Imaging device capable of tracking an object

• US 5,506,912 A
• Filed: 11/09/1994
• Issued: 04/09/1996
• Est. Priority Date: 01/26/1990
• Status: Expired due to Term

• Current Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Original Assignee: Olympus Optical Corporation Limited (Olympus Corporation)
• Inventors: Komiya, Yasuhiro, Nagasaki, Tatsuo
• Primary Examiner(s): Boudreau, Leo
• Assistant Examiner(s): KELLEY, CHRISTOPHER S
• Application Number:
  US08/336,793
• Time in Patent Office: 517 Days
• Field of Search: 382/6, 382/17, 382/48, 128/4, 128/6, 348/65, 348/169, 348/351
• US Class Current: 382/103
• CPC Class Codes: A61B 1/00188 with focusing or zooming features
• CPC Class Codes: A61B 1/042 characterised by a proximal camera, e.g. a CCD camera
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: H04N 23/555 for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 23/68 for stable pick-up of the scene, e.g. compensating for camera body vibrations
• CPC Class Codes: H04N 23/6812 based on additional sensors, e.g. acceleration sensors
• CPC Class Codes: H04N 23/6815 by distinguishing pan or tilt from motion
• CPC Class Codes: H04N 23/687 by shifting the lens or sensor position

Abstract

An imaging device having a signal-processing section, an imaging section, and X- and Y-direction angle wire drivers. The imaging section sequentially form images of an object. The signal-processing section obtains X- and Y-direction displacements of the imaging section with respect to an object, from the positional relationship between the images formed by the imaging section. The angle wire drivers drive X- and Y-direction angle wires in accordance with the X- and Y-direction displacements obtained by the signal-processing section, thus moving the imaging section such that the imaging section tracks the object.

Claims

1. An imaging device comprising:

an imaging unit including an imaging element for electronically imaging an object and optical means for forming an image of the object on an imaging plane of the imaging element;

displacement-calculating means for calculating the displacement between the object and the imaging unit, on the basis of relationships among images of the object which are sequentially formed on the imaging unit; and

displacement means for displacing the imaging unit, said displacement means including;

first displacement-correcting means for mechanically correcting a positional displacement among the images of the object which are formed on the imaging element, by moving the imaging element and the optical means together in one direction in a plane perpendicular to an optical axis of the optical means, whereby those movements of the object which would vary optical position relationships among the images of the object formed on the imaging element are corrected in accordance with the displacement calculated by the displacement-calculating means; and

second-displacement-correcting means for correcting those movements of the imaging unit which would vary the optical position relationships among the images of the object formed on the imaging element, in accordance with the displacement calculated by the displacement-calculating means;

wherein said second displacement-correcting means mechanically displaces at least one of the imaging element and the optical means of the imaging unit, such that the imaging element and the optical means are displaced relative to each other in the plane perpendicular to the optical axis of the optical means;

wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object; and

wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

2. An imaging device according to claim 1, wherein:

said displacement-calculating means detects amounts of X- and Y-direction displacements of the image of the object at a plurality of positions within the imaging plane; and

said displacement means corrects a displacement in accordance with the amounts of X- and Y-direction displacements detected by the displacement-calculating means.

16. An imaging device according to claim 1, wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes:

a displacement sensor, located inside the imaging unit, for detecting a displacement within the imaging unit; and

a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object, in accordance with the displacement detected by the displacement sensor.

17. An imaging device according to claim 16, wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

18. An imaging device according to claim 1, wherein said second displacement-correcting means electrically controls the imaging element such that the positions of the images formed on the imaging element are displaced relative to one another in the plane perpendicular to the optical axis of the optical means.

19. An imaging device according to claim 18, wherein said second displacement-correcting means includes:

a memory for storing pixel signals produced by the imaging unit; and

address control means for controlling a read address of the memory in accordance with the displacement calculated by the displacement-calculating means.

20. An imaging device according to claim 1, wherein said displacement means displaces the imaging unit in such a manner as to correct a displacement by use of displacements at a plurality of positions within the imaging plane in a case where an object tracking command is not issued, and displaces the imaging unit in such a manner as to correct a displacement by use of a displacement at a specific position within the imaging plane in a case where the object tracking command is issued.

21. An imaging device according to claim 1, wherein said displacement means further includes imaging unit-positioning means for positioning the imaging unit with reference to the object by performing negative feedback control on the basis of an output from the first displacement-correcting means.

22. An imaging device according to claim 1, wherein said displacement-calculating means detects how an image of the object is displaced from the imaging unit at a plurality of positions within the imaging plane, and said imaging device further comprising:

magnification-changing means for changing a magnification of an object image signal supplied from the imaging unit; and

display signal-generating means for generating a display signal on the basis of the object image signal whose magnification is changed by the magnification-changing means.

23. An imaging device according to claim 22, wherein said displacement means further includes means for determining a displacement type on the basis of said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said imaging unit being displaced in accordance with the displacement type determined by the displacement type-determining means.

24. An imaging device according to claim 22, wherein said displacement means further includes magnification-calculating means for calculating the magnification of an object image signal in accordance with said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said magnification-calculating means changing the magnification of the image of the object in accordance with the magnification calculated by the magnification-calculating means.

25. An imaging device according to claim 22, wherein:

said displacement means further includes displacement-detecting means for obtaining a parallel-movement component and a magnification component of an object image signal in accordance with said plurality of displacements which the displacement-calculating means detects at said plurality of positions within the imaging plane with respect to the image of the object;

said imaging unit is displaced such that the parallel-movement component of the object image signal is moved in accordance with the parallel-movement component supplied from the displacement-detecting means; and

said magnification-changing means changes the magnification of the object image signal in accordance with the magnification component supplied from the displacement-detecting means.

26. An imaging device according to claim 1, wherein said displacement means further includes switching means for selecting one of the first and second displacement-correcting means.

3. An imaging device comprising:

an imaging unit including an imaging element for electronically imaging an object and optical means for forming an image of the object on an imaging plane of the imaging element;

displacement-calculating means for calculating the displacement between the object and the imaging unit, on the basis of relationships among images of the object which are sequentially formed on the imaging unit; and

displacement means for displacing the imaging unit, said displacement means including;

first displacement-correcting means for mechanically correcting a positional displacement among the images of the object which are formed on the imaging element, by moving the imaging element and the optical means together in one direction in a plane perpendicular to an optical axis of the optical means, whereby those movements of the object which would vary optical position relationships among the images of the object formed on the imaging element are corrected in accordance with the displacement calculated by the displacement-calculating means; and

second-displacement-correcting means for correcting those movements of the imaging unit which would vary the optical position relationships among the images of the object formed on the imaging element, in accordance with the displacement calculated by the displacement-calculating means;

wherein said displacement-calculating means detects how an image of the object is displaced from the imaging unit at a plurality of positions within the imaging plane, and said imaging device further comprising;

magnification-changing means for changing a magnification of an object image signal supplied from the imaging unit, and

display signal-generating means for generating a display signal on the basis of the object image signal whose magnification is changed by the magnification-changing means.

4. An imaging device according to claim 3, wherein:

said displacement-calculating means detects amounts of X- and Y-direction displacements of the image of the object at a plurality of positions within the imaging plane; and

said displacement means corrects a displacement in accordance with the amounts of X- and Y-direction displacements detected by the displacement-calculating means.

5. An imaging device according to claim 3, wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object.

6. An imaging device according to claim 5, wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

7. An imaging device according to claim 3, wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes:

a displacement sensor, located inside the imaging unit, for detecting a displacement within the imaging unit; and

a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object, in accordance with the displacement detected by the displacement sensor.

8. An imaging device according to claim 7, wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

9. An imaging device according to claim 3, wherein said second displacement-correcting means electrically controls the imaging element such that the positions of the images formed on the imaging element are displaced relative to one another in the plane perpendicular to the optical axis of the optical means.

10. An imaging device according to claim 9, wherein said second displacement-correcting means includes:

a memory for storing pixel signals produced by the imaging unit; and

address control means for controlling a read address of the memory in accordance with the displacement calculated by the displacement-calculating means.

11. An imaging device according to claim 3, wherein said displacement means displaces the imaging unit in such a manner as to correct a displacement by use of displacements at a plurality of positions within the imaging plane in a case where an object tracking command is not issued, and displaces the imaging unit in such a manner as to correct a displacement by use of a displacement at a specific position within the imaging plane in a case where the object tracking command is issued.

12. An imaging device according to claim 3, wherein said displacement means further includes imaging unit-positioning means for positioning the imaging unit with reference to the object by performing negative feedback control on the basis of an output from the first displacement-correcting means.

13. An imaging device according to claim 3, wherein said displacement means further includes means for determining a displacement type on the basis of said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said imaging unit being displaced in accordance with the displacement type determined by the displacement type-determining means.

14. An imaging device according to claim 3, wherein said displacement means further includes magnification-calculating means for calculating the magnification of an object image signal in accordance with said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said magnification-calculating means changing the magnification of the image of the object in accordance with the magnification calculated by the magnification-calculating means.

15. An imaging device according to claim 3, wherein said displacement means further includes switching means for selecting one of the first and second displacement-correcting means.

27. An electronic endoscope apparatus comprising:

an insertion section which is inserted into a body cavity, said insertion section having a distal end in which an imaging unit is incorporated, said imaging unit including an imaging element for electronically imaging an object and optical means for forming an image of the object on an imaging plane of the imaging element;

an operation section for operating the distal end of the insertion section to obtain a desired image of the object; and

a signal processing section for processing an object image signal which is output from the imaging unit incorporated in the distal end of the insertion section;

said operation section including displacement-calculating means for calculating the displacement between the object and the imaging unit, on the basis of relationships among images of the object which are sequentially formed on the imaging unit;

said operation section including;

first displacement-correcting means for mechanically correcting a positional displacement among the images of the object which are formed on the imaging element, by moving the imaging element and the optical means together in one direction in a plane perpendicular to an optical axis of the optical means, whereby those movements of the object which would vary optical position relationships among the images of the object formed on the imaging element are corrected in accordance with the displacement calculated by the displacement-calculating means, and

second displacement-correcting means for correcting those movements of the imaging unit which would vary the optical position relationships among the images of the object formed on the imaging element, in accordance with the displacement calculated by the displacement-calculating means,

an angle wire connected to the distal end of the insertion section, and a driving section for driving the angle wire, and

said first displacement-correcting means displaces the imaging unit by operating the driving section.

28. An electronic endoscope apparatus according to claim 27, wherein:

said displacement-calculating means detects amounts of X- and Y-direction displacements of the image of the object at a plurality of positions within the imaging plane; and

said displacement means corrects a displacement in accordance with the amounts of X- and Y-direction displacements detected by the displacement-calculating means.

29. An electronic endoscope apparatus according to claim 27, wherein said second displacement-correcting section mechanically displaces at least one of the imaging unit and the optical means such that the imaging element and the optical means are displaced relative to each other in the plane perpendicular to the optical axis of the optical means.

30. An electronic endoscope apparatus according to claim 29, wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object.

31. An electronic endoscope apparatus according to claim 30, wherein:

said displacement mechanism section includes an actuator for displacing the imaging element in X- and Y-directions;

said operation section includes an actuator driving section for driving the actuator; and

said second displacement-correcting means displaces the imaging element by operating the actuator driving section.

32. An electronic endoscope apparatus according to claim 30, wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

33. An electronic endoscope apparatus according to claim 29, wherein said optical means includes an imaging optical lens, and wherein said second displacement-correcting means includes:

a displacement sensor, located inside the imaging unit, for detecting a displacement within the imaging unit; and

a displacing mechanism section, located inside the imaging unit, for varying the optical position relationships which the imaging optical lens and the imaging plane of the imaging element have with reference to the object, in accordance with the displacement detected by the displacement sensor.

34. An electronic endoscope apparatus according to claim 33, wherein:

said displacement mechanism section includes an actuator for displacing the imaging element in X- and Y-direction;

said operation section includes an actuator driving section for driving the actuator; and

said second displacement-correcting means displaces the imaging element by operating the actuator driving section.

35. An electronic endoscope apparatus according to claim 33, wherein said displacement means further includes phase-compensating means for driving the displacing mechanism section by high-speed phase compensation.

36. An electronic endoscope apparatus according to claim 27, wherein said second displacement-correcting means electrically controls the imaging element such that the positions of the images formed on the imaging element are displaced relative to one another in the plane perpendicular to the optical axis of the optical means.

37. An electronic endoscope apparatus according to claim 36, wherein said second displacement-correcting means includes:

a memory for storing pixel signals produced by the imaging unit; and

address control means for controlling a read address of the memory in accordance with the displacement calculated by the displacement-calculating means.

38. An electronic endoscope apparatus according to claim 37, wherein:

said imaging element is a high-speed imaging element capable of imaging an object at high speed; and

said second displacement-correcting means includes;

accumulating/adding means for accumulating pixel signals produced by the high-speed imaging unit and adding the pixel signals together;

a memory for storing pixel signals obtained by the accumulating/adding means; and

address control means for controlling a read address of the memory in accordance with the displacement calculated by the displacement-calculating means.

39. An electronic endoscope apparatus according to claim 27, wherein said displacement means displaces the imaging unit in such a manner as to correct a displacement by use of displacements at a plurality of positions within the imaging plane in a case where an object tracking command is not issued, and displaces the imaging unit in such a manner as to correct a displacement by use of a displacement at a specific position within the imaging plane in a case where the object tracking command is issued.

40. An electronic endoscope apparatus according to claim 27, wherein said displacement means further includes imaging unit-positioning means for positioning the imaging unit with reference to the object by performing negative feedback control on the basis of an output from the first displacement-correcting means.

41. An electronic endoscope apparatus according to claim 27, wherein said displacement-calculating means detects how an image of the object is displaced from the imaging unit at a plurality of positions within the imaging plane, said displacement-calculating means including:

magnification-changing means for changing a magnification of an object image signal supplied from the imaging unit; and

display signal-generating means for generating a display signal on the basis of the object image signal whose magnification is changed by the magnification-changing means.

42. An electronic endoscope apparatus according to claim 41, wherein said displacement means further includes means for determining a displacement type on the basis of said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said imaging unit being displaced in accordance with the displacement type determined by the displacement type-determining means.

43. An electronic endoscope apparatus according to claim 41, wherein said displacement means further includes magnification-calculating means for calculating a magnification of an object image signal in accordance with said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object, said magnification-calculating means changing the magnification of the image of the object in accordance with the magnification-calculating means.

44. An electronic endoscope apparatus according to claim 41, wherein:

said displacement means further includes displacement-detecting means for obtaining a parallel-movement component and a magnification component of an object image signal in accordance with said plurality of displacements which the displacement-calculating means detects at said plurality of positions of the imaging plane with respect to the image of the object;

said imaging unit is displaced such that the parallel-movement component of the object image signal is moved in accordance with the parallel-movement component supplied from the displacement-detecting means; and

said magnification-changing means changes the magnification of the object image signal in accordance with the magnification component supplied from the displacement-detecting means.

45. An electronic endoscope apparatus according to claim 27, wherein said displacement means further includes switching means for selecting one of the first and second displacement-correcting means.