging mechanism. It is a figure which shows an example of the relationship between the resonant frequency of an optical member, and amplitude intensity. It is a figure which shows an example of the functional block of a dust removal control part. It is a figure which shows an example of a vibration process. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a vibration process. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a vibration process. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a vibration process. It is a figure which shows an example of a vibration process. It is a figure which shows an example of a vibration process. It is a flowchart which shows an example of the start procedure of a dust removal process. It is a figure for demonstrating an allowable angle. It is a flowchart which shows an example of the procedure of a dust removal process. It is a flowchart which shows an example of the procedure of a dust removal process. It is a flowchart which shows an example of the procedure of a dust removal process. It is a flowchart which shows an example of the procedure of a dust removal process. It is a flowchart which shows an example of the procedure of a dust removal process. It is an external appearance perspective view which shows an example of a stabilizer. It is a figure which shows an example of a hardware constitutions.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the claimed invention. Moreover, not all the combinations of features described in the embodiments are essential for the solution means of the invention. It will be apparent to those skilled in the art that various modifications or improvements can be made to the following embodiments. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The claims, the description, the drawings, and the abstract include matters that are subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are reserved.

  Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where a block is either (1) a stage in a process in which an operation is performed or (2) an apparatus responsible for performing the operation. May represent a “part”. Certain stages and “units” may be implemented by programmable circuits and / or processors. Dedicated circuitry may include digital and / or analog hardware circuitry. Integrated circuits (ICs) and / or discrete circuits may be included. The programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. The memory element or the like may be included.

  Computer-readable media may include any tangible device that can store instructions executed by a suitable device. As a result, a computer readable medium having instructions stored thereon comprises a product that includes instructions that can be executed to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of computer readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated A circuit card or the like may be included.

  The computer readable instructions may include either source code or object code written in any combination of one or more programming languages. The source code or object code includes a conventional procedural programming language. Conventional procedural programming languages include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA, C ++, etc. It may be an object-oriented programming language and a “C” programming language or a similar programming language. Computer readable instructions may be directed to a general purpose computer, special purpose computer, or other programmable data processing device processor or programmable circuit locally or in a wide area network (WAN) such as a local area network (LAN), the Internet, etc. ). The processor or programmable circuit may execute computer readable instructions to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

  FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10. The UAV 10 includes a UAV main body 20, a gimbal 50, a plurality of imaging devices 60, an imaging device 100, and a lens device 200. The gimbal 50, the imaging device 100, and the lens device 200 are examples of an imaging system. The UAV 10 is an example of a moving body propelled by a propulsion unit. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like.

  The UAV main body 20 includes a plurality of rotor blades. The plurality of rotor blades is an example of a propulsion unit. The UAV main body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotor blades. For example, the UAV main body 20 causes the UAV 10 to fly using four rotary wings. The number of rotor blades is not limited to four. The UAV 10 may be a fixed wing machine that does not have a rotating wing.

  The imaging device 100 is an imaging camera that images a subject included in a desired imaging range. The gimbal 50 supports the imaging device 100 and the lens device 200 in a rotatable manner. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 supports the imaging device 100 and the lens device 200 so as to be rotatable about a pitch axis using an actuator. The gimbal 50 further supports the imaging device 100 and the lens device 200 so as to be rotatable around the roll axis and the yaw axis using an actuator. The gimbal 50 may support the imaging device 100 or the lens device 200. The imaging device 100 may include a lens device 200. The gimbal 50 may change the posture of the imaging device 100 by rotating the imaging device 100 and the lens device 200 around at least one of the yaw axis, the pitch axis, and the roll axis.

  The imaging device 100 generates and records image data of an optical image formed through the lens device 200. The lens device 200 may be provided integrally with the imaging device 100. The lens device 200 may be a so-called interchangeable lens, and may be provided so as to be detachable from the imaging device 100.

  The plurality of imaging devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10. Two imaging devices 60 may be provided in the front which is the nose of UAV10. Two other imaging devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired and function as a stereo camera. Based on images picked up by a plurality of image pickup devices 60, three-dimensional spatial data around the UAV 10 may be generated. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 only needs to include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, the tail, the side surface, the bottom surface, and the ceiling surface of the UAV 10. The angle of view that can be set by the imaging device 60 may be wider than the angle of view that can be set by the imaging device 100. The imaging device 60 may have a single focus lens or a fisheye lens.

  FIG. 2 shows an example of functional blocks of the UAV 10. The UAV 10 includes a UAV control unit 30, a memory 32, a communication interface 34, a propulsion unit 40, a gimbal 50, an imaging device 60, an imaging device 100, and a lens device 200.

  The communication interface 34 communicates with an external transmitter. The communication interface 34 receives various commands for the UAV control unit 30 from a remote transmitter. The memory 32 stores a program necessary for the UAV control unit 30 to control the propulsion unit 40, the gimbal 50, the imaging device 60, the imaging device 100, and the lens device 200. The memory 32 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 32 may be provided inside the UAV main body 20. It may be provided so as to be removable from the UAV main body 20.

  The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a program stored in the memory 32. The UAV control unit 30 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and imaging of the UAV 10 according to instructions received from a remote transmitter via the communication interface 34. The propulsion unit 40 propels the UAV 10. The propulsion unit 40 includes a plurality of rotating blades and a plurality of drive motors that rotate the plurality of rotating blades. The propulsion unit 40 causes the UAV 10 to fly by rotating a plurality of rotor blades via a plurality of drive motors in accordance with a command from the UAV control unit 30.

  The lens device 200 includes a plurality of lenses 210, a lens moving mechanism 212, and a lens control unit 220. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least some or all of the plurality of lenses 210 are arranged to be movable along the optical axis. The plurality of lenses 210 may be interchangeable lenses that are detachably attached to the lens device 200. The lens moving mechanism 212 moves at least some or all of the plurality of lenses 210 along the optical axis. The lens control unit 220 drives the lens moving mechanism 212 in accordance with a lens control command from the imaging apparatus 100 to move one or a plurality of lenses 210 along the optical axis direction. The lens control command is, for example, a zoom control command and a focus control command.

  The imaging apparatus 100 includes an image sensor 120, a control unit 110, a memory 130, and a dust removal unit 300. The dust removing unit 300 includes an optical member 302 and an electromechanical conversion element 303. The optical member 302 is disposed in front of the image sensor 120. The optical member 302 may be made of a light transmissive material such as glass or quartz. The optical member 302 may be configured in a plate shape. “Light transmissive” means having a property of transmitting light. The light-transmitting material may be a material having a property that the light transmittance in the visible light region (350 nm to 780 nm) exceeds at least 50%. The electromechanical conversion element 303 is attached to the optical member 302. The electromechanical conversion element 303 converts electrical energy into mechanical energy. The electromechanical conversion element 303 may be, for example, a piezoelectric element.

  The control unit 110 includes an imaging control unit 112 and a dust removal control unit 114. The imaging control unit 112 controls imaging by the imaging device 100. The dust removal control unit 114 controls the dust removal process performed by the dust removal unit 300.

  FIG. 3 shows an example of the configuration of the dust removing unit 300. The dust removing unit 300 includes a frame 301, an optical member 302, an electromechanical conversion element 303, a wiring 304, and a wiring 305. The frame 301 supports the optical member 302. The electromechanical conversion element 303 may be attached to the optical member 302 via the frame 301. The electromechanical conversion element 303 is electrically connected to the dust removal control unit 114 via the wiring 304 and the wiring 305. A control signal supplied from the dust removal control unit 114 is transmitted to the electromechanical conversion element 303 via the wiring 304 and the wiring 305. The electromechanical conversion element 303 vibrates according to the control signal, and vibrates the optical member 302. By virtue of the vibration of the optical member 302, deposits such as dust attached to the optical member 302 are removed.

  FIG. 4 shows an appearance of an example of an imaging mechanism 400 that is a part of the imaging apparatus 100. The imaging mechanism 400 includes a support substrate 401, a heat sink 402, a lens mount 407, and a dust removal unit 300. A support substrate 401 is provided on one surface of the heat sink 402. The support substrate 401 supports the image sensor 120. An optical member 302 is provided on a surface of the support substrate 401 opposite to the heat dissipation plate 402 via a frame 301. A lens mount 407 is provided on the surface of the frame 301 opposite to the support substrate 401. The lens mount 407 has a support 404 on the outer periphery. The support 404 is configured integrally with the lens mount 407. The support body 404 is fixed to the support substrate 401 via a spring 403. The spring 403 adjusts the tilt of the support substrate 401. The support substrate 401 includes wiring 405. The support substrate 401 is connected to the control unit 110 via the wiring 405. The lens mount 407 has at least one electrical contact 408 and a wiring 406. The electrical contact 408 is connected to the control unit 110 via the wiring 406. A lens control command is transmitted from the imaging apparatus 100 to the lens apparatus 200 via the electrical contact 408.

  FIG. 5 shows an example of the relationship between the resonance frequency of the optical member 302 and the amplitude intensity. There is a primary resonance frequency of the optical member 302 in the vicinity of 40 kHz, and a secondary resonance frequency of the optical member 302 in the vicinity of 60 kHz. When the optical member 302 is vibrated using one resonance frequency, there are cases where it is difficult to remove deposits near the node. By vibrating the optical member 302 using two or more resonance frequencies, it is possible to eliminate places where the optical member 302 hardly removes deposits. On the other hand, it is not easy to design the optical member 302 and the electromechanical transducer 303 so that the amplitude intensity of each of the two or more resonance frequencies is increased. The number of man-hours can be significantly reduced in the case where the number of resonance frequencies to be used is one than in the case where the number of resonance frequencies to be used is plural.

  Therefore, the dust removal control unit 114 according to the present embodiment executes the dust removal process more efficiently using one resonance frequency.

  FIG. 6 is a diagram illustrating an example of functional blocks of the dust removal control unit 114. The dust removal control unit 114 includes a vibration control unit 115 and a specifying unit 116. The vibration control unit 115 controls the vibration by the dust removing unit 300. The vibration control unit 115 may control the vibration by the dust removing unit 300 in accordance with a vibration control command from the UAV control unit 30. The UAV control unit 30 may receive a dust removal request from the user via the communication interface 34. The UAV control unit 30 may transmit a vibration control command to the vibration control unit 115 in response to receiving the dust removal request.

  The vibration control unit 115 vibrates the optical member 302 at the first frequency that is the resonance frequency of the optical member 302, and further sweeps from the first frequency to a second frequency that is not the resonance frequency of the optical member 302, and then at the first frequency. The optical member 302 is vibrated. Here, the resonance frequency is a concept including a frequency band including a frequency in a predetermined range around a reference frequency. The resonance frequency is a concept including a frequency band including a frequency having an amplitude intensity of 70%, 80%, or 90% of the reference amplitude intensity from a frequency having the reference amplitude intensity. The resonance frequency is a concept including a frequency band including a frequency having an amplitude intensity from a frequency having a reference amplitude intensity to an amplitude intensity reduced by a predetermined decibel, for example, 3 decibels from the reference amplitude intensity. .

  The vibration control unit 115 oscillates the optical member 302 at the first frequency to jump up the adhering matter attached to the optical member 302 and sweeps the adhering matter on the optical member 302 by sweeping from the first frequency to the second frequency. The deposit may be removed from the optical member 302 by moving it and vibrating the optical member 302 at the first frequency so that the deposit jumps up again. The first frequency may be the first resonance frequency of the optical member 302. The first frequency may be a secondary or higher resonance frequency of the optical member 302. The second frequency may be closer to the first frequency than the second resonance frequency of the optical member 302 adjacent to the first resonance frequency. The second frequency may be a frequency having an amplitude intensity that is monotonically reduced from the amplitude intensity of the first frequency.

  The vibration control unit 115 may vibrate the optical member 302 at the first frequency after sweeping to the second frequency and further sweeping from the second frequency to a third frequency that is not the resonance frequency of the optical member 302. The first frequency may be between the second frequency and the third frequency. The third frequency may be closer to the first frequency than the third resonance frequency of the optical member 302 adjacent to the first resonance frequency and different from the second resonance frequency. The third frequency may be a frequency having an amplitude intensity that is monotonically reduced from the amplitude intensity of the first frequency.

  As shown in FIG. 7, the vibration control unit 115 vibrates the optical member 302 over a period t1 at a first frequency (eg, 60 kHz) that is a resonance frequency (eg, secondary resonance frequency) of the optical member 302, Further, after sweeping from the first frequency to a second frequency (for example, 70 kHz) that is not the resonance frequency of the optical member 302 over the period t2, the optical member is vibrated again at the first frequency over the period t3, thereby performing vibration processing. May be performed.

  FIG. 8A, FIG. 8B, and FIG. 8C show an example of the movement of the deposit when the vibration process shown in FIG. 7 is executed. First, as illustrated in FIG. 8A, the vibration control unit 115 causes the optical member 302 to vibrate at a first frequency that is a resonance frequency, so that the deposit 500 attached to the optical member 302 jumps up. Next, as illustrated in FIG. 8B, the vibration control unit 115 moves the deposit 500 on the optical member 302 by sweeping from the first frequency to the second frequency that is not the resonance frequency. By sweeping, the node of the optical member 302 moves, and the deposit 500 existing on the node portion also moves on the optical member 302. After that, as illustrated in FIG. 8C, the vibration control unit 115 causes the optical member 302 to vibrate at the first frequency, so that the deposit 500 jumps up again. Thereby, the deposit 500 is removed from the optical member 302. The vibration control unit 115 can remove the deposit 500 more reliably by repeating the above vibration processing. In this way, the deposit 500 in the vicinity of the node can be moved by sweeping the deposit 500 once at the resonance frequency and then sweeping it. Furthermore, the deposit 500 can be moved in a state where the adsorbing force between the deposit 500 and the optical member 302 is weakened. Therefore, according to this embodiment, deposits such as dust can be efficiently removed from the optical member 302 using one resonance frequency. Since one resonance frequency is used, the design of the optical member 302, the electromechanical transducer 303, etc. is facilitated.

  FIG. 9 shows another example of vibration processing using one resonance frequency. The vibration control unit 115 vibrates the optical member 302 over a period t1 at a first frequency (for example, 60 kHz) that is a resonance frequency (for example, a secondary resonance frequency) of the optical member 302, and further starts the optical member 302 from the first frequency. Sweep over a period t2 up to a second frequency (for example, 70 kHz) that is not the resonance frequency. Thereafter, the vibration control unit 115 suspends the vibration of the optical member 302 over the period t3, and then sweeps over the period t4 from the second frequency to a third frequency that is not the resonance frequency of the optical member 302 (for example, 48 kHz). To do. Thereafter, the optical member 302 is vibrated again over the period t5 at the first frequency.

  FIG. 10 shows another example of vibration processing using one resonance frequency. The vibration control unit 115 vibrates the optical member 302 over a period t1 at a first frequency (for example, 60 kHz) that is a resonance frequency (for example, a secondary resonance frequency) of the optical member 302, and further starts the optical member 302 from the first frequency. Sweep over a period t2 up to a second frequency (for example, 70 kHz) that is not the resonance frequency. Thereafter, the vibration control unit 115 suspends the vibration of the optical member 302 over the period t3, and then sweeps over the period t4 from the second frequency to a third frequency that is not the resonance frequency of the optical member 302 (for example, 48 kHz). To do. Thereafter, the vibration control unit 115 suspends the vibration of the optical member 302 over the period t5, and then vibrates the optical member 302 over the period t6 again at the first frequency.

  By the vibration treatment as described above, the deposits can be efficiently removed using one resonance frequency.

  The vibration control unit 115 may start vibration processing of the optical member 302 at an arbitrary timing. For example, the vibration control unit 115 may start the vibration process of the optical member 302 in response to the calibration of the gimbal 50 being executed. The gimbal 50 performs calibration by rotating the imaging device 100 and the lens device 200 around at least one of the yaw axis, the pitch axis, and the roll axis. When the calibration of the gimbal 50 is executed, the posture of the imaging device 100 changes. When the calibration of the gimbal 50 is executed, the posture of the imaging device 100 is shaken up and down and left and right. Therefore, when the calibration of the gimbal 50 is executed, the suction force between the optical member 302 and the deposit is weakened, and the deposit is easy to move. Therefore, the attached matter can be efficiently removed by starting the vibration processing of the optical member 302 in response to the calibration of the gimbal 50 being executed.

  The calibration of the gimbal 50 is executed at the time of initialization executed before the UAV 10 starts flying, for example.

  FIG. 11 is a flowchart illustrating an example of the start procedure of the dust removal process. Before the UAV 10 starts to fly, for example, in response to the power of the UAV 10 being turned on, the UAV control unit 30 initializes the configuration of the UAV 10 (S100). For example, the UAV control unit 30 initializes the configuration of the UAV 10 by confirming operations of various sensors included in the UAV 10, a drive motor that rotates the rotating blades, the gimbal 50, and the like. The UAV control unit 30 calibrates the gimbal 50 when confirming the operation of the gimbal 50. When the configuration of the UAV 10 is initialized, the dust removal control unit 114 starts dust removal processing (S102).

  As described above, by performing the dust removal process subsequent to the initialization of the configuration of the UAV 10, the optical member 302 can be vibrated in a state in which the deposits are easy to move. Therefore, the dust removal process can be executed effectively.

  By the way, when the gimbal 50 controls the posture of the imaging device 100 so that the imaging device 100 faces downward, the surface of the optical member 302 opposite to the image sensor 120 faces downward. In this state, when the dust removing unit 300 is operated, the deposits such as dust attached to the surface of the optical member 302 opposite to the image sensor 120 are likely to fall down in the vertical direction. As described above, the dust removal unit 300 is operated in consideration of the posture of the imaging device 100, so that the deposits attached to the optical member 302 can be effectively removed. On the other hand, when the posture of the image capturing apparatus 100 is controlled so that the image capturing apparatus 100 faces downward, the deposits removed from the optical member 302 may adhere to the lens 210. For this reason, it is preferable that the imaging apparatus 100 face downward so that the deposits removed from the optical member 302 do not fall on the lens 210.

  Therefore, the specifying unit 116 specifies whether or not the posture of the imaging apparatus 100 satisfies a predetermined posture condition. The specifying unit 116 is configured so that the orientation angle indicating the angle formed by the optical axis and the horizontal axis of the imaging device 100 is such that the imaging device 100 faces downward so that the attached matter removed from the optical member 302 does not fall on the lens 210. It may be specified whether the angle is within a predetermined allowable angle. The predetermined allowable angle may be determined based on at least one of the flange back of the imaging device 100, the mount inner diameter of the imaging device 100, and the sensor size of the image sensor 120. The flange back indicates the distance from the mount surface on which the lens device 200 of the imaging device 100 is mounted to the imaging surface of the image sensor 120. The mount inner diameter of the image pickup apparatus 100 indicates the diameter of the opening of the mount surface of the image pickup apparatus 100.

For example, as shown in FIG. 12, when the flange back of the imaging device 100 is L, the mount inner diameter of the imaging device 100 is D, and the height of the image sensor 120 is h, the allowable angle θ is defined by the following equation (1). May be.

  When the flange back L is 16.84 [mm], the mount inner diameter D is 46.4 [mm], and the height h of the image sensor is 24 [mm], the allowable angle θ is 25.57 [deg]. When the posture angle of the imaging apparatus 100 is larger than the allowable angle θ, the deposits removed from the optical member 302 are likely to fall onto the lens 210. Therefore, the specifying unit 116 specifies that the posture of the imaging device 100 satisfies a predetermined posture condition when the posture angle of the imaging device 100 is equal to or smaller than the allowable angle θ. The vibration control unit 115 executes a vibration process of the optical member 302 when the posture of the imaging apparatus 100 satisfies a predetermined posture condition. Thereby, the vibration processing of the optical member 302 is executed, and the deposits removed from the optical member 302 can be prevented from falling into the lens device 200.

  FIG. 13 is a flowchart illustrating an example of the procedure of the dust removal process. The procedure illustrated in FIG. 13 may be executed in a UAV 10 that includes the imaging device 100 and the gimbal 50 or an imaging system other than the UAV 10.

  The imaging apparatus 100 and the gimbal 50 are turned on (S200). The gimbal 50 starts an initial operation (S202). In the initial operation, the gimbal 50 performs calibration by rotating the imaging device 100 and the lens device 200 around at least one of the yaw axis, the pitch axis, and the roll axis. Next, the gimbal 50 adjusts the posture of the imaging device 100 to the posture for dust removal processing (S204). The gimbal 50 adjusts the posture of the imaging device 100 so that the posture angle of the imaging device 100 is equal to or smaller than the allowable angle θ. Thereafter, the vibration control unit 115 starts the dust removal process by vibrating the optical member 302 (S206). When the dust removal process is completed, the gimbal 50 restores the orientation of the imaging device 100 (S208). The gimbal 50 may adjust the posture of the imaging device 100 so that the optical axis of the imaging device 100 is horizontal.

  As described above, by adjusting the posture of the imaging device 100 before starting the dust removal process, the deposits removed from the optical member 302 can be prevented from falling into the lens device 200.

  For example, when the lens apparatus 200 is large, when the gimbal 50 is operated in a state where the UAV 10 has landed and the attitude of the imaging apparatus 100 is set to a predetermined attitude, the imaging apparatus 100 is directed downward. 200 may hit the ground. Therefore, it is preferable to raise the height of the imaging system including the imaging device 100 and the lens device 200 to a certain level before the orientation of the imaging device 100 is lowered. In other words, it is preferable to raise the UAV 10 until the height of the UAV 10 reaches a certain level before the orientation of the imaging device 100 is lowered.

  Therefore, the specifying unit 116 may specify the height of the imaging system. The specifying unit 116 may specify the height of the UAV 10 as the height of the imaging system. The specifying unit 116 may acquire information indicating the altitude acquired from the barometric altimeter or the GPS receiver included in the UAV 10 via the UAV control unit 30. The specifying unit 116 may specify the height of the imaging system from information indicating the altitude. When the height of the UAV 10 satisfies a predetermined height condition, the vibration control unit 115 controls the gimbal 50 so that the posture of the imaging device 100 satisfies the predetermined posture condition, so that the vibration of the optical member 302 is performed. Processing may begin. The vibration control unit 115 may control the posture of the imaging device 100 to a predetermined posture via the UAV control unit 30 and the gimbal 50 when the height of the UAV 10 satisfies a predetermined condition.

  FIG. 14 is a flowchart illustrating an example of a procedure for executing the dust removal process. The UAV 10 starts taking off (S300). The specifying unit 116 specifies the altitude of the UAV 10 as the height of the imaging system. The vibration control unit 115 determines whether the UAV 10 has risen to a predetermined height after the UAV 10 has taken off (S302). If the UAV 10 has risen above a predetermined height, the vibration control unit 115 controls the gimbal 50 via the UAV control unit 30 to control the posture of the imaging device 100 to a predetermined posture ( S304). The vibration control unit 115 may control the attitude of the imaging device 100 by controlling the gimbal 50 via the UAV control unit 30 so that the attitude angle of the imaging device 100 falls within the allowable angle θ. When the posture of the imaging device 100 is controlled to a predetermined posture, the vibration control unit 115 activates the dust removal unit 300 to start the dust removal process (S306).

  According to the above procedure, when the UAV 10 becomes equal to or higher than a predetermined height, for example, the posture of the imaging device 100 is changed downward. Therefore, even if the lens apparatus 200 provided in the imaging apparatus 100 is large, the lens apparatus 200 is prevented from colliding with the landing surface of the UAV 10 such as the ground when the attitude of the imaging apparatus 100 is to be lowered. it can. When the orientation of the imaging apparatus 100 is downward, the surface of the optical member 302 opposite to the image sensor 120 is downward. When the dust removing unit 300 is operated in this state, the adhered matter attached to the surface of the optical member 302 opposite to the image sensor 120 is likely to fall down in the vertical direction. Therefore, the removal of deposits can be performed efficiently. By controlling the posture of the imaging device 100 so that the posture angle of the imaging device 100 falls within the allowable angle θ, the deposit removed from the optical member 302 falls into the lens device 200 and adheres to the lens 210 and the like. Can be prevented.

  In some cases, the imaging apparatus 100 has already performed shooting before the UAV 10 has taken off. Therefore, if the orientation of the imaging apparatus 100 is turned downward in response to the UAV 10 reaching a predetermined altitude, the imaging performed by the imaging apparatus 100 that has already been performed may be affected. When the height of the imaging system satisfies a predetermined condition and shooting by the image sensor 120 of the imaging device 100 is not being executed, the vibration control unit 115 is configured to perform the imaging of the imaging device 100 via the UAV control unit 30 and the gimbal 50. It is preferable to control the posture to a predetermined posture. The vibration control unit 115 causes the imaging device 100 to face downward via the UAV control unit 30 and the gimbal 50 when the height of the imaging system satisfies a predetermined condition and shooting by the imaging device 100 is not being executed. In addition, the attitude of the imaging apparatus 100 may be controlled.

  FIG. 15 is a flowchart illustrating an example of a procedure for executing the dust removal process. The vibration control unit 115 is different from the flowchart shown in FIG. 14 in that it determines whether or not shooting by the imaging device 100 is in progress before controlling the posture of the imaging device 100.

  The UAV 10 starts taking off (S300). The specifying unit 116 specifies the altitude of the UAV 10 as the height of the imaging system. The vibration control unit 115 determines whether the UAV 10 has risen to a predetermined height after the UAV 10 has taken off (S302). If the UAV 10 has risen above a predetermined height, the specifying unit 116 specifies whether or not shooting is being performed by the imaging device 100. The vibration control unit 115 determines whether shooting by the imaging device 100 is being executed based on the specification result by the specifying unit 116 (S303). If shooting by the imaging device 100 is not being executed, the vibration control unit 115 controls the gimbal 50 via the UAV control unit 30 to control the posture of the imaging device 100 to a predetermined posture (S304). The vibration control unit 115 may control the gimbal 50 via the UAV control unit 30 to control the posture of the imaging device 100 so that the imaging device 100 faces downward. The gimbal 50 may adjust the posture of the imaging device 100 so that the posture angle of the imaging device 100 is equal to or smaller than the allowable angle θ. When the posture of the imaging device 100 is controlled to a predetermined posture, the vibration control unit 115 activates the dust removal unit 300 to start the dust removal process (S306).

  According to the above procedure, the posture of the imaging device 100 is changed when shooting by the imaging device 100 is not executed. As a result, the posture of the imaging device 100 is not changed regardless of the shooting while shooting by the imaging device 100 is being executed. The dust removing unit 300 can be operated in a state in which the surface opposite to the image sensor 120 of the optical member 302 faces downward without affecting the photographing performed by the imaging apparatus 100. Therefore, the dust removal processing by the dust removal unit 300 can be efficiently executed without affecting the photographing by the imaging device 100.

  After controlling the gimbal 50 so that the posture of the imaging device 100 satisfies the predetermined posture condition when the posture of the imaging device 100 does not satisfy the predetermined posture condition, the vibration control unit 115 performs the optical member 302. The vibration process may be executed. Therefore, the specifying unit 116 may specify whether or not the posture of the imaging device 100 satisfies a predetermined posture condition. The vibration control unit 115 may execute the vibration process of the optical member 302 when the posture of the imaging apparatus 100 satisfies a predetermined posture condition. When the attitude of the imaging apparatus 100 does not satisfy a predetermined attitude condition, the vibration control unit 115 controls the gimbal 50 so that the attitude of the imaging apparatus 100 satisfies a predetermined attitude condition. The vibration process may be started. The vibration control unit 115 notifies that the posture of the imaging device 100 should be adjusted so that the predetermined posture condition is satisfied when the posture of the imaging device 100 does not satisfy the predetermined posture condition, and the imaging device The vibration processing of the optical member 302 may be started in response to the 100 posture satisfying a predetermined posture condition.

  FIG. 16 is a flowchart illustrating an example of a procedure for executing the dust removal process. The imaging apparatus 100 and the gimbal 50 are turned on (S500). When the imaging device 100 and the gimbal 50 are mounted on the UAV 10, the power of the UAV 10 is turned on. The specifying unit 116 detects the posture of the imaging device 100 (S502). The vibration control unit 115 determines whether the posture angle of the imaging device 100 is within the allowable angle θ (S504). If the attitude angle of the imaging device 100 is within the allowable angle θ, the vibration control unit 115 starts dust removal processing (S506). On the other hand, the vibration control unit 115 controls the posture of the imaging device 100 so that the posture angle of the imaging device 100 is within the allowable angle θ (S508). The vibration control unit 115 may control the attitude of the imaging device 100 by controlling the gimbal 50 via the UAV control unit 30 and the gimbal 50. The vibration control unit 115 may control the posture of the imaging apparatus 100 by controlling the posture of the UAV 10 via the UAV control unit 30. The vibration control unit 115 may control the attitude of the imaging apparatus 100 by controlling the gimbal 50 and the UAV 10 via the UAV control unit 30 and the gimbal 50.

  Thereby, when the posture angle of the imaging device 100 is not within the allowable angle θ, the vibration control unit is controlled after controlling the posture of the imaging device 100 so that the posture angle of the imaging device 100 is within the allowable angle θ. 115 executes vibration processing of the optical member 302. Therefore, it is possible to more reliably prevent the deposit removed from the optical member 302 from falling into the lens device 200.

  FIG. 17 is a flowchart illustrating an example of a procedure for executing the dust removal process. The imaging apparatus 100 and the gimbal 50 are turned on (S500). When the imaging device 100 and the gimbal 50 are mounted on the UAV 10, the power of the UAV 10 is turned on. The specifying unit 116 detects the posture of the imaging device 100 (S502). The vibration control unit 115 determines whether the posture angle of the imaging device 100 is within the allowable angle θ (S504). If the attitude angle of the imaging device 100 is within the allowable angle θ, the vibration control unit 115 starts dust removal processing (S506). On the other hand, if the posture angle of the imaging device 100 is not within the allowable angle θ, the vibration control unit 115 warns the user to keep the posture angle of the imaging device 100 within the allowable angle θ (S510). The vibration control unit 115 may warn the user by notifying that the posture of the imaging apparatus 100 should be adjusted so that a predetermined posture condition is satisfied. For example, the vibration control unit 115 may notify the user by displaying a message “Please keep the camera posture within a predetermined range” on the display unit of the terminal operated by the user. When the imaging device 100 and the gimbal 50 are mounted on the UAV 10, a message may be displayed on a display unit provided in a transmitter that operates the UAV 10. Upon receiving the notification, the user may control at least one of the gimbal 50 and the UAV 10 via the transmitter to control the attitude of the imaging apparatus 100 so that the attitude angle of the imaging apparatus 100 is within the allowable angle θ. . When notifying the imaging device 100 held by the user of the message, the vibration control unit 115 may display the message on the display unit included in the imaging device 100. Then, the user may adjust the posture of the imaging device 100 so that the posture angle of the imaging device 100 is within the allowable angle θ. Thereafter, when the specifying unit 116 detects that the posture angle of the imaging apparatus 100 is within the allowable angle θ, the vibration control unit 115 may start the dust removal process.

  Thereby, when the posture angle of the imaging device 100 is not within the allowable angle θ, the posture of the imaging device 100 is determined in accordance with a user instruction or operation so that the posture angle of the imaging device 100 is within the allowable angle θ. After controlling the vibration, the vibration control unit 115 executes vibration processing of the optical member 302. Therefore, it is possible to more reliably prevent the deposit removed from the optical member 302 from falling into the lens device 200.

  FIG. 18 is an external perspective view showing an example of the stabilizer 800. In the above, the UAV 10 in which the imaging device 100 having the dust removing unit 300 is mounted has been described. However, the imaging device 100 having the dust removing unit 300 may not be mounted on the UAV 10. The imaging device 100 having the dust removing unit 300 may be mounted on a moving body other than the UAV 10. For example, the camera unit 813 mounted on the stabilizer 800 may have the dust removing unit 300.

  The stabilizer 800 includes a camera unit 813, a gimbal 820, and a handle portion 803. The gimbal 820 supports the camera unit 813 in a rotatable manner. The gimbal 820 has a pan axis 809, a roll axis 810, and a tilt axis 811. The gimbal 820 supports the camera unit 813 so as to be rotatable about a pan axis 809, a roll axis 810, and a tilt axis 811. The gimbal 820 is an example of a support mechanism. The camera unit 813 is an example of an imaging device. The camera unit 813 has a dust removing unit 300 inside. The camera unit 813 has a slot 812 for inserting a memory. The gimbal 820 is fixed to the handle portion 803 via the holder 807.

  The handle portion 803 has various buttons for operating the gimbal 820 and the camera unit 813. The handle portion 803 includes a shutter button 804, a recording button 805, and an operation button 806. By pressing the shutter button 804, a still image can be recorded by the camera unit 813. When the recording button 805 is pressed, a moving image can be recorded by the camera unit 813.

  A device holder 801 is fixed to the handle portion 803. The device holder 801 holds a mobile device 802 such as a smartphone. The mobile device 802 is communicably connected to the stabilizer 800 via a wireless network such as WiFi. Thereby, an image captured by the camera unit 813 can be displayed on the screen of the mobile device 802.

  According to the stabilizer 800 configured as described above, the deposits can be efficiently removed using one resonance frequency. The deposits removed from the optical member 302 can be more reliably prevented from falling into the lens device 200.

  FIG. 19 illustrates an example of a computer 1200 in which aspects of the present invention may be embodied in whole or in part. A program installed in the computer 1200 can cause the computer 1200 to function as an operation associated with the apparatus according to the embodiment of the present invention or as one or more “units” of the apparatus. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more “units”. The program can cause the computer 1200 to execute a process according to an embodiment of the present invention or a stage of the process. Such a program may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

  A computer 1200 according to this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other by a host controller 1210. The computer 1200 also includes a communication interface 1222 and an input / output unit, which are connected to the host controller 1210 via the input / output controller 1220. Computer 1200 also includes ROM 1230. The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit.

  The communication interface 1222 communicates with other electronic devices via a network. A hard disk drive may store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores therein a boot program executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, a USB memory, or an IC card or a network. The program is installed in the RAM 1214 or the ROM 1230 that is also an example of a computer-readable recording medium, and is executed by the CPU 1212. Information processing described in these programs is read by the computer 1200 to bring about cooperation between the programs and the various types of hardware resources. An apparatus or method may be configured by implementing information operations or processing in accordance with the use of computer 1200.

  For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214 and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. The communication interface 1222 reads transmission data stored in a RAM 1214 or a transmission buffer area provided in a recording medium such as a USB memory under the control of the CPU 1212 and transmits the read transmission data to a network, or The reception data received from the network is written into a reception buffer area provided on the recording medium.

  In addition, the CPU 1212 allows the RAM 1214 to read all or necessary portions of a file or database stored in an external recording medium such as a USB memory, and executes various types of processing on the data on the RAM 1214. Good. The CPU 1212 may then write back the processed data to an external recording medium.

  Various types of information, such as various types of programs, data, tables, and databases, may be stored on a recording medium and subjected to information processing. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval that are described throughout the present disclosure for data read from the RAM 1214 and specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the result is written back to RAM 1214. In addition, the CPU 1212 may search for information in files, databases, etc. in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. The entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and thereby the first attribute that satisfies the predetermined condition is associated. The attribute value of the obtained second attribute may be acquired.

  The programs or software modules described above may be stored on a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, whereby the program is transferred to the computer 1200 via the network. provide.

The execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior”. It should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.
[Item 1]
An image sensor;
An optical member disposed in front of the image sensor;
The optical member is vibrated at a first frequency that is the resonance frequency of the optical member, and further swept from the first frequency to a second frequency that is not the resonance frequency of the optical member, and then the optical member is moved at the first frequency. A control unit to vibrate;
An imaging apparatus comprising:
[Item 2]
The control unit oscillates the optical member at the first frequency to jump up the adhering matter attached to the optical member, and sweeps the adhering matter to the second frequency from the first frequency to the second frequency. The imaging apparatus according to item 1, wherein the depositing material is removed from the optical member by moving the member on the member and vibrating the optical member at the first frequency so as to splash the deposit again.
[Item 3]
The first frequency is a first resonance frequency of the optical member,
The imaging device according to item 1, wherein the second frequency is closer to the first frequency than a second resonance frequency of the optical member adjacent to the first resonance frequency.
[Item 4]
The first frequency exists between the second frequency and a third frequency that is not the resonance frequency of the optical member. 2. The imaging apparatus according to item 1, wherein the control unit vibrates the optical member at the first frequency after sweeping from the second frequency to the third frequency after sweeping to the second frequency.
[Item 5]
The first frequency is a first resonance frequency of the optical member,
The second frequency is closer to the first frequency than the second resonance frequency of the optical member adjacent to the first resonance frequency,
5. The imaging device according to item 4, wherein the third frequency is adjacent to the first resonance frequency and is closer to the first frequency than a third resonance frequency of the optical member that is different from the second resonance frequency.
[Item 6]
The imaging device according to Item 1, wherein the first frequency is a secondary or higher resonance frequency of the optical member.
[Item 7]
An electromechanical conversion element attached to the optical member;
The imaging device according to item 1, wherein the control unit vibrates the optical member by supplying a control signal for controlling the vibration of the optical member to the electromechanical transducer.
[Item 8]
The imaging device according to any one of items 1 to 7,
A support mechanism for supporting the imaging device and adjusting the posture of the imaging device;
An imaging system comprising:
[Item 9]
9. The imaging system according to item 8, wherein the control unit starts vibration processing of the optical member in response to the calibration of the support mechanism being executed.
[Item 10]
In response to the calibration of the support mechanism being performed, the control unit controls the support mechanism so that the posture of the imaging device satisfies a predetermined posture condition, so that the vibration processing of the optical member is performed. Item 9. The imaging system according to Item 8, wherein
[Item 11]
The imaging system according to item 10, wherein the predetermined posture condition is determined based on at least one of a sensor size of the image sensor, a flange back of the imaging device, and a mount inner diameter of the imaging device.
[Item 12]
Further comprising a specifying unit for specifying the height of the imaging system,
When the height of the imaging system satisfies a predetermined height condition, the control unit controls the support mechanism so that the attitude of the imaging apparatus satisfies a predetermined attitude condition, and the optical member Item 9. The imaging system according to Item 8, wherein the vibration processing is started.
[Item 13]
13. The imaging system according to item 12, wherein the predetermined posture condition is determined based on at least one of a sensor size of the image sensor, a flange back of the imaging device, and a mount inner diameter of the imaging device.
[Item 14]
The specifying unit specifies the height of the imaging system and whether or not the imaging system is performing shooting using the image sensor,
The control unit is configured so that the height of the imaging system satisfies a predetermined height condition and the posture of the imaging device satisfies a predetermined posture condition when the photographing is not being performed. Item 13. The imaging system according to Item 12, wherein the vibration processing of the optical member is started by controlling.
[Item 15]
A specifying unit for specifying whether or not the posture of the imaging device satisfies a predetermined posture condition;
The imaging system according to item 8, wherein the control unit executes a vibration process of the optical member when the attitude of the imaging apparatus satisfies the predetermined attitude condition.
[Item 16]
The control unit controls the support mechanism so that the posture of the imaging device satisfies the predetermined posture condition when the posture of the imaging device does not satisfy the predetermined posture condition, and the optical device Item 16. The imaging system according to Item 15, which starts vibration processing of a member.
[Item 17]
The controller notifies that the posture of the imaging device should be adjusted so that the predetermined posture condition is satisfied when the posture of the imaging device does not satisfy the predetermined posture condition; 16. The imaging system according to item 15, wherein vibration processing of the optical member is started in response to the attitude of the imaging apparatus satisfying the predetermined attitude condition.
[Item 18]
16. The imaging system according to item 15, wherein the predetermined posture condition is determined based on at least one of a sensor size of the image sensor, a flange back of the imaging device, and a mount inner diameter of the imaging device.
[Item 19]
A moving body that moves with the imaging system according to item 8.
[Item 20]
Oscillating the optical member at a first frequency that is a resonance frequency of the optical member disposed in front of the image sensor;
Sweeping from the first frequency to a second frequency that is not the resonant frequency of the optical member;
Vibrating the optical member at the first frequency;
A method comprising:
[Item 21]
Oscillating the optical member at a first frequency that is a resonance frequency of the optical member disposed in front of the image sensor;
Sweeping from the first frequency to a second frequency that is not the resonant frequency of the optical member;
Vibrating the optical member at the first frequency;
A program that causes a computer to execute.

10 UAV
20 UAV body 30 UAV control unit 32 Memory 34 Communication interface 40 Promotion unit 50 Gimbal 60 Imaging device 100 Imaging device 110 Control unit 112 Imaging control unit 114 Dust removal control unit 115 Vibration control unit 116 Identification unit 120 Image sensor 130 Memory 200 Lens device 210 Lens 212 Lens Movement Mechanism 220 Lens Control Unit 300 Dust Removal Unit 301 Frame 302 Optical Member 303 Electromechanical Conversion Elements 304, 305, 405, 406 Wiring 400 Imaging Mechanism 401 Support Substrate 402 Heat Dissipation Plate 404 Support 407 Lens Mount 408 Electrical Contact 500 Adherent 800 Stabilizer 801 Device holder 802 Mobile device 803 Handle 804 Shutter button 805 Record button 806 Operation button 807 Holder 809 Pan axis 810 B Le shaft 811 tilt axis 812 Slot 813 camera unit 820 gimbal 1200 computer 1210 host controller 1212 CPU
1214 RAM
1220 Input / output controller 1222 Communication interface 1230 ROM

Claims (11)

An image sensor;
An optical member disposed in front of the image sensor;
The optical member is vibrated at a first frequency that is a resonance frequency of the optical member, and further swept from the first frequency to a second frequency that is not the resonance frequency of the optical member, and then the optical member is moved at the first frequency. An imaging apparatus comprising: a control unit that vibrates.   The control unit oscillates the optical member at the first frequency to jump up the adhering matter adhering to the optical member and sweeps the adhering matter from the first frequency to the second frequency. The imaging apparatus according to claim 1, wherein the deposit is removed from the optical member by moving the member on a member and vibrating the optical member at the first frequency to splash the deposit again. The first frequency is a first resonance frequency of the optical member;
The imaging apparatus according to claim 1, wherein the second frequency is closer to the first frequency than a second resonance frequency of the optical member adjacent to the first resonance frequency. The first frequency exists between the second frequency and a third frequency that is not a resonance frequency of the optical member,
2. The imaging apparatus according to claim 1, wherein the controller vibrates the optical member at the first frequency after sweeping from the second frequency to the third frequency after sweeping to the second frequency. . The first frequency is a first resonance frequency of the optical member;
The second frequency is closer to the first frequency than the second resonance frequency of the optical member adjacent to the first resonance frequency,
The imaging device according to claim 4, wherein the third frequency is adjacent to the first resonance frequency and is closer to the first frequency than a third resonance frequency of the optical member that is different from the second resonance frequency.   The imaging device according to claim 1, wherein the first frequency is a secondary or higher resonance frequency of the optical member. An electromechanical conversion element attached to the optical member;
The imaging apparatus according to claim 1, wherein the control unit vibrates the optical member by supplying a control signal for controlling vibration of the optical member to the electromechanical conversion element. An imaging device according to any one of claims 1 to 7,
An imaging system comprising: a support mechanism that supports the imaging device and adjusts the posture of the imaging device.   A moving body that moves with the imaging system according to claim 8. Vibrating the optical member at a first frequency that is a resonance frequency of an optical member disposed in front of the image sensor;
Sweeping from the first frequency to a second frequency that is not the resonant frequency of the optical member;
Oscillating the optical member at the first frequency. Vibrating the optical member at a first frequency that is a resonance frequency of an optical member disposed in front of the image sensor;
Sweeping from the first frequency to a second frequency that is not the resonant frequency of the optical member;
A program for causing a computer to execute the step of vibrating the optical member at the first frequency.