Universal head device, control method, and program

Abstract

To provide a universal head device mounting a brake mechanism, capable of suppressing a delay of a pan driving nad a tilt driving in the universal head device.SOLUTION: A universal head device that can attach an imaging device, comprises: driving means of causing a support part supporting the imaging device to perform a pan driving or a tilt driving; driving stop means of stopping a driving of the driving means; and control means of controlling the driving means and the driving stop means. The control means controls the driving stop means so as to cancel a driving stop state by the driving stop means before acquiring a driving instruction that causes the driving means to perform the pan driving or a tilt driving on the basis of a predetermined condition in the case where the driving stop state where the driving of the driving means is stopped by the driving stop means is cancelled.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a camera platform device equipped with a brake mechanism, a control method, and a program. [Background technology]

[0002] Conventionally, imaging devices that can be remotely controlled via a network or the like have been known. In addition, imaging devices can change the imaging direction by using a camera platform equipped with a pan mechanism and a tilt mechanism. Since the stopping position of the camera platform can be shifted from the target position due to an external force, a conventional technology is also known in which a brake mechanism is provided on the camera platform.

[0003] Patent Document 1 discloses an electric pan head camera device that is equipped with a non-excited brake in a rotation mechanism and activates the non-excited brake by turning off the power to the rotation mechanism when a low power consumption mode signal is received. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-130061 A Summary of the Invention [Problem to be solved by the invention]

[0005] In order to drive the pan mechanism or tilt mechanism when the brake is applied to the camera head, it is necessary to first release the brake. However, since it takes time to release the brake, there is a risk that the start of driving the pan mechanism or tilt mechanism will be delayed. As a result, there is a risk that the imaging direction of the imaging device will not be changed in time and the desired captured image will not be obtained. For example, when a brake mechanism that releases the brake using a motor is used, it is necessary to drive the motor for a certain period of time when the brake is released, which will delay the start of driving the pan mechanism or tilt mechanism.

[0006] The present invention has been made in consideration of the problems described above, and aims to provide a tripod head device equipped with a brake mechanism that can suppress delays in pan drive and tilt drive. [Means for solving the problem]

[0007] A camera platform device to which an imaging device can be attached, the camera platform device comprising: a driving means for panning or tilting a support section that supports the imaging device; and a driving stop means for stopping the driving of the driving means. and a control means for controlling the driving means and the driving stop means, wherein when releasing a driving stop state in which the driving of the driving means has been stopped by the driving stop means, the control means controls the driving stop means so as to release the driving stop state by the driving stop means before obtaining a driving instruction to pan or tilt the driving means based on predetermined conditions. Effect of the Invention

[0008] According to the present invention, it is possible to provide a pan head device equipped with a brake mechanism, which is capable of suppressing delays in pan driving and tilt driving. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing an example of the configuration of a camera platform system according to a first embodiment. [Diagram 2] 1 is a functional block diagram showing an example of the configuration of a camera platform system according to a first embodiment. [Diagram 3] FIG. 4 is a diagram showing an example of a table showing settings of preset positions and preset tours according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of brake release timing according to the first embodiment. [Diagram 5] 5 is a flowchart showing an example of processing of the imaging device of the camera head system according to the first embodiment. [Figure 6]FIG. 11 is a diagram showing an example of a display screen for automatic tracking according to the second embodiment. [Figure 7] FIG. 10 is a diagram showing an example of brake release timing according to the second embodiment. [Figure 8] 10 is a flowchart showing an example of processing of an imaging device of a camera head system according to a second embodiment. [Figure 9] FIG. 11 is a diagram showing an example of brake release timing according to the third embodiment. [Figure 10] 11 is a flowchart showing an example of processing of an imaging device of a camera head system according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and duplicated descriptions are omitted or simplified.

[0011] (Embodiment 1) 1 is a diagram showing an example of the configuration of a pan / tilt head system according to embodiment 1. The pan / tilt head system of this embodiment includes an imaging device 1, a pan / tilt head device 2, and a client device 3. In addition, each device of the pan / tilt head system is connected via a network 4.

[0012] The imaging device 1 is, for example, a network camera, and is a device having a function of capturing an image of a subject. The imaging device 1 communicates with a client device 3 via a camera platform device 2 and a network 4.

[0013] The camera platform device 2 is a device that has a function of mounting the imaging device 1 on a support section that supports the imaging device 1, and changing the imaging direction of the imaging device 1 by panning or tilting the imaging device 1. Note that the camera platform device 2 may be an integrated device with the imaging device 1, rather than being a separate device.

[0014] The client device 3 controls the operation of the imaging device 1 by transmitting various control commands to the imaging device 1. The client device 3 also controls the operation of the camera head device 2 via the imaging device 1. For example, the client device 3 may be an information processing device such as a PC (personal computer). The client device 3 has a display unit and functions as a display control device that controls the display unit. The client device 3 also transmits various control commands to the imaging device 1. The control commands include, for example, commands for acquiring and controlling the state related to the image processing settings of the imaging device 1, or acquiring and controlling the state related to the pan drive, tilt drive, and brake of the camera head device 2. The imaging device 1 transmits a response to the received control command to the client device 3.

[0015] The imaging device 1 and the client device 3 are connected in a state in which they can communicate with each other via a network 4. The network 4 is composed of a plurality of routers, switches, cables, etc. that meet a communication standard such as Ethernet (registered trademark). However, as long as communication is possible between the imaging device 1 and the client device 2, there are no limitations on the communication standard, scale, or configuration.

[0016] Next, the configurations of the imaging device 1 and the pan head device 2 will be described. FIG. 2 is a functional block diagram showing an example of the configuration of the imaging device 1 and the pan head device 2 according to the first embodiment. Some of the functional blocks of the imaging device 1 shown in FIG. 2 are realized by causing a CPU as a computer included in the control unit 11 to execute a computer program stored in a memory as a storage medium. Similarly, some of the functional blocks of the pan head device 2 shown in FIG. 2 are realized by causing a CPU as a computer included in the control unit 21 to execute a computer program stored in a memory as a storage medium. The functional blocks shown in FIG. 2 do not have to be built into the same housing, and may be configured by separate devices connected to each other via signal paths.

[0017] The imaging device 1 includes a control unit 11, a storage unit 12, an external communication unit 13, a camera platform communication unit 14, an imaging unit 15, and an image processing unit 16. The control unit 11 includes, for example, a CPU as a computer.

[0018] The storage unit 12 stores various data. The storage unit 12 mainly stores a program storage area for storing computer programs executed by the control unit 11, and a work area during program execution.

[0019] The external communication unit 13 communicates with the client device 3 via the network 4. The control unit 11 controls the imaging device 1 and issues control instructions to the camera-head device 2 via the camera-head communication unit 14 based on various control commands received by the external communication unit 13 from the client device 3. Note that the external communication unit 13 may be configured to exist inside the camera-head device 2 rather than inside the imaging device 1 and to be connected to the control unit 21 via a signal path. In that case, the control unit 21 controls the camera-head device 2 based on various control commands received from the client device 3 and issues control instructions to the imaging device 1 via the camera-head communication unit 23.

[0020] The camera-head communication unit 14 communicates with the camera-head device 2. For example, the camera-head communication unit 14 transmits and receives pan and tilt drive control commands, brake control commands, and other commands related to the control of the camera-head device 2. The camera-head communication unit 14 communicates with the camera-head device 2 using RS-232 (Recommended Standard 232), a communication standard of the Electronic Industries Association (EIA). Alternatively, the camera-head communication unit 14 communicates with the camera-head device 2 using RS-422 (Recommended Standard 422). Alternatively, the camera-head communication unit 14 communicates with the camera-head device 2 using RS-485 (Recommended Standard 485) or other communication standards.

[0021] The imaging unit 15 photoelectrically converts the subject image formed by the imaging optical system of the imaging device 1 using an imaging element such as a complementary metal oxide semiconductor (CMOS) sensor to generate an analog signal.

[0022] The image processing unit 16 converts the analog signal acquired by the imaging unit 15 into digital data and performs necessary image processing. Furthermore, image data is generated by performing compression encoding processing such as JPEG (Joint Photographic Experts Group), H.264, H.265, etc., and stored in the storage unit 22. Note that the image data compressed and encoded by the compression encoding unit 14 is sequentially read from the storage unit 12 and transmitted as a video stream to the client device 3 via the external communication unit 13. The image processing unit 16 also performs processing to detect a subject in the captured image captured by the imaging device 1.

[0023] Next, a description will be given of the configuration of the pan head device 2. The pan head device 2 includes a control unit 21, a storage unit 22, and a pan head communication unit 23. The pan head device 2 further includes a pan driving unit 24, a pan braking unit 25 (driving stop means), a tilt driving unit 26, and a tilt braking unit 27 (driving stop means). The control unit 21 includes, for example, a CPU as a computer.

[0024] The storage unit 22 stores various data. The storage unit 22 mainly stores a program storage area for storing computer programs executed by the control unit 21, and a work area during program execution.

[0025] The tripod head communication unit 23 communicates with the imaging device 1. For example, it transmits and receives pan / tilt drive control commands (drive instructions) and other commands related to the control of the tripod head device 2. The communication standard for the tripod head communication unit 23 to communicate with the imaging device 1 is the same as that of the tripod head communication unit 14.

[0026] The pan driving unit 24 is a gear, a motor, etc. that performs panning, and is housed inside the camera platform device 2. The pan driving unit 24 rotates the camera platform device 2 in the pan direction, thereby changing the imaging direction of the imaging device 1 supported by the camera platform device 2. The driving of the pan driving unit 24 is controlled by the control unit 21. When the pan driving is stopped, that is, when the motor is not rotating, the stop position is maintained by the brake of the pan braking unit 25. Therefore, it is not necessary to pass a stop excitation current to the pan driving unit 24. However, when the pan braking unit 25 releases the brake while the pan driving unit 24 is stopped, the stop position is maintained by passing a stop excitation current.

[0027] The pan brake unit 25 is a device that applies a brake to the pan drive unit 24. The pan brake unit 25 is operated by a motor of the mechanical drive system. Specifically, the pan drive unit 24 is held at a stopped position by pressing a friction member against gears of the mechanical drive system of the pan drive unit 24 to generate a load. Conversely, when the stopped pan drive unit 24 starts pan driving, the pressed friction member is released to release the brake, and then the pan drive unit 24 is operated. The pan brake unit 25 is composed of a friction member such as rubber and a mechanical drive system such as gears and motors for releasing the brake by moving the friction member in parallel, and it takes a certain time (for example, 200 ms) to release the brake depending on the movement of the mechanical drive system. Note that when applying the brake, a mechanical mechanism including a friction member may be pressed against gears of the mechanical drive system of the pan drive unit 24 by a member such as a spring, so that the brake can be applied without power. However, the configuration of the pan brake unit 25 is not limited as long as it is a configuration that allows the pan drive unit 24 to be braked.

[0028] The tilt driving unit 26 is a gear, a motor, etc. that performs tilt operation, and is housed inside the pan head device 2. The tilt driving unit 26 drives the pan head device 2 to rotate in the tilt direction, thereby changing the imaging direction of the imaging device 1 supported by the pan head device 2. The tilt driving unit 26 drives the pan head device 2 to rotate in the tilt direction, thereby changing the imaging direction of the imaging device 1 supported by the pan head device 2. The drive control of the tilt driving unit 26 is similar to that of the pan driving unit 24.

[0029] The tilt braking unit 27 applies a brake to the tilt driving unit 26. The configuration and operation control of the tilt braking unit 27 are similar to those of the pan braking unit 25.

[0030] Next, a flow of releasing the brake from a state in which the pan / tilt drive of the camera-head device 2 is stopped and the brake is applied (drive stopped state), performing pan / tilt drive, and applying the brake will be described. First, the control unit 11 of the imaging device 1 transmits a control command to release the brake to the camera-head device 2 via the camera-head communication unit 14. Then, the control unit 21 of the camera-head device 2 receives the control command via the camera-head communication unit 23. The control unit 21 of the camera-head device 2 controls the pan brake unit 25 and the tilt brake unit 27 to release the brake. Next, the control unit 11 of the imaging device 1 checks whether the brake release time stored in the storage unit 12 has elapsed. Note that the imaging device 1 may transmit a command to acquire the brake release state via the camera-head communication unit 14, receive a response from the camera-head device 2, and determine whether the brake has been released. Alternatively, the imaging device 1 may determine whether the brake has been released by receiving a command from the control unit 21 of the camera-head device 2 notifying completion of brake release.

[0031] After the imaging device 2 determines that the brake has been released, the control unit 11 of the imaging device 1 transmits a control command for instructing pan-tilt driving to the camera-head device 2 via the camera-head communication unit 14. Then, the control unit 21 of the camera-head device 2 receives the control command via the camera-head communication unit 23. The control unit 21 controls the pan driving unit 24 and the tilt driving unit 26 to perform pan-tilt driving.

[0032] Finally, the control unit 11 confirms whether the pan / tilt drive has stopped by sending a command to acquire the pan / tilt drive status via the camera head communication unit 23 and receiving a response, or by receiving a command from the control unit 21 notifying completion of the pan / tilt drive. When it is confirmed that the pan / tilt drive has stopped, the control unit 11 sends a control command to apply the brakes via the camera head communication unit 14, and the control unit 21 receives the control command via the camera head communication unit 23. The control unit 21 controls the pan brake unit 25 and the tilt brake unit 27 to apply the brakes.

[0033] Note that, when the control unit 21 receives a control command for pan-tilt driving from the control unit 11 while the brake is applied, the control unit 21 may control the brake without waiting for an instruction from the control unit 11. Specifically, the control unit 21 may perform pan-tilt driving after releasing the brake without receiving a control command for releasing or applying the brake from the control unit 11, and may operate to apply the brake independently when the pan-tilt driving stops.

[0034] Fig. 3(a) is a table showing an example of settings of preset positions (preset positions) represented by the pan angles and tilt angles of the pan driving unit 24 and the tilt driving unit 26. The table in Fig. 3(a) includes an ID 51 which is the number of each preset position, and a position name 52 which is the name of each preset position. The table in Fig. 3(a) also includes a pan angle 53 (pan position) which indicates the pan angle of each preset position, and a tilt angle 54 which indicates the tilt angle (tilt position) of each preset position. In addition to the pan angle and tilt angle, zoom magnification and other camera settings may also be set.

[0035] The user registers in advance a preset position corresponding to any pan angle and tilt angle from a preset position setting screen displayed on the display unit of the client device 3. For example, in the first row of the table in Fig. 3(a), a preset position with ID 51 of 1, position name 52 of home, pan angle 53 of 0°, and tilt angle 54 of 0° is registered.

[0036] FIG. 3(b) is a table showing an example of settings related to the tour of preset positions to be toured (hereinafter referred to as preset tour). The table in FIG. 3(b) is made up of tour order 55 indicating the order of preset tours, position 56 combining the ID of the preset position to be toured and its position name, and tour interval 57 indicating the time interval for tours between preset positions. Note that the tour interval 57 may specify an individual time interval for each preset. Also, instead of setting the tour timing by the tour interval time, the time to start the tour may be set. Also, in addition to the settings in FIG. 3(b), the pan / tilt drive speed when touring the preset positions may be set.

[0037] The user sets the preset tour in advance using the preset positions set in the table of Fig. 3(a) on the preset tour setting screen displayed on the display unit of the client device 3. For example, in the first row of the table of Fig. 3(b), a preset tour is set in which the tour order 55 is 1, the position 56 is ID2: Square, and the tour interval 57 is 10 seconds.

[0038] The control unit 11 of the imaging device 1 receives the preset position of FIG. 3(a) and the preset tour of FIG. 3(b) set by the user on the setting screen from the client device 3, and stores the setting contents in the storage unit 12. Then, when a command to start the preset tour is received from the client device 3, the preset tour is started according to the preset tour setting (preset tour schedule) stored in the storage unit 22. Specifically, the control unit 11 first transmits a brake release and pan-tilt drive control command via the head communication unit 14 so as to move to the position of the first tour target in the tour order 55. Note that it takes a certain amount of time to release the brake, so there is a delay before the pan drive unit 24 or the tilt drive unit 26 actually starts pan-tilt drive. Then, the control unit 11 transmits a control command to check whether the pan-tilt position has reached the first preset position in the tour order via the head communication unit 14. If it has reached the first preset position, the control unit 11 transmits a brake control command and waits for the tour interval 57 before transmitting a pan-tilt drive control command so as to move to the second preset position in the tour order 55. In this way, the preset positions are moved in the correct order, and when the end of the tour order 55 is reached, the preset tour returns to the first position in the tour order and continues.

[0039] FIG. 4 is a diagram for explaining the timing of releasing the brake in the flowchart of FIG. 5 described later. It shows a series of flows when the brake is released to execute the next preset tour from a state where the pan / tilt drive is stopped and the brake is applied. The control unit 21 of the camera platform device 2 in this embodiment controls the pan brake unit 25 and the tilt brake unit 27 (drive stop means) based on a tour schedule (predetermined conditions) to a plurality of preset positions. Specifically, the control unit 21 of the camera platform device 2 controls the pan brake unit 25 and the tilt brake unit 27 so as to release the drive stop state by the pan brake unit 25 and the tilt brake unit 27 (drive stop means) before acquiring a drive command for pan drive or tilt drive.

[0040] FIG. 4 shows a preset tour scheduled time 61 indicating the timing at which the preset tour should be performed, and a brake release start time 62 indicating the timing at which the brake release starts. FIG. 4 also shows a brake release completion time 63 indicating the timing at which the brake release is completed, and a brake release time 64 indicating the time required to release the brake. The brake release time 64 is stored in the storage unit 22 in advance. The length of the brake release time 64 may be changed depending on the conditions. For example, if the properties such as elasticity of the friction members of the pan braking unit 25 and the tilt braking unit 27 change depending on the temperature change, the brake release time 64 may be changed depending on the temperature. In addition, if the motor of the mechanism drive system that moves the friction members of the pan braking unit 25 and the tilt braking unit 27 is not excited at the start of the brake release, the brake release time 64 may be extended. This is because if there is no excitation when the motor that drives the brake mechanism is stopped, backlash occurs due to the play of the mechanism, and the brake release time becomes longer. Furthermore, the brake release time 64 may be determined according to the number of operations of the pan braking unit 25 and the tilt braking unit 27, taking into consideration the degree of wear of the friction members.

[0041] When the pan / tilt drive by the preset tour is completed, the control unit 11 adds the tour interval 57 to the current time and stores the result as the next preset tour scheduled time 61 (tour start time) in the storage unit 12. Then, the control unit 11 stores the result of subtracting the brake release time 64 from the preset tour scheduled time 61 (tour start time) as the brake release start time 62 in the storage unit 12 so that the brake release is completed by the preset tour scheduled time 61 (tour start time).

[0042] When the current time reaches brake release start time 62, the control unit 11 of the imaging device 1 transmits a brake release control command to the camera head device 2 via the camera head communication unit 14. Then, when the current time reaches preset scheduled tour time 61, the control unit 11 transmits a pan / tilt drive control command to the camera head device 2 via the camera head communication unit 14.

[0043] Next, an example of the processing of the camera head system that releases the brakes by the pan brake unit 25 and the tilt brake unit 27 before moving to the next preset position when a preset tour is being performed will be described with reference to the flowchart in Fig. 5. It is assumed that pan / tilt driving by a preset tour is being performed at the start of the flowchart.

[0044] Fig. 5 is a flowchart showing an example of processing of the imaging device 1 according to embodiment 1. Note that the operation of each step in the flowchart of Fig. 5 is performed by the CPU serving as a computer in the control unit 11 executing a computer program stored in a memory.

[0045] In step S11, the control unit 11 transmits a command for acquiring the drive status of the pan drive unit 24 and the tilt drive unit 26 via the camera head communication unit 14, and checks whether the pan drive and the tilt drive have stopped. When the control unit 21 receives the command for the pan drive unit 24 and the tilt drive unit 26, it transmits a response including the drive status. If the control unit 11 can check that the pan drive and the tilt drive have stopped, it transmits a control command to apply the brakes via the camera head communication unit 14, and proceeds to step S12. If not, it returns to S11 again.

[0046] In step S12, the control unit 11 calculates the next preset tour scheduled time 61 and the brake release start time 62, and stores these times in the storage unit 12.

[0047] In step S13, the control unit 11 judges whether or not the current time has reached the brake release start time 62. If it has reached the brake release start time 62, the process proceeds to step S14, and if not, the process returns to S13.

[0048] In step S14, the control unit 11 transmits a brake release control command to the pan-head device 2 via the pan-head communication unit 14.

[0049] In step S15, the control unit 11 judges whether or not the brake release time stored in the memory unit 12 has elapsed since the control command was sent in step S14. If the brake release time has elapsed, the process proceeds to step S16, and if not, the process returns to S15.

[0050] In step S16, the control unit 11 transmits a pan / tilt drive control command to the camera-head device 2 via the camera-head communication unit 14 so as to move to the position of the next preset tour. Specifically, the control unit 11 acquires the next position in the current tour order from the tour order 55 and position 56 of the preset tour settings stored in the storage unit 12, and acquires the pan angle 53 and tilt angle 54 of the preset position to be toured next. Then, it transmits a pan / tilt drive control command including the content to move to the acquired pan angle and tilt angle. Note that, when the control unit 11 confirms that the pan / tilt drive has stopped, it transmits a control command to apply the brakes via the camera-head communication unit 14.

[0051] As described above, according to the camera head device of this embodiment, when the control unit 21 is performing a preset tour, it releases the brakes applied by the pan brake unit 25 and the tilt brake unit 27 before moving to the next preset position. Therefore, it is possible to suppress delays caused by brake release when moving to the next preset position. In other words, according to this embodiment, it is possible to provide a camera head device 2 equipped with a brake mechanism, which is capable of suppressing delays in pan driving and tilt driving.

[0052] (Embodiment 2) In the second embodiment, a case where the brake is released beforehand when image detection involving pan-tilt drive is performed will be described. The camera platform system and its network configuration according to the second embodiment are the same as those of the first embodiment. Furthermore, image detection processing in this embodiment is performed in the image processing unit 16. Furthermore, in this embodiment, the following description will be given taking an automatic tracking function as an example of image detection involving pan-tilt drive.

[0053] FIG. 6(a) is a diagram showing an example of a setting screen for setting automatic tracking. A setting screen 71 displayed on the display unit of the client device 3 includes an automatic tracking detection area 72, an enable button 73 for enabling the automatic tracking function, and a disable button 74 for disabling the automatic tracking function. The user sets in advance the size and position of the detection area 72, which is an area for detecting the automatic tracking target, on the setting screen 71 by dragging and dropping with a mouse or the like attached to the client device 3. In addition, the control unit 11 sets the position of the setting screen 71 as the initial position for automatic tracking. Furthermore, the setting screen 71 may further set the size (predetermined size) of the moving object to be detected, the automatic tracking upper limit time, and the like.

[0054] The control unit 11 receives the setting contents of the setting screen 71 from the client device 3 and stores them in the storage unit 12. The enable button 73 is pressed to enable the automatic tracking function, and detection of a moving object entering the detection area 72 and automatic tracking of the moving object are performed. Specifically, when a moving object enters the detection area 72, the image processing unit 16 detects the moving object within a predetermined size range using a background difference method or the like. Then, the control unit 11 sets the detected moving object as an automatic tracking target. Also, when an automatic tracking target is set, the control unit 11 transitions to an automatic tracking state and acquires the size and position of the automatic tracking target from the image processing unit 16. Then, the control unit 11 constantly determines the position of the automatic tracking target 76 through the image processing unit 16. Then, the pan driving unit 24 and the tilt driving unit 26 are controlled so that the pan angle and the tilt angle are angles that place the automatic tracking target 76 in the center of the angle of view.

[0055] However, if the automatic tracking target 76 deviates from the range that can be accommodated in the angle of view by pan-tilt driving, the automatic tracking is terminated. Alternatively, if the time during which the automatic tracking is being performed exceeds the automatic tracking upper limit time stored in the storage unit 12, the automatic tracking may be terminated.

[0056] When the automatic tracking ends, the control unit 11 transmits a pan / tilt drive control command to the camera head device 2 so that the pan angle and tilt angle return to the initial positions of the automatic tracking. Then, the control unit 11 again monitors a moving object that enters the detection area 72. Note that the automatic tracking function is disabled by pressing the disable button 74.

[0057] Figures 6(b) to (d) are diagrams showing an example of a viewer screen 75 displayed on the display unit of the client device 3. Figures 6(b) to (d) show a state in which a detection area 72 has been set, an enable button 73 has been pressed, and the automatic tracking function has been enabled. In Figure 6(b), there is no tracking target, and automatic tracking is not being performed.

[0058] FIG. 6(c) shows a state where automatic tracking is being performed, and an automatic tracking target 76, which is a moving object that has entered the detection area and become a tracking target, and a display frame 77, which is a frame surrounding the automatic tracking target 76, are displayed in the viewer screen 75 so that it can be seen that the automatic tracking target 76 is an automatic tracking target. FIG. 6(d) shows that the automatic tracking target 76 has moved leftward in the image from the state of FIG. 6(c). FIG. 6(d) shows a state where the control unit 11 has transmitted a control command for pan-tilt driving via the camera platform communication unit 14 so that the automatic tracking target 76 is placed in the center of the angle of view. In this way, the control unit 11 checks the position of the automatic tracking target 76 through the image processing unit 16, and controls the pan driving unit 24 and the tilt driving unit 26 so that the automatic tracking target 76 is always in the center of the angle of view. Then, if the automatic tracking target 76 continues to move and the image processing unit 16 determines that it has gone outside the predetermined size range of the tracking target, the automatic tracking is terminated. In other words, if the tracking target becomes smaller than a predetermined size that can be detected, the automatic tracking is terminated. Alternatively, when the control unit 11 determines that the automatic tracking upper limit time has been exceeded, the automatic tracking is terminated.

[0059] FIG. 7 is a diagram for explaining the timing of releasing the brake in the flow chart of FIG. 8 described later, and is a diagram showing an example of the timing of releasing the brake in automatic tracking. FIG. 7 shows an automatic tracking start time 81 indicating the timing when automatic tracking starts. FIG. 7 also shows a pan tilt drive time 82 indicating the timing when pan tilt drive occurs as the target of automatic tracking moves. FIG. 7 also shows an automatic tracking end time 83 indicating the timing when the target of automatic tracking goes out of a predetermined size range or the automatic tracking upper limit time has elapsed, and a brake release time 84 indicating the time when the brake is released. FIG. 7 also shows a brake on time 85 indicating the time when the brake is applied again. The control unit 21 of the camera platform device 2 in this embodiment controls the pan brake unit 25 and the tilt brake unit 27 (drive stop means) based on whether or not the subject of the tracking target is detected in the captured image captured by the imaging device 2 (predetermined condition). Specifically, when a subject to be tracked is detected, the control unit 21 of the pan head device 2 controls the pan braking unit 25 and the tilt braking unit 27 (drive stopping means) to release the drive stop state caused by the pan braking unit 25 and the tilt braking unit 27.

[0060] First, the image processing unit 16 detects that a moving object has entered the detection area 72 (automatic tracking start time 81). The detected moving object becomes the automatic tracking target. Once the automatic tracking target has been determined, the control unit 11 transmits a brake release control command to the camera head device 2 via the camera head communication unit 14 (brake release time 84). After that, in order to keep the automatic tracking target 76 in the center of the angle of view when it moves, the control unit 11 transmits a pan-tilt drive control command to the camera head device 2 via the camera head communication unit 14 (pan-tilt drive time 82). After that, when the automatic tracking target falls outside the predetermined size range, the automatic tracking is terminated (automatic tracking end time 83). In other words, when the tracking target becomes smaller than a predetermined size that can be detected, the automatic tracking is terminated. Alternatively, when the automatic tracking time has elapsed, the automatic tracking is terminated. When the automatic tracking is terminated, the control unit 11 transmits a brake application control command via the camera head communication unit 14 (brake on time 85).

[0061] Next, an example of processing of the imaging device 1 in which the brake is released when auto-tracking starts while auto-tracking is enabled will be described with reference to the flowchart in Fig. 8. At the start of the flowchart, it is assumed that the auto-tracking function is enabled, the pan / tilt position is in the initial position for auto-tracking, and auto-tracking is not being performed.

[0062] Fig. 8 is a flowchart showing an example of processing of the imaging device 1 according to embodiment 2. Note that the operation of each step in the flowchart in Fig. 8 is performed by the CPU serving as a computer in the control unit 11 executing a computer program stored in a memory.

[0063] In step S21, the control unit 11 checks with the image processing unit 16 whether or not automatic tracking has started. Specifically, the control unit 11 checks with the image processing unit 16 whether or not a moving object within a range of a predetermined size has entered the detection area 72, and if a moving object has entered, the control unit 11 transitions to a state in which automatic tracking has started. Note that instead of the image processing unit 16 detecting the automatic tracking target 76, the user may select the tracking target by clicking on the target on the viewer screen 75, for example, and start automatic tracking. If automatic tracking has started, the process proceeds to step S22, and if not, the process returns to step S21.

[0064] In step S22, the control unit 11 transmits a brake release control command to the pan-head device 2 via the pan-head communication unit 14.

[0065] In step S23, the control unit 11 performs automatic tracking of the automatic tracking target 76. The control unit 11 continues to acquire the position of the automatic tracking target 76 from the image processing unit 16, and transmits a control command for pan / tilt drive to the camera head device 2 so that the pan angle and tilt angle are set so that the automatic tracking target 76 is located at the center of the angle of view.

[0066] In step S24, the control unit 11 checks whether the automatic tracking has ended. When the control unit 11 checks with the image processing unit 16 that the automatic tracking target 76 being tracked has gone outside a range of a predetermined size or exceeded the automatic tracking upper limit time, the control unit 11 ends the automatic tracking. If the automatic tracking has ended, the process proceeds to step S25, and if not, the process returns to step S23.

[0067] In step S25, the control unit 11 acquires the pan angle and tilt angle of the initial position of automatic tracking from the memory unit 22, and transmits a control command for pan and tilt drive to the camera head device 2 via the camera head communication unit 14. Furthermore, when the control unit 11 confirms that the pan drive unit 24 and the tilt drive unit 26 have returned to the designated pan angle and tilt angle, it transmits a control command for applying the brakes to the camera head device 2 via the camera head communication unit 14.

[0068] According to the camera platform system of this embodiment, when the automatic tracking function is enabled, the control unit 11 releases the brake during automatic tracking. Therefore, the delay in the pan-tilt drive for placing the automatic tracking target in the center of the angle of view due to the brake release is suppressed. In other words, according to this embodiment, it is possible to provide a camera platform device 2 equipped with a brake mechanism that can suppress delays in the pan drive and tilt drive.

[0069] In this embodiment, the brake is released during automatic tracking, but the brake may be released while the automatic tracking function is enabled. In other words, the control unit 11 may transmit a control command to release the brake to the camera head device 2 when the automatic tracking function is enabled by pressing the enable button 73, and transmit a control command to apply the brake to the camera head device 2 when the disable button 74 is pressed.

[0070] In addition, in the present embodiment, automatic tracking has been described as an example of image detection accompanied by pan-tilt driving, but other image detection functions may be used, or other detection functions may be combined with pan-tilt driving. For example, when a sound is detected by a sound processing unit (not shown), the pan driving unit 24 and the tilt driving unit 26 may be controlled so that the direction from which the sound is coming is within the angle of view.

[0071] (Embodiment 3) In the third embodiment, a case will be described in which the brake release state continues for a certain period of time after the pan / tilt is driven. The camera platform system according to the third embodiment and its network configuration are the same as those of the first embodiment.

[0072] Fig. 9 is a diagram for explaining the brake release state duration in the flowchart of Fig. 10 described later, and is a diagram showing an example of the flow when the brake is released for a certain period of time after pan-tilt driving. Fig. 9 shows a brake release time 91 indicating the time when the brake is released, a pan-tilt driving time 92 indicating the timing when the pan-tilt driving is started, and a pan-tilt driving time 93. Fig. 9 also shows a brake on time 94 indicating the time when the brake is applied, and a release state duration 95 indicating the time for which the brake is released after pan-tilt driving. Also, it is assumed that before the brake release time 91, the pan-tilt driving is stopped and the brake is applied.

[0073] First, at brake release time 91, the control unit 11 receives a control command instructing pan-tilt drive from the client device 3 via the external communication unit 13. Then, the control unit 11 transmits a control command to release the brake to the camera-head device 2 via the camera-head communication unit 14. When the time required for completing brake release stored in the memory unit 12 has elapsed (pan-tilt drive time 92), the control unit 11 transmits a control command for pan-tilt drive to the camera-head device 2 via the camera-head communication unit 14.

[0074] When the pan-tilt drive started at the pan-tilt drive time 92 reaches the instructed pan-tilt position, the control unit 11 sets a timer for the release state duration stored in the storage unit 12. The release state duration is the time for which the brake release state continues after the pan-tilt drive is completed. However, if the next pan-tilt drive is performed within the release state duration, the timer is set again at the time when the pan-tilt drive is completed. The release state duration is the time during which the pan-tilt drive is likely to be performed again after the pan-tilt drive is performed. For example, if the user performs the pan-tilt drive intermittently, even if the user performs the pan-tilt drive and stops it, the pan-tilt drive is likely to be performed immediately. The release state duration may be a predetermined fixed time (for example, 10 seconds), or may be set by the user from a setting screen displayed on the display unit of the client device 3. Alternatively, the time interval between the most recent predetermined number of pan-tilt drives (for example, 100 times) may be stored in the storage unit 12, and a predetermined value (for example, the top 80%) of the time intervals may be set as the release state duration. The present invention is not limited to this, and any setting method may be used as long as it is a method for setting the release state duration time.

[0075] At pan / tilt drive time 93, a pan / tilt drive instruction is again sent from the client device 3 to the imaging device 1. In response to this, the control unit 11 sends a pan / tilt drive control command to the camera head device 2 via the camera head communication unit 14. At this time, the timer for the released state duration set at the pan / tilt drive time 92 is cleared, and the timer for the released state duration is set again. Then, when time has elapsed without pan / tilt drive being performed even once, such as during the period of released state duration 95, at brake-on time 94, a control command to apply the brakes is sent to the camera head device 2 via the camera head communication unit 14.

[0076] Next, an example of the processing of the camera head system that continues releasing the brake for a certain period of time after pan / tilt driving will be described with reference to the flowchart in Fig. 10. At the start of the flowchart, the pan / tilt driving is stopped and the brake is applied.

[0077] Fig. 10 is a flowchart showing an example of the processing of the camera platform system according to embodiment 3. Note that the operation of each step in the flowchart of Fig. 10 is performed by the CPU as a computer in the control unit 11 executing a computer program stored in the memory.

[0078] In step S31, the control unit 11 receives a control command from the client device 3 via the external communication unit 13 to instruct pan / tilt driving.

[0079] In step S32, the control unit 11 transmits a control command to the pan-head device 2 via the pan-head communication unit 14 to release the brake.

[0080] In step S33, the control unit 11 transmits a control command for pan / tilt driving to the camera-head device 2 via the camera-head communication unit 14 when the brake release time previously stored in the storage unit 12 has elapsed.

[0081] In step S34, when the pan / tilt drive started in step S33 reaches the instructed pan / tilt position, the control unit 11 sets a timer for the duration of the released state, which is stored in advance in the storage unit 12. If the timer has already been set, it is cleared and then set again.

[0082] In step S35, the control unit 11 checks whether or not a control command instructing pan-tilt driving has been received from the client device 3 via the external communication unit 13. If a control command has been received, the process returns to step S33; otherwise, the process proceeds to step S36.

[0083] In step S36, the control unit 11 judges whether or not the timer set in step S34 has exceeded the release state duration time, and if so, proceeds to step S37, and if not, returns to step S35.

[0084] In step S37, the control unit 11 transmits a control command to the pan-head device 2 via the pan-head communication unit 14 to apply the brakes.

[0085] According to the camera head system of this embodiment, the control unit 11 keeps the brake released for a predetermined time even if the pan-tilt drive stops. Therefore, even if a command for pan-tilt drive is received immediately after the pan-tilt drive stops, there is no need to release the brake, so a delay in the pan-tilt drive can be suppressed.

[0086] (Other embodiments) Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and modifications and the like are possible within the scope of the present invention. The above-mentioned embodiments 1, 2, and 3 may be combined as appropriate.

[0087] In addition, the client device 3 is connected to the camera-head device 2 via a network 4, and the camera-head device 2 may receive control commands related to pan / tilt drive, imaging, image detection, and the like from the client device 3. In this case, control of each function of the imaging device 1 is performed by the control unit 21 of the camera-head device 2 transmitting control commands via the camera-head communication unit 23.

[0088] Furthermore, the timing of brake release and brake application control may be managed by the control unit 21 of the camera platform device 2, rather than by the control unit 11 of the imaging device 1. For example, the control unit 21 of the camera platform device 2 may inquire of the control unit 11 about the status (start or end) of preset patrol or automatic tracking via the camera platform communication unit 23, and execute control to release or apply the brake depending on the result. Regarding the third embodiment, the control unit 21 of the camera platform device 2 may store the brake release state duration in advance in the storage unit 22 or inquire and obtain it from the control unit 11 via the camera platform communication unit 23, and may autonomously continue the brake release state after pan / tilt driving.

[0089] In addition, in tilt driving unit 26 that is subjected to a load in the tilt direction due to the weight of imaging device 1, depending on the load situation, the stop position may be maintained by only stopping excitation to tilt driving unit 26 without applying the brakes. For example, control unit 11 may not transmit a control command to apply the brakes when the load applied to tilt driving unit 26 is only a predetermined load or less due to the tilt angle of tilt driving unit 26, or when weight information of imaging device 1 is stored in advance in storage unit 12 and the weight is a predetermined weight or less.

[0090] Also, it is possible to have only one of the pan braking unit 25 or the tilt braking unit 27, and the stop position of the one without the braking unit may be maintained by stop excitation.

[0091] Furthermore, some or all of the functional configuration of the above-described camera-head system may be implemented in the imaging device 1, camera-head device 2, and client device 3 as hardware.

[0092] At least a part of the configuration of the imaging device 1 and the camera platform 2 may be realized by hardware. In the case of hardware realization, for example, a specific compiler may be used to automatically generate a dedicated circuit on an FPGA (Field Programmable Gate Array) from a program for realizing each step.

[0093] Also, a gate array circuit may be formed in the same manner as an FPGA, and the circuit may be realized as hardware. Also, the circuit may be realized by an ASIC (Application Specific Integrated Circuit). Also, the configurations and processes of the above-described embodiments may be applied to computers and various devices other than the imaging device 1, the camera platform 2, and the client device 3.

[0094] The present invention has been described in detail above based on its preferred embodiments, but the present invention is not limited to the above embodiments, and various modifications are possible based on the gist of the present invention, and these modifications are not excluded from the scope of the present invention.

[0095] A computer program that realizes all or part of the control in the above embodiment may be supplied to the camera platform system or the like via a network or various storage media. A computer (or a CPU, MPU, or the like) in the camera platform system or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0096] 1. Imaging device 2 Panhead device 3 Client Device 4. Network 11 Control section 12 Storage section 13 External Communications Department 14 Head communication section 15 Imaging unit 16 Image processing section 21 Control section 22 Memory section 23 Head Communication Section 24 Pan drive unit 25 Pan brake 26 Tilt drive unit 27 Tilt brake

Claims

1. A camera platform device to which an imaging device can be attached, a driving means for panning or tilting a support portion that supports the imaging device; a drive stopping means for stopping the drive of the drive means; a control means for controlling the driving means and the drive stopping means; Equipped with The control means controls the drive stopping means so that, when releasing a drive stop state in which the drive of the drive means has been stopped by the drive stopping means, the control means releases the drive stop state by the drive stopping means before obtaining a drive instruction to pan or tilt the drive means based on predetermined conditions.

2. At least one of the tilt position and the pan position is set as a preset position, and the camera platform device is driven to rotate among the plurality of preset positions; 2. The camera-head device according to claim 1, wherein the predetermined condition is a schedule for rotating the camera to the plurality of preset positions.

3. the control means starts releasing the drive stopped state by the drive stopping means when a release start time for starting releasing the drive stopped state by the drive stopping means is reached; 3. The camera platform device according to claim 2, wherein the release start time is set based on a time to start traveling to the next preset position and a time required to release the drive stop state.

4. The camera head device according to claim 3, characterized in that the release start time is set to be earlier when the motor that operates the drive stopping means is not excited than when the motor that operates the drive stopping means is excited.

5. 4. The camera according to claim 3, wherein the time required to release the drive stop state is determined according to the degree of wear of the friction member of the drive stop means or the temperature of the friction member of the drive stop means.

6. 2. The camera platform device according to claim 1, wherein the predetermined condition is whether or not a subject to be tracked is detected in an image captured by the imaging device.

7. The camera head device according to claim 6, characterized in that the control means controls the drive stopping means to release the drive stopped state caused by the drive stopping means before obtaining a drive instruction for a tracking function of the subject to be tracked.

8. 2. The camera head device according to claim 1, wherein the drive stop means continues to release the drive stop state for a predetermined time after the pan drive or tilt drive.

9. 2. The camera-head device according to claim 1, wherein the control means controls the driving means and the drive stopping means based on a control command from the imaging device.

10. A camera platform device capable of mounting an imaging device, the camera platform device comprising: a driving unit for panning or tilting a support unit that supports the imaging device; and a driving stop unit for stopping the driving of the driving unit, a control step of controlling the drive means and the drive stopping means, A control method for a tripod head device, characterized in that, in the control process, when the drive stop means releases a drive stop state in which the drive of the drive means has been stopped by the drive stop means, the drive stop means is controlled so as to release the drive stop state by the drive stop means before obtaining a drive instruction to pan or tilt the drive means based on predetermined conditions.

11. A program for causing a computer to execute the control method according to claim 10.

Images