JP6464444B2 - Imaging apparatus, imaging system, moving object, method, and program - Google Patents

Description

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

In Patent Document 1, a piezoelectric element is driven at a first resonance frequency based on an operation, and the piezoelectric element is driven at a second resonance frequency different from the first resonance frequency when an operation is input next. It is described.
Patent Document 1 JP2013-62665A

Challenges to be solved

  When a series of dust removal processing executed by driving the piezoelectric element is interrupted, dust removal may not be performed effectively.

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 may include a control unit that executes a series of vibration processes for vibrating the optical member. The imaging apparatus may include a registration unit that registers interruption information indicating that the series of vibration processing is interrupted in the storage unit when the series of vibration processing is interrupted.

  When interruption information is registered in the storage unit, the control unit may complete a series of vibration processes based on the interruption information.

  The control unit may interrupt a series of vibration processing according to a predetermined command for the imaging apparatus.

  The control unit may interrupt a series of vibration processing in accordance with a command related to shooting by the imaging device.

  The control unit may interrupt a series of vibration processing according to a command indicating that the imaging apparatus is powered off.

  The control unit may interrupt the series of vibration processes in response to a series of vibration process interruption commands.

  When the series of vibration processing is interrupted, the registration unit may register interrupt information including information for specifying a point in time when the series of vibration processing is interrupted in the storage unit. When interruption information is registered in the storage unit, the control unit may start a series of vibration processes from the point of interruption specified based on the interruption information.

  The control unit may select one vibration frequency band from a plurality of vibration frequency bands each time a series of vibration processes are executed, and execute the series of vibration processes based on the selected vibration frequency band. When the series of vibration processing is interrupted, the registration unit may register interrupt information including information for specifying the vibration frequency band selected in the interrupted series of vibration processing in the storage unit. When interruption information is registered in the storage unit, the control unit may start a series of vibration processing from the point of interruption based on the vibration frequency specified based on the interruption information.

  The control unit may select one vibration frequency band according to a predetermined selection condition from a plurality of vibration frequency bands each time a series of vibration processing is executed.

  Each time a series of vibration processing is executed, the control unit selects one vibration frequency band from a plurality of vibration frequency bands, and sweeps the vibration frequency based on the selected vibration frequency band, thereby performing a series of vibrations. Processing may be performed. When the series of vibration processing is interrupted, the registration unit may register interruption information including information for specifying the vibration frequency at the time when the series of vibration processing is interrupted in the storage unit. When interruption information is registered in the storage unit, the control unit sweeps the vibration frequency from the vibration frequency at the point of interruption specified based on the interruption information, so that a series of vibration processing is performed from the point of interruption. You may start.

  The control unit may select one vibration frequency band according to a predetermined selection condition from a plurality of vibration frequency bands each time a series of vibration processing is executed.

  The control unit vibrates the optical member at a first frequency that is a 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. Thus, a series of vibration processing may be executed.

  The control unit oscillates the optical member at the first frequency of the optical member to jump up the adhered matter attached to the optical member, and further sweeps the attached matter on the optical member by sweeping from the first frequency to the second frequency. After the movement, a series of vibration processes may be performed to remove the deposit from the optical member by causing the deposit to jump up again by vibrating the optical member at the first frequency.

  The imaging device may further include an electromechanical conversion element attached to the optical member. The control unit may execute a series of vibration processing 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.

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

  The method according to one aspect of the present invention may include performing a series of vibration processes for vibrating an optical member disposed in front of the image sensor. The method may comprise determining whether a series of vibration processes has been interrupted. When it is determined that a series of vibration processing has been interrupted, the method may include a step of registering in the storage unit interruption information indicating that the series of vibration processing has been interrupted.

  The program which concerns on 1 aspect of this invention may make a computer perform the step which performs the series of vibration processes which vibrate the optical member arrange | positioned ahead of an image sensor. The program may cause the computer to execute a step of determining whether or not a series of vibration processing has been interrupted. When it is determined that the series of vibration processing is interrupted, the program may cause the computer to execute a step of registering interruption information indicating that the series of vibration processing is interrupted in the storage unit.

  It is possible to prevent the dust removal from being effectively performed when a series of vibration processing is interrupted.

  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 aerial vehicle. It is a figure which shows an example of a structure of a dust removal part. It is a figure which shows an example of the imaging mechanism which is a part of imaging device. 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 series of vibration processes. It is a figure which shows an example of a series of vibration processes. It is a figure which shows an example of a series of vibration processes. It is a flowchart which shows an example of the procedure of a dust removal process. It is a figure which shows an example of the process at the time of interruption of a series of vibration processes. It is a figure which shows an example of the process at the time of interruption of a series of vibration processes. It is a figure which shows an example of the process at the time of the interruption of an example vibration process. It is a flowchart which shows an example of the procedure of a dust removal process. 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 a series of vibration processes. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a series of vibration processes. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a series of vibration processes. It is a figure which shows an example of a motion of the deposit | attachment at the time of performing a series of vibration processes. It is a figure which shows an example of a series of vibration processes. It is a figure which shows an example of a series of vibration processes. 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 functional blocks of the dust removal control unit 114. The dust removal control unit 114 includes a vibration control unit 115, a determination unit 116, and a registration unit 117. 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.

  For example, as shown in FIG. 6, the vibration control unit 115 vibrates the optical member 302 at a predetermined vibration frequency for a predetermined period T <b> 1 to remove deposits attached to the optical member 302. Good. The predetermined vibration frequency may be the resonance frequency of the optical member 302. The vibration control unit 115 performs a series of vibration processes, that is, a series of dust removal processes, by vibrating the optical member 302 over a predetermined period T1 at a primary or higher resonance frequency of the dust removal unit 300. You can do it. 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 may execute a series of vibration processes using a plurality of resonance frequencies of the optical member 302. Each time the vibration control unit 115 executes a series of vibration processes, the vibration control unit 115 selects one vibration frequency band from a plurality of vibration frequency bands, and executes a series of vibration processes based on the selected vibration frequency band. Good. Each time the vibration control unit 115 executes a series of vibration processes, the vibration control unit 115 may select one vibration frequency band from a plurality of vibration frequency bands according to a predetermined selection condition. The vibration control unit 115 may select one vibration frequency band from a plurality of vibration frequency bands in a predetermined order each time a series of vibration processes are executed. For example, as illustrated in FIG. 7, the vibration control unit 115 vibrates the optical member 302 over a period T <b> 1 at a first resonance frequency (for example, 60 kHz) of the optical member 302 immediately before the imaging apparatus 100 is turned off. Thereafter, the power supply of the imaging apparatus 100 is turned off. Next, the vibration control unit 115 vibrates the optical member 302 over a period T2 at the second resonance frequency (for example, 40 kHz) of the optical member 302 immediately after the imaging apparatus 100 is powered on. Thereby, the vibration control unit 115 may execute a series of vibration processes. The period T1 and the period T2 may be the same period or different periods.

  The vibration control unit 115 may execute a series of vibration processes by sweeping the vibration frequency over a predetermined frequency band around each of the plurality of resonance frequencies of the optical member 302. Each time the vibration control unit 115 executes a series of vibration processes, the vibration control unit 115 may select one vibration frequency band from a plurality of vibration frequency bands, and sweep the vibration frequency based on the selected vibration frequency band. Each time the vibration control unit 115 executes a series of vibration processes, the vibration control unit 115 selects one vibration frequency band from a plurality of vibration frequency bands in accordance with a predetermined selection condition, and the vibration frequency based on the selected vibration frequency band. May be swept. Each time the vibration control unit 115 executes a series of vibration processing, the vibration control unit 115 selects one vibration frequency band from a plurality of vibration frequency bands in a predetermined order, and the vibration frequency is based on the selected vibration frequency band. May be swept. For example, as illustrated in FIG. 8, the vibration control unit 115 sweeps a predetermined frequency band around a first resonance frequency (for example, 60 kHz) over a period T <b> 1 immediately before the imaging apparatus 100 is turned off. As a result, the optical member 302 is vibrated, and then the power of the imaging apparatus 100 is turned off. Next, immediately after the imaging apparatus 100 is turned on, the vibration control unit 115 sweeps a predetermined frequency band around the second resonance frequency (for example, 40 kHz) of the optical member 302 over a period T2. The optical member 302 may be vibrated. Thereby, the vibration control unit 115 may execute a series of vibration processes.

  FIG. 9 is a flowchart illustrating an example of a procedure of dust removal processing. When the vibration control unit 115 detects a command to turn off the power of the imaging apparatus 100, the vibration control unit 115 operates dust removal in the first drive mode before turning off the power (S300). For example, as shown in FIG. 7, the vibration control unit 115 vibrates the optical member 302 at the first resonance frequency. For example, as illustrated in FIG. 8, the vibration control unit 115 vibrates the optical member 302 by sweeping a predetermined frequency band centered on the first resonance frequency. Thereafter, the power supply of the imaging apparatus 100 is turned off (S302). Next, when the power of the imaging apparatus 100 is turned on (S304), the vibration control unit 115 operates dust removal in the second drive mode (S306). For example, as shown in FIG. 7, the vibration control unit 115 vibrates the optical member 302 at the second resonance frequency. For example, as shown in FIG. 8, the vibration control unit 115 vibrates the optical member 302 by sweeping a predetermined frequency band centered on the second resonance frequency.

  It may be preferable that such a series of vibration processing is interrupted in order to execute other processing by the imaging apparatus 100. For example, when the imaging control unit 112 receives a command related to shooting by the imaging device 100 or a command for forced power-off of the imaging device 100 during execution of a series of vibration processing, the vibration control unit 115 It is preferable to interrupt the series of vibration processing.

  Therefore, the vibration control unit 115 may interrupt a series of vibration processes in accordance with a predetermined command for the imaging apparatus 100 with respect to the imaging apparatus 100. The predetermined command may be a command related to a process that may cause some trouble when started during execution of a series of vibration processes. The vibration control unit 115 may interrupt a series of vibration processing in accordance with a command related to shooting by the imaging apparatus 100. The instruction related to shooting may include a still image or moving image shooting command by the imaging apparatus 100. The vibration control unit 115 may interrupt a series of vibration processes in response to a command indicating that the imaging apparatus 100 is powered off. The vibration control unit 115 may interrupt a series of vibration processing in response to a command indicating forced power-off of the imaging apparatus 100. The vibration control unit 115 may interrupt the series of vibration processes in response to a series of vibration process interruption commands. For example, the vibration control unit 115 starts a series of vibration processes in response to a dust removal start command from the user. Thereafter, when the vibration control unit 115 receives a dust removal stop command from the user during the series of vibration processes, the series of vibration processes may be interrupted.

  Here, when the vibration control unit 115 executes a series of vibration processes from the next time without considering the interruption state of the series of vibration processes, dust removal may not be performed appropriately. The vibration control unit 115 executes a process of vibrating the optical member 302 at a predetermined vibration frequency over a predetermined period as a series of vibration processes. In such a case, for example, as illustrated in FIG. 10, the vibration control unit 115 interrupts the series of vibration processing when the period t1 has elapsed. In this case, the vibration control unit 115 does not execute a series of vibration processes for the period t2. Therefore, the dust removal process by the dust removal unit 300 is insufficient, and there are cases where the deposits such as dust cannot be sufficiently removed. Therefore, when starting a series of vibration processes next time, the vibration control unit 115 starts a series of vibration processes from the previous interruption. For example, as illustrated in FIG. 10, the vibration control unit 115 vibrates the optical member 302 again at the first resonance frequency over a period t <b> 2 in which a series of vibration processing has not been performed.

  As a series of vibration processing, for example, the vibration control unit 115 vibrates the optical member 302 at the first resonance frequency for a period T1 immediately before the power is turned off, and for a period T2 immediately after the power is turned on. Then, the process of vibrating the optical member 302 at the second resonance frequency is executed. Here, as illustrated in FIG. 11, it is assumed that the vibration control unit 115 interrupts a series of vibration processing when the period t1 has elapsed. In this case, immediately after the power is turned on, the vibration control unit 115 vibrates the optical member 302 again at the first resonance frequency over an unprocessed period t2. Thereafter, the vibration control unit 115 may execute a process of vibrating the optical member 302 at the second resonance frequency over the period T2 immediately before the power is turned off. A series of vibration processes that were not executed due to the interruption are then executed. Therefore, it is possible to prevent the resonance frequency to be executed from being varied due to the interruption and insufficiently removing the deposits.

  As a series of vibration processing, the vibration control unit 115 sweeps the frequency band centered on the first resonance frequency over the period T1 immediately before turning off the power to vibrate the optical member 302, and turns on the power. Immediately after that, a process of sweeping the frequency band centered on the second resonance frequency over the period T2 to vibrate the optical member 302 is executed. Here, as shown in FIG. 12, it is assumed that a series of vibration processing is interrupted when the period t1 has elapsed. In this case, immediately after the power is turned on, the vibration control unit 115 starts sweeping from the vibration frequency at the time of interruption over the unprocessed period t2, and vibrates the optical member 302. Thereafter, the vibration control unit 115 may vibrate the optical member 302 by sweeping a frequency band centered on the second resonance frequency over a period T2 immediately before the power is turned off. As a result, the frequency band that was not swept by the interruption is subsequently executed. Therefore, it is possible to prevent the frequency band to be swept from being varied due to the interruption, and the removal of the deposits from being insufficient.

  As shown in FIG. 5, the dust removal control unit 114 includes a determination unit 116 and a registration unit so that when the series of vibration processing is interrupted, the series of processing can be started from the time when the vibration control unit 115 is interrupted. 117 is further included.

  The determination unit 116 determines whether a series of vibration processing has been interrupted. When the determination unit 116 determines that the series of vibration processing is interrupted, the registration unit 117 registers interruption information indicating that the series of vibration processing is interrupted in the storage unit. The registration unit 117 may register the interruption information in the memory 130, for example. The interruption information includes information necessary for the vibration control unit 115 to start a series of vibration processing from the point of interruption. The interruption information may include information for specifying a point in time when a series of vibration processing is interrupted. The interruption information may include a series of vibration processing periods executed until the interruption is performed as information for specifying the time of interruption. The interruption information may include the remaining period of the series of vibration processing that has not been executed due to the interruption as information for specifying the point of interruption. When the vibration frequency is swept, the interruption information may include the vibration frequency at the interruption time as information for specifying the interruption time.

  The interruption information may include information for specifying the vibration frequency band selected in the series of vibration processing that has been interrupted. The interruption information may include information for specifying the resonance frequency of the optical member 302 selected in the interrupted series of vibration processing. The interruption information may indicate a vibration frequency band selected in a series of vibration processes that have been interrupted.

  The interruption information may include information for specifying the vibration frequency at the time when the series of vibration processing is interrupted. The interruption information may indicate a vibration frequency at the time when a series of vibration processing is interrupted.

  The interruption information may be constituted by, for example, a plurality of bit information for which corresponding information is determined in advance. The interruption information may be bit information including a bit indicating whether or not a series of vibration processing has been interrupted and a plurality of bits to which the vibration frequency corresponding to each bit is assigned. For example, when a series of vibration processing is interrupted, the registration unit 117 may set a bit indicating whether the series of vibration processing is interrupted to “1”. Further, the registration unit 117 may set the bit corresponding to the vibration frequency at the time of interruption to “1”.

  FIG. 13 is a flowchart illustrating an example of the procedure of the dust removal process. The vibration control unit 115 starts the dust removal process at a predetermined timing. The vibration control unit 115 may receive a dust removal process start command and start the dust removal process immediately before the power is turned off, immediately after the power is turned on, or when a user requests the dust removal process. . The determination unit 116 first determines whether or not the interruption information is registered in the memory 130 (S100). If the interruption information is not registered in the memory 130, the determination unit 116 determines that the previous series of dust removal processing has been completed. In this case, the vibration control unit 115 starts the dust removal process from the beginning as usual (S102).

  On the other hand, if interruption information is registered in the memory 130, the determination unit 116 determines that the previous series of dust removal processing has been interrupted. In this case, the vibration control unit 115 reads interruption information from the memory 130 (S104). The vibration control unit 115 identifies the vibration frequency at the time of interruption and the remaining period to be processed by referring to the interruption information, for example. The vibration control unit 115 starts a series of vibration processes from the vibration frequency at the time of interruption over the remaining period. Thereby, the vibration control unit 115 starts from the time when the dust removal process is interrupted (S106).

  During a series of dust removal processing, the vibration control unit 115 determines whether or not a predetermined command for interrupting the dust removal processing has been detected (S108). When a predetermined command is detected, the registration unit 117 registers interruption information at the time of interruption in the memory 130 (S110). For example, the registration unit 117 registers the vibration frequency at the time of interruption and the period from the start of a series of vibration processing to the time of interruption in the memory 130 as interruption information. Thereafter, the vibration control unit 115 once ends a series of dust removal processing.

  On the other hand, when the vibration control unit 115 does not detect a predetermined command to interrupt the dust removal process and completes a series of dust removal processes (S112), the suspension information is not registered in the memory 130. Finally, a series of dust removal processing is completed.

  As described above, even if a series of dust removal processing is interrupted to execute other processing by the imaging apparatus 100, when the dust removal processing is started thereafter, a series of dust removal processing is started from the point of interruption. Is started. Therefore, even when a series of dust removal processing is interrupted, problems in the dust removal processing due to the interruption can be prevented.

  FIG. 14 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, as illustrated in FIG. 15, 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. A series of vibration processing may be executed. The second frequency is closer to the first frequency than the other resonance frequencies (for example, the third 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.

  FIG. 16A, FIG. 16B, and FIG. 16C show an example of the movement of the deposit when the series of vibration processing shown in FIG. 15 is executed. First, as illustrated in FIG. 16A, 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. 16B, 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. Thereafter, as illustrated in FIG. 16C, the vibration control unit 115 causes the optical member 302 to vibrate again 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 series of vibration processes described above. 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.

  FIG. 17 shows another example of a series 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. After that, the vibration control unit 115 stops the vibration of the optical member 302 over the period t3, and then the first frequency exists between the second frequency and the second frequency, and the resonance frequency of the optical member 302 is Sweep over a period t4 to a third frequency that is not present (eg, 48 kHz). Thereafter, the optical member 302 is vibrated again over the period t5 at the first frequency.

  FIG. 18 shows another example of a series 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. After that, the vibration control unit 115 stops the vibration of the optical member 302 over the period t3, and then the first frequency exists between the second frequency and the second frequency, and the resonance frequency of the optical member 302 is Sweep over a period t4 to a third frequency that is not present (eg, 48 kHz). 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 series of vibration processes as described above, deposits can be efficiently removed using one resonance frequency. And even when such a series of vibration processing is interrupted, according to this embodiment, a series of vibration processing can be started from the time of interruption. Therefore, the trouble of the dust removal process by interruption can be prevented.

  FIG. 19 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, even when a series of dust removal processing is interrupted, problems in the dust removal processing due to the interruption can be prevented.

  FIG. 20 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.

10 UAV
20 UAV main 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 Determination unit 117 Registration 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 Dissipating Plate 404 Support 407 Lens Mount 408 Electrical contact 500 Deposit 800 Stabilizer 801 Device holder 802 Mobile device 803 Handle 804 Shutter button 805 Record button 806 Operation button 807 Holder 809 Axis 810 roll axis 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 (16)

An image sensor;
An optical member disposed in front of the image sensor;
A control unit for executing a series of vibration processing for vibrating the optical member;
When the series of vibration processing is interrupted, a registration unit for registering in the storage unit interrupt information indicating that the series of vibration processing is interrupted ,
The registration unit
When the series of vibration processing is interrupted, the interruption information including information for specifying the time point when the series of vibration processing is interrupted is registered in the storage unit,
The controller is
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. By oscillating, the series of vibration processing is executed,
When the interruption information is registered in the storage unit, the imaging apparatus starts the series of vibration processing from the point of interruption specified based on the interruption information .   2. The imaging apparatus according to claim 1, wherein, when the interruption information is registered in the storage unit, the control unit completes the series of vibration processing based on the interruption information. Wherein, in response to the predetermined command for the imaging device, to interrupt the series of vibration processing, imaging apparatus according to claim 1 or 2. The imaging device according to any one of claims 1 to 3, wherein the control unit interrupts the series of vibration processing according to a command related to photographing by the imaging device. Wherein, in response to a command indicating a power-off of the imaging apparatus, interrupting the series of vibration processing, the imaging apparatus according to any one of claims 1 4. Wherein, in response to the interruption instruction of the series of vibration processes, to interrupt the series of vibration processing, the imaging apparatus according to any one of claims 1 5. Each time the control unit executes the series of vibration processes, the control unit selects one vibration frequency band from a plurality of vibration frequency bands, and executes the series of vibration processes based on the selected vibration frequency band. ,
When the series of vibration processing is interrupted, the registration unit registers the interruption information including information for specifying the vibration frequency band selected in the interrupted series of vibration processing in the storage unit,
When the interruption information is registered in the storage unit, the control unit starts the series of vibration processing from the point of interruption based on the vibration frequency specified based on the interruption information. Item 7. The imaging device according to any one of Items 1 to 6 . The imaging apparatus according to claim 7 , wherein the control unit selects one vibration frequency band from a plurality of vibration frequency bands according to a predetermined selection condition each time the series of vibration processing is executed. The control unit selects one vibration frequency band from a plurality of vibration frequency bands each time the series of vibration processing is executed, and sweeps the vibration frequency based on the selected vibration frequency band. Perform a series of vibration processing,
The registration unit, when the series of vibration processing is interrupted, registers the interruption information including information for specifying the vibration frequency at the time when the series of vibration processing is interrupted, in the storage unit,
When the interruption information is registered in the storage unit, the control unit sweeps the vibration frequency from the vibration frequency at the time of interruption specified based on the interruption information, so that from the time of the interruption. The imaging apparatus according to claim 1, wherein the series of vibration processing is started. The imaging device according to claim 9 , wherein the control unit selects one vibration frequency band from a plurality of vibration frequency bands according to a predetermined selection condition each time the series of vibration processing is executed. The control unit oscillates the optical member at the first frequency of the optical member, so that the adhering matter adhering to the optical member jumps up, and further sweeps from the first frequency to the second frequency. In order to remove the deposit from the optical member by moving the deposit on the optical member and then swinging up the deposit again by vibrating the optical member at the first frequency. The imaging device according to claim 1, wherein the vibration processing is executed. An electromechanical conversion element attached to the optical member;
The said control part performs the said series of vibration processes by supplying the control signal for controlling the vibration of the said optical member to the said electromechanical conversion element, The statement of any one of Claim 1 to 11 Imaging device. An imaging device according to any one of claims 1 to 12 ,
An imaging system comprising: a support mechanism that supports the imaging device. A moving body that moves with the imaging system according to claim 13 . Executing a series of vibration processing for vibrating an optical member arranged in front of the image sensor;
Determining whether the series of vibration processing is interrupted;
If it is determined that the series of vibration processing has been interrupted, the step of registering in the storage unit interruption information indicating that the series of vibration processing has been interrupted ,
The step of registering includes:
When the series of vibration processing is interrupted, including the step of registering in the storage unit the interrupt information including information for specifying a point in time when the series of vibration processing is interrupted,
The performing step includes
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. Performing the series of vibration processing by vibrating, and
Starting the series of vibration processes from the point of interruption specified based on the interruption information when the interruption information is registered in the storage unit . Executing a series of vibration processing for vibrating an optical member arranged in front of the image sensor;
Determining whether the series of vibration processing is interrupted;
When it is determined that the series of vibration processing is interrupted, the computer is caused to execute a step of registering interruption information indicating that the series of vibration processing is interrupted in a storage unit ,
The step of registering includes:
When the series of vibration processing is interrupted, including the step of registering in the storage unit the interrupt information including information for specifying a point in time when the series of vibration processing is interrupted,
The performing step includes
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. Performing the series of vibration processing by vibrating, and
When the interruption information is registered in the storage unit, starting the series of vibration processing from the point of interruption specified based on the interruption information;
Including the program.