Imaging apparatus, method for controlling imaging apparatus, and program

Abstract

To preform a smooth operation even when a stop time is set to be short in a pan-tilt operation for stopping at a preset position after deceleration and accelerating up to the next preset position.SOLUTION: An imaging apparatus which sets at least one of a pan position and a tilt position as a preset position and moves between a plurality of set preset positions changes an imaging direction of an imaging part, acquires setting relating to the plurality of preset positions, the order of moving between the plurality of preset positions, and the setting of the stop time at each preset position, changes the imaging direction on the basis of the acquired setting, and controls driving means with acceleration corresponding to the setting of the stop time at each preset position when moving between the preset positions on the basis of the order of moving.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an imaging device, a control method for an imaging device, and a program. [Background technology]

[0002] Among imaging devices used for surveillance and video distribution, PTZ cameras are known that have a pan mechanism that rotates the camera head horizontally, a tilt mechanism that rotates the camera head vertically, and a zoom mechanism that can change the imaging angle, allowing the imaging range to be controlled. Furthermore, there are cameras that allow the imaging range to be changed by controlling these mechanisms from a remote location via a network or dedicated line.

[0003] In such an imaging device, each position of the pan, tilt, and zoom mechanism is associated with a preset number and registered as a preset position. Furthermore, a preset function is known that moves the pan-tilt-zoom mechanism of the imaging device to a preset position associated with the preset number by designating the preset number. In addition, when there are multiple preset numbers, a function called preset tour or automatic loop is also known that automatically repeats a tour operation to multiple preset positions by registering the order of the preset numbers in advance.

[0004] In video production, when using preset tours or automatic loops, smooth stopping and starting is required by appropriately accelerating and decelerating when moving from one preset position to another.

[0005] For example, Patent Document 1 discloses a method for determining an acceleration setting for controlling a pan operation according to the conditions of an imaging device mounted on a camera platform. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2017-41705 A Summary of the Invention [Problem to be solved by the invention]

[0007] Some functions, called auto loops, which automatically repeat a patrol operation to multiple preset positions, allow you to set a stop time for each preset position. In this case, if the stop time is set short (for example, 0 seconds) during a pan / tilt operation in which the camera decelerates, stops at a preset position, and then accelerates to the next preset position, discontinuous and unsmooth operation will occur.

[0008] Therefore, an object of the present invention is to provide an imaging device that operates smoothly even when the stop time is set short during pan / tilt operation in which the camera decelerates, stops at a preset position, and then accelerates to the next preset position. [Means for solving the problem]

[0009] One aspect of the present invention is an imaging device that sets at least one of a pan position and a tilt position as a preset position and moves between the set multiple preset positions, the imaging device having a drive means for changing the imaging direction of an imaging unit, an acquisition means for acquiring settings for the multiple preset positions, an order for moving between the multiple preset positions, and settings of a stop time at each of the preset positions, and a control means for controlling the drive means based on the settings acquired by the acquisition means, and is characterized in that when moving between the preset positions based on the order, the control means controls the drive means with an acceleration corresponding to the setting of the stop time at each of the preset positions. Effect of the Invention

[0010] According to the present invention, even if the stop time is set short during pan / tilt operation in which the camera decelerates, stops at a preset position, and then accelerates to the next preset position, the operation is smooth. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an imaging apparatus according to a first embodiment. [Diagram 2] FIG. 4A is a mechanical diagram of the imaging device according to the first embodiment, as viewed from above the vertical axis, and FIG. 4B is a mechanical diagram of the imaging device according to the first embodiment, as viewed from the side. [Diagram 3] 6A to 6C are diagrams illustrating control commands indicating instructions for registering and deleting presets in the imaging device of the first embodiment. [Figure 4] 6A to 6C are diagrams illustrating control commands indicating instructions to start and stop moving presets of the imaging apparatus according to the first embodiment. [Diagram 5] 10A to 10C are diagrams illustrating control commands indicating instructions for setting a cyclic order of the loop operation of the imaging device according to the first embodiment. [Figure 6] 6A to 6C are diagrams illustrating control commands indicating speed setting instructions for the loop operation of the imaging device of the first embodiment. [Figure 7] 5A to 5C are diagrams illustrating control commands indicating instructions to start and stop movement of a loop operation of the imaging apparatus according to the first embodiment. [Figure 8] 1A is a flowchart showing pan control processing at the start of a loop operation of the imaging apparatus of the first embodiment, and FIG. 1B is a flowchart showing pan control processing of each path in the loop operation of the imaging apparatus of the first embodiment. [Figure 9] 4 is a diagram showing an acceleration setting table for a pan drive unit of the imaging apparatus according to the first embodiment. FIG. [Figure 10] 5A to 5C are diagrams illustrating an acceleration operation of a pan driving unit of the imaging apparatus according to the first embodiment. [Figure 11] 5 is a flowchart showing a pan speed control process of the imaging apparatus of the first embodiment. [Figure 12] 10 is a flowchart showing a pan control process of the imaging apparatus according to the second embodiment. [Figure 13] FIG. 13 is a diagram showing an acceleration setting table for a pan drive unit of the imaging apparatus according to the second embodiment. [Figure 14] 13A to 13C are diagrams illustrating the behavior of a pan drive unit of an imaging apparatus according to a third embodiment when the imaging apparatus decelerates and stops. [Figure 15]13A to 13C are diagrams illustrating the behavior of a pan drive unit of an imaging apparatus according to a third embodiment when the imaging apparatus decelerates and stops. [Figure 16] 13 is a flowchart showing a pan control process of the imaging apparatus according to the third embodiment. [Figure 17] FIG. 13 is a diagram illustrating an excitation time setting table of the imaging device according to the third embodiment. [Figure 18] 13 is a flowchart showing a pan speed control process of the imaging apparatus of the third embodiment. [Figure 19] 13A to 13C are diagrams illustrating an acceleration operation of a pan driver of an imaging apparatus according to a fourth embodiment. [Figure 20] 13 is a flowchart showing a pan speed control process of the imaging apparatus according to the fourth embodiment. [Figure 21] 13 is a flowchart showing a pan speed control process of the imaging apparatus according to the fifth embodiment. [Figure 22] 13A to 13C are diagrams illustrating an acceleration operation of a pan driver of an imaging apparatus according to a fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0013] <First embodiment> The first embodiment will be described below with reference to FIGS.

[0014] FIG. 1 is a diagram illustrating the configuration of an imaging device 1000 according to this embodiment.

[0015] The imaging device 1000 includes an imaging unit 1001 , an image processing unit 1002 , a zoom control unit 1003 , a pan driving unit 1004 , a tilt driving unit 1005 , a system control unit 1006 , and a communication unit 1007 .

[0016] The imaging unit 1001 captures an image of a subject. The imaging unit 1001 includes a lens, an image sensor, and a control circuit for the same, and is electrically connected to an image processing unit 1002. The imaging unit 1001 receives light from the subject that is imaged by the imaging optical system of the lens, and converts the optical image of the subject into an electrical signal by photoelectric conversion.

[0017] The image processing unit 1002 acquires the electric signal photoelectrically converted by the imaging unit 1001, and generates image data by performing development processing, compression, encoding processing, etc. The image processing unit 1002 is connected to the system control unit 1006, and outputs the generated image data to the system control unit 1006.

[0018] The zoom control unit 1003 changes the imaging angle of view of the imaging unit 1001. The zoom control unit 1003 is connected to the system control unit 1006, and has a lens mechanism that performs optical zoom, and an actuator such as a stepping motor.

[0019] The pan driving unit 1004 is a driving unit that performs panning of the imaging device 1000. The pan driving unit 1004 is communicably connected to a system control unit 1006. The pan driving unit 1004 performs panning using a mechanism that performs panning, an actuator such as a stepping motor, and an encoder that detects the pan position, and details of this will be described later.

[0020] The tilt driving unit 1005 is a driving unit that performs a tilt operation of the imaging device 1000. The tilt driving unit 1005 is communicably connected to a system control unit 1006. The tilt driving unit 1005 performs tilt drive using a mechanism that performs a tilt operation, an actuator such as a stepping motor, and an encoder that detects a tilt position, and details will be described later. In this embodiment, the tilt driving unit 1005 is built into either a camera head support 1103 or a camera head 1104, which will be described later.

[0021] The system control unit 1006 controls the entire imaging device 1000. The system control unit 1006 includes a CPU (Central Processing Unit) and is connected to a client device, which is an information processing device (not shown), via a communication unit 1007. The system control unit 1006 communicates commands and responses with the client device to control the imaging device 1000. That is, the system control unit 1006 receives imaging device control commands transmitted from the client device, analyzes the acquired imaging device control commands, and executes processing according to the commands. The system control unit 1006 then transmits a response to the imaging device control command to the client device. For example, the system control unit 1006 controls the image processing unit 1002 based on an instruction of an image quality adjustment command. The system control unit 1006 also controls the zoom control unit 1003, the pan driving unit 1004, and the tilt driving unit 1005 based on an instruction of a pan tilt zoom control command for operating the pan tilt zoom. The system control unit 1006 also includes a non-volatile memory, which is used to register preset positions, which will be described later.

[0022] The communication unit 1007 is connected to the network 3000 and is connected to a client device (not shown) so as to be capable of communicating with each other and transmitting instructions from the system control unit 1006. The communication unit 1007 receives commands from the client device via the network 3000 and transmits responses from the system control unit 1006 to the client device.

[0023] Next, the pan driving unit 1004 and the tilt driving unit 1005 will be described in detail with reference to Fig. 2. Fig. 2(a) is a plan view of the mechanism of the imaging device 1000 as seen from above the vertical axis. Fig. 2(b) is a side view of the imaging device 1000. The mechanism of the imaging device 1000 is composed of a bottom case 1101, a turntable 1102, a camera head support 1103, and a camera head 1104. In this embodiment, the imaging unit 1001 is assumed to be built into the camera head 1104. In this embodiment, the pan driving unit 1004 is built into either the bottom case 1101 or the turntable 1102, which will be described later.

[0024] The bottom case 1101 functions as a base unit for the entire imaging device 1000 including the pan driving unit 1004. The bottom case 1101 is disposed below the turntable 1102.

[0025] The turntable 1102 carries a camera head support 1103 (described later) and rotates about a vertical axis to drive the turntable in the pan direction, that is, to pan the imaging device 1000. The turntable 1102 can rotate in the pan direction from -175 degrees to +175 degrees.

[0026] That is, the pan driving unit 1004 incorporates a mechanism, actuator, and encoder for performing panning in either the bottom case 1101 or the turntable 1102. This allows the imaging unit 1001 to rotate in the pan direction from -175 degrees to +175 degrees. In this embodiment, the pan driving unit 1004 is incorporated in either the bottom case 1101 or the turntable 1102, but may have another configuration. For example, the pan driving unit 1004 may not be incorporated in either the bottom case 1101 or the turntable 1102, and may be disposed in another member.

[0027] The camera head support 1103 is a support that supports the camera head 1104 described below. The camera head support 1103 is disposed on the central axis of the turntable 1102, and connects the camera head 1104 to the side opposite the turntable 1102.

[0028] The camera head 1104 is an independent imaging means of the imaging device 1000. The camera head 1104 has an imaging unit 1001 arranged therein, which is an imaging means. The camera head 1104 drives in the tilt direction, that is, tilts the imaging device 1000, with an axis perpendicular to the vertical axis as the central axis. The camera head 1104 can also rotate from -45 degrees diagonally downward forward to +90 degrees upward, with the horizontal direction being 0 degrees.

[0029] That is, the tilt driving unit 1005 can incorporate a mechanism, actuator, and encoder for performing the tilt operation into either the camera head support 1103 or the camera head 1104. This allows the imaging unit 1001 to rotate from -45 degrees diagonally downward and forward to +90 degrees upward.

[0030] In addition, in this embodiment, tilt driving unit 1005 is built into either camera head support 1103 or camera head 1104, but may have another configuration. For example, tilt driving unit 1005 may not be built into either camera head support 1103 or camera head 1104, but may be disposed in another member.

[0031] In this way, the imaging device 1000 of this embodiment can capture images by changing the imaging direction by rotating the camera head 1104 in the pan direction and tilt direction. Note that the driving ranges of the pan direction and tilt direction of this embodiment are merely examples and are not limited to these. For example, the driving ranges of the pan direction and tilt direction may be configured to rotate endlessly.

[0032] In the imaging device 1000 of the present embodiment, the positions of the pan driving unit 1004 and the tilt driving unit 1005 and the position of the imaging unit 1001 controlled by the zoom control unit 1003 are associated with preset numbers, and are registered as preset positions, but this is not limited thereto. For example, a preset position may be registered by associating at least one of the pan position, the tilt position, and the zoom position with a preset number. In addition, a preset position may be registered using pan values, tilt values, and zoom values ​​obtained by converting the position of the optical lens of the imaging unit 1001 controlled by the zoom control unit 1003 and the position of each driving unit into predetermined values. Furthermore, in addition to the pan / tilt / zoom positions, image quality settings and the like may also be included in the preset registration.

[0033] In this embodiment, the user can call up a preset position associated with a registered preset number using a specified command. Also, by registering different preset positions to multiple preset numbers and specifying the order of the multiple preset numbers, it is possible to move between each preset position according to the set order (preset tour). The preset tour in this embodiment refers to a loop operation that automatically tours multiple preset positions according to the set order. The preset tour is realized by moving from a preset position to the next preset position through acceleration, constant speed, and deceleration.

[0034] In addition, the preset tour in this embodiment is performed by controlling the speed of each route and the stop time t s The imaging device 1000 in this embodiment moves to each preset position in accordance with the settings regarding the order and speed, and stops for the set stop time t s Furthermore, this preset tour is started by receiving a control command indicating the start of the preset tour, and a loop operation is performed in which the robot continues to move to each preset position in the set order until a control command indicating the stop is received.

[0035] 3 shows a control command 2100 indicating an instruction to register and delete a preset in this embodiment. A command identifier 2101 is an identifier for identifying various control commands, and its value "0100" indicates that it is a control command indicating an instruction to register and delete a preset. A parameter 2102 is a parameter indicating a preset registration or a preset deletion, and specifies a value indicating registration or deletion. A parameter 2103 is a parameter indicating a preset number, and for example, 20 presets can be registered, and specifies a preset number among them. Note that the control command is an example, and the identifiers and parameters are not limited to this.

[0036] 3, when the system control unit 1006 acquires a control command 2100, if preset registration is specified by parameter 2102, the current pan position, tilt position, and zoom position are registered to preset number 3, which is the preset number specified by parameter 2103. If preset deletion is specified by parameter 2102, the pan position, tilt position, and zoom position already registered to the preset number specified by parameter 2103 are deleted.

[0037] 4 shows a control command 2200 indicating a command to start and stop a preset movement. The value of command identifier 2201, "0200", indicates that this is a control command indicating a command to start and stop a preset movement. Parameter 2202 is a parameter indicating the start of a preset movement or the stop of a preset movement, and specifies a value indicating the start or stop of movement. Parameter 2203 is a parameter indicating a preset number, and specifies the preset number at which movement starts or stops.

[0038] A case will be described in which the system control unit 1006 acquires a control command 2200 as shown in FIG. 4, and the start of preset movement is specified by the parameter 2202. At this time, the imaging unit 1001, the pan driving unit 1004, and the tilt driving unit 1005 are controlled so as to move from the current pan position, tilt position, and zoom position to the pan position, tilt position, and zoom position of the preset number 3 specified by the parameter 2203. When the parameter 2202 specifies the stop of the preset movement, the preset movement operation during movement (operation) is stopped. After the stop, the pan tilt zoom position of the stop point is stopped, but this is not limited to this. For example, it may move to a position set in advance, that is, move to a home position or an initial position. In this embodiment, the control command 2200 is described as specifying the command identifier 2201, the parameter 2202, and the parameter 2203, but this is not limited to this. When the parameter 2202 specifies the stop of the preset movement, the parameter 2203 does not need to specify the preset number. When the parameter 2202 specifies that the preset should be stopped, the system control unit 1006 does not need to read the parameter 2203 .

[0039] FIG. 5 shows a control command 2300 indicating an instruction to set the cyclic order of loop operation. 2301 is a command identifier, and its value "0300" indicates that this is a control command indicating an instruction to set the cyclic order of loop operation. Parameter 2302 is a parameter indicating the loop number, and specifies the loop number to be registered. For example, five patterns of loop operation can be registered, and the number of the loop operation to be set is specified from among them. Parameter 2303 is a parameter indicating the cyclic order of loop operation, and for example, ten preset positions can be registered in one loop operation, and the cyclic order to be registered is specified from 1 to 10. Parameter 2304 is a parameter indicating the preset number, and specifies the preset number to be registered in the cyclic order specified by parameter 2303. Parameter 2305 is a parameter indicating the stop time t s This parameter indicates the time to stop at the preset position of the specified preset number in seconds.

[0040] 5, the system control 1006 receives this command and accepts the loop number specified by the parameter 2302 and the cyclic order specified by the parameter 2303. In addition, the system control 1006 accepts the preset position specified by the parameter 2304 and the stop time t s This command accepts the settings of the patrol order and stop time t s are set in sequence. Also, multiple loop operations with different routes can be set depending on the loop number. That is, in the loop operation in which loop number 2 is specified as shown in FIG. 5, when a loop start command for loop number 2 is acquired, the preset tour starts in the order of preset number 3, preset number 1, and preset number 2. Furthermore, in the preset tour of loop number 2, it stops for 1.0 second at preset number 3, 2.0 seconds at preset number 1, and 0.5 seconds at preset number 2.

[0041] 6 shows a control command 2400 indicating an instruction to set the speed of a loop operation. 2401 is a command identifier, and its value "0400" indicates that this is a control command indicating an instruction to set the speed of a loop operation. Parameter 2402 is a parameter indicating a loop number. Parameter 2403 is a parameter indicating a loop path, and specifies the movement path of the loop operation. For example, a parameter indicating a movement path such as a movement path from preset number 1 to preset number 2 or a movement path from preset number 2 to preset number 3 in the cyclic sequence of the loop operation is specified. Parameter 2404 is a parameter indicating a speed, and assuming that the movement speed on the movement path of the specified loop cyclic sequence can be set in 10 stages, for example, a value from 1 to 10 is specified.

[0042] 6, when the system control unit 1006 acquires a control command 2400, it controls the imaging unit 1001, pan driving unit 1004, and tilt driving unit 1005 to start a loop operation of loop number 2 specified by parameter 2402. Specifically, when moving from preset number 3 specified by parameter 2403 to preset number 1, a setting is accepted to move at a movement speed 5 specified by parameter 2404. This command makes it possible to sequentially set the movement speed for each movement path of each preset position in the loop operation.

[0043] 7 shows a control command 2500 indicating an instruction to start and stop a loop operation. 2501 is a command identifier, and its value "0500" indicates that this is a control command indicating an instruction to start and stop a loop operation. Parameter 2502 is a parameter indicating the start or stop of a loop operation, and specifies a value indicating start or stop. Parameter 2503 is a parameter indicating a loop number, and specifies the loop number to be started or stopped.

[0044] Upon receiving this command, the system control 1006 controls the loop operation of the loop number specified in the parameter 2503 to start or stop as specified in the parameter 2502 .

[0045] <Pan direction control processing> Fig. 8(a) is a flowchart showing pan control processing in the loop operation of the imaging device 1000 of this embodiment. In this flowchart, the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores a computer program executed by the system control unit 1006, and the system control unit 1006 executes this processing. The flowchart in Fig. 8(a) is executed when the system control unit 1006 receives a control command 2200 and starts pan control in the loop operation. For simplicity, the control processing in the pan direction will be described in this embodiment, but the control processing in the tilt direction will also be performed using a similar flow.

[0046] In step S1001, the system control unit 1006 obtains the current position of the pan driving unit 1004 from the control command 2300 and the control command 2400, and the target position, target speed, and stop time t of the pan driving unit 1004 for the next preset position specified by the loop operation. s Here, the target position is the position of the pan drive unit 1004 at the next preset position. The target speed indicates the speed in the loop path specified by the parameter 2404 of the control command 2400. The stop time t s is the stop time t at the preset position specified by the parameter 2305 of the control command 2300. s This indicates that.

[0047] In step S1002, the system control unit 1006 calculates the acquired stop time t s If it is equal to or greater than the predetermined threshold, the process proceeds to step S1003. If it is less than the predetermined threshold, the process proceeds to step S1004. The predetermined threshold is the stop time t s The appropriate stopping time t for switching the acceleration setting is determined based on the relationship between the acceleration and the acceleration behavior. s In this embodiment, for simplicity, it is set to 1.0 second, but the present invention is not limited to this.

[0048] In step S1003, the system control unit 1006 selects the acceleration setting A of the pan driving unit.

[0049] In step S1004, the system control unit 1006 selects acceleration setting B of the pan driving unit.

[0050] FIG. 9 shows an acceleration setting table. In this embodiment, acceleration refers to the rate of change of speed per unit time, and when the rate of change of speed per unit time is negative, it is also called deceleration. In this embodiment, the acceleration control of the pan drive unit 1004 is linear acceleration control with two stages of acceleration slope, and for example, in acceleration setting A, acceleration time 1 is set to 1 second, and acceleration time 2 is set to 3 seconds. Also, in acceleration setting B, acceleration time 1 is set to 2 seconds, and acceleration time 2 is set to 5 seconds. In this way, the stop time ts If the time is longer than the specified time, the acceleration is set so that there is no sluggish feeling when starting or stopping. s If the time is less than the predetermined time, the acceleration is set to a gentler value so that the amount of change in speed is small and the operation is continuous and smooth. In this example, the gradient of acceleration and deceleration is the same, and acceleration time 1 and deceleration time 1, and acceleration time 2 and deceleration time 2 are the same, but this is not limited to this. Taking into consideration the characteristics of the drive unit and the image quality, acceleration and deceleration may be set separately.

[0051] Here, for example, the stop time t s is 0 seconds, the acceleration setting B is set.

[0052] In step S1005, the system control unit 1006 calculates the amount of movement from the target position and the current position. For example, if the current position is 10 degrees and the target position is 150 degrees, the amount of movement is 150-10=140 degrees It is calculated as follows.

[0053] In step S1006, the system control unit 1006 calculates the acceleration and deceleration from the target speed and acceleration setting. Fig. 10 is a diagram for explaining the acceleration operation of the pan driving unit 1004 of the imaging device 1000 of this embodiment. In this embodiment, the acceleration control of the pan driving unit 1004 is linear acceleration control having a two-stage acceleration gradient, as described above. In Fig. 10, t a1 is the acceleration time 1, t a2 is the acceleration time 2, t d1 is the deceleration time 1, t d2 is the deceleration time 2, v c v indicates the switching speed for switching between acceleration and deceleration. t indicates the target speed, a1 indicates the acceleration a1, a2 indicates the acceleration a2, d1 indicates the deceleration d1, and d2 indicates the deceleration d2.

[0054] In this embodiment, the acceleration and velocity are expressed as (rotation angle in the pan direction / number of seconds).

[0055] The speed at which the two acceleration levels are switched is vc and the target speed v t The relationship between the speed and the torque is expressed by the following equation using the switching speed ratio k. v c =k*v t

[0056] For example, if the switching speed ratio k is 0.1 and the target speed v t When the switching speed v is 10 degrees / s (s stands for seconds), c teeth, v c =0.1*10=1 degree / s It is calculated as follows.

[0057] The obtained switching speed v c and acceleration time t a1 Therefore, acceleration 1 is given by the following formula:

[0058]

number

[0059] It is calculated as follows.

[0060] target speed v t , switching speed v c , acceleration time t a2 Therefore, the acceleration a2 is given by the following formula:

[0061]

number

[0062] It is calculated as follows.

[0063] For the decelerations d1 and d2, the target speed v t , switching speed v c , deceleration time t d1 , t d2 It is calculated in the same way as acceleration.

[0064] Although an example of linear acceleration control with two-stage acceleration gradient has been shown here, the present invention is not limited to this. For example, linear acceleration control with one-stage acceleration gradient or curved acceleration control such as an S-shape that gradually changes acceleration by making the start and end of acceleration gentle may be used.

[0065] The amount of movement required for deceleration is the target speed v t , switching speed v c , deceleration time t d1 , t d2 Using the above, from the following formula:

[0066]

number

[0067] It is calculated as follows.

[0068] The position at which the pan drive unit 1004 starts to decelerate is determined by the total movement amount and the movement amount required for deceleration. 140-28.5=111.5 degrees It is calculated as follows.

[0069] In step S1007, the system control unit 1006 calculates the calculated movement amount, target speed, and switching speed v c Based on the acceleration a1, the acceleration a2, the deceleration d1, and the deceleration d2, driving of the pan driving unit is started, and this process is terminated.

[0070] The tilt control of the imaging device 1000 is also performed in the same manner as the pan control.

[0071] <Loop operation control speed for each path> Fig. 8(b) is a flowchart showing the pan control process for each path in the loop operation of the imaging device 1000 of this embodiment. The flowchart in Fig. 8(b) is executed when the system control unit 1006 receives a control command 2200 and starts pan control in the loop operation, but is not limited to this. For example, when the loop number is registered, the movement amount, target speed, switching speed v c, acceleration a1, acceleration a2, deceleration d1, and deceleration d2 may be calculated. For simplicity, the control process in the pan direction will be described in this embodiment, but the control process in the tilt direction will be performed in a similar flow. In this flow, the movement amount, target speed, and switching speed v when moving from preset number 3 to preset number 1 in Figs. 4 to 6 are calculated. c The process of calculating the acceleration a1, the acceleration a2, the deceleration d1, and the deceleration d2 will be described.

[0072] The processes from step S1001 to step S1007 are similar to those in FIG. 8(a), and therefore the description thereof will be omitted.

[0073] In step S1008, the system control unit 1006 acquires settings for the loop path specified by the control command 2400. For example, the preset position (first preset position) of preset number 3 and the preset position (second preset position) of preset number 1, as well as the target speed and the stop time t s Get the.

[0074] In step S1009, the system control unit 1006 calculates the amount of movement from the pan position of preset number 3 and the pan position of preset number 1. For example, if the pan position of preset number 3 is 10 degrees and the pan position of preset number 1 is 150 degrees, the amount of movement is 150-10=140 degrees It is calculated as follows.

[0075] <Speed ​​transition control process during loop operation> Fig. 11 is a flowchart showing loop number registration and speed transition control processing of pan drive during loop operation of the imaging device 1000 of this embodiment. In this flowchart, the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores computer programs executed by the system control unit 1006, and the system control unit 1006 executes this processing. The flowchart in Fig. 11 is executed at a predetermined control period after the system control unit 1006 starts pan control in loop operation. By performing speed transition control at predetermined intervals as in the flow of Fig. 11, even if an error occurs, acceleration control can be performed while making corrections, and state transitions between acceleration, constant speed, and deceleration can be controlled. Furthermore, at the stage where the loop number is registered, the movement amount, target speed, switching speed v of each path are determined. c , acceleration a1, acceleration a2, deceleration d1, and deceleration d2 may be calculated.

[0076] In step S2001, the system control unit 1006 acquires the drive state of the pan drive unit. The drive state of the pan drive unit refers to the state of the drive speed of the pan drive unit, and possible states are acceleration, constant speed, deceleration, and stop. Here, a stopped drive speed state refers to a state in which the drive speed is zero. If the acquired drive state is acceleration, the process proceeds to step S2002. If it is constant speed, the process proceeds to step S2007. If it is deceleration, the process proceeds to step S2009. The drive state is set to acceleration at the start of drive.

[0077] In step S2002, the system control unit 1006 acquires the current speed of the pan driving unit (current speed), and determines whether the acquired current speed is the switching speed v c If it has not been reached, the process proceeds to step S2003. If it has been reached, the process proceeds to step S2004.

[0078] In step S2003, the system control unit 1006 calculates the speed during acceleration using the acceleration a1 of the pan driving unit. For example, if the current speed is 0.1 degrees / s and the acceleration a1 is 0.5 degrees / s, 2 If the control period is 1 millisecond, the speed during acceleration is 0.1+0.5*0.001=0.1005 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0079] In step S2004, the system control unit 1006 calculates the next speed during acceleration using the acceleration a2 of the pan driving unit. For example, if the current speed is 1 degree / s and the acceleration a2 is 1.8 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 1+1.8*0.001=1.0018 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0080] In step S2005, the system control unit 1006 acquires the current speed of the pan driving unit 1004, and determines whether the acquired current speed is the target speed v t If it has not been reached, the acceleration state continues and this process ends. If it has been reached, the process proceeds to S2006.

[0081] In step S2006, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from acceleration to a constant speed, and then ends this process.

[0082] In step S2007, the system control unit 1006 acquires the current position of the pan driving unit 1004 and determines whether the acquired current position has reached the deceleration start position. If it has not reached the deceleration start position, the constant speed state is continued and this process ends. If it has reached the deceleration start position, the process proceeds to step S2008.

[0083] In step S2008, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from a constant speed to a deceleration state, and then ends this process.

[0084] In step S2009, the system control unit 1006 acquires the current speed of the pan driving unit, and the acquired current speed is the switching speed v cIf it has not been reached, the process proceeds to step S2010. If it has been reached, the process proceeds to step S2011.

[0085] In step S2010, the system control unit 1006 calculates the next speed during deceleration using the deceleration d2 of the pan driving unit 1004. For example, if the current speed is 10 degrees / s and the deceleration d2 is 1.8 degrees / s, 2 If the control period is 1 millisecond, the speed is: 10-1.8*0.001=9.9982 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0086] In step S2011, the system control unit 1006 calculates the next speed during deceleration using the deceleration d1 of the pan driving unit. For example, if the current speed is 1 degree / s and the deceleration d1 is 0.5 degree / s, 2 If the control period is 1 millisecond, the following speed is: 1-0.5*0.001=0.9995 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0087] In step S2012, the system control unit 1006 acquires the current speed of the pan driving unit 1004 and determines whether the acquired current speed has reached zero. If it has not reached zero, the system control unit 1006 continues the deceleration state and ends this process. If it has reached zero, the system control unit 1006 proceeds to step S2013.

[0088] In step S2013, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from deceleration to stop, and ends this process.

[0089] In this manner, in the present embodiment, in the imaging apparatus 1000 that performs a preset cyclic loop operation, the stop time t s By changing the acceleration setting of the pan-tilt operation based on the setting, an appropriate pan-tilt operation can be performed.

[0090] As described above, in this embodiment, the stop time t s By changing the acceleration setting according to the speed, smooth camera work can be achieved without manual intervention. According to the present invention, even if the stop time is set short during pan / tilt operation in which the camera decelerates, stops at a preset position, and then accelerates to the next preset position, the imaging device 1000 operates smoothly.

[0091] <Second embodiment> In the first embodiment, the method of setting the same acceleration regardless of the moving direction without considering the moving direction of the preset is described, but this is not limited to this. For example, it is considered that the appropriate acceleration is different when the moving direction of the previous and next presets is the same, that is, forward, and when the moving direction is reversed from the previous movement and the next movement is performed in the reverse direction. Therefore, in the preset tour, a method of changing the acceleration setting based on whether the moving direction of the previous and next movements is forward or reverse may be used.

[0092] Fig. 12 is a flowchart showing pan control processing in the loop operation of the imaging device 1000 of this embodiment. This flowchart is executed by the system control unit 1006 after the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores computer programs executed by the system control unit 1006. The flowchart in Fig. 12 is executed when the system control unit 1006 performs pan control in the loop operation.

[0093] In step S3001, the system control unit 1006 calculates the current position of the pan driving unit 1004 and the target position, target speed, and stop time t s Get the.

[0094] In step S3002, the system control unit 1006 calculates the acquired stop time t sIt is determined whether the predetermined time is equal to or greater than the predetermined time. If it is equal to or greater than the predetermined time, the process proceeds to step S3003. If it is not equal to or greater than the predetermined time, the process proceeds to step S3004. The predetermined time is, for example, 1 second, as in the first embodiment.

[0095] In step S3003, the system control unit 1006 selects the acceleration setting A of the pan driving unit 1004.

[0096] In step S3004, the system control unit 1006 determines whether the next moving direction is the same as or opposite to the previous moving direction (direction determination) based on the next moving direction calculated from the target position and the current position and the previous moving direction that has been stored. If it is the same direction, proceed to step S3005. If it is the opposite direction, proceed to step S3006.

[0097] In step S3005, the system control unit 1006 selects acceleration setting B for the pan driving unit 1004.

[0098] In step S3006, the system control unit 1006 selects the acceleration setting C of the pan driving unit 1004.

[0099] 13 shows the acceleration setting table. As in the first embodiment, the acceleration setting is linear acceleration control with two stages of acceleration. For example, in acceleration setting A, acceleration time 1 is set to 1 second, and acceleration time 2 is set to 3 seconds. In acceleration setting B, acceleration time 1 is set to 2 seconds, and acceleration time 2 is set to 5 seconds. Furthermore, in acceleration setting C, acceleration time 1 is set to 2.5 seconds, and acceleration time 2 is set to 5 seconds. In this way, as in the first embodiment, the stop time t sThe acceleration time and deceleration time are changed according to the movement direction. Furthermore, an acceleration setting suitable for the case where the movement direction is reversed is prepared, and when the movement direction is reversed from the previous movement, a gentler acceleration setting is used because a reversal operation is sandwiched between a stop and a reverse operation. Also, here, the acceleration and deceleration slopes are the same, and acceleration time 1 and deceleration time 1, and acceleration time 2 and deceleration time 2 are the same, but this is not limited to this. Taking into consideration the characteristics of the drive unit and the image quality, acceleration and deceleration may be set separately. Here, for example, it is assumed that the movement direction is reversed and acceleration setting C is set.

[0100] In step S3007, the system control unit 1006 calculates the amount of movement from the target position and the current position. For example, if the current position is 10 degrees and the target position is -130 degrees, the amount of movement is -130-10=-140 degrees It is calculated as follows.

[0101] Here, a minus sign indicates that the movement direction is reversed, and the amount of movement is taken as an absolute value, which is 140 degrees.

[0102] In step S3008, the system control unit 1006 calculates the acceleration from the movement amount, the target speed, and the acceleration setting. The acceleration is calculated in the same manner as in the first embodiment.

[0103] The speed at which the two acceleration levels are switched is v c and the target speed v t The relationship between these speeds is expressed by the following equation using the switching speed ratio k. v c =k*v t

[0104] For example, if the switching speed ratio k is 0.1 and the target speed v t When v is 10 degrees / s (seconds), the switching speed v c teeth, v c =0.1*10=1 degree / s It is calculated as follows.

[0105] The obtained switching speed v c and the obtained acceleration time ta1 Therefore, the acceleration a1 is given by the following formula:

[0106]

number

[0107] It is calculated as follows.

[0108] Also, the target speed v t and the obtained acceleration time t a2 Therefore, the acceleration a2 is given by the following formula:

[0109]

number

[0110] It is calculated as follows.

[0111] For the decelerations d1 and d2, the target speed v t , switching speed v c , deceleration time t d1 , t d2 It is calculated in the same way as acceleration.

[0112] The amount of movement required for deceleration is the target speed v t , switching speed v c , deceleration time t d1 , t d2 Using the above, from the following formula:

[0113]

number

[0114] It is calculated as follows.

[0115] The position where deceleration starts is determined by the total movement amount and the movement amount required for deceleration. 140-28.75=111.25 degrees It is calculated as follows.

[0116] In step S3009, the system control unit 1006 calculates the calculated movement amount and the target speed v t , switching speed v c Based on the accelerations a1, a2 and decelerations d1, d2, driving of the pan driving unit is started, and this process is terminated.

[0117] The tilt drive control of the tilt drive unit 1005 is also processed in the same manner as the pan drive control.

[0118] Here, the stopping time t s In the above embodiment, the acceleration setting is changed in consideration of the previous moving direction and the next moving direction when the stop time t is less than a predetermined time. However, the present invention is not limited to this. s Similarly, even when the time is equal to or longer than the predetermined time, a method of changing the acceleration setting in consideration of the previous moving direction and the next moving direction may be used.

[0119] As described above, in this embodiment, the stop time t s By changing the acceleration settings accordingly, smoother camerawork can be achieved without human intervention.

[0120] <Third embodiment> Hereinafter, the third embodiment will be described with reference to Figures 14, 15, 16, and 17. Configurations similar to those of the first or second embodiment will be given the same reference numerals and descriptions thereof will be omitted as appropriate.

[0121] In this embodiment, a stepping motor is used as the drive source for the pan drive unit. Figures 14 and 15 are diagrams for explaining the behavior of the pan drive unit 1004 of the imaging device 1000 when it decelerates and stops. In Figures 14 and 15, the upper side shows the drive speed of the pan drive unit 1004, and the lower side shows the position of the pan drive unit. Also, v t is the target speed, x t is the target position, t a is the acceleration time, t c is the uniform time, t d is the deceleration time, t is the total travel time, t hindicates the excitation time. Figures 14 and 15 show the behavior at different acceleration settings, and Figure 15 shows the behavior at a slower acceleration setting than Figure 14. In Figures 14 and 15, the pan drive unit is driven for t a Accelerate to the target speed v t After reaching a certain constant speed period t c Through t d Decelerate to the target position x t The figure shows the speed and position behavior until the target is reached.

[0122] In the speed and position of the pan drive unit 1004 in Fig. 14, at the time t when the motor reaches the target position after completing acceleration, constant speed, and deceleration, the motor does not immediately stop immediately after driving is stopped, but oscillates for a short period of time and gradually damps before reaching a stationary state. Since this damped vibration state is unstable, in the control of the stepping motor, it takes t until it becomes stable. h The motor is controlled (current controlled) by applying an excitation current to stop and hold the motor at that position for a certain period of time indicated by t. This excitation time is a necessary control period, and it takes time before the next drive can start. Stop time in loop operation t s If the excitation time is set to a time shorter than the predetermined time, the longer the excitation time, the longer it will take until the next drive starts, which will hinder smooth loop operation.

[0123] Furthermore, Figure 15 shows behavior when the acceleration is set more gently than in Figure 14. The state of the motor's damping vibration immediately after driving is stopped changes depending on the deceleration operation. In the speed and position of the pan drive unit in Figure 15, at the point t when acceleration, constant speed, and deceleration are completed and the target position is reached, the slope of the deceleration operation is gentler than in the behavior in Figure 14, so the amplitude of the damping vibration immediately after driving is stopped is smaller and the time until it settles is shorter. As a result, the excitation time can also be shortened.

[0124] In the first embodiment, the loop operation stop time t sIn the above, we have shown a method of slowing down the acceleration when the stop time t is less than a predetermined time. If the acceleration is slow, the damping vibration after the drive is stopped is also small, and the excitation time can be shortened. The acceleration setting is changed based on the stop time setting of the loop operation, and the excitation time setting is also changed. As a result, the stop time t s When the time is set to less than the predetermined time, the operation between actuations can be made more continuous and smooth.

[0125] Fig. 16 is a flowchart showing pan control processing in a loop operation of the imaging apparatus 1000 of the third embodiment. This flowchart is executed by the system control unit 1006 after the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores a computer program executed by the system control unit 1006. The flowchart in Fig. 16 is executed when the system control unit 1006 performs pan control in a loop operation.

[0126] In step S4001, the system control unit 1006 calculates the current position of the pan drive unit and the target position, target speed, and stop time t of the next preset pan drive unit specified by the loop operation. s Get the.

[0127] In step S4002, the system control unit 1006 determines the acquired stop time t s It is determined whether the time is equal to or greater than the predetermined time. If it is equal to or greater than the predetermined time, the process proceeds to step S4003. If it is not equal to or greater than the predetermined time, the process proceeds to step S4004. The predetermined time is, for example, 1 second, as in the first and second embodiments.

[0128] In step S 4003 , the system control unit 1006 selects the acceleration setting A of the pan driving unit 1004 .

[0129] In step S 4004 , the system control unit 1006 selects acceleration setting B for the pan driving unit 1004 .

[0130] As in the first and second embodiments, the acceleration setting is a linear acceleration control having two stages of acceleration gradient, and the acceleration setting table shown in FIG. 9 is used. Here, for example, the stop time t s Assume that the time is 0 seconds and the acceleration setting B is set.

[0131] In step S 4005 , the system control unit 1006 selects the post-drive excitation setting A of the pan drive unit 1004 .

[0132] In step S 4006 , the system control unit 1006 selects the post-drive excitation setting B of the pan drive unit 1004 .

[0133] Figure 17 shows the post-drive excitation setting value table. Stop time t s If the time is longer than the predetermined time, the excitation time is set to an appropriate value based on the settling time according to the acceleration setting used at that time, which is set to 100 milliseconds in this example. s If the time is not longer than the predetermined time, an appropriate excitation time is set according to the settling time corresponding to the slower acceleration setting used at that time, which is set to 50 milliseconds here. s Assume that time is 0 seconds and post-drive excitation setting B is set.

[0134] In step S4007, the system control unit 1006 calculates the amount of movement from the target position and the current position. For example, if the current position is 10 degrees and the target position is 150 degrees, the amount of movement is 150-10=140 degrees It is calculated as follows.

[0135] In step S4008, the system control unit 1006 calculates the acceleration and deceleration from the target speed and the acceleration setting. The acceleration setting of the pan driving unit 1004 is linear acceleration control having two stages of acceleration gradient, as in the first and second embodiments.

[0136] The speed at which the two acceleration levels are switched is v c and the target speed v tThe relationship between these speeds is expressed by the following equation using the switching speed ratio k. v c =k*v t

[0137] For example, when the switching speed ratio k is 0.1 and the target speed vt is 10 degrees / s (s indicates seconds), the switching speed vc is: v c =0.1*10=1 degree / s It is calculated as follows.

[0138] The obtained switching speed v c and the obtained acceleration time t a1 Therefore, the acceleration a1 is given by the following formula:

[0139]

number

[0140] It is calculated as follows.

[0141] target speed v t and the obtained acceleration time t a2 Therefore, the acceleration a2 is given by the following formula:

[0142]

number

[0143] It is calculated as follows.

[0144] For the decelerations d1 and d2, the target speed v t , switching speed v c , deceleration time t d1 , t d2 It is calculated in the same way as acceleration.

[0145] The amount of movement required for deceleration is the target speed v t , switching speed v c , deceleration time t d1 , t d2 Using the above, from the following formula:

[0146]

number

[0147] It is calculated as follows.

[0148] The position where deceleration begins is determined by the total movement amount and the movement amount required for deceleration. 140-28.5=111.5 degrees It is calculated as follows.

[0149] In step S4009, the system control unit 1006 calculates the calculated movement amount and the target speed v t , switching speed v c , acceleration a1, a2, deceleration d1, d2, excitation time t h Based on this, the pan driving unit 1004 starts driving, and this process ends.

[0150] The tilt control of the imaging device 1000 is also performed in the same manner as the pan control.

[0151] Fig. 18 is a flowchart showing pan speed control processing in the loop operation of the imaging apparatus 1000 of this embodiment. The flowchart in Fig. 18 is executed at a predetermined control cycle after the start of pan driving when the system control unit 1006 controls pan in the loop operation.

[0152] In step S5001, the system control unit 1006 acquires the driving state of the pan driving unit 1004, and if the acquired driving state is acceleration, the process proceeds to step S5002. If it is constant speed, the process proceeds to step S5007. If it is deceleration, the process proceeds to step S5009. If it is post-driving excitation, the process proceeds to step S5014. The driving state is set to acceleration at the start of driving. Here, when the driving state is post-driving excitation, the process refers to a state in which control is performed to pass an appropriate current to the motor, taking into account the holding force required for stabilization after driving.

[0153] In step S5002, the system control unit 1006 acquires the current speed of the pan driving unit 1004, and the acquired current speed is the switching speed v cIf it has not been reached, the process proceeds to step S5003. If it has been reached, the process proceeds to step S5004.

[0154] In step S5003, the system control unit 1006 uses the acceleration a1 to calculate the next speed when the driving state of the pan driving unit 1004 is accelerating. For example, if the current speed is 0.1 degrees / s and the acceleration a1 is 0.5 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 0.1+0.5*0.001=0.1005 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0155] In step S5004, the system control unit 1006 uses the acceleration a2 to calculate the next speed when the driving state of the pan driving unit 1004 is acceleration. For example, if the current speed is 1 degree / s and the acceleration a2 is 1.8 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 1+1.8*0.001=1.0018 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0156] In step S5005, the system control unit 1006 acquires the current speed of the pan driving unit 1004, and determines whether the acquired current speed is the target speed v t If it has not been reached, the acceleration state continues and this process ends. If it has been reached, the process proceeds to step S5006.

[0157] In step S5006, the system control unit 1006 transitions the driving state from acceleration to constant speed, and ends this process.

[0158] In step S5007, the system control unit 1006 acquires the current position of the pan driving unit 1004 and determines whether the acquired current position has reached the deceleration start position. If it has not reached the deceleration start position, the constant speed state is continued and this process ends. If it has reached the deceleration start position, the process proceeds to step S5008.

[0159] In step S5008, the system control unit 1006 transitions the driving state from a constant speed to a deceleration state, and ends this process.

[0160] In step S5009, the system control unit 1006 acquires the current speed of the pan driving unit, and the acquired current speed is the switching speed v c If it has not been reached, the process proceeds to step S5010. If it has been reached, the process proceeds to step S5011.

[0161] In step S5010, the system control unit 1006 calculates the next speed when the driving state of the pan driving unit 1004 is deceleration using the deceleration d2. For example, if the current speed is 10 degrees / s and the deceleration d2 is 1.8 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 10-1.8*0.001=9.9982 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0162] In step S5011, the system control unit 1006 calculates the next speed when the driving state of the pan driving unit 1004 is deceleration using the deceleration d1. For example, if the current speed is 1 degree / s and the deceleration d1 is 0.5 degree / s, 2 If the control period is 1 millisecond, the following speed is: 1-0.5*0.001=0.9995 degrees / s The pan drive unit is controlled to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0163] In step S5012, the system control unit 1006 acquires the current speed of the pan driving unit 1004 and determines whether the acquired current speed has reached zero. If it has not reached zero, the system control unit 1006 continues the deceleration state and ends this processing. If it has reached zero, the system control unit 1006 proceeds to step S5013.

[0164] In step S5013, the system control unit 1006 transitions the drive state from deceleration to post-drive excitation, and ends this process. When the drive state is post-drive excitation, the system control unit 1006 performs control so that an appropriate current flows through the motor, taking into consideration the holding force required for the pan drive unit 1004 to settle after driving.

[0165] In step S5014, the system control unit 1006 acquires the time that has elapsed since the start of post-drive excitation of the pan drive unit, and judges whether the acquired time has reached the set excitation time. If it has not reached the set excitation time, the post-drive excitation state is continued, and this process ends. If it has reached the set excitation time, the process proceeds to step S5015.

[0166] In step S5015, the system control unit 1006 transitions the driving state from post-driving excitation to stopped, and ends this process.

[0167] As mentioned above, the stop time t s By setting the excitation time to apply the excitation current to the motor according to s Even if the time is equal to or shorter than the predetermined time, a smooth operation can be achieved in the loop operation.

[0168] <Fourth embodiment> Hereinafter, the fourth embodiment will be described with reference to Figures 19, 20, 21, and 22. Configurations similar to those of the first, second, and third embodiments will be given the same reference numerals and descriptions thereof will be omitted as appropriate.

[0169] In the first embodiment, the stop time t sIn the above, the speed is controlled to be zero when the stop time t is set to be less than the predetermined time. However, the speed may be decelerated to a speed within a predetermined range (very low speed) before the next acceleration is started. s When the time is set to less than the predetermined time, the operation between actuations can be made more continuous and smooth.

[0170] 19 is a diagram for explaining the acceleration operation of the pan driving unit 1004 of the imaging device 1000 of the fourth embodiment. a1 is the acceleration time 1, t a2 is the acceleration time 2, t d1 is the deceleration time 1, t d2 is the deceleration time 2, v c v indicates the switching speed for switching between acceleration and deceleration. t indicates the target speed, v0 indicates the extremely low speed, a1 indicates acceleration 1, a2 indicates acceleration 2, d1 indicates deceleration 1, and d2 indicates deceleration 2. In FIG. 19, the stopping time t s In FIG. 19, the pan driving unit 1004 accelerates to a target speed v t After reaching the target position, the motor decelerates for a predetermined deceleration time after a predetermined constant speed period and reaches the target position. Then, the motor immediately starts the next drive and accelerates for a predetermined acceleration time to the target speed v t 19, the behavior of the speed and position is shown, after which the motor decelerates at a predetermined deceleration time after a predetermined constant speed period until it reaches the next target position. In FIG. 19, the deceleration operation at the deceleration rate d1 in the first half of the drive is completed at an extremely low speed v0 before the speed becomes zero, and the acceleration for the next drive starts. As a result, the stopping time t s When the time is set to less than the predetermined time, the operation between actuations can be made more continuous and smooth.

[0171] Fig. 20 is a flowchart showing pan speed control processing in the loop operation of the imaging device 1000 of this embodiment. In this flowchart, the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores a computer program executed by the system control unit 1006, and the system control unit 1006 executes this processing. The flowchart in Fig. 20 is executed at a predetermined control cycle after the start of pan drive when the system control unit 1006 controls pan in the loop operation.

[0172] In step S6001, the system control unit 1006 acquires the driving state of the pan driving unit, and if the acquired driving state is acceleration, proceeds to step S6002. If it is constant speed, proceeds to step S6007. If it is deceleration, proceeds to step S6009. The driving state is set to acceleration at the start of driving.

[0173] In step S6002, the system control unit 1006 acquires the current speed of the pan driving unit 1004, and the acquired current speed is the switching speed v c If it has not been reached, the process proceeds to step S6003. If it has been reached, the process proceeds to step S6004.

[0174] In step S6003, the system control unit 1006 calculates the next speed during acceleration using the acceleration a1 of the pan driving unit. For example, if the current speed is 0.1 degrees / s and the acceleration a1 is 0.5 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 0.1+0.5*0.001=0.1005 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0175] In step S6004, the system control unit 1006 calculates the next velocity during acceleration using the acceleration a2 of the pan driving unit 1004. For example, if the current velocity is 1 degree / s and the acceleration a2 is 1.8 degrees / s 2 If the control period is 1 millisecond, the following speed is: 1+1.8*0.001=1.0018 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually increased in the same manner to perform an acceleration operation.

[0176] In step S6005, the system control unit 1006 acquires the current speed of the pan driving unit 1004, and the acquired current speed is equal to or smaller than the target speed v t If it has not been reached, the acceleration state continues and this process ends. If it has been reached, the process proceeds to step S6006.

[0177] In step S6006, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from acceleration to a constant speed, and then ends this process.

[0178] In step S6007, the system control unit 1006 acquires the current position of the pan driving unit, and determines whether the acquired current position has reached the deceleration start position. If it has not reached the deceleration start position, the constant speed state is continued, and this process ends. If it has reached the deceleration start position, the process proceeds to step S6008.

[0179] In step S6008, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from a constant speed to a deceleration state, and then ends this process.

[0180] In step S6009, the system control unit 1006 acquires the current speed of the pan driving unit, and the acquired current speed is the switching speed v c If it has not been reached, the process proceeds to step S6010. If it has been reached, the process proceeds to step S6011.

[0181] In step S6010, the system control unit 1006 calculates the next speed when the driving state of the pan driving unit 1004 is deceleration using the deceleration speed d2. For example, if the current speed is 10 degrees / s and the deceleration speed d2 is 1.8 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 10-18*0.001=9.9982 degrees / s The pan drive unit is controlled to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0182] In step S6011, the system control unit 1006 calculates the next speed when the driving state of the pan driving unit 1004 is deceleration using the deceleration d1. For example, if the current speed is 1 degree / s and the deceleration d1 is 0.5 degrees / s, 2 If the control period is 1 millisecond, the following speed is: 1-0.5*0.001=0.9995 degrees / s and controls the pan driving unit 1004 to achieve this speed. After that, the speed is gradually decreased in the same manner to perform deceleration operation.

[0183] In step S6012, the system control unit 1006 acquires the current speed of the pan driving unit 1004 and determines whether the acquired current speed has reached the extremely low speed v0. If it has not reached the extremely low speed v0, the system control unit 1006 controls the pan driving unit 1004 to continue the deceleration state and ends this process. If it has reached the extremely low speed v0, the system control unit 1006 proceeds to step S6013.

[0184] In step S6013, the system control unit 1006 controls the pan driving unit 1004 to transition the driving state from deceleration to acceleration for the next drive, and ends this process.

[0185] As described above, by decelerating to the extremely low speed v0 and then starting the next drive acceleration, the stopping time t s When the time is set to less than the predetermined time, the operation between actuations can be made more continuous and smooth.

[0186] <Fifth embodiment> In the first embodiment, the stop time t s When the time is set to less than a predetermined time, for example, 0 seconds, the control is performed so that the motor is stopped for a period of time required for control. s In this embodiment, the acceleration during deceleration or acceleration may be set to a predetermined threshold a min If it is less than a, the acceleration is a min Furthermore, the acceleration amin The stop time t' is set to compensate for the acceleration time being shorter than the original acceleration time setting. s For example, when the acceleration and deceleration slopes are limited due to control constraints such as a small amount of pan-tilt movement, and the acceleration slope cannot be made gentle (the acceleration cannot be made small), the period corresponding to the time required for the deceleration and the next acceleration required for the original control is overwritten to the stopped state t'. s In this way, the predetermined stop time t' s By providing this, the operation between driving operations can be made continuous and smooth when the stop time is set to less than a predetermined time.

[0187] 21 and 22 are diagrams for explaining the control flow of the image capture device 1000 of the fifth embodiment and the acceleration operation of the pan drive unit of the image capture device 1000. a1 is the acceleration time 1, t a2 is the acceleration time 2, t d1 is the deceleration time 1, t d2 is the deceleration time 2, t s is the stopping time, v c is the switching speed for switching between acceleration and deceleration, v t indicates the target speed, a1 indicates acceleration 1, a2 indicates acceleration 2, d1 indicates deceleration 1, and d2 indicates deceleration 2.

[0188] The control flow of this embodiment will be described with reference to Fig. 21. In this flowchart, the OS, various programs, and various data are loaded into a RAM (storage device) that temporarily stores computer programs executed by the system control unit 1006, and the system control unit 1006 executes this process. Also, the control flow from S1000 to S1007 is the same as in the first embodiment, so the description will be omitted.

[0189] In step S7001, the acceleration a1 is equal to or smaller than the threshold a min It is determined whether it is less than. In this embodiment, the threshold a min is read from the system control unit 1006 and set in advance, but is not limited to this. It may also be set by the user.

[0190] Acceleration a1 is threshold a min If it is less than the threshold value a1, the process proceeds to step S7002. min If it is not less than this, the process proceeds to step S1007.

[0191] In step S7002, the acceleration a1 is a min In that case, the original acceleration time t a Since the acceleration time is shorter than the original acceleration time, the acceleration time t a1 Acceleration a min The difference between the acceleration time and the stop period t' s and the stop time t s where t' is overwritten. s can be calculated using the following formula:

[0192]

number

[0193] Here, a method for overwriting the stop time when the acceleration a1 is predetermined has been shown, but a similar method may be used for the acceleration a2, deceleration d1, and deceleration d2.

[0194] Next, the acceleration operation of the pan driving unit of the imaging device 1000 of the fifth embodiment will be described with reference to Fig. 22. Fig. 22 shows the acceleration operation after step S1007 in Fig. 21. In Fig. 22, in the deceleration operation at deceleration 1 in the first half of the drive, the speed becomes 0 and the image is stopped, and at t' s In this way, by providing a predetermined stop time under certain conditions, it is possible to make the operation between drives continuous and smooth when the stop time is set to less than the predetermined time.

[0195] As described above, in this embodiment, when the acceleration is equal to or smaller than the threshold a min The stop time t s As The larger stop time, t' s This will enable smooth operation.

[0196] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0197] 1000 Imaging device 1001 Imaging unit 1004 Pan drive unit 1005 Tilt drive unit 1006 System control section

Claims

1. An imaging apparatus that sets at least one of a pan position and a tilt position as a preset position and moves between a plurality of set preset positions, A driving means for changing the imaging direction of the imaging unit; an acquiring means for acquiring settings relating to a plurality of preset positions, an order of moving the plurality of preset positions, and settings of a stop time at each of the preset positions; a control means for controlling the driving means based on the setting acquired by the acquisition means; having When moving between the preset positions based on the order, The control means controlling the driving means with an acceleration according to a setting of a stop time at each of the preset positions; 1. An imaging device comprising:

2. a determination means for determining whether a stop time at the preset position is equal to or longer than a predetermined time; and The control means when the determining means determines that the setting of the stop time is equal to or longer than a predetermined time, the driving means is controlled to achieve a first acceleration; when the determination means determines that the setting of the stop time is not equal to or longer than a predetermined time, the drive means is controlled to achieve a second acceleration different from the first acceleration.

2. The imaging device according to claim 1 .

3. The control means When moving between the preset positions based on the order, controlling the driving means with an acceleration based on a moving direction when moving from the first preset position to the second preset position; 2. The imaging device according to claim 1 .

4. The control means When the acceleration calculated based on the acceleration and the stop time is less than a predetermined threshold value, Stopping at the preset position for a stop time greater than the stop time setting, When the acceleration calculated based on the acceleration and the stop time is not less than a predetermined threshold value, the stop time, stopping at the preset position; 2. The imaging device according to claim 1 .

5. 3. The imaging apparatus according to claim 2, wherein the first acceleration is greater than the second acceleration.

6. The control means includes a current control means for supplying an excitation current to the driving means for a predetermined time; and The control means When the determination means determines that the stop time of the preset position is equal to or longer than a predetermined time, an excitation current is caused to flow for a first time, when the determination means determines that the stop time of the preset position is not equal to or longer than a predetermined time, an excitation current is caused to flow for a second time shorter than the first time; 3. The imaging device according to claim 2.

7. The control means When the determination means determines that the stop time at the preset position is equal to or longer than a predetermined time, controlling the driving means so that the driving speed of the driving means is accelerated after the driving speed of the driving means becomes zero; when the determination means determines that the stop time at the preset position is not equal to or longer than a predetermined time, the driving means is controlled so that the driving speed of the driving means is accelerated after the driving speed of the driving means reaches a predetermined speed.

3. The imaging device according to claim 2, further comprising:

8. Among the plurality of preset positions, a direction determining means for determining a first direction in which the moving object moves from the first preset position to the second preset position and a second direction in which the moving object moves from the second preset position to a third preset position; and When the setting of the stop time for the second preset position is not equal to or longer than a predetermined time, and when the direction determination means determines that the first direction and the second direction are the same direction, the control means controls the drive means at a third acceleration; If the direction determination means determines that the first direction and the second direction are not the same direction, the control means controls the drive means at a fourth acceleration.

4. The imaging device according to claim 3.

9. A method for controlling an imaging device in which at least one of a pan position and a tilt position is set as a preset position and the imaging device moves between a plurality of set preset positions, comprising the steps of: a driving step for changing an imaging direction of the imaging unit; an acquiring step of acquiring settings related to a plurality of preset positions, an order of moving the plurality of preset positions, and settings of a stop time at each of the preset positions; a control step of controlling the driving means based on the setting acquired in the acquisition step; having When moving between the preset positions based on the order, In the control step, controlling the driving step with an acceleration according to a setting of a stop time at each of the preset positions; A control method comprising:

10. A program for causing a computer to execute the control method according to claim 9.

Images