WO2020216044A1

WO2020216044A1 - Photographic apparatus, movable body and control method

Info

Publication number: WO2020216044A1
Application number: PCT/CN2020/083207
Authority: WO
Inventors: 本庄谦一; 安田知长
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-04-24
Filing date: 2020-04-03
Publication date: 2020-10-29
Also published as: CN112204445A; JP2020182073A; JP6736821B1

Abstract

Provided is a photographic apparatus, comprising: at least one first variable neutral density filter, which covers at least one pixel in a plurality of pixels of an image sensor, and the transmissivity of which is changeable; a second variable neutral density filter, which covers a second region that is different from a first region, covered by the least one first variable neutral density filter, of at least one pixel in a plurality of pixels of the image sensor, and the transmissivity of which is changeable; and a circuit, configured to execute focusing control according to an image signal output from the at least one pixel covered by the first variable neutral density filter in the state where the transmissivity of the first variable neutral density filter is set to be a first transmissivity for shielding at least part of the light and an image signal output from the at least one pixel covered by the second variable neutral density filter in the state where the transmissivity of the second variable neutral density filter is set to be the first transmissivity.

Description

Camera device, mobile body and control method

Technical field

The invention relates to an imaging device, a mobile body and an imaging method.

Background technique

Patent Document 1 describes that a neutral density filter is provided in some pixels of an imaging element, and the focus state of an optical system is detected by a phase difference detection method.

[Patent Document 1] Japanese Patent Document Unexamined Publication No. 2018-174542.

Summary of the invention

[Technical Problem to be Solved by the Invention]

As described above, if the neutral density filter is provided in the pixel, the image quality of the pixel provided with the neutral density filter will be reduced.

[Technical solutions for solving technical problems]

The imaging device according to an aspect of the present invention may include an image sensor. The imaging device may include at least one first variable neutral density filter that covers at least one of the plurality of pixels of the image sensor and whose transmittance is changeable. The imaging device may include a second area different from the first area covered by the at least one first variable neutral density filter that covers at least one of the plurality of pixels included in the image sensor, and the transmittance may be changed The second variable neutral density filter. The imaging device may include a circuit configured to filter light from the first variable neutral density in a state where the transmittance of the first variable neutral density filter is set to block at least a part of the light. The image signal output by at least one pixel covered by the sheet and at least one output from the second variable neutral density filter in a state where the transmittance of the second variable neutral density filter is set to the first transmittance The image signal output by the pixel to perform focus control.

The first area and the second area may be the same size.

The first area may be a half area of the first side among the respective entire areas of the plurality of pixels. The second area may be a half area of the second side among the respective entire areas of the plurality of pixels.

The circuit can perform focus control, in a state where the transmittance of the first variable neutral density filter and the second variable neutral density filter is set to a second transmittance higher than the first transmittance , Output from the image sensor image data based on the image signal output from the plurality of pixels of the image sensor.

The circuit may be further configured to set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the first transmittance when the focus instruction is received, and perform focus control.

The circuit may be configured to set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the second transmittance when an imaging instruction is received, and output image data from the image sensor .

The imaging device may include a shutter button. The circuit may be configured to: when the first state of the shutter button is detected, the transmittance of the first variable neutral density filter and the second variable neutral density filter are set to the first transmittance, and focusing is performed control. The circuit may be configured to set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the first state when the second state different from the first state of the shutter button is detected 2. Transmittance, output image data from the image sensor.

The circuit may be configured to synchronize the synchronization signal indicating the imaging time, and set the transmittance of the first variable neutral density filter and the second variable neutral density filter to be between the first transmittance and the second transmittance. Switch between.

The circuit may set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the first transmittance at the first moment after the synchronization signal is synchronized, and perform focus control. The circuit may be configured to set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the first time at a second time different from the first time after the synchronization signal is synchronized. 2. Transmittance, output image data from the image sensor.

The circuit can set the transmittance of the first variable neutral density filter and the second variable neutral density filter to the first transmittance in the first period of the first period of the synchronization signal, Perform focus control. The circuit may be configured to set the transmittance of the first variable neutral density filter and the second variable neutral density filter to be in a second period after the first period in the first period of the synchronization signal In the second transmittance state, image data is output from the image sensor.

The plurality of pixels of the image sensor may be arranged in a grid along the first direction and the second direction. The first variable neutral density filter may be arranged along the first direction, covering respective first regions of the plurality of pixels. The second variable neutral density filter may be arranged along the first direction, covering respective second regions of the plurality of pixels.

The imaging device may include a third variable neutral density filter arranged along the second direction, covering each of the plurality of pixels, including a first area and a part of the second area, and having a changeable transmittance . The imaging device may include: a fourth area different from the third area that is arranged along the second direction and covers each of the plurality of pixels, including the first area and the other part of the second area, and a fourth area whose transmittance is changeable Variable neutral density filter. The circuit may be configured to output image signals according to a plurality of pixels covered by the third variable neutral density filter in a state where the transmittance of the third variable neutral density filter is set to the first transmittance And in a state where the transmittance of the fourth variable neutral density filter is set to the first transmittance, a plurality of pixels covered by the fourth variable neutral density filter output image signals to perform focus control.

The plurality of pixels of the image sensor may be arranged in a grid. The first variable neutral density filter may be arranged along the first direction, covering each first area of the plurality of first pixels arranged along the first direction among the plurality of pixels. The second variable neutral density filter may be arranged along the first direction, covering the second pixel of each of the plurality of second pixels arranged along the first direction and different from the plurality of first pixels among the plurality of pixels. area.

The moving body according to an aspect of the present invention may be a moving body that includes the aforementioned imaging device and moves.

The control method according to one aspect of the present invention may be a control method for controlling an imaging device, wherein the control device includes: an image sensor; at least one pixel that covers a plurality of pixels of the image sensor and whose transmittance is changeable A first variable neutral density filter; and a second, which covers at least one of the pixels of the image sensor and is different from the first area covered by the at least one first variable neutral density filter Area and a second variable neutral density filter whose transmittance can be changed. The control method may include the following stages: according to the first variable neutral density filter covered by the first variable neutral density filter in a state where the transmittance of the first variable neutral density filter is set to block at least a part of the light. An image signal output by at least one pixel and an image output from at least one pixel covered by the second variable neutral density filter in a state where the transmittance of the second variable neutral density filter is set to the first transmittance Signal to perform focus control.

According to one aspect of the present invention, it is possible to provide an image signal that can be used for image plane phase difference AF without degrading the image quality.

In addition, all the necessary features of the present invention are not exhaustive in the content of the present invention described above. In addition, subsets of these feature groups can also form inventions.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the attached picture:

FIG. 1 is a diagram showing an example of an external perspective view of an imaging device.

Fig. 2 is a schematic diagram showing functional blocks of the imaging device.

Fig. 3 is a diagram for explaining a variable neutral density filter.

FIG. 4 is a diagram for explaining an example of the arrangement of a variable neutral density filter.

FIG. 5 is a diagram for explaining an example of the arrangement of a variable neutral density filter.

FIG. 6 is a diagram for explaining an example of the arrangement of a variable neutral density filter.

FIG. 7 is a flowchart showing an example of the processing procedure of the imaging control section when capturing a still image.

FIG. 8 is a diagram showing an example of a timing chart when shooting a moving image.

Fig. 9 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.

【Symbol Description】

10 Camera device

20 UAV subject

50 universal joint

60 Camera device

100 Camera Department

110 Image Processing Department

120 Coding Department

130 Memory

140 Operation Department

210 Sensor Department

212 pixel array

213 pixels

214 Vertical selection circuit

215 Pixel drive line

216 level selection circuit

218 Column Processing Department

219 Vertical signal line

220 Camera Control Department

230 memory

241 Variable neutral density filter

242 Variable neutral density filter

243 Variable neutral density filter

244 Variable neutral density filter

300 lens department

310 Lens Control Department

312 Lens Drive

314 Lens

320 memory

400 remote operation device

1000 UAV

Detailed ways

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention related to the claims. In addition, all the combinations of the features described in the embodiments are not necessarily necessary for the solution of the invention.

The claims, description, drawings, and summary of the description include matters that are the subject of copyright protection. As long as anyone makes copies of these files as indicated in the patent office files or records, the copyright owner cannot object. However, in other cases, all copyrights are reserved.

FIG. 1 is a diagram showing an example of an external perspective view of an imaging device 10 according to this embodiment. FIG. 2 is a schematic diagram showing functional blocks of the imaging device 10 according to this embodiment.

The imaging device 10 includes an imaging unit 100 and a lens unit 300. The lens unit 300 includes a lens control unit 310, a lens drive unit 312, a lens 314, and a memory 320. The lens 314 can function as a zoom lens, a variable focal length lens, and a focus lens. The lens 314 may be composed of a plurality of optical elements. The lens 314 is movably arranged along the optical axis. The lens part 300 may be an interchangeable lens that is provided to be detachable from the imaging part 100.

The lens driving unit 312 moves the lens 314 along the optical axis via a mechanism member such as a cam ring. The lens driving part 312 may include an actuator. The actuator may include a stepper motor. The lens control unit 310 drives the lens drive unit 312 in accordance with a lens control command from the imaging unit 100, and moves the lens 314 in the optical axis direction via a mechanism member. The lens control commands are, for example, zoom control commands and focus control commands. The lens control unit 310 performs at least one of a zooming operation and a focusing operation by moving the lens 314 along the optical axis.

The lens part 300 further includes a memory 320. The memory 320 stores the control value of the lens 314 moved via the lens drive unit 312. The memory 320 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD).

The imaging unit 100 includes a sensor unit 210, an imaging control unit 220, a memory 230, an image processing unit 110, an encoding unit 120, a memory 130, and an operation unit 140.

The sensor unit 210 converts the optical image formed by the lens 314 into an electric signal, and outputs it to the imaging unit 100. The sensor section 210 is an example of an image sensor such as CCD or CMOS. The imaging control unit 220 controls the sensor unit 210. The imaging control unit 220 is an example of a circuit. The memory 230 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 230 stores programs and the like necessary for the imaging control unit 220 to control the sensor unit 210 and the like.

The sensor section 210 includes a pixel array 212, a vertical selection circuit 214, a horizontal selection circuit 216, and a column processing section 218. The pixel array 212 includes a plurality of pixels 213 arranged in a predetermined arrangement having photoelectric conversion portions that generate and accumulate electric charges corresponding to the amount of received light. The plurality of pixels 213 are arranged two-dimensionally in the row direction (horizontal direction) and the column direction (vertical direction). The plurality of pixels 213 are arranged in a grid pattern along the horizontal direction and the vertical direction. Each of the plurality of pixels 213 includes a micro lens. The vertical direction is an example of the first direction or the second direction. The horizontal direction is an example of the second direction or the first direction.

The pixel array 212 is connected to the vertical selection circuit 214 via a plurality of pixel driving lines 215 corresponding to the rows of pixels. The pixel driving line 215 transmits a driving signal, which is used for driving when a signal is read from the pixel.

The vertical selection circuit 214 is composed of a shift register, an address decoder, and the like, and drives each pixel of the pixel array 212 at the same time or in a row unit. The vertical selection circuit 214 and the imaging control unit 220 that controls the vertical selection circuit 214 constitute a driving unit that controls the operation of each pixel of the pixel array 212.

The vertical selection circuit 214 performs readout scanning and clearing scanning. The vertical selection circuit 214 sequentially selects and scans each pixel of the pixel array 212 in a row unit in the readout scan. In the clear scan, the vertical selection circuit 214 performs the clear scan before the read scan exposure time amount for the read line for which the read scan is performed. The vertical selection circuit 214 performs a so-called electronic shutter by performing readout scanning and clearing scanning.

The signal output from each pixel of the row scanned by the vertical selection circuit 214 is input to the column processing section 218 column by column via the vertical signal line 219. The column processing unit 218 performs predetermined signal processing on the signal output from each pixel of the selected row via the vertical signal line 219 for each column of the pixel array 212, and outputs the electrical signal of each pixel.

The column processing unit 218 performs noise removal processing, for example, CDS (Correlated Double Sampling) processing and DDS (Double Data Sampling) processing as signal processing. By performing CDS processing, reset noise and the like are removed. The column processing part 218 may convert an analog signal into a digital signal.

The horizontal selection circuit 216 is composed of a shift register, an address decoder, and the like, and sequentially selects and scans the circuit parts corresponding to the columns of the column processing unit 218. By scanning by the horizontal selection circuit 216, the column processing section 218 outputs the signal processed by the signal as image data column by column.

The image processing unit 110 performs various image processing on the image data output by the sensor unit 210. The encoding unit 120 compresses the image data subjected to image processing according to a predetermined encoding method, and stores it in the memory 130. For example, the encoding unit 120 may compress image data subjected to image processing in the JPEG method and store it in the memory 130.

The operation unit 140 is a user interface that receives instructions for operating the imaging device 10. The operation unit 140 includes a shutter button that receives a focus instruction and a photography instruction. Press the shutter button halfway to output the focus indicator. Press the shutter button fully to output shooting instructions. The half-pressed state is an example of the first state. The full-press state is an example of the second state. By detecting the half-press state and the full-press state of the shutter button, the focus indication is output. The focus indication can also be output by detecting the three states of the shutter button. In this case, set the shutter button to fully sink one third of the depth of the imaging device 10 as the first state, and set the shutter button to fully sink two-thirds of the depth of the imaging device 10 into the second state. . At this time, in the third state where the shutter button is completely sunk into the imaging device 10, the imaging device 10 may not be caused to take any action, and other operations may be performed, such as forwarding the acquired image. As a result, the acquired image can be efficiently forwarded.

The imaging device 10 further includes a variable neutral density filter 241 and a variable neutral density filter 242. The variable neutral density filter 241 is a filter that covers the respective first regions of the plurality of pixels 213 and whose transmittance can be changed. The variable neutral density filter 242 is a filter that covers a second region different from the respective first regions of the plurality of pixels 213 and whose transmittance can be changed. The variable neutral density filter 241 and the variable neutral density filter 242 are arranged along the arrangement direction of the pixels 213.

The variable neutral density filter 241 and the variable neutral density filter 242 are optical elements that can electrically adjust the transmittance of light. The variable neutral density filter 241 and the variable neutral density filter 242 may be electrochromic elements. The electrochromic element includes an electrochromic material that reversibly produces optical absorption by applying a voltage or flowing a current. The variable neutral density filter 241 and the variable neutral density filter 242 may be liquid crystal ND filters whose transmittance can be adjusted by applying a voltage to change the arrangement of the liquid crystal.

The variable neutral density filter 241 is arranged along the vertical direction. The variable neutral density filter 241 covers the respective first regions of the plurality of pixels 213 arranged along the vertical direction. The variable neutral density filter 242 is arranged along the vertical direction. The variable neutral density filter 242 covers the respective second regions of the plurality of pixels 213 arranged along the vertical direction. The first area and the second area may be the same size. The first area may be a half area on the first side (left side) of the respective entire areas of the plurality of pixels 213 arranged in the vertical direction. The second area may be a half area of the second side (right side) in the entire area of each of the plurality of pixels 213 arranged in the vertical direction.

The imaging control section 220 outputs from the plurality of pixels 213 covered by the variable neutral density filter 241 in a state where the transmittance of the variable neutral density filter 241 is set to block at least a part of the first transmittance of light And the image signal output from the plurality of pixels 213 covered by the variable neutral density filter 242 in a state where the transmittance of the variable neutral density filter 242 is set to the first transmittance, the focus control is performed .

The imaging control section 220 may be based on the image signal output from the plurality of pixels 213 covered by the variable neutral density filter 241 in a state where the transmittance of the variable neutral density filter 241 is set to the first transmittance and the The image signal output from the plurality of pixels 213 covered by the variable neutral density filter 242 in a state where the transmittance of the variable neutral density filter 242 is set to the first transmittance, performs image plane phase difference AF. The imaging control section 220 may set the image signals output by the plurality of pixels 213 covered by the variable neutral density filter 241 set in the first transmittance state and the variable neutral density filter set in the first transmittance state The image signals output by the plurality of pixels 213 covered by 242 are respectively used as phase difference signals for image plane phase difference AF, and phase difference AF is performed.

After the imaging control unit 220 performs the focus control, the variable neutral density filter 241 and the variable neutral density filter 242 are set to the second transmittance higher than the first transmittance, and the sensor portion 210 outputs image data based on image signals output by the plurality of pixels 213 included in the sensor section 210. The image data output by the sensor section 210 may be RAW data.

The imaging control unit 220 can set the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 by opening the variable neutral density filter 241 and the variable neutral density filter 242 Is the first transmittance. The imaging control unit 220 can set the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 by turning off the variable neutral density filter 241 and the variable neutral density filter 242 Is the second transmittance. The imaging control unit 220 can turn on the variable neutral density filter 241 and the variable neutral density filter by applying a first voltage to the variable neutral density filter 241 and the variable neutral density filter 242 242. The imaging control unit 220 can turn off the variable neutral density filter 241 and the variable neutral density filter 241 and the variable neutral density filter 242 by applying a second voltage lower than the first voltage to the variable neutral density filter 241 and the variable neutral density filter 242. Change the neutral density filter 242. The imaging control unit 220 can turn on the variable neutral density filter 241 and the variable neutral density filter 242 by applying a voltage to the variable neutral density filter 241 and the variable neutral density filter 242. The imaging control unit 220 can turn off the variable neutral density filter 241 and the variable neutral density filter 242 by not applying voltage to the variable neutral density filter 241 and the variable neutral density filter 242 .

When receiving the focus instruction, the imaging control unit 220 may set the variable neutral density filter 241 and the variable neutral density filter 242 to the first transmittance, and perform focus control. When receiving the imaging instruction, the imaging control unit 220 may set the variable neutral density filter 241 and the variable neutral density filter 242 to the second transmittance, and output image data from the sensor unit 210.

When the shutter button is half-pressed and the focus instruction is received, the imaging control unit 220 can set the variable neutral density filter 241 and the variable neutral density filter 242 to the first transmittance to perform focus control . When the shutter button is fully pressed and an imaging instruction is received, the imaging control unit 220 can set the variable neutral density filter 241 and the variable neutral density filter 242 to the second transmittance, and the sensor unit 210 Output image data.

When shooting a moving image, the imaging control unit 220 can synchronize a synchronization signal indicating the imaging time, such as a vertical synchronization signal, so that the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 is the first. Switch between transmittance and second transmittance. The imaging control unit 220 may set the variable neutral density filter 241 and the variable neutral density filter 242 to the first transmittance at the first time after the synchronization signal is synchronized, and perform focus control. The imaging control unit 220 can set the variable neutral density filter 241 and the variable neutral density filter 242 to the second transmittance at a second time that is different from the first time after the synchronization signal is synchronized. The sensor section 210 outputs image data.

The imaging control unit 220 may set the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 to the first transmittance in the first period of the first period of the synchronization signal To perform focus control. The imaging control unit 220 may set the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 to the second period after the first period in the first period of the synchronization signal. In the state of transmittance, image data is output from the sensor section 210.

As shown in FIG. 3, when the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 is set to the second transmittance, the variable neutral density filter 241 and the variable neutral density filter 241 The

pixels

213a and 213b in which the neutral density filter 242 covers half of the area receive the same transmittance as the variable neutral density filter 241 and the pixel 213c that is not covered by the variable neutral density filter 242 in the entire area. Of light. On the other hand, when the transmittance of the variable neutral density filter 241 and the variable neutral density filter 242 is set to the first transmittance, the variable neutral density filter 241 and the variable neutral density The pixels 213a and pixels 213b in which the filter 242 covers half of the area receive light with a lower transmittance than the pixels 213c in which the entire area of the variable neutral density filter 241 and the variable neutral density filter 242 are not covered.

The variable neutral density filter 241 may cover a half area on the left side of each of the plurality of first pixels 213a arranged along the vertical direction among the plurality of pixels 213 constituting the pixel array 212. The variable neutral density filter 242 may cover the respective right side of the plurality of second pixels 213b arranged in the vertical direction and different from the plurality of first pixels 213a among the plurality of pixels 213 constituting the pixel array 212. Half the area.

As shown in FIG. 4, the variable neutral density filter 241 and the variable neutral density filter 242 cover a half area of any one of all the pixels 213 of the pixel array 212. The variable neutral density filter 241 and the variable neutral density filter 242 may cover each half area of all the pixels 213. At this time, the imaging control unit 220 can open the variable neutral density filter 241 and close the variable neutral density filter 242, and close the variable neutral density filter 241 and open the variable neutral density filter 241. In the state of the neutral density filter 242, the image signals output by the plurality of pixels 213 are used as phase difference signals for image plane phase difference AF, and phase difference AF is performed.

As shown in FIG. 5, the variable neutral density filter 241 and the variable neutral density filter 242 can cover a half area of a part of the pixels 213 constituting the pixel array 212. The variable neutral density filter 241 and the variable neutral density filter 242 may be composed of a plurality of filters covering a partial area of at least one pixel 213. The variable neutral density filter 241 and the variable neutral density filter 242 may cover a half area of at least one of the pixels 213 constituting the pixel array 212.

As shown in FIG. 6, the imaging device 10 may further include a variable neutral density filter 243 and a variable neutral density filter 244 arranged along the horizontal direction of the pixel array 212.

The variable neutral density filter 243 may be a filter that is arranged in the horizontal direction, covers the third region of each of the plurality of pixels 213 including the first region and the second region, and whose transmittance can be changed. The variable neutral density filter 243 can cover one half area (upper half area) of each of the plurality of pixels 213 in the vertical direction. The variable neutral density filter 244 may be a fourth area different from the third area that is arranged in the horizontal direction and covers each of the other parts of the plurality of pixels 213 including the first area and the second area, and the transmittance can be changed. Filter. The variable neutral density filter 243 may cover the other half area (the lower half area) of each of the plurality of pixels 213 in the vertical direction.

The imaging control section 220 may be based on the image signal output from the plurality of pixels 213 covered by the variable neutral density filter 243 in a state where the transmittance of the variable neutral density filter 243 is set to the first transmittance and the In a state where the transmittance of the variable neutral density filter 244 is set to the first transmittance, the image signals output from the plurality of pixels 213 covered by the variable neutral density filter 244 perform focus control. The variable neutral density filter 243 and the variable neutral density filter 244 can cover each half of all the pixels 213. At this time, the imaging control unit 220 can open the variable neutral density filter 243 and close the variable neutral density filter 241, the variable neutral density filter 242, and the variable neutral density filter 244. And in the state where the variable neutral density filter 241, the variable neutral density filter 242, and the variable neutral density filter 243 are closed and the variable neutral density filter 244 is opened , The image signal output by the plurality of pixels 213 is used as a phase difference signal for image plane phase difference AF to perform phase difference AF.

FIG. 7 is a flowchart showing an example of a processing procedure of the imaging control section 220 when capturing a still image.

When the shutter button is half-pressed and the release button is pressed (S100), the imaging control unit 220 determines that the focus instruction is received and opens the variable neutral density filter 241 and the variable neutral density filter 242 (S102 ). In the state where the variable neutral density filter 241 and the variable neutral density filter 242 are opened, the imaging control unit 220 sets the variable neutral density filter 241 and the variable neutral density filter 242 The image signal output by any one of the plurality of pixels 213 covering a half area is used as a phase difference signal for image plane phase difference AF, and phase difference AF is started (S104).

As a result of the phase difference AF, the imaging control unit 220 determines the focus position of the focus lens (S106), and moves the focus lens to the focus position (S108). Then, when the shutter button is fully pressed (S110), the imaging control unit 220 determines that the imaging instruction is received, and after closing the variable neutral density filter 241 and the variable neutral density filter 242 (S112), The sensor section 210 outputs image data (S114).

FIG. 8 is an example of a timing chart when shooting a moving image. The imaging control unit 220 starts recording (REC) after receiving the recording instruction. The imaging control unit 220 turns on the variable neutral density filter 241 and the variable neutral density filter 242 every two pulses (two cycles) of the vertical synchronization signal. Then, the imaging control unit 220 uses the image signal output from the plurality of pixels 213 covering a half area of any one of the variable neutral density filter 241 and the variable neutral density filter 242 as image plane phase difference AF. Phase difference signal to perform phase difference AF. The imaging control unit 220 outputs image data based on image signals output from all pixels of the sensor unit 210 for each pulse (one cycle) of the vertical synchronization signal. At this time, the imaging control unit 220 may discard image data based on image signals output by all pixels of the sensor unit 210 when the variable neutral density filter 241 and the variable neutral density filter 242 are turned on. The imaging control unit 220 can turn on the variable neutral density filter 241 and the variable neutral density filter 242 in the first period of the first half of one pulse of the vertical synchronization signal, and output the image plane phase from the sensor unit 210 Phase difference signal for AF. Thereafter, the imaging control unit 220 may turn off the variable neutral density filter 241 and the variable neutral density filter 242 in a second period after the first period in the second half of one pulse of the vertical synchronization signal. , The image data based on the image signals output from all the pixels of the sensor section 210 are output from the sensor section 210. At this time, the amount of light received by the sensor section 210 during the second period of the imaging control section 220 is greater than that received by the sensor section 210 when the variable neutral density filter 241 and the variable neutral density filter 242 are closed in all periods The amount of light is small. Therefore, the imaging control unit 220 can apply a gain corresponding to the second period to output image data from the sensor unit 210.

As described above, according to the imaging device 10 according to this embodiment, the sensor unit 210 can capture the image without wasting pixels for the phase difference AF of the sensor unit 210. It is thereby possible to prevent degradation of the image quality of the pixels on which the neutral density filter is provided for the phase difference AF. Moreover, on the pixel array 212, only the variable neutral density filter 241 and the variable neutral density filter 242 may be arranged, so the existing pixel array 212 can be used.

The imaging device 10 described above may be mounted on a mobile body. The imaging device 10 may also be mounted on an unmanned aerial vehicle (UAV) shown in FIG. 9. The UAV 1000 may include a UAV body 20, a universal joint 50, a plurality of camera devices 60, and the camera device 10. The universal joint 50 and the camera device 10 are an example of a camera system. UAV1000 is an example of a moving body propelled by a propulsion unit. Moving objects are concepts that include not only UAVs, but also other flying objects such as airplanes that move in the air, vehicles that move on the ground, and ships that move on the water.

The UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section. The UAV main body 20 makes the UAV 1000 fly by controlling the rotation of a plurality of rotors. The UAV body 20 uses, for example, four rotating wings to make the UAV1000 fly. The number of rotors is not limited to four. In addition, UAV1000 can also be a fixed-wing aircraft without rotors.

The imaging device 10 is an imaging camera that captures a subject included in a desired imaging range. The universal joint 50 rotatably supports the imaging device 10. The universal joint 50 is an example of a supporting mechanism. For example, the universal joint 50 uses an actuator to rotatably support the imaging device 10 around the pitch axis. The universal joint 50 uses an actuator to further support the imaging device 10 rotatably around the roll axis and the yaw axis, respectively. The universal joint 50 can change the posture of the imaging device 10 by rotating the imaging device 10 about at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 1000 in order to control the flight of the UAV 1000. The two camera devices 60 can be installed on the nose of the UAV1000, that is, on the front side. In addition, the other two camera devices 60 can be installed on the bottom surface of the UAV1000. The two imaging devices 60 on the front side may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired to function as a stereo camera. The three-dimensional spatial data around the UAV 1000 can be generated from the images taken by the plurality of camera devices 60. The number of imaging devices 60 included in the UAV 1000 is not limited to four. The UAV1000 may include at least one camera device 60. The UAV1000 may also include at least one camera 60 on the nose, tail, side, bottom and top surfaces of the UAV1000. The viewing angle that can be set in the imaging device 60 may be larger than the viewing angle that can be set in the imaging device 10. The imaging device 60 may have a single focus lens or a fisheye lens.

The remote operation device 400 communicates with the UAV1000 to perform remote operation on the UAV1000. The remote operation device 400 can wirelessly communicate with the UAV1000. The remote operation device 400 transmits to the UAV 1000 instruction information indicating various commands related to the movement of the UAV 1000 such as ascending, descending, accelerating, decelerating, forwarding, retreating, and rotating. The instruction information includes, for example, instruction information for raising the height of the UAV 1000. The indication information can indicate the height at which the UAV1000 should be located. The UAV 1000 moves to be at the height indicated by the instruction information received from the remote operation device 400. The instruction information may include an ascending instruction to raise the UAV1000. UAV1000 rises while receiving the rise command. When the height of the UAV1000 has reached the upper limit height, even if the ascent command is accepted, the UAV1000 can be restricted from rising.

The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-mentioned embodiments. From the description of the claims, it is understood that all such changes or improvements can be included in the technical scope of the present invention.

It should be noted that the execution order of the actions, sequences, steps, and stages of the devices, systems, programs, and methods shown in the claims, specification, and drawings of the specification, as long as there is no special indication that "before... ", "in advance", etc., and can be implemented in any order as long as the output of the previous processing is not used in the subsequent processing. Regarding the operating procedures in the claims, the specification and the drawings, the descriptions are made using "first", "next", etc. for convenience, but it does not mean that it must be implemented in this order.

Claims

A camera device characterized by comprising: an image sensor;

At least one first variable neutral density filter covering at least one of the plurality of pixels of the image sensor and having a changeable transmittance;

A second area that covers at least one of the plurality of pixels of the image sensor and is different from the first area covered by the at least one first variable neutral density filter and has a changeable transmittance 2. Variable neutral density filter; and

A circuit configured to filter light from the first variable neutral density filter in a state where the transmittance of the first variable neutral density filter is set to block at least a part of the first transmittance of light The image signal output by at least one pixel covered by the sheet and the light from the second variable neutral density filter in a state where the transmittance of the second variable neutral density filter is set to the first transmittance The image signal output by at least one pixel covered by the slice performs focus control.
The imaging device according to claim 1, wherein the first area and the second area are the same size.
The imaging device according to claim 2, wherein the first area is a half area on the first side of the entire area of each of the plurality of pixels,

The second area is a half area of the second side in each of the entire areas of the plurality of pixels.
The imaging device according to claim 1, wherein the circuit is further configured to: after performing the focus control, after the first variable neutral density filter and the second variable In a state where the transmittance of the neutral density filter is set to a second transmittance higher than the first transmittance, an image output according to the plurality of pixels of the image sensor is output from the image sensor The image data of the signal.
The imaging device according to claim 4, wherein the circuit is further configured to: when receiving a focus instruction, combine the first variable neutral density filter and the second variable neutral density filter The transmittance of the density filter is set to the first transmittance, and the focus control is performed.
The imaging device of claim 5, wherein the circuit is further configured to: when receiving an imaging instruction, combine the first variable neutral density filter and the second variable neutral density filter The transmittance of the density filter is set to the second transmittance, and the image data is output from the image sensor.
8. The imaging device according to claim 6, further comprising a shutter button; the circuit is configured as:

When the first state of the shutter button is detected, the transmittance of the first variable neutral density filter and the second variable neutral density filter is set to the first transmittance , Execute the focus control;

When a second state different from the first state of the shutter button is detected, the transmittance of the first variable neutral density filter and the second variable neutral density filter Set to the second transmittance, and output the image data from the image sensor.
The imaging device according to claim 4, wherein the circuit is further configured to synchronize a synchronization signal indicating the time of imaging, and connect the first variable neutral density filter and the second variable The transmittance of the neutral density filter is switched between the first transmittance and the second transmittance.
The imaging device according to claim 8, wherein the circuit is further configured as:

At the first moment after the synchronization signal is synchronized, the transmittance of the first variable neutral density filter and the second variable neutral density filter is set to the first transmittance , Execute the focus control;

At a second time different from the first time after synchronizing the synchronization signal, the transmittance of the first variable neutral density filter and the second variable neutral density filter Set to the second transmittance, and output the image data from the image sensor.
The imaging device according to claim 8, wherein the circuit is further configured as:

In the first period of the first period of the synchronization signal, the transmittances of the first variable neutral density filter and the second variable neutral density filter are set to the first Performing the focus control in the state of transmittance;

In the second period after the first period in the first period of the synchronization signal, the first variable neutral density filter and the second variable neutral density filter When the transmittance of is set to the second transmittance, the image data is output from the image sensor.
4. The imaging device according to claim 1, wherein the plurality of pixels of the image sensor are arranged in a grid along a first direction and a second direction,

The first variable neutral density filter is arranged along the first direction and covers the respective first regions of the plurality of pixels,

The second variable neutral density filter is arranged along the first direction and covers the respective second regions of the plurality of pixels.
The imaging device according to claim 11, further comprising: arranged along the second direction and covering each of the plurality of pixels including the first area and a part of the second area The third area, and the third variable neutral density filter whose transmittance can be changed; and

A fourth area different from the third area is arranged along the second direction, covering each of the plurality of pixels, including the first area and other parts of the second area, and has a transmittance A changeable fourth variable neutral density filter,

The circuit is further configured to cover from the third variable neutral density filter in a state where the transmittance of the third variable neutral density filter is set to the first transmittance The image signal output by the plurality of pixels and the image signal covered from the fourth variable neutral density filter in a state where the transmittance of the fourth variable neutral density filter is set to the first transmittance The image signals output by multiple pixels perform focus control.
The imaging device according to claim 1, wherein the plurality of pixels of the image sensor are arranged in a grid pattern,

The first variable neutral density filter is arranged along a first direction, and covers the respective first regions of a plurality of first pixels arranged along the first direction among the plurality of pixels,

The second variable neutral density filter is arranged along the first direction, and covers many of the plurality of pixels that are arranged along the first direction and are different from the plurality of first pixels. Each of the second regions of the second pixels.
A movable body characterized in that it includes the imaging device according to any one of claims 1 to 13 and moves.
A pair including an image sensor, covering at least one pixel of a plurality of pixels of the image sensor, and at least one first variable neutral density filter with a changeable transmittance, and covering a plurality of pixels of the image sensor A second area of at least one of the pixels that is different from the first area covered by the at least one first variable neutral density filter, and a second variable neutral density filter whose transmittance can be changed The control method for controlling the camera device is characterized in that:

It includes the following stages: covering from the first variable neutral density filter in a state where the transmittance of the first variable neutral density filter is set to block at least a part of the first transmittance of light The image signal output by at least one pixel of the second variable neutral density filter and the second variable neutral density filter in a state where the transmittance of the second variable neutral density filter is set to the first transmittance At least one pixel that covers the output image signal performs focus control.