JP2020046498A - Imaging device and tremor-damping method - Google Patents

Abstract

To provide a technology that upgrades a tremor-damping processing performance of a universal head integral-type camera.SOLUTION: A universal head integral-type camera has: a camera module 1 that is integrally constituted with a universal head (base part 5); an actuator (camera imaging direction setting motor 8) that determines an imaging direction of the camera module 1; a gyro sensor 6 that detects oscillation of the camera module 1; an active tremor-damping control unit 20 that performs active tremor-damping control on the basis of a sensor value of the gyro sensor 6; an image burring-amount calculation unit 33 that calculates an amount of image burring of a taken video; and an image processing tremor-damping control unit 30 that performs processing of an image processing tremor-damping on the basis of the image burring. The active tremor control controlling unit 20 is configured to: acquire the amount of image blurring calculated by the image blurring-amount calculation unit 33; and reflect the amount of image blurring to a gain adjustment of the active tremor-damping control.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an imaging device, and more particularly, to an imaging device having a vibration suppression function and a vibration suppression method.

  In the camera integrated with a camera platform used in the monitoring system, for example, the camera integrated with a camera platform vibrates due to the influence of vibration when passing through a car or a train, wind, and the like, and image blur occurs in the output. Especially when zooming up, image blurring becomes annoying. In general, image blurring is not disturbing at high frequencies (for example, 30 Hz or higher), but is particularly disturbing at low frequencies (for example, 10 Hz or lower). In addition, when a zoom-up is performed to determine a falling object on a road or the like, visual determination may be difficult due to image blur.

  2. Description of the Related Art As a countermeasure against image shake vibration of a camera platform integrated camera, an image stabilizer (image stabilizer processing) using image processing is widely known. There is also a camera platform integrated camera in which an image stabilizer is mounted on the camera body. In addition, there is also known a technique in which, when an image stabilizer is not mounted on a camera body, an image with reduced image blur is displayed on a monitor by installing the image stabilizer between a monitoring camera and a monitor.

  As another measure against image blur, there is also a correction unit using a lens unit. Further, there is also known an actuator vibration suppression technique for moving a lens unit by an actuator using a piezoelectric element or the like provided in each of a pan direction and a tilt direction to reduce blur due to vibration (for example, see Patent Document 1).

  The actuator vibration suppression technique has a large effect with a vibration having a small vibration frequency and a large amplitude. In addition, the effect is exhibited even when clear images cannot be obtained. The image stabilizer technology is more effective at high frequencies than the actuator vibration suppression technology, but the screen angle is required and the angle of view is reduced.

  Among fixed image pickup apparatuses equipped with image blur countermeasures, there are hybrid vibration suppression type products in which image blur correction techniques having different characteristics are combined to reduce image blur as a whole apparatus.

  A method of controlling the image blur of a camera with a pan head using a gyro sensor (vibration sensor) and a motor (hereinafter referred to as active vibration suppression) and a method of analyzing the image blur amount by image processing and cutting out the image (hereinafter referred to as image When used in combination with (processing damping), active image damping corrects large low-frequency shaking, and image processing damping corrects small high-frequency shaking. There is a way to do that. In active vibration suppression, after reading the value of the gyro sensor, the control unit calculates the angular velocity of the vibration from the value of the gyro sensor, and issues a command to move the motor in a direction to reduce the vibration. When the motor operates in a direction to cancel the vibration, image blur is reduced.

  In the case where active vibration suppression is used as a measure against image blur of the camera platform integrated camera, the mounting position of the gyro sensor may be adjusted depending on the cause of the image blur (caused vibration frequency). When the sensor is mounted on the base of the fixed camera, it is a vibration suppression measure for vibration generated in the structure to which the camera platform is fixed. Further, when it is attached to the camera section, it is a vibration suppression measure for vibration transmitted from the base section to the camera section via the pan axis and the tilt axis. The mounting position of the sensor is selected depending on the application of the camera, because the control processing after detecting the sensor is greatly changed in addition to the object to be vibrated.

JP, 2018-55096, A

  In active vibration suppression, an error may actually occur between the value detected by the gyro sensor and the amount of vibration appearing in the camera. For example, when the gyro sensor is mounted on the base of the camera platform, the cause of the error is that the vibration detected by the gyro sensor is that of the base where the sensor is mounted, whereas the vibration that appears in the camera image is the vibration of the base. From the camera unit via the pan axis and the tilt axis. At this time, in addition to the mounting error of the detection axis and the pan axis and the tilt axis at the mounting point of the gyro sensor, the assembly error, the rigidity against the shaking of the camera platform axis, the individual difference of the gyro sensor, etc. Likely to occur.

  In the camera with integrated head, these correction amounts are stored as parameters (hereinafter referred to as “sensor correction values”), recorded during manufacturing, and used for active vibration suppression processing. Since the sensor correction value may change after installation due to deterioration in rigidity due to deterioration, it is desirable that the error can be corrected even after installation of the camera platform.

  PID control is one of the control methods for reducing image blurring by active vibration suppression. The PID control is a control method in which a value from a gyro sensor is converted into a proportional, integral, and derivative amount, each of which is multiplied by a gain (hereinafter, “PID gain”) and defined as a control amount.

  In the PID control, the control effect changes depending on the combination of the respective gains that give the frequency and amplitude of the vibration detected by the gyro sensor to the proportional, integral, and differential amounts. When performing PID control with a camera integrated with a pan head, it is necessary to adjust the PID gain in accordance with the generated vibration. In general, the PID gain is adjusted according to the vibration that can be handled at the time of camera manufacture and installation, and the vibration at the installation site. To adjust.

  At this time, as one of the methods of adjusting the PID gain, there is a method of setting a PID gain, the effect of which is confirmed in advance by the corresponding vibration, but the vibration at the installation location changes depending on the fixing method of the device and the situation at the site. Therefore, in order to set the optimum PID gain, fine adjustment according to the site is required, and the installation time is increased. In this case, the procedure of changing the PID gain on the spot, confirming the vibration suppression effect with the camera image, and determining whether the PID gain is optimized is repeated. In addition, due to factors such as deterioration of the components of the device main body, even in the same on-site vibration, the vibration that appears in the camera image may change immediately after installation and after aging, so that PID gain adjustment after installation is not possible. Otherwise, it will affect the damping effect of the device.

  As another method of adjusting the PID gain, there is a method of recording and analyzing a sensor value acquired by a gyro sensor or the like by a control unit and automatically adjusting the PID gain. With this method, the gain can be automatically adjusted according to the vibrations that occur in the field.However, the algorithm for analyzing the vibrations is complicated, and there is a problem with the accuracy of the analysis. In addition, communication with the sensors and calculation processing take time. Therefore, there is a possibility that the control cycle becomes longer and the applicable vibration suppression range becomes narrower. Further, since the final criterion is whether or not the image blur is reduced, it is difficult to determine whether the adjustment result is optimized.

  On the other hand, image processing vibration suppression changes the image cutout position by the amount of image blur obtained from image analysis, and the applicable vibration suppression specification is determined by electrical components and algorithms, but fine gain adjustment Is unnecessary.

  The present invention has been made in view of such circumstances, and has as its object to solve the above problems.

The present invention provides a camera module integrally formed on a camera platform, an actuator that determines an imaging direction of the camera module, a vibration sensor that detects vibration of the camera module, and a detection result of the vibration sensor. An active vibration suppression control unit that performs active vibration suppression control on the actuator, an image shake amount calculation unit that calculates the image shake amount of a captured video, and performs an image processing vibration suppression process based on the image shake amount An image processing vibration suppression control unit, wherein the active vibration suppression control unit acquires the image blur amount calculated by the image blur amount calculation unit, and reflects the image blur amount on the gain adjustment of the active vibration suppression control. As a result, the image blurring amount of the video can be reduced, so that the vibration damping performance can be improved. In particular, in the image processing vibration damping processing, a video having a wide angle of view can be cut out and used.
Further, the active vibration suppression processing is performed by PID control, and a vibration sensor that acquires and accumulates a sensor value of the vibration sensor for a certain period in a state where the active vibration suppression processing is turned off and the image processing vibration suppression processing is turned off. A value obtaining unit, an image blur amount calculating unit that obtains and accumulates the image blur amount during the same fixed period as the sensor value obtaining period in the vibration sensor value obtaining unit, and the sensor value and the image during the certain period. A sensor correction value calculation processing unit that calculates a correction amount of the sensor value of the vibration sensor so as to compare the amount of shake and reduce the difference between the values, and a control that is used for the PID control based on the correction value. A gain adjustment processing unit that adjusts the gain value of the quantity. Thereby, the difference between the sensor value (blur amount) obtained by the vibration sensor and the blur amount of the image in the video is reduced or set to zero, so that the vibration damping performance can be improved.
The present invention relates to a vibration damping method for a camera module integrally formed on a camera platform, wherein the active vibration damping processing performs active vibration damping processing by PID control based on a sensor value of a vibration sensor attached to the camera module. A processing step, an image processing vibration suppression processing step of performing image processing vibration suppression processing based on image blurring of an image captured by the camera module, and the active vibration suppression processing is turned off and the image processing vibration suppression processing is turned off. A gain adjustment step of comparing the sensor value of the vibration sensor and the amount of image blurring obtained in a state where the vibration has occurred, and adjusting a gain value of a control amount used for the PID control so as to reduce a difference between the values. Is provided. Thereby, the difference between the sensor value (blur amount) obtained by the vibration sensor and the blur amount of the image in the video is reduced or set to zero, so that the vibration damping performance can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, in the imaging device which has two vibration suppression functions of the active vibration suppression function using a vibration sensor and the image processing vibration suppression function, the vibration suppression performance can be improved.

FIG. 1 is a diagram illustrating an overview of a camera platform integrated camera according to an embodiment. FIG. 3 is a functional block diagram of a control unit according to the embodiment. It is a flow chart of active damping processing concerning an embodiment. 6 is a flowchart of an image blur reduction process according to the embodiment. 9 is a flowchart of a sensor correction value calculation process according to the embodiment. 6 is a flowchart of a gain adjustment process according to the embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a camera platform integrated camera 100 according to the present embodiment. FIG. 1A schematically shows an external appearance, and FIG. 1B schematically shows a main configuration. FIG. 2 is a functional block diagram of the camera platform integrated camera 100, and mainly shows a vibration suppression function (a function of reducing image blur caused by vibration). The camera platform integrated camera 100 has a hybrid vibration suppression function of an active vibration suppression function and an image processing vibration suppression function, and uses PID vibration suppression control to which PID control is applied in the vibration suppression function.

  As shown in FIG. 1, the camera platform integrated camera 100 includes a camera module 1, and has two axes of a pan axis rotation direction 2 and a tilt axis rotation direction 3 by an actuator 8 having a tilt axis motor and a pan axis motor. Swivel drive is possible.

  The main body 4 and the base 5, which are rotating parts, rotate 360 ° endlessly in the pan axis rotation direction 2 via a slip ring 9a (not shown). In the present embodiment, a procedure for calculating the gyro correction value of the pan axis and adjusting the control gain of the pan head integrated camera of FIG. 1 will be described.

  A gyro sensor 6 corresponding to three axes is attached as a vibration sensor outside (or inside) the base 5 of the camera platform integrated camera 100 shown in FIG. The gyro sensor 6 acquires a gyro signal in three axial directions, and transmits the signal to a microcomputer (an active vibration suppression control unit 20 described later). In the present embodiment, the gyro sensors 6 are provided at two places: the gyro sensor (A) 6a attached to the base 5 and the gyro sensor (B) 6b attached to the main body 4. The configuration is not limited to this, and only one of them may be used. With such a configuration of the gyro sensor 6, the active vibration suppression processing of the tilt shaft 9b can be simplified. The gyro sensor 6 detects the vibration of the base portion 5 or the main body portion 4 at the mounting position. The gyro signal is output as an angular velocity.

  When the camera platform integrated camera 100 is installed in a place (not shown) having vibration, the camera module 1 is vibrated by propagating through the base 5, the main body 4, and the camera case 7. This vibration causes image blurring. The gyro sensor 6 detects the vibration, and the detection result is used for image blur reduction.

  The hybrid vibration suppression function of the active vibration suppression function and the image processing vibration suppression function will be described with reference to FIG. As shown in the drawing, the camera platform integrated camera 100 includes a control unit 10 that controls the camera module 1. The control unit 10 includes an active vibration suppression control unit 20, an image processing vibration suppression processing unit 30, and an overall control unit 40. Although not shown, a wireless LAN or BLUETOOTH (registered trademark) communication function (communication IF) is provided to communicate with the operation terminal 99 or the like to transmit a predetermined command or to transmit a captured video. It is possible.

  The active vibration suppression control unit 20 includes, for example, an MPU (Microprocessor) and implements an image blur reduction function. For the reduction processing, the active vibration suppression control unit 20 includes a gain adjustment processing unit 21, a variable holding unit 22, a gyro sensor data acquisition unit 23, a gyro sensor data recording unit 24, and an active vibration suppression processing unit 25. , A motor control pulse output unit 26, and a sensor correction value calculation processing unit 27.

  The gyro sensor data acquisition unit 23 acquires a gyro signal from the gyro sensor 6. The gyro sensor data recording unit 24 records the acquired gyro signal.

  The active vibration suppression processing unit 25 performs active vibration suppression processing by PID control based on the acquired gyro signal to reduce blur. The motor control pulse output unit 26 controls the camera imaging direction setting motor 8 (the pan axis motor 8a and the tilt axis motor 8b) based on the calculation result of the active vibration suppression processing unit 25. In the PID control, it may not be necessary to adjust the gain for all of the P control amount, the I control amount, and the D control amount. That is, the adjustment is performed by paying attention to one in which the gain adjustment effectively functions in any of the control amounts, for example, “P control amount only” or “P control amount and D control amount”, and omit other adjustment processing. Can also.

  The active vibration suppression control unit 20 can switch ON / OFF of the vibration suppression function, and can execute only recording of the gyro sensor value even when the vibration suppression function is OFF. At this time, the active vibration suppression processing unit 25 can refer to the recorded value when only the image blur amount calculation is performed by the image processing vibration suppression processing unit 30 described later.

  When executing the PID gain adjustment processing function, the gain adjustment processing unit 21 performs the operation in a state where the active vibration suppression function is turned on, the image processing vibration suppression function is turned off, and only the image blur amount calculation is executed. If vibrations occur in the camera platform (base unit 5) or the main unit 4 (rotating unit) in this state, image blurring of the camera video is reduced by active vibration suppression processing, and only the image blurring amount at that time is recorded. Can be done. At this time, the amount of image blur to be reduced changes depending on the PID gain of active vibration suppression. The PID gain adjustment processing function is a process of changing the PID gain within a predetermined range, recording the image blur amount for each PID gain, and determining the PID gain when the image blur is minimized from the amount. I do.

  The active vibration suppression processing unit 25 acquires the detection value of the gyro sensor 6 in the PID control processing of the active vibration suppression, and then calculates the sensor correction value calculated by the sensor correction value calculation processing unit 27 for the detection value of the gyro sensor 6. Is obtained, a correction process is performed, and a P control amount, an I control amount, and a D control amount are calculated from the corrected values.

  The sensor correction value calculation processing unit 27 calculates a sensor correction value by a sensor correction value calculation process described later with reference to FIG. During a time designated as a function for calculating the correction value of the gyro sensor 6, the active vibration suppression processing unit 25 detects and records only the gyro sensor value, Then, only the image blur amount is calculated and recorded. During this time, when vibration occurs in the structure on which the camera platform (base portion 5) is mounted, the same vibration and vibration are detected simultaneously by the gyro sensor 6 and the image blur calculation. After the lapse of the designated time, the recorded value of the gyro sensor 6 is compared with the recorded value of the image blur amount to calculate a correction value of the gyro sensor 6.

  The motor control pulse output unit 26 sends an operation command to the camera imaging direction setting motor 8 by a pulse corresponding to the control amount calculated by the active vibration suppression processing unit 25 and multiplied by a PID gain. At this time, the value used in the correction amount calculation of the gyro sensor 6 and the PID gain can be changed by holding the value as a variable in the variable holding unit 22 in the vibration suppression processing.

  With reference to FIG. 3, a flow of the active vibration suppression processing in the active vibration suppression control unit 20 will be described.

  When the active vibration suppression processing function is ON (YES in S11), the gyro sensor data acquisition unit 23 acquires a gyro sensor value (S12), and the sensor correction value calculation processing unit 27 sends a variable to the gyro sensor value. A sensor value correction process for reflecting the sensor correction value recorded in the holding unit 22 is executed (S13).

  The active vibration suppression processing unit 25 calculates a control amount (P control amount, I control amount, D control amount) of the PID control based on the corrected sensor value (S14). The motor control pulse output unit 26 calculates the operation amount (that is, the pulse output amount) of the camera imaging direction setting motor 8 (the pan axis motor 8a and the tilt axis motor 8b) corresponding to the calculated control amount (S15). An operation command is output to the imaging direction setting motor 8 (S16).

  When the active vibration suppression processing function is OFF (NO in S11), if the sensor correction amount calculation function is ON (YES in S17), the gyro sensor data acquisition unit 23 The gyro sensor value is obtained (S18) and recorded in the gyro sensor data recording unit 24 (S19). If the sensor correction amount calculation function is OFF (NO in S17), the process is not executed and the process ends.

  Returning to FIG. 2, the image processing vibration suppression processing unit 30 will be described. The image processing vibration suppression processing unit 30 is, for example, an FPGA (Field Programmable Gate Array) and has an image blur reduction function by image processing. As a specific configuration for executing the image blur reduction function, the image processing vibration suppression processing unit 30 includes a camera image acquisition unit 31, a reference image storage unit 32, an image blur amount calculation unit 33, and an image cutout position calculation unit 34. And an image cut-out processing unit 35.

  The camera video acquisition 31 acquires a video (image) from the camera module 1. The reference image storage unit 32 records and holds the reference image. The image blur amount calculator 33 calculates the image blur amount. The image cutout position calculation unit 34 calculates an image cutout position in the vibration damping process by the image processing. The image cut-out processing unit 35 trims and shoots the shot video based on the cut-out position of the image calculated by the image cut-out position calculation unit 34, and outputs a camera video display to the operation terminal 99 or the like.

  With reference to FIG. 4, a flow of the image blur reduction processing by the image processing vibration suppression processing unit 30 will be described. When the image processing vibration suppression function is ON (YES in S21), the camera video acquisition unit 31 acquires a video from the camera module 1 (S22), and the image blur amount calculation unit 33 calculates the image blur amount of the video (S22). S23). The image cutout position calculator 34 calculates an image cutout position from the calculated image shake amount so that there is no blur when outputting video, and the image cutout processor 35 performs a process of cutting out the camera image (S24). The image is displayed and output (S25).

  When the image processing vibration suppression function is OFF (NO in S21), if the PID gain adjustment processing function is ON or the sensor correction amount calculation processing is ON (YES in S26), the camera image acquisition 31 obtains an image from the camera module 1 Then, the image blur amount calculation unit 33 calculates the image blur amount of the video and notifies the overall control unit 40 (S28). The overall control unit 40 records the image blur amount in the image blur amount data holding unit 44 (S29).

  If both the PID gain adjustment processing function and the sensor correction amount calculation processing are OFF (NO in S26), the processing according to the flow ends.

  Returning to FIG. 2 again, the overall control unit 40 will be described. The overall control unit 40 includes an image processing vibration suppression ON / OFF unit 41, an active vibration suppression ON / OFF unit 42, a PID gain automatic adjustment ON / OFF unit 43, and an image blur amount data holding unit 44.

  The image processing vibration suppression ON / OFF unit 41 executes ON / OFF of the image processing vibration suppression function by the image processing vibration suppression processing unit 30. As a result, the image processing damping function can be switched between ON and OFF, and even when the image processing damping function is OFF, only the image blur amount calculation is executed and recorded. At this time, the recorded value when only the image blur amount calculation is executed can be referred to from the active vibration suppression control unit 20.

  The active vibration suppression ON / OFF unit 42 performs ON / OFF of the active vibration suppression function by the active vibration suppression control unit 20. As a result, the active vibration suppression function can be switched between ON and OFF, and even when the vibration suppression function is OFF, only recording of the gyro sensor value can be executed.

  The PID gain automatic adjustment ON / OFF unit 43 acquires a predetermined command and executes ON / OFF of the PID gain adjustment function. The image shake amount data holding unit 44 records and holds the image shake amount calculated by the image shake amount calculation unit 33. The sensor correction amount calculation ON / OFF unit 45 acquires a predetermined command (sensor correction amount calculation command) and executes ON / OFF of the correction amount calculation processing of the gyro sensor value of the gyro sensor 6.

  Next, the flow of the sensor correction value calculation process will be described with reference to FIG. This process is performed with the vibration suppression control turned off. The sensor correction value calculation processing unit 27 starts the process by a predetermined trigger, and first acquires a specified time (S31). As the trigger, for example, there is a sensor correction amount calculation command specified by an external operation menu of the camera platform integrated camera 100. In actual use, it may be incorporated before the PID gain adjustment execution processing. The specified time may be set in advance as an initial value, or may be specified by the administrator or the like from the operation terminal 99. Next, the gyro sensor data acquisition section 23 acquires a gyro sensor value from the gyro sensor 6 and records it in the gyro sensor data recording section 24 (S32). This processing corresponds to the processing of S18 and S19 in FIG. 3 and is executed with the active vibration suppression turned off.

  Next, the image blur amount calculation unit 33 calculates the image blur amount from the video captured by the camera module 1 and records it in the image blur amount data holding unit 44 (S33). This processing corresponds to the processing of S27 to S29 in FIG. 4 and is executed in a state where the image processing damping is turned off.

  If the predetermined time has not elapsed (NO in S34), the gyro sensor value recording process (S32) and the image blur amount recording process (S33) continue.

  When the predetermined time has elapsed (YES in S34), the sensor correction value calculation processing unit 27 calculates the gyro sensor value recorded in the gyro sensor data recording unit 24 and the image blur amount recorded in the image blur amount data holding unit 44. The difference is detected by comparing with the recorded value (S35), and the sensor correction value is determined and recorded so that there is no difference between them (S36).

  In the sensor correction value calculation process, first, only the recording of the detection value of the gyro sensor 6 and the recording of the calculated value of the image blurring amount are performed for a fixed time (for example, one minute). Since the image blur reduction processing is not performed, the data recorded during this time has the same vibration content. However, since the value of the gyro sensor 6 is the vibration transmitted to the camera base (camera module 1) and the value of the image blur amount is the vibration transmitted to the camera unit (camera module 1), an error occurs in the recording data. An error is calculated in advance, recorded as a correction value of the gyro sensor 6 in the variable holding unit 22, and used in the active vibration suppression processing, whereby the vibration suppression effect can be enhanced.

  Since the data of the gyro sensor 6 is an angular velocity, an angle can be obtained by integrating the data with the sampling time of the gyro sensor 6. On the other hand, the image blur amount can be obtained from the angle of view and the number of pixels of the camera module 1. If the vibration is the same, the amplitude angle obtained from the gyro sensor value and the amplitude angle obtained from the image blur calculation should be the same value, so if the difference is large, calculate the ratio and use the gyro sensor in active vibration suppression. By incorporating the correction value as a correction value, it becomes possible to perform a correction reflecting the blur of the camera image.

  The flow of the gain adjustment process in the active vibration suppression process will be described with reference to FIG. The gain adjustment processing unit 21 starts the process by a predetermined trigger. Here, the PID gain adjustment command is transmitted from the external operation menu of the camera platform integrated camera 100, and the PID gain automatic adjustment ON / OFF unit 43 acquires the PID gain adjustment command. In actual use, the processing may be performed periodically, may be performed immediately after restart of the camera integrated with the camera platform 100 when an error occurs, or when the correction amount exceeds a predetermined value in image processing vibration suppression. May be executed.

  When the PID gain automatic adjustment ON / OFF unit 43 receives the PID gain adjustment command in the overall control unit 40, it issues an image blur amount calculation (no image correction) execution instruction to the image processing vibration suppression processing unit 30 (S41). . In a situation where the active vibration suppression is not operating, the image blur correction does not work, so that the image blur occurs each time the vibration is transmitted. During the automatic gain adjustment process, the image blur amount calculation unit 33 continues to output the image blur amount to the overall control unit 40. The overall control unit 40 records the image blurring amount received from the image blurring amount calculating unit 33 in the image blurring amount data holding unit 44 at the timing of recording the vibration damping effect for each gain of the active vibration damping processing unit.

  Subsequently, the overall control unit 40 instructs the gain adjustment processing unit 21 of the active vibration suppression control unit 20 to execute processing. The gain adjustment processing unit 21 acquires the gain set value n (S42). With the initial gain set to “1”, the process is repeatedly executed until “n”, which is the number of times of processing. In order to start the execution of the gain adjustment processing, the PID gain is set to a preset initial gain “1”.

  After setting the gain to the initial value, the active vibration suppression control unit 20 starts the active vibration suppression processing, and notifies the overall control unit of the timing to start saving the image blur amount data. The overall control unit 40 records the image blur amount for a fixed time (for example, 5 seconds), and the active vibration suppression control unit 20 records the value of the gyro sensor for the same time (S43). Since the vibration generated in the camera platform integrated camera 100 is not always constant, it is necessary to record data for a certain period of time in order to determine the damping effect of the active damping.

  After recording the data for the designated time, the active vibration suppression processing unit 25 once suspends the active vibration suppression processing and the recording of the gyro sensor value, and also notifies the overall control unit 40 of the stop of the recording of the image blurring amount. After confirming the stop of the processing, the overall control unit 40 searches for the maximum value of the recorded image blur amount, calculates the motor control direction and speed at the set gain at this time, and saves them as a result of active vibration suppression (S44). ).

  At this time, the recording data of the gyro sensor 6 is used as a material for determining whether or not the active vibration suppression is operating normally by comparing with the recording of the image blur amount. For example, if the maximum value of the image blur amount is recorded when the value of the gyro sensor is small, it can be determined that the value is low in reliability.

  The above processing is set as one gain, and the processing is repeated in the entire gain range set in advance (NO in S45). After acquiring all the results within the gain range (YES in S45), the active vibration damping control unit 20 stops the active vibration damping process, notifies the overall control unit 40 that the recording acquisition process has been completed, The control unit 40 checks the set of the recorded gain value and the maximum value of the image blurring amount, and extracts the gain value with the smallest image blurring amount (S46). Thereafter, the extracted gain value is overwritten on the gain value of the active vibration suppression processing unit 25 by the PID gain setting processing (S47), and the automatic gain processing ends.

  As described above, according to the present embodiment, the gain of the active vibration suppression side is automatically adjusted using the functions of the active vibration suppression and the image blur correction in a state where the camera-integrated camera 100 is installed at the place where the vibration is generated. be able to.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to the combination of the components, and that such modifications are also within the scope of the present invention. For example, by calculating the image blurring amount and feeding it back to the active vibration suppression processing, when performing the image processing vibration suppression processing, it is possible to output a video with a wide angle of view by reducing the trimming area.

DESCRIPTION OF SYMBOLS 1 Camera module 2 Pan axis rotation direction 3 Tilt axis rotation direction 4 Body part 5 Base part 6 Gyro sensor 7 Camera case 8 Camera imaging direction setting motor 9a Pan axis 9b Tilt axis 10 Control part 20 Active vibration suppression control part 21 Gain adjustment processing Unit 22 Variable holding unit 23 Gyro sensor data acquisition unit 24 Gyro sensor data recording unit 25 Active vibration suppression processing unit 26 Motor control pulse output unit 27 Sensor correction value calculation processing unit 30 Image processing vibration suppression processing unit 31 Camera image acquisition 32 Reference image Storage unit 33 Image blur amount calculation unit 34 Image cutout position calculation unit 35 Image cutout processing unit 40 Overall control unit 41 Image processing vibration suppression ON / OFF unit 42 Active vibration suppression ON / OFF unit 43 PID gain automatic adjustment ON / OFF unit 44 Image blur amount data holding unit 45 Sensor correction amount calculation ON / OFF unit 9 9 Operation terminal

Claims (3)

A camera module integrated with the camera platform,
An actuator for determining an imaging direction of the camera module;
A vibration sensor for detecting vibration of the camera module,
Based on the detection result of the vibration sensor, an active vibration suppression control unit that performs active vibration suppression control on the actuator,
An image blur amount calculation unit that calculates an image blur amount of a shot video;
An image processing vibration suppression control unit that performs image processing vibration suppression processing based on the image blur amount,
Has,
The imaging apparatus, wherein the active vibration suppression control unit acquires the image shake amount calculated by the image shake amount calculation unit and reflects the image shake amount on a gain adjustment of the active vibration suppression control. The active vibration suppression processing is performed by PID control,
In a state where the active vibration suppression processing is turned off and the image processing vibration suppression processing is turned off, a vibration sensor value acquisition unit that acquires and accumulates a sensor value of the vibration sensor for a certain period,
An image blur amount calculation unit that obtains and accumulates the image blur amount during the same fixed period as the sensor value obtaining period in the vibration sensor value obtaining unit,
A sensor correction value calculation processing unit that compares the sensor value and the image blur amount during the certain period, and calculates a correction amount of the sensor value of the vibration sensor so as to reduce a difference between the values.
A gain adjustment processing unit that adjusts a gain value of a control amount used for the PID control based on the correction value;
An imaging device comprising: A method of damping a camera module integrated with a camera platform,
An active vibration suppression processing step of performing active vibration suppression processing by PID control based on a sensor value of a vibration sensor attached to the camera module;
An image processing vibration suppression processing step of performing image processing vibration suppression processing based on image blur of a video taken by the camera module,
The sensor value of the vibration sensor obtained in a state where the active vibration suppression processing is turned off and the image processing vibration suppression processing is turned off is compared with the amount of image blur, and the difference between the values is reduced so as to reduce the difference between the values. A gain adjustment step of adjusting a gain value of a control amount used for PID control;
A vibration damping method comprising:

Images