JP7202823B2 - Imaging device and damping method - Google Patents

Description

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

A pan head integrated camera used in a monitoring system vibrates due to the vibration of passing cars/trains, wind, and the like, resulting in image blurring in the output. Image blurring is an eyesore, especially when zooming in. In general, image blurring at high frequencies (eg, 30 Hz or more) does not become an eyesore, but at low frequencies (eg, 10 Hz or less), it is particularly annoying. In addition, when zooming in to identify fallen objects on the road, image blurring may make visual identification difficult.

An image stabilizer using image processing (image stabilizer processing) is widely known as a vibration countermeasure for image blurring of a pan head integrated camera. There is also a pan head integrated camera in which the image stabilizer is mounted on the camera body. Also, there is known a technique in which an image stabilizer is installed between a surveillance camera and a monitor to display an image with reduced image blur on the monitor when the image stabilizer is not mounted on the camera body.

As another countermeasure against image blurring, there is also correction means using a lens unit. There is also known an actuator damping technique for reducing blur due to vibration by moving a lens unit with an actuator such as a piezoelectric element provided corresponding to each of the pan and tilt directions (see, for example, Patent Document 1).

Actuator damping technology is highly effective for shakes with low vibration frequencies and large amplitudes. It is also effective even when a clear image cannot be obtained. The image stabilizer technology is more effective at high frequencies than the actuator damping technology, but it requires cropping and the angle of view becomes smaller.

Among stationary imaging devices equipped with image blur countermeasures, there are hybrid damping products that combine these image blur correction technologies with different features so as to reduce image blur in the entire device.

A method of suppressing the image blur of a pan head integrated camera using a gyro sensor (vibration sensor) and a motor (hereinafter referred to as active vibration suppression), and a method of analyzing the amount of image blur by image processing and extracting an image (hereinafter referred to as image When used in combination with vibration control), active vibration control corrects large low-frequency vibrations, while image processing vibration control corrects small high-frequency vibrations. There is a way. In active damping, after reading the value of the gyro sensor, the controller calculates the angular velocity of the vibration from the value of the gyro sensor and issues a command to move the motor in the direction to reduce the vibration. Image blurring is reduced when the motor operates in a direction that cancels out the vibration.

When using active damping as a countermeasure against image blurring of a pan head integrated camera, the mounting position of the gyro sensor may be adjusted depending on the cause of the image blurring (vibration frequency that causes it). When a sensor is attached to the base of a stationary camera, it is a damping measure for the vibration generated in the structure to which the camera platform is fixed. Also, when attached to the camera section, it acts as a damping measure against vibrations transmitted from the base section to the camera section via the pan and tilt axes. The mounting position of the sensor is selected according to the application of the camera, because the control processing after the detection of the sensor changes greatly as well as the object of vibration.

JP 2018-55096 A

In active damping, there may actually be an error between the detected value of the gyro sensor and the amount of vibration appearing on the camera. For example, if a gyro sensor is attached to the base of the pan head, the cause of the error is that the vibration detected by the gyro sensor is from the base where the sensor is attached, whereas the vibration that appears in the camera image is from the base. Since the vibration is transmitted to the camera unit via the pan axis and tilt axis, there is a difference in the vibration location. At this time, in the process of propagating vibration, there are errors due to mounting errors of the detection axis, pan axis, and tilt axis at the mounting location of the gyro sensor, assembly errors, rigidity against shaking of the pan head axis, and individual differences of the gyro sensor. thought to occur.

Cameras with an integrated camera platform store these correction values as parameters (hereafter referred to as "sensor correction values"), record them during manufacturing, and use them for active vibration suppression processing. Since the sensor correction value may change after installation due to reduced rigidity due to deterioration, it is desirable to be able to correct errors even after installation of the camera platform.

PID control is one of control methods for reducing blurring of an image by active damping. PID control is a control method in which values from a gyro sensor are converted into proportional, integral, and differential quantities, and the values are multiplied by gains (hereinafter referred to as "PID gains") and added to define control quantities.

In PID control, the control effect varies depending on the combination of gains that give the frequency and amplitude of vibration detected by the gyro sensor to proportional, integral, and differential amounts. When performing PID control with a pan head integrated camera, it is necessary to adjust the PID gain according to the vibration that occurs. to adjust.

At this time, as one method of adjusting the PID gain, there is a method of setting a PID gain that has been confirmed to be effective in response to vibration in advance, but the vibration at the installation location varies depending on the method of fixing 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, which increases the labor of installation. In this case, the procedure of changing the PID gain on site, confirming the damping effect with a camera image, and determining whether the PID gain is optimized or not is repeated. In addition, due to factors such as the deterioration of the components of the device itself, even if the vibration is at the same site, the vibration that appears in the camera image may change immediately after installation and after aging, making it impossible to adjust the PID gain after installation. If not, it will affect the damping effect of the device.

As another method of PID gain adjustment, there is a method of automatically adjusting the PID gain by recording and analyzing sensor values acquired by a gyro sensor or the like in a control unit. With this method, it is possible to automatically adjust the gain according to the vibrations occurring in the field, but the algorithms for analyzing the vibrations are complicated and there are problems with analysis accuracy. Therefore, there is a possibility that the control cycle becomes longer and the range of damping that can be handled becomes narrower. In addition, since the final judgment criterion is whether or not the image blurring is reduced, it is difficult to judge whether the adjustment result is optimized or not.

On the other hand, image processing damping changes the image cropping position by the amount of image blur obtained from image analysis, and the compatible damping specifications are determined by electrical components and algorithms, but fine adjustment of gain is unnecessary.

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

The present invention comprises a base, a main body mounted rotatably with respect to the base, a camera module fixed to the main body, an actuator for determining an imaging direction of the camera module, and the base . an active damping control unit that performs active damping control on the actuator based on the detection result of the vibration sensor, and an image blur amount that calculates the image blur amount of the captured video a calculation unit, an image processing damping control unit that performs image processing damping processing based on the image blur amount, and a state in which the active damping control is turned off and the image processing damping processing is turned off, the vibration A vibration sensor value acquisition unit that acquires and accumulates a sensor value of a sensor for a certain period of time, and an image blur amount that acquires and accumulates the image blur amount for the same certain period as the acquisition period of the sensor value in the vibration sensor value acquisition unit. a calculation unit, and a sensor correction value calculation processing unit that compares the sensor value and the image blur amount in the fixed period and calculates a correction value for the sensor value of the vibration sensor so as to reduce the difference between the values. , wherein the active damping control section performs the active damping control based on the detection result of the vibration sensor corrected using the correction value calculated by the sensor correction value calculation processing section.
As a result, the image blur amount of the video can be reduced, so that the vibration damping performance can be improved. In addition, by reducing or eliminating the difference between the sensor value (blur amount) obtained by the vibration sensor and the image blur amount in the image, the damping performance can be improved.
The present invention comprises a base, a main body mounted rotatably with respect to the base, a camera module fixed to the main body, an actuator for determining an imaging direction of the camera module, and the base . A vibration damping method for the camera module in an imaging device comprising a vibration sensor provided in the camera module, the active vibration damping processing step of performing active vibration damping processing by PID control based on the sensor value of the vibration sensor and an image processing damping processing step of performing image processing damping processing based on image blurring of the video captured by the camera module, and a state in which the active damping processing is turned off and the image processing damping processing is turned off. a sensor correction value calculation step of comparing the sensor value of the vibration sensor and the amount of image blur obtained in the above, and calculating a correction value of the sensor value of the vibration sensor so as to reduce the difference between the values; In the active damping processing step, the active damping processing is performed based on the sensor value using the correction value calculated in the sensor correction value calculating step.
This reduces or eliminates the difference between the sensor value (blur amount) obtained by the vibration sensor and the image blur amount in the image, thereby improving the vibration damping performance.

According to the present invention, it is possible to improve vibration damping performance in an imaging apparatus having two vibration damping functions, an active damping function using a vibration sensor and an image processing damping function.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining an overview of a platform-integrated camera according to an embodiment; 4 is a functional block diagram of a control unit according to the embodiment; FIG. 6 is a flowchart of active damping processing according to the embodiment. 6 is a flowchart of image blurring reduction processing according to the embodiment. 8 is a flowchart of sensor correction value calculation processing according to the embodiment; 6 is a flowchart of gain adjustment processing according to the embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIGS. 1A and 1B schematically show a pan head-integrated camera 100 according to the present embodiment, FIG. 1A schematically showing the appearance, and FIG. FIG. 2 is a functional block diagram of the pan head-integrated camera 100, focusing mainly on the damping function (function for reducing image blurring due to vibration). The pan head-integrated camera 100 has a hybrid damping function of an active damping function and an image processing damping function, and uses PID damping control to which PID control is applied in the damping function.

As shown in FIG. 1, a pan head-integrated camera 100 includes a camera module 1, and is operated by an actuator 8 having a tilt axis motor and a pan axis motor in two axial directions of a pan axis rotation direction 2 and a tilt axis rotation direction 3. Rotation drive is possible.

The body portion 4 and the base portion 5, which are rotating portions, rotate 360° endlessly in the pan axis rotation direction 2 via a slip ring 9a (not shown). In the present embodiment, a description will be given of a pan axis gyro correction value calculation process and a control gain adjustment procedure of the pan-head-integrated camera shown in FIG.

A three-axis gyro sensor 6 is attached as a vibration sensor to the outside (or inside) of the base portion 5 of the pan head-integrated camera 100 shown in FIG. The gyro sensor 6 acquires gyro signals in three axial directions and transmits the signals to a microcomputer (an active damping control section 20 to be described later). In the present embodiment, the gyro sensor 6 is provided at two locations, a gyro sensor (A) 6a attached to the base portion 5 and a gyro sensor (B) 6b attached to the main body portion 4. only one of them may be used. By configuring the gyro sensor 6 in this manner, the active damping process for the tilt axis 9b can be simplified. The gyro sensor 6 detects vibrations of the base portion 5 and the main body portion 4, which are the mounting positions. Note that the gyro signal is output as an angular velocity.

When the platform-integrated camera 100 is installed in a place (not shown) where there is vibration, the vibration propagates through the base portion 5, the main body portion 4, and the camera case 7, causing the camera module 1 to vibrate. This vibration causes image blurring. The gyro sensor 6 detects the vibration, and the detection result is used to reduce image blur.

The hybrid damping function of the active damping function and the image processing damping function will be described with reference to FIG. As illustrated, the pan head integrated camera 100 includes a control section 10 that controls the camera module 1 . The control unit 10 includes an active damping control unit 20 , an image processing damping processing unit 30 , and an overall control unit 40 . Although not shown, it has wireless LAN and BLUETOOTH (registered trademark) communication functions (communication IF), and can communicate with the operation terminal 99 and the like to transmit predetermined commands and to transmit captured images. It is possible.

The active damping control unit 20 is composed of, for example, an MPU (Microprocessor) and implements an image blurring reduction function. For the reduction processing, the active damping 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 damping processing unit 25. , a motor control pulse output unit 26 and a sensor correction value calculation processing unit 27 .

A 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 damping processing unit 25 performs active damping processing by PID control based on the acquired gyro signal to reduce blurring. The motor control pulse output unit 26 controls the camera imaging direction setting motor 8 (pan axis motor 8a, tilt axis motor 8b) based on the calculation result of the active damping processing unit 25 . In PID control, it may not be necessary to adjust gains for all of the P control amount, I control amount, and D control amount. That is, the gain adjustment functions effectively in any of the controlled variables, for example, "only the P controlled variable" or "the P controlled variable and the D controlled variable" are adjusted, and other adjustment processes are omitted. can also

The active damping control unit 20 can switch ON/OFF of the damping function, and can only record the gyro sensor value even when the damping 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 executed by the image processing vibration suppression processing unit 30 to be described later.

When executing the PID gain adjustment processing function, the gain adjustment processing unit 21 turns on the active damping function, turns off the image processing damping function, and executes only image blur amount calculation. In this state, if vibration occurs in the pan head (base part 5) or the main body part 4 (rotating part), the image blurring of the camera image is reduced by active vibration suppression processing, and only the amount of image blurring at that time is recorded. can be done. At this time, the amount of image blur to be reduced varies depending on the PID gain of the active damping. The PID gain adjustment processing function changes the PID gains within a range specified in advance, records the amount of image blurring for each PID gain, and determines the PID gain when the image blurring is minimized. do.

After acquiring the detection value of the gyro sensor 6 in the active vibration suppression PID control process, the active vibration suppression processing unit 25 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 and subjected to correction processing, and the P control amount, I control amount, and 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 to be described later with reference to FIG. During the time specified as the 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, and the image processing vibration suppression in the image processing vibration suppression processing unit 30 Then, only the image blur amount is calculated and recorded. During this time, when vibration occurs in the structure to which the camera platform (base portion 5) is attached, the same vibration shaking is simultaneously detected by the gyro sensor 6 and the image blurring calculation. After the specified time has elapsed, the recorded value of the gyro sensor 6 and the recorded value of the amount of image blurring are compared and processed to calculate the 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 value obtained by multiplying each of the control amounts calculated by the active damping processing unit 25 and adding them by the PID gain. At this time, the values used in the calculation of the correction amount of the gyro sensor 6 and the PID gain can be changed by holding them in the variable holding unit 22 as variables in the damping process.

The flow of active damping processing in the active damping control section 20 will be described with reference to FIG.

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

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

If the active damping processing function is OFF (NO in S11), the active damping control unit 20 detects that the gyro sensor data acquisition unit 23 detects the gyro sensor 6 if the sensor correction amount calculation function is ON (YES in S17). A gyro sensor value is acquired (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 ends without being executed.

Returning to FIG. 2, the image processing vibration suppression processing section 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 blurring 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 clipping position calculation unit 34. and an image clipping processing unit 35 .

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

A flow of image blurring reduction processing by the image processing vibration suppression processing unit 30 will be described with reference to FIG. When the image processing damping function is ON (YES in S21), the camera image acquisition 31 acquires the image from the camera module 1 (S22), and the image blur amount calculation unit 33 calculates the image blur amount of the image ( S23). The image clipping position calculation unit 34 calculates the image clipping position from the calculated amount of image blurring so that blurring does not occur when video is output. The image is displayed and output (S25).

If the image processing damping 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 the image from the camera module 1. (S27), and the image blur amount calculation unit 33 calculates the image blur amount of the image and notifies it to the overall control unit 40 (S28). The overall control unit 40 records the image blur amount in the image blur amount data storage 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 section 40 will be described. The overall control unit 40 includes an image processing damping ON/OFF unit 41 , an active damping 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 damping ON/OFF unit 41 turns ON/OFF the image processing damping function of the image processing damping processing unit 30 . As a result, the image processing vibration damping function can be switched ON/OFF, and even when the image processing vibration damping function is OFF, only the image blur amount calculation is executed and recorded. At this time, the active damping control section 20 can refer to the recorded value when only the image blur amount calculation is executed.

The active damping ON/OFF unit 42 turns ON/OFF the active damping function of the active damping control unit 20 . As a result, the active vibration damping function can be switched ON/OFF, and even when the vibration damping function is OFF, only the gyro sensor value can be recorded.

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 blur amount data holding unit 44 records and holds the image blur amount calculated by the image blur amount calculating 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 process of the gyro sensor value of the gyro sensor 6 .

Next, the flow of sensor correction value calculation processing will be described with reference to FIG. This processing is performed in a state where damping control is OFF. The sensor correction value calculation processing unit 27 starts processing by a predetermined trigger, and first acquires a specified time (S31). As a trigger, for example, there is a sensor correction amount calculation command instructed by the external operation menu of the pan head-integrated camera 100 . In actual use, it may be incorporated before PID gain adjustment execution processing. The specified time may be set in advance as an initial value, or may be specified by an administrator or the like from the operation terminal 99 . Next, the gyro sensor data acquisition unit 23 acquires a gyro sensor value from the gyro sensor 6 and records it in the gyro sensor data recording unit 24 (S32). This processing corresponds to the processing of S18 and S19 in FIG. 3 and is executed with the active damping 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 process corresponds to the process of S27 to S29 in FIG. 4, and is executed with the image processing damping turned off.

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

When the predetermined time has elapsed (YES in S34), the sensor correction value calculation processing section 27 calculates the gyro sensor value recorded in the gyro sensor data recording section 24 and the image blur amount recorded in the image blur amount data holding section 44. A difference is detected by comparing with the recorded value (S35), and a 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 detected value of the gyro sensor 6 and the recording of the calculated value of the amount of image blur are performed for a certain period of time (for example, one minute). Since image blurring reduction processing is not performed, the data recorded during this period have the same vibration content. However, since the value of the gyro sensor 6 is the vibration propagated to the base portion 5 of the camera platform and the value of the amount of image blur is the vibration propagated to the camera portion (camera module 1), an error occurs in the recorded data. By calculating the error in advance and recording it in the variable holding unit 22 as a correction value for the gyro sensor 6 and using it in the active vibration damping process, the vibration damping effect can be enhanced.

Since the data of the gyro sensor 6 is angular velocity, the angle can be obtained by integrating the sampling time of the gyro sensor 6 . On the other hand, the image blur amount can also be obtained from the angle of view of the camera module 1 and the number of pixels. 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. By incorporating it as a correction value of , it becomes possible to perform correction that reflects camera image blurring.

A flow of gain adjustment processing in the active damping processing will be described with reference to FIG. The gain adjustment processing section 21 starts processing by a predetermined trigger. Here, a PID gain adjustment command is transmitted from the external operation menu of camera 100 integrated with camera platform, and PID gain automatic adjustment ON/OFF unit 43 obtains it. In actual use, the process may be executed periodically, or may be executed immediately after restarting when an error occurs in camera 100 with integrated camera platform. may be executed.

When the PID gain automatic adjustment ON/OFF unit 43 in the overall control unit 40 receives the PID gain adjustment command, it issues an execution command for image blur amount calculation (image correction is not performed) to the image processing vibration suppression processing unit 30 (S41). . When the active damping is not in operation, image blurring occurs every time vibration is transmitted because the image blurring correction does not work. During the automatic gain adjustment process, the image blur amount calculator 33 continues to output the image blur amount to the overall control unit 40 . The overall control unit 40 records the amount of image blur received from the image blur amount calculation unit 33 in the image blur amount data storage unit 44 at the timing of recording the damping effect for each gain of the active damping processing unit.

Subsequently, the overall control unit 40 commands the gain adjustment processing unit 21 of the active damping control unit 20 to execute processing. The gain adjustment processing unit 21 acquires the gain setting value n (S42). With the initial gain set to "1", the process is repeatedly executed up to "n", which is the number of times of processing. In order to start gain adjustment processing, the PID gain is set to the preset initial gain "1".

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

After recording the data for the specified time, the active vibration damping processing unit 25 once interrupts the active vibration damping processing and the recording of the gyro sensor values, and also informs the general control unit 40 to stop recording the amount of image blur. After confirming that the process has been stopped, the overall control unit 40 retrieves the maximum value of the recorded image blur amount, calculates the motor control direction and speed with the set gain at this time, and saves them as the result of active damping (S44). ).

At this time, the recorded data of the gyro sensor 6 is compared with the recorded amount of image blurring to determine whether or not the active damping is operating normally. For example, when the image blur amount records the maximum value when the value of the gyro sensor is small, it can be determined that the reliability is low.

The above processing is set for one gain, and the processing is repeated for the entire gain range set in advance (NO in S45). After acquiring all the results within the gain range (YES in S45), the active damping control unit 20 stops the active damping process, notifies the general control unit 40 of the end of the recording acquisition process, and The control unit 40 inspects the set of the recorded maximum values of the gain value and the amount of image blur, and extracts the gain value that minimizes the amount of image blur (S46). After that, the extracted gain value is overwritten on the gain value of the active damping processing section 25 by the PID gain setting process (S47), and the automatic gain process ends.

As described above, according to the present embodiment, in a state in which the platform-integrated camera 100 is installed in a place where vibration occurs, automatic adjustment of the gain on the active vibration suppression side is realized using the functions of active vibration suppression and image blur correction. be able to.

The present invention has been described above based on the embodiments. It should be understood by those skilled in the art that this embodiment is an example, and that various modifications can be made to the combination of each component, and that such modifications are within the scope of the present invention. For example, by calculating the amount of image blurring and feeding it back to the active damping process, it is possible to output video with a wide angle of view by reducing the area to be trimmed when the image processing damping process is performed.

1 camera module 2 pan axis rotation direction 3 tilt axis rotation direction 4 main body 5 base 6 gyro sensor 7 camera case 8 camera imaging direction setting motor 9a pan axis 9b tilt axis 10 control unit 20 active damping control unit 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 clipping position calculation unit 35 Image clipping processing unit 40 Overall control unit 41 Image processing damping ON/OFF unit 42 Active vibration damping 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 99 Operation terminal

Claims (2)

a base;
a body portion rotatably attached to the base portion;
a camera module fixed to the main body;
an actuator that determines an imaging direction of the camera module;
a vibration sensor provided on the base ;
an active damping control unit that performs active damping control on the actuator based on the detection result of the vibration sensor;
an image blur amount calculation unit that calculates the image blur amount of the captured video;
an image processing damping control unit that performs image processing damping processing based on the amount of image blur;
a vibration sensor value acquisition unit that acquires and accumulates sensor values of the vibration sensor for a certain period of time in a state in which the active vibration damping control is turned off and the image processing vibration damping process is turned off;
an image blur amount calculation unit that acquires and accumulates the image blur amount in the same fixed period as the acquisition period of the sensor value in the vibration sensor value acquisition unit;
a sensor correction value calculation processing unit that compares the sensor value and the image blur amount in the fixed period and calculates a correction value for the sensor value of the vibration sensor so as to reduce the difference between the values;
with
The active damping control section performs the active damping control based on the detection result of the vibration sensor corrected using the correction value calculated by the sensor correction value calculation processing section. Imaging device. a base;
a body portion rotatably attached to the base portion;
a camera module fixed to the main body;
an actuator that determines an imaging direction of the camera module;
a vibration sensor provided on the base ;
A vibration suppression method for the camera module in an imaging device comprising:
an active vibration damping processing step of performing active vibration damping processing by PID control based on the sensor value of the vibration sensor;
an image processing and damping processing step of performing image processing and damping processing based on image blurring of the video captured by the camera module;
A sensor value of the vibration sensor obtained in a state in which the active vibration damping process is turned off and the image processing vibration damping process is turned off and the amount of image blurring are compared with each other, and the difference between the values is reduced. a sensor correction value calculation step of calculating a correction value for the sensor value of the vibration sensor;
and
A vibration damping method, wherein in the active vibration damping processing step, the active vibration damping processing is performed based on the sensor value using the correction value calculated in the sensor correction value calculating step.

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