Control device and control method

Abstract

To reduce discomfort associated with pan-tilt control operations.SOLUTION: A control device for controlling an imaging unit capable of changing an imaging direction includes driving means for driving an imaging unit to change the imaging direction, and video processing means for processing and outputting a video obtained by the imaging unit. The driving means changes a driving speed when changing the imaging direction of the imaging unit on the basis of at least an aspect ratio of the video.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to pan / tilt control of an imaging device. [Background technology]

[0002] Pan-tilt devices (PT cameras) that are equipped with an imaging device and can rotate the imaging device in the pan and tilt directions are used. There are also PTZ cameras that have a zoom function in addition to the pan-tilt function. By making full use of the pan-tilt function and zoom function, photographers can capture subjects in various compositions.

[0003] However, when using the pan-tilt function and the zoom function together in a PTZ camera, the captured image may have unnatural changes in the screen. Patent Document 1 discloses a technique for reducing the unnaturalness of the screen changes in the captured image by changing the pan-tilt operation speed according to the zoom state. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-107373 Summary of the Invention [Problem to be solved by the invention]

[0005] Some pan-tilt devices are capable of changing the aspect ratio (horizontal to vertical ratio) of an image. When using the pan-tilt function in a pan-tilt device and further changing the aspect ratio (horizontal to vertical ratio) of an image, an image with unnatural changes in the screen may be obtained, as in the case of using the pan-tilt function and the zoom function together. For example, an operator who operates the pan-tilt device while watching an image obtained by the pan-tilt device may feel an uncomfortable feeling in the operation before and after changing the aspect ratio (horizontal to vertical ratio) of the image.

[0006] However, the technology of Patent Document 1 may not be able to effectively reduce the unnaturalness of the screen change in the captured image when the pan-tilt function is used and the aspect ratio (horizontal to vertical ratio) of the image is changed. As a result, for example, there is a problem that it is difficult for the operator of the pan-tilt device to appropriately instruct the pan-tilt operation for tracking the subject.

[0007] The present invention has been made in consideration of such problems, and has an object to provide a technique for reducing the sense of discomfort associated with pan-tilt control operations. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the control device according to the present invention has the following configuration. That is, the control device controls an image capturing unit capable of changing the shooting direction, A driving means for driving the imaging unit to change the imaging direction; an image processing means for processing and outputting the image obtained by the imaging unit; having The driving means changes a driving speed when changing the shooting direction of the imaging section, based on at least an aspect ratio of the image. Effect of the Invention

[0009] According to the present invention, it is possible to provide a technique for reducing the sense of discomfort associated with pan-tilt control operations. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a perspective view of a pan-tilt device. [Diagram 2] FIG. 1 is a block diagram showing a configuration of a typical imaging system. [Diagram 3] FIG. 1 is a block diagram showing a configuration of an imaging system (first embodiment). [Figure 4] 1A and 1B are diagrams illustrating an image with a cropping frame and a cropped image. [Diagram 5]FIG. 13 is a diagram showing a speed table. [Figure 6] 11A and 11B are diagrams illustrating an example of an acceleration table and a speed change. [Figure 7] 11A and 11B are diagrams illustrating the aspect ratio of an image before and after a cropping operation. [Figure 8] 13A to 13C are diagrams illustrating an example of adjustment amounts of speed and acceleration before and after a crop operation. [Figure 9] 11A and 11B are diagrams showing specific examples of changes in aspect ratio. [Figure 10] FIG. 13 is a diagram showing a specific example of the adjustment amount of speed and acceleration. [Figure 11] FIG. 1 is a block diagram showing a configuration of an imaging system (variation 1). [Figure 12] FIG. 11 is a block diagram showing a configuration of an imaging system (Modification 2). [Figure 13] 11A and 11B are diagrams illustrating an image in which a plurality of cropping frames are displayed and a cropped image. [Figure 14] FIG. 13 is a block diagram showing a configuration of an imaging system (Modification 3). [Figure 15] 13 is a flowchart of speed and acceleration settings when a crop operation is performed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments will be described in detail with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims. Although the embodiments describe a number of features, not all of these features are essential to the invention, and the features may be combined in any manner. Furthermore, in the attached drawings, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0012] (First embodiment) As a first embodiment of a control device according to the present invention, a system control unit that controls pan-tilt driving in a pan-tilt device 101 (pan-tilt camera) having an imaging unit will be described below as an example.

[0013] <Configuration of pan-tilt device> FIG. 1 is a perspective view of a pan-tilt device 101. The pan-tilt device 101 includes an imaging device 102 fixed to a fixed base 103. The pan-tilt device 101 can rotate the head 104 in a pan direction (horizontal direction) relative to a base 105 by controlling a drive unit inside a head 104. The pan-tilt device 101 can also rotate the fixed base 103 in a tilt direction (vertical direction) relative to the head 104. By combining rotations in the pan direction and tilt direction, the imaging device 102 can change the shooting direction to various directions. In the following description, it is assumed that an XYZ orthogonal coordinate system as shown in FIG. 1 is set. Specifically, the vertical upward direction is defined as the Y-axis direction, and the rotation in the pan direction is performed with the Y-axis as the rotation axis. The rotation axis of the rotation in the tilt direction is defined as the Z-axis.

[0014] <General imaging system configuration> Fig. 2 is a block diagram showing the configuration of a general imaging system. The imaging system includes a pan-tilt device 101 and an operation device 201, which is a user terminal, connected via a network. The pan-tilt device 101 distributes cropped images to one or more monitoring devices (not shown) based on imaging conditions set via remote control by the operation device 201. Note that in the network shown in the upper part of Fig. 2 (from the pan-tilt device 101 to the operation device 201), a full-angle image (image of the entire image obtained by the imaging unit 205) is transmitted. On the other hand, in the network shown in the lower part of Fig. 2 (from the pan-tilt device 101 to one or more monitoring devices (not shown)), a cropped image (image of a range specified by the operation device 201) is transmitted.

[0015] The pan-tilt device 101 includes a pan driver 202 , a tilt driver 203 , a lens controller 204 , an imaging unit 205 , a system controller 206 , a video processor 207 , and a communication unit 208 .

[0016] The pan driving unit 202 drives a motor to move the shooting direction of the imaging device 102 in the pan direction. The tilt driving unit 203 drives a motor to move the shooting direction of the imaging device 102 in the tilt direction. The lens control unit 204 controls the focus and / or zoom of the imaging device 102. The communication unit 208 communicates with other devices (here, the operation device 201) via a network.

[0017] 1, and outputs an optical image formed on an imaging element via an optical system (lens) as a video signal. The video processing unit 207 processes the input video signal and outputs it as video data. When cropping is instructed, the video processing unit 207 processes the video signal of a specified area and outputs it as video data. The system control unit 206 is a control unit that comprehensively controls each unit in the pan-tilt device 101.

[0018] The operation device 201 has a communication unit 209 , a video display unit 210 , a system control unit 211 , a crop instruction unit 212 , a pan / tilt drive instruction unit 213 , and a lens drive instruction unit 214 .

[0019] The communication unit 209 communicates with other devices (here, the pan-tilt device 101) via the network. The crop instruction unit 212 instructs the pan-tilt device 101 to perform a crop operation. For example, when the crop instruction unit 212 receives an instruction to distribute a cropped image from an operator, it transmits crop information (a second control command) to the pan-tilt device 101. The crop information includes information on which area of ​​the entire image obtained by the imaging unit 205 is to be cropped. Note that so-called digital zoom corresponds to a crop operation when the aspect ratio (horizontal to vertical ratio) does not change. The pan-tilt drive instruction unit 213 transmits control information (a first control command) related to the pan-tilt operation to the pan-tilt device 101. The lens drive instruction unit 214 instructs the pan-tilt device 101 to perform focus control and / or zoom control. The video display unit 210 displays the video data received from the pan-tilt device 101 and / or a graphical user interface (GUI) for accepting operations.

[0020] The operator of the operation device 201 operates the crop instruction unit 212, pan / tilt drive instruction unit 213, and lens drive instruction unit 214 while watching the image displayed on the image display unit 210. The crop instruction unit 212, pan / tilt drive instruction unit 213, and lens drive instruction unit 214 receive instructions from the operator via operation of a joystick, button, or the like. In this case, they may be configured to receive operations on a GUI (such as a mouse operation). The system control unit 211 is a control unit that comprehensively controls each unit in the operation device 201.

[0021] The video processing unit 207, the system control unit 206, and the system control unit 211 may be implemented as software by a central processing unit (CPU) executing a program, for example, but may also be implemented in part or in whole as hardware such as an application specific integrated circuit (ASIC).

[0022] When the operation device 201 receives an operation from an operator, it transmits an operation command to the pan-tilt device 101 according to the operation content to the network via the communication unit 209. When the pan-tilt device 101 receives an operation command via the communication unit 208, the system control unit 206 executes control corresponding to the operation command.

[0023] For example, when the operating device 201 receives a pan / tilt drive instruction from an operator via the pan / tilt drive instruction unit 213, the drive instruction information is processed by the system control unit 211 and sent to the pan / tilt device 101 via the communication unit 209. In the pan / tilt device 101, the system control unit 206 processes the drive instruction information received by the communication unit 208 and transmits drive commands to the pan drive unit 202 and the tilt drive unit 203.

[0024] In addition, when the operation device 201 receives a lens driving instruction (focus and / or zoom) from the operator via the lens driving instruction unit 214, the driving instruction information is processed by the system control unit 211 and sent to the pan-tilt device 101 via the communication unit 209. In the pan-tilt device 101, the system control unit 206 processes the driving instruction information received by the communication unit 208 and transmits a driving command to the lens control unit 204.

[0025] The video signal generated by the imaging unit 205 is processed by the video processing unit 207, and then sent to the operation device 201 via the communication unit 208, and displayed on the video display unit 210. Furthermore, in the operation device 201, when a crop instruction is received from the operator via the crop instruction unit 212, the crop instruction information is processed by the system control unit 211, and sent to the pan-tilt device 101 via the communication unit 209. In the pan-tilt device 101, based on the crop instruction information received by the communication unit 208, the video processing unit 207 crops the video signal generated by the imaging unit 205, and outputs it as a cropped video.

[0026] <Configuration of Imaging System (First Embodiment)> FIG. 3 is a block diagram showing the configuration of the imaging system in the first embodiment. The imaging system includes a pan-tilt device 101 and an operation device 201 connected via a network in the same manner as in the general configuration (FIG. 2). The pan-tilt device 101 distributes full-angle image or cropped image to one or more monitoring devices (not shown) based on the imaging conditions set via the operation device 201. However, the network shown in the upper part of FIG. 3 (from the pan-tilt device 101 to the operation device 201) is different from FIG. 2 in that a crop frame-attached image (a full-angle image with a crop frame superimposed thereon, hereinafter referred to as a framed image) is transmitted. That is, the contents of the processing in the image processing unit 301 of the pan-tilt device 101 are different from those in FIG. 2. Specifically, the image processing unit 301 transmits a framed image in which a crop frame image is added (superimposed) to the full-angle image to the operation device 201 based on the image signal generated by the imaging unit 205 and the crop information received from the operation device 201.

[0027] 4 is a diagram illustrating framed image 401 and cropped image 403. As described above, framed image 401 is an image transmitted to operation device 201, and cropped image 403 is an image distributed to one or more monitoring devices (not shown).

[0028] The framed image 401 is an image in which a crop frame 402 is superimposed on a full angle of view image, and the area size of the crop frame 402 is the same as the size specified by the crop specification unit 212. In other words, the image within the crop frame of the framed image 401 and the cropped image 403 are images of the same area range and are also synchronized in time.

[0029] The operator of the operating device 201 looks at the framed image 401 displayed on the image display unit 210 and operates the pan / tilt drive instruction unit 213. Specifically, in order to track a subject (for example, a human body shown in FIG. 4), the operator operates the pan / tilt drive instruction unit 213 so that the subject does not deviate from the crop frame 402.

[0030] <Adjusting speed and acceleration in pan and tilt directions> Next, a description will be given of the settings of the speed and acceleration in the pan and tilt directions in the pan-tilt device 101. The speed refers to the driving speed in the pan and tilt directions (for example, in units of degrees / second), and the acceleration refers to the driving acceleration (for example, in units of degrees / second). 2 ) FIG. 5 is a diagram showing a speed table. The speed table is stored, for example, in the system control unit 206, and specifies the reference speed of the motor drive. In FIG. 5, the numbers do not indicate the actual speeds, but the relative magnitude relationship (coefficient) of the speeds. Here, five speed settings are included as the speed table. At each stage, the speed is set to be different depending on the degree of optical zoom (i.e., the shooting angle of view). Specifically, the speed is set to be relatively fast when shooting at a wide angle, and relatively slow when shooting at a telephoto angle, making it easier for the operator to operate the pan-tilt device 101. Note that the appropriate speed may differ between the pan direction and the tilt direction, so separate speed tables (i.e., reference pan speed and reference tilt speed) may be set for the pan direction and the tilt direction.

[0031] Fig. 6(a) is a diagram showing an acceleration table, and Fig. 6(b) is a diagram showing an example of speed change when the acceleration table is used. The numbers in Fig. 6(a) do not indicate the actual speed or acceleration, but the relative magnitude relationship (coefficient) between speed and acceleration. In Fig. 6(b), the horizontal axis is elapsed time, the vertical axis is speed (angular velocity), and the slope of the graph is acceleration.

[0032] The acceleration table (FIG. 6(a)) specifies two stages of acceleration (A1, A2) when accelerating and two stages of acceleration (D1, D2) when decelerating. V1 is the speed threshold when the acceleration switches. V2 indicates the target speed. Such settings smooth the change in pan-tilt speed, making it easier for the operator to operate the pan-tilt device 101. Note that since the appropriate acceleration may differ between the pan direction and the tilt direction, separate acceleration tables may be set for the pan direction and the tilt direction.

[0033] However, as described in the section on problems to be solved by the invention, when the pan-tilt function and crop function are used together in a pan-tilt device, a captured image with unnatural screen changes may be obtained. When the aspect ratio of the image does not change before and after the crop operation, the operator can easily operate the pan-tilt device 101 by speed control using the above-mentioned speed table and acceleration table. On the other hand, when the aspect ratio of the image changes before and after the crop operation, the unnaturalness of the screen changes is not reduced much, and the operator feels uncomfortable operating the pan-tilt device 101 before and after the crop operation.

[0034] Therefore, in the first embodiment, a form will be described in which, when a crop instruction is given by the crop instruction section 212, the speed table and acceleration table are adjusted and used based on a change in the aspect ratio of the cropped image.

[0035] Fig. 7 is a diagram for explaining the aspect ratio of an image before and after a crop operation. Fig. 8 is a diagram showing an example of the speed and acceleration adjustment amounts before and after a crop operation. The system control unit 206 calculates the aspect ratio based on the received crop information and calculates an adjustment coefficient. The adjustment coefficient is a value by which each value in the speed table in Fig. 5 and each value in the acceleration table in Fig. 6(a) are multiplied.

[0036] The aspect ratio of the uncropped image 701 is "W:V." Now consider the case where the uncropped image 701 is cropped using a cropping frame 702 to generate a cropped image 703 with an aspect ratio of "V:W."

[0037] In this case, based on the aspect ratio "V:W" in the cropped image 703, the reference adjustment coefficient in the pan direction after the cropped image 703 is set to "V / W". Furthermore, cropping of an image generally results in an enlargement factor (zoom-in) of X times (where X>1). When zooming in, slowing down the speed makes it easier to operate, so the reference adjustment coefficient is further multiplied by "1 / X" to obtain the adjustment coefficient "V / WX". In other words, if the pan speed in the uncropped image 701 is "A", the pan speed in the cropped image 703 is "AV / WX". As with the above-mentioned speed, when the pan acceleration in the uncropped image 701 is "B", the pan acceleration in the cropped image 703 is "BV / WX".

[0038] Next, consider the tilt direction. When "W>V" as shown in FIG. 7, the cropped image 703 becomes a vertically long image. Therefore, it is preferable to move the tilt direction at a slower speed than the pan direction. Therefore, in order to further reduce the adjustment coefficient for the tilt direction, the adjustment coefficient for the pan described above is further multiplied by "1 / Y" to obtain the adjustment coefficient "V / WXY" (where Y>1). That is, when the tilt speed in the uncropped image 701 is "C", the tilt speed in the cropped image 703 is "CV / WXY". The value of Y can be, for example, Y=1.5 in the high-speed mode (speed step 5 shown in FIG. 5), Y=2 in the normal mode (speed step 3), and Y=3 in the low-speed mode (speed step 1). As with the above-mentioned speeds, when the tilt acceleration in the uncropped image 701 is "D", the tilt acceleration in the cropped image 703 is "DV / WXY".

[0039] By multiplying the values ​​in the speed table and acceleration table by the above-mentioned adjustment coefficients, unnaturalness of the screen change is reduced even when the aspect ratio of the image changes before and after the cropping operation. Therefore, the operator's discomfort in the operation of the pan-tilt device 101 before and after the cropping operation is reduced. As a result, for example, in a situation where a subject (for example, a human body shown in FIG. 4) is tracked, the operator of the operation device 201 can easily operate the pan-tilt drive instruction unit 213 so that the subject does not go out of the cropping frame 402.

[0040] <Device Operation> Fig. 15 is a flow chart of speed and acceleration setting when performing cropping operation. In the following, it is assumed that the pan-tilt device 101 is shooting and distributing at a full angle of view. However, this is not limited to when changing from full angle of view video distribution to cropped video distribution. For example, this may be performed when changing from cropped video distribution with a first cropping frame to cropped video distribution with a second cropping frame.

[0041] In S1501, the system control unit 206 determines whether or not crop information has been received from the operation device 201 via the communication unit 208. As described above, the crop information is transmitted to the pan-tilt device 101 when the operation device 201 receives an instruction to distribute cropped video from the operator. When the system control unit 206 determines that crop information has been received and decides to transition to the crop operation mode, it transmits the crop information to the video processing unit 301 and proceeds to S1502. When it determines that crop information has not been received, it continues to wait for reception of crop information.

[0042] In S1502, the image processor 301 generates a framed image and a cropped image based on information specifying a cropping area (cropping frame) included in the crop information. FIG. 9 shows a full-angle image and a cropped image, and is a diagram showing a specific example of a change in aspect ratio. Here, the full-angle image, which is the pre-cropping image 901, has an aspect ratio of "16:9", and the cropped image, which is the post-cropping image 903, has an aspect ratio of "9:16". Therefore, the image processor 301 superimposes an image of the cropping frame 902 on the pre-cropping image 901 to generate a framed image. Also, the image processor 301 crops the pre-cropping image 901 with the cropping frame 902 to generate a post-cropping image 903.

[0043] In S1502, the system control unit 206 determines the speed and acceleration adjustment amounts based on the information of the cropping area (cropping frame) included in the crop information. FIG. 10 is a diagram showing a specific example of the speed and acceleration adjustment amounts. In this case, based on the aspect ratio "9:16" in the cropped image 903 (cropped image), the reference adjustment coefficient in the pan direction after the cropped image 903 is set to "9 / 16". Furthermore, since a 2x enlargement ratio (zoom-in) occurs due to the cropping of the image, the reference adjustment coefficient is further multiplied by "1 / 2" to set the adjustment coefficient to "9 / 32". That is, if the pan speed in the uncropped image 901 is "A", the pan speed in the cropped image 903 is "9A / 32". As with the above-mentioned speed, for acceleration, if the pan acceleration in the uncropped image 901 is "B", the pan acceleration in the cropped image 903 is "9B / 32".

[0044] Next, consider the tilt direction. Since the cropped image 903 is a vertically long image, it is preferable to move the tilt direction at a slower speed than the pan direction. Therefore, in order to further reduce the adjustment coefficient for the tilt direction, the above-mentioned pan adjustment coefficient is further multiplied by "1 / 2" to set the adjustment coefficient to "9 / 64". In other words, if the tilt speed in the uncropped image 901 is "C", the tilt speed in the cropped image 903 is "9C / 64". As with the above-mentioned speeds for acceleration, if the tilt acceleration in the uncropped image 901 is "D", the tilt acceleration in the cropped image 903 is "9D / 64".

[0045] In S1503, the system control unit 206 starts control based on the speed and acceleration in each of the pan direction and tilt direction determined in S1502. That is, upon receiving pan / tilt control information from the operation device 201, the system control unit 206 instructs the pan driving unit 202 and the tilt driving unit 203 on the amount of control obtained by multiplying the pan / tilt control information by the adjustment coefficient determined in S1502.

[0046] As described above, according to the first embodiment, when switching to crop shooting in a pan-tilt (PT) camera, the settings of the PT drive speed and acceleration are changed (adjustment coefficients are set) according to the change in the aspect ratio of the image before and after cropping. This reduces the unnaturalness of the screen change in the image before and after cropping. Therefore, the operator who operates the operation device 201 while watching the image displayed on the image display unit 210 can easily control the pan-tilt of the pan-tilt device 101. In other words, the possibility that the subject will go outside the crop frame can be reduced.

[0047] In the above explanation, we have explained the case where the aspect ratio after cropping is "V:W" (i.e., the aspect ratio before and after cropping is reversed). 1 :V 1 " to "W 2 :V 2 ", the adjustment factor is {W 2 / (W 1+V 1 )} / {W 1 / (W 2 +V 2 In other words, the width (W) value is important in the adjustment coefficient, and further correction is performed according to the change in aspect ratio.

[0048] (Variation 1) In the first modification, a form in which a framed image is generated in the operation device 201 will be described. That is, in the first embodiment, a form in which the image processing unit 207 of the pan-tilt device 101 generates a framed image has been described, but the framed image may be generated in the operation device 201.

[0049] 11 is a block diagram showing the configuration of an imaging system in Modification 1. The main difference from the first embodiment (FIG. 3) is that a video processing unit 1101 has been added.

[0050] The video processing unit 1101 generates a framed video by superimposing an image of a crop frame on the full angle of view video received from the pan and tilt device 101 based on the crop information acquired from the crop instruction unit 212. The framed video is the same as the crop framed video 401 in FIG. 4. That is, the video within the crop frame of the framed video 401 and the cropped video 403 are videos of the same area range and are also synchronized in time. The generated framed video is displayed on the video display unit 210.

[0051] (Variation 2) In the second modification, a form will be described in which a plurality of cropping frames are set in the operation device 201, and the pan-tilt device 101 distributes a plurality of cropped images corresponding to the respective cropping frames.

[0052] Fig. 12 is a block diagram showing the configuration of an imaging system in Modification 2. This differs from the first embodiment (Fig. 3) in that a multiple cropping frame setting unit 1202 and a cropping frame selection unit 1203 are provided in the operation device 201 instead of the crop instruction unit 212. Also, the processing of the image processing unit 1201 in the pan-tilt device 101 is different.

[0053] The multiple cropping frame setting unit 1202 sets multiple cropping frames that specify the range of each cropped image. The cropping frame selection unit 1203 selects one cropping frame from the multiple cropping frames set by the multiple cropping frame setting unit 1202. The selected cropping frame is the cropping frame used when the operator of the operation device 201 performs pan-tilt control. For example, the operation device 201 is configured to be able to accept the selection of a cropping frame from the user via a GUI. That is, crop information including information on the multiple cropping frames and information on the selected cropping frame is transmitted from the operation device 201 to the pan-tilt device 101.

[0054] The video processing unit 1201 transmits to the operation device 201 a framed video in which a plurality of crop frame images are added to a full angle of view video, based on a video signal generated by the imaging unit 205 and crop information received from the operation device 201. The video processing unit 1201 may generate a framed video in which a selected crop frame and a non-selected crop frame can be distinguished from each other, based on information on a selected crop frame included in the crop information. For example, the thickness, type, color, etc. of the line indicating the crop frame may be changed. The video processing unit 1201 also crops the video signal generated by the imaging unit 205 according to the crop information, and generates a cropped video.

[0055] 13 is a diagram illustrating a video in which multiple cropping frames are displayed and a cropped video. Note that the shape of the cropping frame is not limited to a rectangle and can be set to any shape. A framed video generated by the video processing unit 1201 looks like framed video 1301. A video cropped with cropping frame 1302 looks like cropped video 1304, and a video cropped with cropping frame 1303 looks like cropped video 1305. Cropped video 1304 and cropped video 1305 generated by the video processing unit 1201 are distributed via the communication unit 208.

[0056] The system control unit 206 adjusts the speed and acceleration based on the selected cropping frame included in the crop information. That is, if the selected cropping frame is changed by the cropping frame selection unit 1203, the system control unit 206 adjusts the speed and acceleration again based on the selected cropping frame included in the changed cropping information.

[0057] (Variation 3) In the third modification, a description will be given of a mode in which the speed and / or acceleration is adjusted in the operating device 201. That is, in the first embodiment, a mode in which the system control unit 206 of the pan-tilt device 101 adjusts the speed and / or acceleration has been described, but the speed and / or acceleration may be generated in the operating device 201.

[0058] 14 is a block diagram showing the configuration of an imaging system in Modification 3. The main difference from the first embodiment (FIG. 3) is that a video processing unit 1402 is added and processing is added in a system control unit 1401.

[0059] The system control unit 1401 calculates an adjustment coefficient based on the crop information acquired from the crop instruction unit 212, and sends information on the adjusted speed and acceleration to the pan-tilt device 101. That is, in the third modification, the pan-tilt control information includes speed instruction information that is information on the adjusted speed (and / or acceleration).

[0060] Similar to the image processing unit 1101 of the first modification, the image processing unit 1402 superimposes an image of a crop frame on the full angle of view image received from the pan-tilt device 101 based on the crop information acquired from the crop instruction unit 212 to generate a framed image.

[0061] The disclosure of this specification includes the following control device, control method, and program. (Item 1) A control device for controlling an imaging unit capable of changing an imaging direction, A driving means for driving the imaging unit to change the imaging direction; Video processing means for processing and outputting the video obtained by the imaging unit and having the driving means changes the driving speed when changing the shooting direction of the imaging unit based on at least the aspect ratio of the video A control device characterized by this (Item 2) The driving means changes the driving acceleration when changing the shooting direction of the imaging unit based on at least the aspect ratio of the video The control device according to item 1, characterized by this (Item 3) The driving means changes the driving acceleration when changing the shooting direction of the imaging unit further based on the magnification of the subject in the video The control device according to item 1 or 2, characterized by this (Item 4) The driving means pan driving means for changing the shooting direction of the imaging unit in the pan direction, tilt driving means for changing the shooting direction of the imaging unit in the tilt direction, and having the pan driving means changes the driving speed in the pan direction based on at least the aspect ratio of the video, the tilt driving means changes the driving speed in the tilt direction based on at least the aspect ratio of the video The control device according to any one of items 1 to 3, characterized by this (Item 5) The control device further includes storage means for storing a reference pan speed when driving the pan driving means and a reference tilt speed when driving the tilt driving means, When the aspect ratio in the video is V:W (where V < W) and the magnification of the subject in the video is X times, the pan driving means drives at V / WX times the reference pan speed, and the tilt driving means drives at V / WXY times (where Y > 1) the reference tilt speed The control device according to item 4, characterized by this (Item 6) The image is a cropped image obtained by cropping the image obtained by the imaging unit. 6. The control device according to any one of items 1 to 5, (Item 7) a receiving means for receiving a first control command for the driving means and a second control command for the image processing means from a user terminal that remotely controls the control device, the driving means controls the driving means based on the first control command, and calculates an aspect ratio of the cropped image based on crop information related to a cropped image obtained by cropping an image obtained by the imaging unit, the crop information being included in the second control command; The image processing means outputs the cropped image based on the crop information. 7. The control device according to any one of items 1 to 6. (Item 8) the image processing means further generates a framed image by superimposing a cropping frame on the image obtained by the imaging unit based on the cropping information; The framed image is transmitted to the user terminal. 8. The control device according to item 7, characterized in that (Item 9) the crop information includes information about a plurality of cropping frames and information about one selected cropping frame selected from the plurality of cropping frames; The image processing means generates the framed image by superimposing the plurality of cropping frames, and the selected cropping frame is displayed in a distinguishable manner in the framed image. 9. The control device according to item 8, characterized in that (Item 10) a receiving means for receiving a first control command for the driving means and a second control command for the image processing means from a user terminal that remotely controls the control device, the first control command includes speed instruction information based on an aspect ratio of a cropped image that is calculated based on crop information related to a cropped image obtained by cropping an image obtained by the imaging unit, the speed instruction information being included in the second control command; The driving means controls the driving means based on the first control command, The image processing means outputs the cropped image based on the crop information. 2. The control device according to item 1, (Item 11) A control method for a control device that controls an imaging unit capable of changing an imaging direction, comprising: The control device includes: A driving means for driving the imaging unit to change the imaging direction; an image processing means for processing and outputting the image obtained by the imaging unit; having The control method includes: a changing step of changing a driving speed when changing the shooting direction of the imaging unit based on at least an aspect ratio of the image; a control step of controlling the driving means so as to change the shooting direction of the imaging unit at the driving speed changed by the changing step; Includes A control method comprising: (Item 12) A program for causing a computer to execute the control method according to item 11.

[0062] (Other Examples) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0063] The invention is not limited to the above-described embodiments, and various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0064] 101 pan-tilt device; 201 operation device; 202 pan drive section; 203 tilt drive section; 204 lens control section; 205 imaging section; 206 system control section; 301 image processing section; 208 communication section; 209 communication section; 210 image display section; 211 system control section; 212 crop instruction section; 213 pan-tilt drive instruction section; 214 lens drive instruction section

Claims

1. A control device for controlling an imaging unit capable of changing an imaging direction, A driving means for driving the imaging unit to change the imaging direction; an image processing means for processing and outputting the image obtained by the imaging unit; having The driving means changes a driving speed when changing the shooting direction of the imaging unit based on at least an aspect ratio of the image. A control device comprising:

2. The driving means changes a driving acceleration when changing a shooting direction of the imaging unit, based on at least an aspect ratio of the image. The control device according to claim 1 .

3. The driving means changes a driving acceleration when changing the shooting direction of the imaging unit based on a magnification ratio of a subject in the image. The control device according to claim 1 .

4. The driving means is a pan driving means for changing the shooting direction of the imaging unit in a pan direction; A tilt driving means for changing the photographing direction of the imaging unit in a tilt direction; having the pan driving means changes a driving speed in the pan direction based on at least an aspect ratio of the image; The tilt driving means changes a driving speed in the tilt direction based on at least an aspect ratio of the image. The control device according to claim 1 .

5. a storage means for storing a reference pan speed when driving the pan driving means and a reference tilt speed when driving the tilt driving means, When the aspect ratio of the image is V:W (where V<W) and the magnification of the subject in the image is X times, the pan driving means drives at a speed V / WX times the reference pan speed, and the tilt driving means drives at a speed V / WXY times the reference tilt speed (where Y>1).

5. The control device according to claim 4.

6. The image is a cropped image obtained by cropping the image obtained by the imaging unit.

6. The control device according to claim 1, wherein the control device is a control unit.

7. a receiving means for receiving a first control command for the driving means and a second control command for the image processing means from a user terminal that remotely controls the control device, the driving means controls the driving means based on the first control command, and calculates an aspect ratio of the cropped image based on crop information related to a cropped image obtained by cropping an image obtained by the imaging unit, the crop information being included in the second control command; The image processing means outputs the cropped image based on the crop information. The control device according to claim 1 .

8. the image processing means further generates a framed image by superimposing a cropping frame on the image obtained by the imaging unit based on the crop information; The framed image is transmitted to the user terminal. The control device according to claim 7 .

9. the crop information includes information about a plurality of cropping frames and information about one selected cropping frame selected from the plurality of cropping frames; The image processing means generates the framed image by superimposing the plurality of cropping frames, and the selected cropping frame is displayed in a distinguishable manner in the framed image. The control device according to claim 8 .

10. a receiving means for receiving a first control command for the driving means and a second control command for the image processing means from a user terminal that remotely controls the control device, the first control command includes speed instruction information based on an aspect ratio of a cropped image that is calculated based on crop information related to a cropped image obtained by cropping an image obtained by the imaging unit, the speed instruction information being included in the second control command; The driving means controls the driving means based on the first control command, The image processing means outputs the cropped image based on the crop information. The control device according to claim 1 .

11. A control method for a control device that controls an imaging unit capable of changing an imaging direction, comprising: The control device includes: A driving means for driving the imaging unit to change the imaging direction; an image processing means for processing and outputting the image obtained by the imaging unit; having The control method includes: a changing step of changing a drive speed when changing the shooting direction of the imaging unit based on at least an aspect ratio of the image; a control step of controlling the driving means so as to change the shooting direction of the imaging unit at the driving speed changed by the changing step; Includes A control method comprising:

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

Images