JP6865720B2 - Mobile objects, imaging control methods, programs, and recording media - Google Patents

Description

The present disclosure relates to a moving body including a gimbal portion on which an imaging unit is mounted, a focusing control method, a program, and a recording medium.

Conventionally, an imaging method for imaging in a night time zone when the amount of light is low is known (see Patent Document 1). In the image pickup apparatus of Patent Document 1, shooting scenes are classified based on the live view image taken before the shutter button is pressed. When the shooting scene is classified as a night view scene, the continuous shooting function is automatically set to ON, and a plurality of images are continuously shot according to the user pressing the shutter button once. .. In addition, a composite process of a plurality of images taken continuously is performed. This compositing process can be switched between the case of shooting bright and moving fireworks and the case of shooting a person against the background of bright and moving fireworks.

Japanese Unexamined Patent Publication No. 2012-119858

Patent Document 1 does not consider that the imaging device is mounted on the gimbal. The gimbal corrects the runout of the load (for example, an image pickup device) mounted on the gimbal and stabilizes the posture of the load. Therefore, the vibration of the image pickup device differs between the image pickup device mounted on the gimbal and the image pickup device not mounted on the gimbal. For example, the image pickup device mounted on the gimbal has a variable posture in three axial directions, and when a shake occurs, it takes time for the shake to converge. Therefore, when imaging in a night scene where the image quality is greatly affected by the shake, deterioration of the image quality peculiar to the image pickup device mounted on the gimbal is likely to occur.

In one aspect, it is a moving body including an imaging unit and a gimbal unit on which the imaging unit is mounted and corrects the runout of the imaging unit, and the gimbal unit is centered on at least one rotation axis of three axes orthogonal to each other. In addition, a motor that rotatably supports the imaging unit and rotates the imaging unit around at least one of the three axes is provided, and whether or not the imaging scene in which the image is captured by the imaging unit is a night view scene. Is determined, and whether or not the imaging mode for imaging by the imaging unit is the still image imaging mode for capturing a still image is determined, the imaging scene is a night scene, and the imaging mode is the still image imaging mode. In some cases, the motor is controlled to reduce the allowable rotation amount, the image pickup unit is instructed to reduce the amplification amount of the image signal obtained by the image pickup unit, and the image pickup unit is instructed to slow down the shutter speed of the image pickup unit.

The imaging unit may capture a still image with a rotation allowance controlled by the gimbal unit. The gimbal portion may return the rotation allowance controlled by the gimbal portion to the state before being controlled by the gimbal portion.

The imaging unit may capture a still image with the amplification amount and shutter speed of the image signal instructed by the gimbal unit. The gimbal unit returns the amplification amount and shutter speed of the image signal instructed by the gimbal unit to the state before being instructed by the gimbal unit.

The gimbal unit may determine whether or not it is a night view scene based on the brightness of the live view image captured by the imaging unit.

The moving body may further include a grip portion that is gripped by the user.

The moving body may further include a control unit that controls the flight of the moving body.

In one aspect, the imaging control method includes an imaging unit and an imaging unit, corrects the runout of the imaging unit, and rotatably supports the imaging unit around at least one of three axes that are orthogonal to each other. This is an imaging control method for a moving body including a gimbal unit including a motor that rotates an imaging unit around at least one of three rotation axes, and an imaging scene in which an image is captured by the imaging unit is a night view scene. A step of determining whether or not there is a step, a step of determining whether or not the imaging mode for imaging by the imaging unit is a still image imaging mode for capturing a still image, and a step of determining whether or not the imaging scene is a night view scene. When the imaging mode is the still image imaging mode, it has a step of reducing the rotation allowance of the motor, reducing the amplification amount of the image signal obtained by the imaging unit, and controlling the shutter speed of the imaging unit to be slowed down. ..

The imaging control method may further include a step of capturing a still image with a controlled rotation allowance and a step of returning the controlled rotation allowance to a state before being controlled.

The imaging control method includes a step of capturing a still image with a controlled image signal amplification amount and a shutter speed, and a step of returning the controlled image signal amplification amount and the shutter speed to the state before being instructed. , Further may be included.

The step of determining whether or not it is a night view scene may determine whether or not it is a night view scene based on the brightness of the live view image captured by the imaging unit.

In one aspect, the program includes an imaging unit and an imaging unit, corrects the runout of the imaging unit, and rotatably supports the imaging unit around at least one of three axes that are orthogonal to each other. A step of determining whether or not the imaging scene in which an image is captured by the imaging unit on a moving body including a gimbal portion including a motor that rotates the imaging unit around at least one rotation axis of the axis is a night view scene. The step of determining whether or not the imaging mode for imaging by the imaging unit is the still image imaging mode for capturing a still image, the imaging scene is a night scene, and the imaging mode is the still image imaging mode. In some cases, it is a program for executing a step of reducing the rotation allowance of the motor, reducing the amplification amount of the image signal obtained by the imaging unit, and controlling the shutter speed of the imaging unit to be slowed down.

In one aspect, the recording medium includes an imaging unit and an imaging unit, corrects the runout of the imaging unit, and rotatably supports the imaging unit around at least one of three axes that are orthogonal to each other. It is determined whether or not the imaging scene in which the image is captured by the imaging unit on the moving body including the gimbal portion including the motor that rotates the imaging unit around at least one of the three rotation axes is a night view scene. The step, the step of determining whether or not the imaging mode for imaging by the imaging unit is the still image imaging mode for capturing a still image, the imaging scene is a night view scene, and the imaging mode is the still image imaging mode. In the case of, a program for executing a step of reducing the rotation allowance of the motor, reducing the amplification amount of the image signal obtained by the imaging unit, and controlling the shutter speed of the imaging unit to be slowed down was recorded. It is a computer-readable recording medium.

The outline of the above invention does not list all the features of the present disclosure. Sub-combinations of these feature groups can also be inventions.

A perspective view showing the appearance of the gimbal camera device according to the embodiment. Block diagram showing the hardware configuration of the gimbal camera device Flow chart showing an operation example of the gimbal camera device Perspective view showing an external example of another gimbal camera device Perspective view showing an example of the appearance of an unmanned aerial vehicle equipped with a gimbal

Hereinafter, the present disclosure will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential to the solution of the invention.

The claims, description, drawings, and abstracts include matters that are subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

In the following embodiment, a gimbal camera device that the imager holds in his / her hand to take an image is illustrated as a moving body. The gimbal camera device may be a gimbal camera device mounted on an unmanned aerial vehicle. The image pickup control method defines the operation of the moving body. Further, the recording medium is a recording medium in which a program (for example, a program for causing a moving body to execute various processes) is recorded.

FIG. 1 is a perspective view showing the appearance of the gimbal camera device 10 according to the embodiment. The gimbal camera device 10 has a configuration including a gimbal 20, a camera 30, a monitor 55, and a device main body 60.

The device main body 60 is, for example, a member formed in a substantially columnar shape. A gimbal 20 is detachably attached to the upper end of the apparatus main body 60. A mounting portion 63 to which the monitor 50 can be mounted is provided on the left side surface of the apparatus main body 60 in the drawing. A female screw portion (not shown) to be attached to a tripod is formed on the right side surface of the apparatus main body 60.

Further, an operation surface 610 inclined forward is formed on the upper front surface of the apparatus main body 60. Various buttons and indicators 614 are arranged on the operation surface 610. The various buttons include a shutter button 611, a recording button 612, and an operation button 613. The lower center of the apparatus main body 60 is formed in a grip portion 620 that is gripped by the imager's hand. The shutter button 611 instructs the image capture of a still image. The record button 612 instructs the image capture of the moving image. The recording button 612 may instruct to stop the imaging of the moving image.

The gimbal 20 is equipped with a camera 30 and corrects the runout of the camera 30. The gimbal 20 variably supports the posture of the camera 30 in three axial directions (roll axis, pitch axis, yaw axis). The gimbal 20 is an example of a gimbal portion. The gimbal 20 is attached to an attachment portion 210 provided at the upper end portion of the apparatus main body 60. The mounting portion 210 is provided with a release button 211 that disengages the gimbal 20 from the device body 60.

The gimbal 20 includes a yaw axis motor 215, a roll axis motor 216, and a pitch axis motor 217. The yaw axis motor 215 is arranged at the upper end of the apparatus main body 60. The roll shaft motor 216 is attached to the yaw shaft motor 215 via the arm member 221. The pitch shaft motor 217 is attached to the roll shaft motor 216 via the arm member 222. The gimbal 20 may rotatably support the camera 30 about a yaw axis, a pitch axis, and a roll axis.

The roll axis (see the x-axis in FIG. 1) may coincide with the optical axis Occ and is a rotation axis set along the front-rear direction. The pitch axis (see the y-axis in FIG. 1) is a rotation axis set in a direction perpendicular to the roll axis and set along the left-right direction. The yaw axis (see the z-axis in FIG. 1) is a rotation axis set in a direction perpendicular to the roll axis and the pitch axis and set in the vertical direction. The roll axis, pitch axis, and yaw axis are examples of three axes that are orthogonal to each other.

The yaw axis motor 215 supplies a driving force for rotating the camera 30 around the yaw axis. The camera 30 is rotatable about the yaw axis by the driving force of the yaw axis motor 215. Therefore, the yaw axis motor 215 operates as a rotor that rotates the camera 30 around the yaw axis.

The roll axis motor 216 supplies a driving force for rotating the camera 30 around the roll axis. The camera 30 is rotatable about the roll axis by the driving force of the roll axis motor 216. Therefore, the roll axis motor 216 operates as a rotor that rotates the camera 30 around the yaw axis.

The pitch axis motor 217 supplies a driving force for rotating the camera 30 around the pitch axis. The camera 30 is rotatable about the pitch axis by the driving force of the pitch axis motor 217. Therefore, the pitch axis motor 217 operates as a rotor that rotates the camera 30 around the pitch axis.

The gimbal 20 may change the imaging direction of the camera 30 by rotating the camera 30 around at least one of the yaw axis, the pitch axis, and the roll axis. In this case, the gimbal 20 may change the imaging direction of the camera 30 by changing the direction of the camera 30 by the user who grips the grip portion 620. The gimbal 20 may change the imaging direction of the camera 30 by driving the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217. The gimbal 20 may change the imaging direction of the camera 30 due to an external force such as camera shake.

The gimbal 20 drives the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217, and moves the camera 30 in three axial directions of the yaw axis, the roll axis, and the pitch axis so that the direction of the camera 30 with respect to the subject does not swing. It may be rotatably supported. That is, the gimbal 20 has a stabilizer function that stabilizes the orientation (posture) of the camera 30. Here, it is illustrated that the posture can be adjusted in the three-axis direction, but the posture may be adjusted in any two-axis direction of the three-axis direction, or the posture can be adjusted only in the one-axis direction. May be good.

Further, the gimbal 20 is mechanically rotatable around three axes (roll axis, pitch axis, yaw axis) even when each motor does not supply a driving force to the camera 30. Further, when there is no driving force from each motor and no external force is received from the camera 30, the camera 30 may be maintained in a posture facing the reference direction in each of the three axial directions. The reference direction may be a predetermined direction.

The camera 30 has a built-in image pickup unit capable of photographing a subject, and has a housing 311 rotatably supported by a roll axis motor 216 and a pitch axis motor 217. The camera 30 may be a camera for imaging that captures a subject (for example, a person, a landscape such as a mountain or a river, a building, or an article) included in a desired imaging range.

The monitor 50 displays an image (for example, a still image or a moving image) captured by the camera 30. The monitor 50 may be replaceably attached as an option. Here, as the monitor 50, a mobile terminal (smartphone) capable of wirelessly communicating with the camera 30 may be used. The monitor 50 may not be provided.

FIG. 2 is a block diagram showing a hardware configuration of the gimbal camera device 10. The gimbal camera device 10 has a configuration including a gimbal 20, a camera 30, and a monitor 50. The gimbal 20 includes a gimbal control unit 21, a memory 22, an inertial measurement unit 23, an angle detector 24, a yaw axis rotation mechanism 25, a pitch axis rotation mechanism 26, a roll axis rotation mechanism 27, an interface 28, and an operation unit 29.

The memory 22 may store various data, information, a program that can be executed by the gimbal control unit 21, image data of an image captured by the camera 30, additional data (metadata) related to the captured image, and the like. The memory 22 may include, for example, a RAM (Random Access Memory), a ROM (Read-Only Memory), an SD card, or other memory.

The inertial measurement unit 23 detects and acquires the acceleration in the three axial directions of the front / rear, left / right, and up / down of the gimbal camera device 10 and the angular velocities in the three axial directions of the pitch axis, the roll axis, and the yaw axis. The inertial measurement unit 23 may include a hall sensor that detects a change in magnetic flux and a gyro sensor that detects the posture (tilt) of the gimbal camera device 10. An acceleration sensor may be used instead of the inertial measurement unit 23.

The angle detector 24 detects, for example, the angles of the pitch axis, the roll axis, and the yaw axis in the three axial directions as the direction of the gimbal camera device 10. The detected angle may be an angle with respect to the reference direction.

Therefore, the gimbal control unit 21 may calculate and acquire the angular velocity based on the angle detected by the angle detector 24 and the time required for the change of the angle. Further, the gimbal control unit 21 may acquire the angular velocity from the inertial measurement unit 23. Further, the gimbal control unit 21 may acquire an angle from the angle detector 24. The gimbal control unit 21 may integrate the angular velocity acquired from the inertial measurement unit 23 to acquire the angle.

The yaw axis rotation mechanism 25 includes a yaw axis motor 215 that drives the camera 30 in the yaw axis direction. The yaw axis rotation mechanism 25 rotatably supports the camera 30 around the yaw axis (around the yaw axis). The pitch axis rotation mechanism 26 includes a pitch axis motor 217 that drives the camera 30 in the pitch axis direction. The pitch axis rotation mechanism 26 rotatably supports the camera 30 around the pitch axis (around the pitch axis). The roll axis rotation mechanism 27 includes a roll axis motor 216 that drives the camera 30 in the roll axis direction. The roll axis rotation mechanism 27 rotatably supports the camera 30 around the roll axis (around the roll axis).

The interface 28 can be connected to external devices such as an input device, an output device, and a recording medium. The interface 28 may include a communication interface for wired or wireless communication. Wired communication may include communication via a USB (Universal Serial Bus) cable. The communication interface for wireless communication may include communication via a wireless LAN (Local Area Network), Bluetooth®, or a public wireless line.

The operation unit 29 includes various buttons arranged on the operation surface 610. The operation unit 29 may include various buttons, keys, a touch pad, and a touch panel. The operation unit 29 receives an operation from the user and outputs an operation signal related to the operation to the gimbal control unit 21.

The gimbal control unit 21 is configured by using, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). The gimbal control unit 21 performs signal processing for controlling the operation of each part of the gimbal 20 in a centralized manner, data input / output processing with and from other parts, data calculation processing, and data storage processing.

The gimbal control unit 21 may acquire image pickup range information indicating the image pickup range of the camera 30. The gimbal control unit 21 may acquire the angle of view information indicating the angle of view of the camera 30 from the camera 30 as a parameter for specifying the imaging range. The gimbal control unit 21 may acquire information indicating the imaging direction of the camera 30 as a parameter for specifying the imaging range. The gimbal control unit 21 may acquire posture information indicating the posture state of the camera 30, for example, as information indicating the imaging direction of the camera 30. The posture information of the camera 30 may indicate the rotation angle of the gimbal 20 from the reference rotation angle of the roll axis, the pitch axis, and the yaw axis. The gimbal control unit 21 may generate image pickup range information by defining an image pickup range to be imaged by the camera 30 based on the angle of view and the image pickup direction of the camera 30.

The gimbal control unit 21 may control the imaging range of the camera 30 by changing the imaging direction or the angle of view of the camera 30. The gimbal control unit 21 controls the imaging range of the camera 30 supported by the gimbal 20 by controlling the rotation mechanism of the gimbal 20 (yaw axis rotation mechanism 25, pitch axis rotation mechanism 26, roll axis rotation mechanism 27). You can do it.

The imaging range may be a geographical range imaged by the imaging unit 220 or the imaging unit 230. The imaging range may be a range in three-dimensional spatial data or a range in two-dimensional spatial data. The imaging range may be specified based on the angle of view and the imaging direction of the camera 30. The imaging direction of the camera 30 may be the direction in which the front surface of the camera 30 provided with the imaging lens faces. The imaging direction of the imaging unit 220 may be a direction specified from the state of the posture of the camera 30 with respect to the gimbal 20.

The gimbal control unit 21 analyzes a plurality of images captured by the camera 30 to analyze the environment around the gimbal camera device 10 (for example, the distance to a subject such as a person, a building, or a landscape, a time zone such as morning, day, or night). ) May be specified. The gimbal control unit 21 may determine the imaging mode of the camera 30 based on the surrounding environment.

The gimbal control unit 21 may acquire posture information indicating the posture state of the camera 30 from the gimbal 20 as information indicating the imaging direction of the camera 30. The posture information of the camera 30 may indicate the rotation angle of the gimbal 20 from the reference rotation angle of the pitch axis and the yaw axis. The rotation angle may be obtained from the angle detector 24. The gimbal control unit 21 may control the imaging range of the camera 30 supported by the gimbal 20 by controlling the rotation mechanism of the gimbal 20.

The gimbal control unit 21 may control the drive power (drive voltage) for driving at least one of the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217. That is, the gimbal control unit 21 may control the applied power (applied voltage) applied to at least one of the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217. The higher the drive voltage, the finer the rotation angle of each motor can be adjusted (for example, every 0.01 degrees), and the higher the drive voltage, the more roughly the rotation angle of each motor can be adjusted (for example, every 0.1 degrees).

The gimbal control unit 21 drives at least one of the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217 based on the angle derived (for example, detected and calculated) by the inertial measurement unit 23 or the angle detector 24. You may control it. That is, the gimbal control unit 21 may adjust the posture of the camera 30 in the three-axis directions according to the derived angle.

For example, when the posture (angle) of the camera 30 changes by the angle A (degrees) around the roll axis, the gimbal control unit 21 offsets the change in the angle, or the change in the angle is within the permissible amount. At least one motor may be driven to control the posture of the camera 30 so as to be. The allowable amount of change in angle may be a fixed value or a variable value. In this way, the gimbal control unit 21 may perform shake correction for the shake (change in posture) of the camera 30 according to the angle.

The gimbal control unit 21 drives at least one of the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217 based on the angular velocity derived (for example, detected and calculated) by the inertial measurement unit 23 or the angle detector 24. You may control it. That is, the gimbal control unit 21 may adjust the posture of the camera 30 in the three-axis directions according to the derived angular velocity.

For example, when the posture (angle) of the camera 30 changes by the angular velocity B (degrees / second) around the roll axis, the gimbal control unit 21 cancels the change in the angular velocity or allows the change in the angular velocity to be an allowable amount. At least one motor may be driven to control the posture of the camera 30 so as to be within the range. The permissible amount of change in angular velocity may be a fixed value or a variable value. In this way, the gimbal control unit 21 may perform shake correction for the shake (change in posture) of the camera 30 according to the angular velocity.

The gimbal control unit 21 may change the imaging direction and the imaging range based on the operation by the operation unit 29.

The gimbal control unit 21 may rotate the camera 30 up / down / left / right via the cross key input of the operation unit 29. When the operation unit 29 instructs the movement in the vertical direction, the gimbal control unit 21 may control the rotation of the pitch axis motor 217 so as to rotate around the pitch axis. When the operation unit 29 instructs the movement in the left-right direction, the gimbal control unit 21 may control the rotation of the yaw axis motor 215 so as to rotate around the yaw axis. Therefore, the gimbal control unit 21 can change the imaging direction in the up / down / left / right directions according to the operation of the cross key of the operation unit 29. The imaging range changes as the imaging direction changes.

The gimbal control unit 21 may determine a desired subject as a tracking target. The gimbal control unit 21 may control each motor so that the tracking target is included in the imaging range, and may control to change the imaging direction. When the relative position between the tracking target and the camera 30 changes, that is, when the tracking target moves or when the position or orientation of the camera 30 changes, the command value of the voltage applied to each motor may be changed. That is, the command value of the rotation angle of each motor may be changed. As a result, the tracking target is tracked so as to be included in the imaging range.

The gimbal control unit 21 may control the rotation angle and rotation speed of the motor per time or per unit time when controlling each motor. Therefore, when the orientation (imaging direction) of the camera 30 is changed by driving the motor, the gimbal control unit 21 can change the length of time required to reach the target imaging direction.

The gimbal control unit 21 may determine and set the operation mode (gimbal mode) of the gimbal 20. The gimbal mode may indicate how much the camera 30 is allowed to swing. Thereby, for example, the gimbal 20 can adjust the degree to which the posture of the camera 30 is stabilized by the vibration correction by the gimbal 20.

The gimbal mode may have, for example, a normal mode and a high precision mode. In the normal mode, the camera 30 is allowed to swing at an angle equal to or less than the angle threshold value th1 in at least one direction in the three axial directions with respect to the reference position (reference direction, for example, the direction of the subject). In the high-precision mode, the camera 30 is allowed to swing at an angle equal to or less than the angle threshold value th2 in at least one of the three axial directions with respect to the reference position (reference direction, for example, the direction of the subject). When the high-precision mode is set, the camera 30 is not allowed to shake as compared with the case where the normal mode is set, so that the angle threshold value th2 is set smaller than the angle threshold value th1. That is, th2 <th1. The gimbal mode may have three or more types as well as two types, a normal mode and a high-precision mode. In this case, since the angle thresholds are different, the tolerance of the camera 30 for vibration is different in three or more stages.

The gimbal control unit 21 may control the applied voltage applied to each motor to be larger when the high precision mode is set than when the normal mode is set. In this case, the gimbal control unit 21 can finely adjust the rotation angle of each motor in the high-precision mode as compared with the case in the normal mode, and can fix the posture of the camera 30 as much as possible in the swing of the camera 30, for example. In the high-precision mode, the applied voltage is large, so that the power consumption is larger than in the normal mode.

The gimbal control unit 21 may instruct the camera 30 to set or change the camera parameters for imaging by the camera 30. Camera parameters may include shutter speed, F-number, ISO sensitivity, and the like.

The camera 30 includes an image pickup control unit 31, a lens control unit 32, a memory 33, an image pickup element 34, lens drive units 35 and 36, a focus lens 37, and a zoom lens 38.

The image pickup control unit 31 is configured by using, for example, a CPU, MPU, or DSP. The image pickup control unit 31 performs signal processing for controlling the operation of each unit of the camera 30, data input / output processing with and from other units, data calculation processing, and data storage processing.

The image pickup control unit 31 drives the image pickup device 34 to perform an image pickup operation. The image pickup control unit 31 may drive the image pickup device 34 to perform an image pickup operation in accordance with an image pickup instruction from the gimbal 20. The image pickup control unit 31 processes (image processing) the image data (image signal) of the image captured by the image pickup element 34, and stores it in the memory 33. The image pickup control unit 31 may perform, for example, shading correction, color correction, contour enhancement, noise removal, gamma correction, debayer, compression, and the like as image processing.

The image pickup control unit 31 may adjust each camera parameter (shutter speed, F value (aperture value), ISO sensitivity (gain of image signal), zoom magnification, etc.). The image pickup control unit 31 may adjust and set each camera parameter according to the instruction from the gimbal 20. The image pickup control unit 31 may open and close the shutter at the time of image capturing according to the set shutter speed and F value. The image pickup control unit 31 may control the amplification of the image signal obtained by the image pickup device 34 according to the set ISO sensitivity. Further, the image pickup control unit 31 may adjust the amplification amount (gain value) of the image signal. The image pickup control unit 31 may send an instruction for changing the zoom magnification or performing automatic exposure (AE: Auto Exposure) to the lens control unit 32. The image pickup control unit 31 may drive the lens to the lens control unit 32 when performing optical zoom. When performing electronic zooming, the lens control unit 32 may cut out a part of the captured image.

The image pickup control unit 31 may perform various types of imaging and set or change imaging conditions (for example, imaging direction, imaging range, various camera parameters) based on the operation by the operation unit 29. When the image pickup control unit 31 receives an instruction to capture a moving image by pressing the recording button 612, the image capturing control unit 31 captures the moving image. When the image pickup control unit 31 receives an instruction to capture a still image by pressing the shutter button 611, the image pickup control unit 31 captures the still image.

When the image pickup control unit 31 receives a zoom-up instruction via the operation unit 29, the image pickup control unit 31 may perform optical zoom by moving the zoom lens so that the image pickup range becomes smaller. When the image pickup control unit 31 receives a zoom-up instruction via the operation unit 29, the image pickup control unit 31 may perform electronic zooming by reducing the cutout range of the captured image so that the image pickup range becomes smaller. When the image pickup control unit 31 receives a zoom out instruction via the operation unit 29, the image pickup control unit 31 may perform optical zoom or electronic zoom so as to increase the image pickup range. The image pickup control unit 31 can change the image pickup range by zooming up (zooming in) or zooming out according to the operation of the zoom button of the operation unit 29.

The image pickup control unit 31 may perform focusing control for focusing on a desired subject. The image pickup control unit 31 may perform focusing control according to the instruction from the gimbal 20. When performing focusing control, the image pickup control unit 31 may drive the lens to adjust the position of the lens by the lens control unit 32. Focusing control may include automatic focusing control (AF). The automatic focusing control may include performing focusing control (CAF: Continuous AF) while continuously changing the focus position. In CAF, for example, the state of being focused on a desired subject continues. Focusing control usually takes, for example, 1 to 2 seconds, and may take even longer if the posture of the camera 30 is not stable.

The lens control unit 32 changes the zoom magnification by moving the lens position of the focus lens 37 in the optical axis direction to adjust the focus, and the lens position of the zoom lens 38 in the optical axis direction. It controls the lens drive unit 36. The lens control unit 32 may perform the focusing operation in accordance with the focusing control instruction from the gimbal 20. The lens drive unit 35 and the lens drive unit 36 each include a drive motor (not shown).

The focus lens 37 collects light from the subject and forms an optical image on the image pickup surface of the image pickup device 34. The zoom lens 38 has a lens barrel (not shown) for accommodating the lens, and expands and contracts the lens barrel in the front-rear direction when performing a zooming operation. The zoom lens 38 may not be provided.

The memory 33 holds various data, information, and programs. The memory 33 may store camera parameters, image data, and the like. The memory 33 stores, for example, a shutter speed, an F value, an ISO sensitivity, and the like as camera parameters. The memory 33 may include, for example, a RAM, a ROM, an SD card, or other memory.

The image pickup device 34 photoelectrically converts the optical image formed on the image pickup surface into an electric signal and outputs it as an image signal. As the image pickup device, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor: Complementary MOS) image sensor may be used.

The monitor 50 may be a smartphone in which the touch panel is arranged on the front surface. The monitor is not limited to a smartphone, and may be a display unit having a liquid crystal display, an organic EL (Electro Luminescence), or the like. Further, the gimbal 20 and the camera 30 may operate in conjunction with the application executed by the smartphone operating as the monitor 50.

The camera 30 and the monitor 50 can communicate with each other by wired communication (for example, USB communication) or wireless communication (for example, wireless LAN, Bluetooth (registered trademark), short-range communication, public wireless line). The image captured by the camera 30 may be displayed on the monitor 50 in real time. This image is also referred to as a live view image.

Next, the operation of the gimbal camera device 10 will be described.

FIG. 3 is a flowchart showing an operation example of the gimbal camera device 10. In the initial setting of FIG. 3, it is assumed that the gimbal mode is set to the normal mode. Some of the various operations performed by the gimbal control unit 21 may be performed by the image pickup control unit 31 of the camera 30. Similarly, some of the various operations performed by the gimbal control unit 21 may be performed by the image pickup control unit 31 of the camera 30.

First, in the gimbal control unit 21 of the gimbal unit, the imaging scene in which the image is captured by the camera 30 is a night view scene, and the imaging mode for the camera 30 to capture the subject is a still image for capturing a still image. It is determined whether or not the imaging mode is used (S11).

In S11, the gimbal control unit 21 may determine that it is a night view scene when, for example, a night view scene is selected as the imaging scene via the operation unit 29. Information on a plurality of selectable imaging scenes may be stored in the memory 22.

The gimbal control unit 21 may determine whether or not it is a night view scene, for example, based on the brightness of each pixel in the live view image captured by the camera 30. In this case, the gimbal control unit 21 may acquire a live view image from the camera 30 and determine whether or not it is a night view scene based on the brightness of the acquired live view image. Further, the gimbal control unit 31 determines whether or not the image is a night view scene based on the brightness of the live view image, and the gimbal control unit 21 acquires the determination information of the night view scene. 21 may be included in determining whether or not the scene is a night view.

The gimbal control unit 21 compares, for example, a live view image captured by the camera 30 with an image (night view image) captured in a plurality of night view scenes stored in advance in the memory 22, and has a degree of similarity to the night view image. (For example, the similarity of the brightness of the image) may be calculated. The gimbal control unit 21 may determine that it is a night view scene when the similarity between the live view image and the night view image is equal to or higher than the threshold value th0. The night view image held in the memory 22 may be connected to the network via the communication interface of the interface 28, acquired from an external server or the like, and updated as appropriate. The night view image held in the memory 22 may be an image (a part of the live view image or a still image) taken in the past by the camera 30.

When the gimbal camera device 10 determines whether or not it is a night view scene based on the brightness of the live view image, the live view image is captured rather than manually setting the imaging scene via the operation unit 29, for example. It is possible to determine the imaging scene by taking into account the amount of light in the actual surrounding environment.

In S11, the gimbal control unit 21 refers to, for example, the setting information of the imaging mode held in the memory 22, and when the still image imaging mode is set as the imaging mode, the imaging mode is the still image imaging mode. You may judge. The imaging mode includes, for example, a still image imaging mode, a moving image imaging mode, and the like.

When the imaging scene is a night scene and the imaging mode is the still image imaging mode, the gimbal control unit 21 sets the camera parameters for capturing the still image in the night scene. The camera parameter setting may include a change from the current setting state of at least one camera parameter.

Specifically, the gimbal control unit 21 may change the gimbal mode (S12). Here, the gimbal control unit 21 may change the gimbal mode from the normal mode to the high precision mode. The gimbal control unit 21 may change the angle threshold value that defines the allowable amount of vibration of the camera 30 from the angle threshold value th1 (for example, 0.1 degree) to the angle threshold value th2 (for example, 0.05 degree). The setting information of this angle threshold value may be stored in the memory 22. Further, when changing the gimbal mode from the normal mode to the high precision mode, the applied power (applied voltage) to each motor of the gimbal 20 may be increased, and for example, it may be changed from "3W" to "5W".

Further, the gimbal control unit 21 may change the ISO sensitivity (S13). In this case, the gimbal control unit 21 may instruct the camera 30 to reduce the ISO sensitivity, that is, to reduce the amplification amount of the image signal. The image pickup control unit 31 of the camera 30 may reduce the ISO sensitivity according to the instruction from the gimbal 20. The ISO sensitivity setting information (for example, setting information of the amplification amount of the image signal) may be held in the memory 33.

Here, the ISO sensitivity indicates the gain of the image signal, and when the ISO sensitivity is increased, the amplification amount of the image signal and the noise signal other than the image signal is increased, and when the ISO sensitivity is decreased, the amplification amount of the image signal is decreased. Become. The image signal includes a real signal component and a noise component. In the night view scene, since the signal level of the real signal component is assumed to be small, the magnitude of the noise component with respect to the real signal component is relatively large. Therefore, the gimbal camera device 10 makes the amplification amount of the image signal smaller than the current set value (for example, compared to the case where the gimbal mode is the normal mode) in consideration of the influence of the amplification of the noise component in the night view scene. , It is possible to capture a still image in which noise is suppressed and the image quality is improved.

Further, the gimbal control unit 21 may change the shutter speed (S14). Here, the gimbal control unit 21 may instruct the camera 30 to slow down the shutter speed. Here, the shutter speed may be instructed to be changed from, for example, "1 second" to "3 to 5 seconds". The image pickup control unit 31 of the camera 30 may slow down the shutter speed according to the instruction from the gimbal 20. The shutter speed setting information may be stored in the memory 33.

In the gimbal camera device 10, by making the shutter speed smaller than the current set value (for example, compared to the case where the gimbal mode is the normal mode), the amount of light at the time of capturing a still image increases, so that the ISO sensitivity is reduced. It is possible to compensate for the decrease in the actual signal component of the image signal due to the decrease in the amplification amount of the image signal.

The image pickup control unit 31 of the camera 30 instructs the image pickup element 34 to take a still image in a state where the camera parameters are set according to the night view scene and the still image image pickup mode (S15). In this case, the image pickup control unit 31 may detect the pressing of the shutter button 611, for example, to take a still image.

The gimbal control unit 21 of the gimbal 20 may return the gimbal mode after capturing a still image (S16). Here, the gimbal control unit 21 returns the gimbal mode from the high precision mode to the normal mode. That is, the gimbal control unit 21 may return the gimbal mode to the setting information before the change in S12. In this case, the gimbal control unit 21 may change the setting of the angle threshold value from the angle threshold value th2 to the angle threshold value th1. Further, the gimbal control unit 21 may return other camera parameters (for example, ISO sensitivity, shutter speed) to the set state before the change in, for example, S13 and S14, as in the case of returning to the gimbal mode.

On the other hand, in the gimbal control unit 21, when the gimbal control unit 231 is an imaging scene other than the night scene, or the imaging mode is an imaging mode other than the still image imaging mode (for example, a moving image imaging mode), the camera An image (for example, a still image other than a moving image or a night scene) is captured without changing the parameter settings (S17).

As described above, the gimbal camera device 10 can suppress the shake of the camera 30 by increasing the accuracy of the gimbal when capturing a still image in a night view scene (the gimbal 20 can be stabilized for a long period of time). In other words, by increasing the accuracy of the gimbal, the gimbal camera device 10 can quickly stabilize the posture of the camera 30 because, for example, the allowable amount of the camera 30 from the subject to be tracked is reduced. Therefore, the gimbal camera device 10 can perform stable still image imaging in a short time.

Further, even when the gimbal camera device 10 takes a picture with the camera 30 in a night view scene, the gimbal camera device 10 avoids taking an image by increasing the ISO sensitivity in order to suppress camera shake, and increases the amplification amount (gain) of the image signal to cause noise. It is possible to avoid deterioration of image quality due to the components.

Further, when the camera 30 shakes, it takes time for the posture of the camera 30 to stabilize, and the time required for automatic exposure (AE) tends to be long. On the other hand, even when the automatic exposure is performed every time, the gimbal camera device 10 can wait for the time required for the automatic exposure by slowing the shutter speed, and is stationary even in the nighttime imaging in a state where the shake is suppressed. You can take an image.

Further, the gimbal camera device 10 captures an image in a high-quality night view scene while suppressing the shake of the camera 30 by slowing down the shutter speed without increasing the ISO sensitivity and further temporarily increasing the accuracy of the gimbal 20. it can.

Further, the gimbal camera device 10 can finely adjust the shake correction amount of the camera 30 by increasing the voltage applied to each motor of the gimbal 20 when capturing an image in a night view scene. Therefore, the gimbal camera device 10 can realize a reduction in the allowable amount of vibration of the camera 30, that is, the posture of the camera 30 can be further stabilized (for example, fixed). The gimbal camera device 10 can stabilize night view photography using the gimbal 20 by lowering the ISO sensitivity and the shutter speed while the posture of the camera 30 is stabilized. Therefore, the gimbal camera device 10 can shoot a night view with good image quality.

As described above, the gimbal camera device 10 (an example of a moving body) includes a camera 30 (an example of an imaging unit and a gimbal 20 (an example of a gimbal unit) on which the camera 30 is mounted and corrects the vibration of the camera 30). The gimbal 20 may rotatably support the camera 30 around at least one of three axes that are orthogonal to each other. The gimbal 20 rotates the camera about at least one of the three axes of rotation. A motor (for example, a yaw axis motor 215, a roll axis motor 216, and a pitch axis motor 217) may be provided. The gimbal 20 determines whether or not the imaging scene is a night view scene, and the imaging mode is the still image imaging mode. The gimbal 20 may control whether or not the gimbal 20 is present. When the imaging scene is a night view scene and the imaging mode is the still image imaging mode, the gimbal 20 is controlled to reduce the rotation allowance (for example, the angle threshold value) of the motor. The camera 30 may be instructed to reduce the amplification amount of the image signal obtained by the camera 30, and the camera 30 may be instructed to slow down the shutter speed of the camera 30.

Once the camera 30 shakes with respect to the gimbal 20, it takes time for the shake to subside (stabilize). It can be said that the stabilization of the shake means that the shake is suppressed to the extent that the influence of the shake on the imaging in a predetermined imaging scene (for example, a night view scene) or a predetermined imaging mode (for example, a still image imaging mode) can be ignored. By increasing the applied voltage of the gimbal camera device 10, the motor can be finely adjusted and the rotation allowance can be reduced. Therefore, the gimbal camera device 10 can shorten the time until the shake stabilizes, and can reduce the blurring of the image due to the shake of the camera 30. Therefore, by shortening the time until stabilization, it becomes easy to improve the image quality of the captured image at the time of capturing the night view. The night view image may include, for example, the image of a starry sky.

By reducing the amplification amount of the image signal of the captured image when the camera 30 is shaken, it is possible to suppress the deterioration of the image quality due to the amplification of the noise component. Also, by lowering the amplification amount, the brightness of the still image (pixel value, signal level of the image signal) becomes smaller, but by slowing down the shutter speed and taking in a large amount of light, the brightness of the still image can be secured and the image quality Can be improved. At the time of night view imaging, even a slight shake of the camera 30 greatly affects the image quality of the image to be captured, but the gimbal camera device 10 links a plurality of processes capable of improving the image quality of the image captured in the night view scene by linking them. Image quality can be improved efficiently.

Further, the camera 30 may capture a still image with a rotation allowance controlled by the gimbal 20. The gimbal 20 may return the rotation allowance controlled by the gimbal 20 to the state before being controlled by the gimbal 20.

As a result, the gimbal camera device 10 increases the voltage for driving each motor of the gimbal 20 by returning (that is, decreasing) the applied voltage of the motors except for the timing of capturing the still image. Can be limited. Therefore, the gimbal camera device 10 can reduce the power consumption.

Further, the camera 30 may capture a still image with the amplification amount and shutter speed of the image signal instructed by the gimbal 20. The gimbal 20 may return the amplification amount of the image signal and the shutter speed instructed by the gimbal 20 to the state before being instructed by the gimbal portion.

As a result, the gimbal camera device 10 can cancel the change of each camera parameter for improving the image quality at the time of night view imaging as well as the gimbal mode. This makes it possible to capture an image with camera parameters suitable for the imaging scene before night view imaging and the imaging mode.

Further, the gimbal 20 may determine whether or not it is a night view scene based on the brightness of the live view image captured by the camera 30.

As a result, the gimbal camera device 10 can determine whether or not it is a night view scene by adding the amount of light actually captured by the image sensor 34 when capturing a still image. Therefore, the gimbal camera device 10 can improve the image quality of the still image by adding the amount of light in the actual imaging space. Further, the gimbal camera device 10 determines that the gimbal camera device 10 is not a night view scene when the amount of light is sufficient even in the night time zone, so that the gimbal camera device 10 captures a still image with high power consumption for capturing the night view scene. This can be suppressed and power can be saved.

Further, since the gimbal camera device 10 is provided with the grip portion 620, the imager (user) can freely grip and move the gimbal camera device 10. Even in this case, the gimbal camera device 10 can suppress the deterioration of the image quality at the time of capturing the night view by adding the shake of the camera 30 due to the camera shake.

(Other gimbal camera devices)
FIG. 4 is a perspective view showing an external example of another gimbal camera device 10B. In FIG. 4, the same components as those of the gimbal camera device 10 shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The gimbal camera device 10B has a configuration including a device main body 60B, a gimbal 20B, and a mobile terminal 50B. The device main body 60B is, for example, a member formed in a substantially columnar shape. A gimbal 20B is detachably attached to the upper end of the apparatus main body 60B. An inclined operation surface 610 is formed on the upper front surface of the apparatus main body 60B. Various buttons are arranged on the operation surface 610. Various buttons include a shutter button 611, a recording button 612, and an operation button 613. The lower center of the apparatus main body 60 is formed in a grip portion 620 that is gripped by the imager's hand.

The gimbal 20B is detachably attached to the upper end of the apparatus main body 60B. The mobile terminal 50B is attached to the gimbal 20B via the attachment portion 315. The gimbal 20B variably supports the position and orientation of the mobile terminal 50B attached to the attachment portion 315.

The gimbal 20B includes a yaw axis motor 215, a roll axis motor 216, and a pitch axis motor 217. The yaw axis motor 215 is arranged at the upper end of the apparatus main body 60B. The roll shaft motor 216 is attached to the yaw shaft motor 215 via the arm member 221. The pitch shaft motor 217 is attached to the roll shaft motor 216 via the arm member 221. The gimbal 20B drives the yaw axis motor 215, the roll axis motor 216, and the pitch axis motor 217, and the yaw axis, the roll axis, and the gimbal 20B so that the direction of the mobile terminal 50B (the imaging unit included in the mobile terminal 50B) does not swing with respect to the subject. The portable terminal 50B is rotatably supported in the three axes of the pitch axis. That is, the gimbal 20B has a stabilizer function for stabilizing the orientation (posture) of the mobile terminal 50B (imaging unit included in the mobile terminal 50B). Here, the imaging unit of the mobile terminal 50B corresponds to the camera 30 in FIG.

The gimbal 20B and the mobile terminal 50B can communicate with each other by wired communication (for example, USB communication) or wireless communication (for example, wireless LAN, Bluetooth®, short-range communication, public wireless line).

The mobile terminal 50B may display an image captured by an imaging unit (not shown) included in the mobile terminal 50B in real time. This image is also referred to as a live view image. Since the image pickup unit of the mobile terminal 50B is mounted on the gimbal 20B, the influence of the shake correction by the gimbal 20B (for example, the imaging direction of the camera 30 tries to return to the time before the occurrence of the shake) like the gimbal camera device 10. The gimbal mode may take a long time to stabilize the runout of the mobile terminal 50B. Even in this case, the gimbal camera device 10B can take an image in a night scene by adding the shake correction (posture adjustment) by the gimbal 20B and the camera parameters as in the gimbal camera device 10, so that the deterioration of the image quality is suppressed and the image is stationary. Images can be imaged.

(Gimbal mounted on an unmanned aerial vehicle)
FIG. 5 is a perspective view showing the appearance of the unmanned aerial vehicle 100 equipped with the gimbal 200. The unmanned aerial vehicle 100 is an example of a mobile body. The unmanned aerial vehicle 100 includes a UAV main body 102, a gimbal 200, an imaging unit 220, a plurality of imaging units 230, and a UAV control unit 110 (not shown). The UAV control unit 110 is an example of a control unit.

The UAV main body 102 includes a plurality of rotary wings (propellers). The UAV main body 102 flies the unmanned aerial vehicle 100 by controlling the rotation of a plurality of rotor blades. The UAV body 102 flies the unmanned aerial vehicle 100 using, for example, four rotors. The number of rotor blades is not limited to four. Further, the unmanned aerial vehicle 100 may be a fixed-wing aircraft having no rotary wings.

The gimbal 200 may rotatably support the imaging unit 220 about the yaw axis, the pitch axis, and the roll axis. The gimbal 200 may change the imaging direction of the imaging unit 220 by rotating the imaging unit 220 around at least one of the yaw axis, the pitch axis, and the roll axis.

The imaging unit 220 is a camera for imaging that captures a subject (for example, a state of the sky to be aerial photographed, a landscape such as a mountain or a river, a building on the ground) included in a desired imaging range.

The plurality of imaging units 230 are sensing cameras that image the surroundings of the unmanned aerial vehicle 100 in order to control the flight of the unmanned aerial vehicle 100.

The UAV control unit 110 controls the flight of the unmanned aerial vehicle 100. The UAV control unit 110 controls the gimbal 200, the rotor blade mechanism (not shown), the image pickup unit 220, and the image pickup section 230. Further, the UAV control unit 110 has the same function as the gimbal control unit 21. In this case, in the case of the unmanned aerial vehicle 100, the UAV control unit 110 corresponds to the gimbal control unit 21, and the image pickup unit 220 corresponds to the camera 30.

In this way, since the imaging unit 220 is mounted on the gimbal 200, the influence of the shake correction by the gimbal 200 (for example, the imaging direction of the imaging unit 220 returns to the time before the occurrence of the shake) is returned to the time before the occurrence of the shake, similarly to the gimbal camera device 10. Affected by trying). Even in this case, the unmanned aerial vehicle 100 can take an image in a night view scene in consideration of the shake correction by the gimbal 200, as in the gimbal camera devices 10 and 10B, so that the deterioration of the image quality can be suppressed and a still image or the like can be taken. Further, the unmanned aerial vehicle 100 can capture an image of a night view with high image quality while correcting the vibration of the imaging unit 220 by the gimbal 200 even if it is affected by an air flow during flight. Therefore, the unmanned aerial vehicle 100 can capture a high-quality image at night by directing the imaging direction by the imaging unit 220 to an arbitrary direction while flying in a free direction.

Although the present disclosure has been described above using the embodiments, the technical scope of the present disclosure is not limited to the scope described in the above-described embodiments. It will be apparent to those skilled in the art to make various changes or improvements to the embodiments described above. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present disclosure.

The execution order of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, the specification, and the drawing is particularly "before" and "prior to". As long as the output of the previous process is not used in the subsequent process, it can be realized in any order. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. is not it.

Further, in the present disclosure, a program that realizes the function of the device of the above embodiment is supplied to the device via a network or various storage media, and a computer in the device reads and executes the program, and this program is stored. The recording medium is also applicable.

10,10B Gimbal camera device 20, 20B, 200 Gimbal 21 Gimbal control unit 22 Memory 23 Inertial measurement unit 24 Angle detector 25 Yaw axis rotation mechanism 26 Pitch axis rotation mechanism 27 Roll axis rotation mechanism 28 Interface 29 Operation unit 30 Camera 31 Imaging Control unit 32 Lens control unit 33 Memory 34 Image pickup element 35, 36 Lens drive unit 37 Focus lens 38 Zoom lens 50 Monitor 50B Mobile terminal 60 Device body 63 Mounting part 100 Unmanned aircraft 102 UAV body 210 Mounting part 211 Release button 215 Yaw axis motor 216 Roll axis motor 217 Pitch axis motor 220, 230 Imaging unit 221,222 Arm member 311 Housing 315 Mounting unit 330 Grip unit 610 Operation surface 611 Shutter button 612 Record button 613 Operation button 614 Indicator 620 Grip unit

Claims (12)

A mobile body including an imaging unit and a gimbal unit on which the imaging unit is mounted and for correcting the runout of the imaging unit.
The gimbal part is
The imaging unit is rotatably supported around at least one of three axes that are orthogonal to each other.
A motor for rotating the image pickup unit is provided around at least one rotation axis of the three axes.
It is determined whether or not the imaging scene in which the image is captured by the imaging unit is a night view scene.
It is determined whether or not the imaging mode for imaging by the imaging unit is the still image imaging mode for capturing a still image.
When the imaging scene is a night scene and the imaging mode is a still image imaging mode, the motor is controlled to reduce the rotation allowance, and the amplification amount of the image signal obtained by the imaging unit is reduced. Instruct the imaging unit to slow down the shutter speed of the imaging unit.
Mobile body. The imaging unit captures the still image with the rotation allowance controlled by the gimbal unit.
The gimbal portion returns the rotation allowance controlled by the gimbal portion to the state before being controlled by the gimbal portion.
The mobile body according to claim 1. The imaging unit captures the still image with the amplification amount of the image signal and the shutter speed instructed by the gimbal unit.
The gimbal portion returns the amplification amount of the image signal and the shutter speed instructed by the gimbal portion to the state before being instructed by the gimbal portion.
The mobile body according to claim 1. The gimbal unit determines whether or not it is the night view scene based on the brightness of the live view image captured by the imaging unit.
The moving body according to any one of claims 1 to 3. A grip portion that is gripped by the user is further provided.
The moving body according to any one of claims 1 to 4. A control unit that controls the flight of the moving body is further provided.
The moving body according to any one of claims 1 to 4. Imaging unit and
The image pickup unit is mounted, the vibration of the image pickup unit is corrected, the image pickup unit is rotatably supported around at least one rotation axis of three axes orthogonal to each other, and at least one rotation axis of the three axes is supported. A gimbal unit including a motor that rotates the image pickup unit around the
It is an image pickup control method in a moving body provided with
A step of determining whether or not the imaging scene in which an image is captured by the imaging unit is a night view scene,
A step of determining whether or not the imaging mode for imaging by the imaging unit is a still image imaging mode for capturing a still image, and
When the imaging scene is a night view scene and the imaging mode is a still image imaging mode, the rotation allowance of the motor is reduced, the amplification amount of the image signal obtained by the imaging unit is reduced, and the imaging unit is used. Steps to control the shutter speed to slow down,
Imaging control method having. The step of capturing the still image with the controlled rotation allowance, and
The controlled rotation allowance is further included with a step of returning to the state before being controlled.
The imaging control method according to claim 7. A step of capturing the still image with the controlled amplification amount of the image signal and the shutter speed, and
A step of returning the controlled amplification amount of the image signal and the shutter speed to the state before being controlled is further included.
The imaging control method according to claim 8. The step of determining whether or not it is a night view scene determines whether or not it is a night view scene based on the brightness of the live view image captured by the imaging unit.
The imaging control method according to any one of claims 7 to 9. Imaging unit and
The image pickup unit is mounted, the vibration of the image pickup unit is corrected, the image pickup unit is rotatably supported around at least one rotation axis of three axes orthogonal to each other, and at least one rotation axis of the three axes is supported. A gimbal unit including a motor that rotates the image pickup unit around the
For mobiles equipped with
A step of determining whether or not the imaging scene in which an image is captured by the imaging unit is a night view scene,
A step of determining whether or not the imaging mode for imaging by the imaging unit is a still image imaging mode for capturing a still image, and
When the imaging scene is a night view scene and the imaging mode is a still image imaging mode, the rotation allowance of the motor is reduced, the amplification amount of the image signal obtained by the imaging unit is reduced, and the imaging unit is used. Steps to control the shutter speed to slow down,
A program to execute. Imaging unit and
The image pickup unit is mounted, the vibration of the image pickup unit is corrected, the image pickup unit is rotatably supported around at least one rotation axis of three axes orthogonal to each other, and at least one rotation axis of the three axes is supported. A gimbal unit including a motor that rotates the image pickup unit around the
For mobiles equipped with
A step of determining whether or not the imaging scene in which an image is captured by the imaging unit is a night view scene,
A step of determining whether or not the imaging mode for imaging by the imaging unit is a still image imaging mode for capturing a still image, and
When the imaging scene is a night view scene and the imaging mode is a still image imaging mode, the rotation allowance of the motor is reduced, the amplification amount of the image signal obtained by the imaging unit is reduced, and the imaging unit is used. Steps to control the shutter speed to slow down,
A computer-readable recording medium that contains a program for executing the program.

Images