Controller, method for control, and computer program

Abstract

To provide a controller which can properly determine whether the controller is being capable of executing a pan tilt function and can rapidly execute a pan tilt function.SOLUTION: The controller includes: a supporting unit for supporting an imaging unit so that the imaging unit can make a pan-rotation or a tilt-rotation; a driving unit for pan-rotating or tilt-rotating the supporting unit; an operation detection unit for detecting a displacement of the supporting unit; and a control unit for cancelling restriction on the pan-rotation and the tilt-rotation of the supporting unit driven by the driving unit in a case where the operation detection unit detects the displacement of the supporting unit while the pan-rotation and the tilt-rotation are being restricted.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a control device, a control method, a computer program, and the like.

Background Art

[0002] Network cameras and the like are used in low temperatures outdoors in cold regions or snowy regions. Therefore, there are cases where the pan-tilt drive unit freezes and the pan-tilt function becomes inoperable. Also, in the case of a pan-tilt device (hereinafter: positioning unit) in which the camera unit is detachable, the pan-tilt drive unit may freeze in extremely low temperatures and the pan-tilt function may become inoperable.

[0003] In order to solve such problems, it is possible to perform defrosting by heating with a heater and restore the pan-tilt function to an available state.

[0004] In recent years, for the purpose of improving the convenience of users, there is a demand to operate network cameras and positioning units by PoE (Power Over Ethernet) that supplies power superimposed on an Ethernet cable and operate without an external power source.

[0005] However, for example, when the device is made compatible with the PoE++ standard defined by IEEE802.3bt, the maximum power of the power receiving device is 71W according to the standard. That is, when made PoE-compatible, the convenience of the user is improved, but the power that can be used in the entire system is limited.

[0006] On the other hand, defrosting by heating with a heater for melting ice and snow consumes a large amount of power. Therefore, in the case of a system of a network camera and a positioning unit made PoE-compatible for convenience improvement, in order to observe the power limit of the entire system, the pan-tilt function cannot be used while defrosting is being performed by the heater.

[0007] In addition, the defrosting by the heater is used to instruct the network camera and pan-tilt system to heat for a predetermined time or to a predetermined temperature. However, since network cameras and pan-tilts equipped with them are generally installed in remote locations, after defrosting by the heater, users of the network camera and pan-tilt cannot confirm whether the freezing by ice or snow has actually been resolved.

[0008] In the pan-tilt of Patent Document 1, the temperature of the pan-tilt and the current of the motor are measured, and based on the measured temperature and current, the power of the heater is determined within the allowable power, and power is supplied to the heater. That is, when the temperature of the pan-tilt is low, power is supplied to the heater at a high output to warm the pan-tilt, and when the temperature of the pan-tilt is high, the power to the heater is suppressed to efficiently distribute the power.

Prior Art Documents

Patent Documents

[0009]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0010] However, in Patent Document 1, since the power supplied to the heater is determined based on the measured temperature of the pan-tilt, there is a problem that, in actuality, although the freezing has been resolved, the heater is operated at a high output for an unnecessarily long time, and during that time, the user cannot execute the pan-tilt function.

[0011] Therefore, one object of the present invention is to appropriately determine whether the pan-tilt function can be executed and to provide a control device that can quickly execute the pan-tilt function.

Means for Solving the Problems

[0012] In the control device, a support unit that supports the imaging unit so as to be pan-rotatable or tilt-rotatable, A drive unit for panning or tilting the support unit, An operation detection unit for detecting the displacement of the support unit, A control unit that releases the restriction when the operation detection unit detects the displacement of the support unit during the restriction of the panning and tilting rotations of the support unit by the drive unit, characterized by comprising.

Advantages of the Invention

[0013] According to the present invention, it is possible to appropriately determine whether the pan-tilt function can be executed, and to provide a control device that can quickly execute the pan-tilt function.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In each figure, the same members or elements are given the same reference numerals, and duplicate explanations are omitted or simplified.

[0016] Incidentally, in the following embodiments, an example of a network camera will be described as the imaging device. However, the imaging device may be any device capable of capturing a moving image, and includes, for example, a video camera, a still camera, a mobile phone equipped with an imaging function, a portable information terminal, and the like.

[0017] [Embodiment 1] FIG. 1 is a functional block diagram showing a configuration example of an imaging device according to an embodiment of the present invention. The imaging device of the embodiment will be described with reference to FIG. 1.

[0018] Incidentally, some of the functional blocks shown in FIG. 1 are realized by causing a CPU 101 as a computer included in the imaging device 100 to execute a computer program stored in, for example, a ROM 115 or the like as a storage medium.

[0019] However, some or all of them may be realized by hardware. As the hardware, a dedicated circuit (ASIC), a processor (reconfigurable processor, DSP), or the like can be used.

[0020] Also, each of the functional blocks shown in FIG. 1 does not have to be built in the same housing, and may be configured by separate devices connected via a signal path. That is, a part of the functional blocks of the imaging device 100 may be provided in an external control device or the like connected via a network.

[0021] 101 is a CPU as a computer. The CPU 101 has a pan-tilt control unit 101-1, a heater control unit 101-2, and a notification unit 101-3, and functions as a control unit that controls the entire imaging device 100.

[0022] In the present embodiment, the imaging device 100 incorporates a pan-tilt drive unit 105 as a pan-tilt head. However, the imaging device 100 and the pan-tilt drive unit 105 as a pan-tilt head may be separate entities, and the imaging device may be mounted on the pan-tilt head. In that case, the CPU 101 functions as a control unit that controls the imaging device and the pan-tilt head. Also, the pan-tilt drive unit 105 as a pan-tilt head, the CPU 101, etc. function as a control device that controls the pan-tilt head.

[0023] The imaging unit 102 includes a zoom lens 102-1, a focus lens 102-2, a diaphragm 102-3, an infrared cut filter 102-4, and an imaging element 102-5. The zoom lens 102-1 and the focus lens 102-2 are moved along the optical axis by the lens drive unit 103, respectively.

[0024] The diaphragm 102-3 is driven by the lens drive unit 103 to adjust the amount of light passing through. The infrared cut filter 102-4 is driven by the lens drive unit 103 and is inserted into the optical path when the subject is bright.

[0025] Also, the infrared cut filter 102-4 is removed from the optical path when the subject is not sufficiently bright, so that the imaging unit 102-5 receives light including infrared light. The lens drive unit 103 is controlled by the CPU 101 via the bus 110.

[0026] The infrared illumination 104 lights up toward the subject to assist the visibility of the dark part when the infrared cut filter 102-4 is removed based on the instruction of the CPU 101.

[0027] FIG. 5 is a diagram showing a configuration example of the imaging device according to the embodiment of the present invention. The pan-tilt drive unit 105 as a support unit is composed of a pan drive unit 105a and a tilt drive unit 105b as shown in FIG. 5, and is driven by an actuator 106. The pan drive unit 105a is composed of, for example, a bottom case 200 and a turntable 201, and the imaging unit 102 rotates in the pan direction when the turntable 201 rotates in the horizontal direction.

[0028] The pan drive unit 105a of this embodiment can rotate 360 degrees in the left - right direction and can turn endlessly. The tilt drive unit 105b is composed of a support column 202 provided on the turntable 201, and the imaging unit 102 rotates in the tilt direction. That is, the pan - tilt drive unit 105 as the support unit supports the imaging unit so that it can pan - rotate or tilt - rotate.

[0029] The tilt drive unit 105b of the imaging device of this embodiment can rotate from - 90 degrees to + 45 degrees with 0 degrees in the horizontal direction. Also, the pan drive unit 105a and the tilt drive unit 105b are provided with position encoders, and the pan - tilt control unit 101 - 1 measures the rotation angles of the pan drive unit 105a (turntable 201) and the tilt drive unit 105b. Note that the imaging unit 102 is detachable with respect to the pan - tilt drive unit 105.

[0030] The actuator 106 as the drive unit is composed of a motor, a hall sensor, gears, belts, etc. The motor and the hall sensor are controlled by the pan - tilt control unit 101 - 1. The actuator 106 rotationally drives the pan drive unit 105a and the tilt drive unit 105b. That is, the actuator 106 as the drive unit rotates the support unit in the pan direction or the tilt direction.

[0031] Note that the actuator 106 is provided for the pan drive unit 105a and the tilt drive unit 105b respectively. In this embodiment, both the pan drive unit 105a and the tilt drive unit 105b are provided, but a configuration having at least one of them may also be acceptable.

[0032] That is, the actuator 106 may be any device that can pan - drive (rotate in the pan direction) or tilt - drive (rotate in the tilt direction) the imaging device. In the following description, "pan - tilt" means "pan" or "tilt".

[0033] The heater 107 heats the pan - tilt drive unit 105 as a support unit. Incidentally, when having only one of the pan drive unit 105a or the tilt drive unit 105b, it may be configured to heat only that one. Also, the heater 107 may indirectly heat the pan - tilt drive unit 105 by heating the imaging device 100. The heater 107 is controlled by the heater control unit 101 - 2 via the bus 110.

[0034] The sensor 108 includes at least one of an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an illuminance sensor, and a temperature sensor, and detects at least one of displacements of acceleration, angular velocity, azimuth, illuminance, and temperature related to the imaging unit 102 at a predetermined sampling rate.

[0035] The sensor 108 functions as an operation detection unit for detecting the displacement of the support unit. The sensor 108 includes a sensor for detecting the displacement of the pan drive unit 105a in the pan direction and a sensor for detecting the displacement of the tilt drive unit 105b in the pan direction. The result detected by the sensor 108 is transmitted to the CPU 101 via the bus 110.

[0036] The imaging element 102 - 5 photoelectrically converts the light that has passed through the zoom lens 102 - 1, the focus lens 102 - 2, the aperture 102 - 3, the infrared cut - filter 102 - 4, etc., and generates an analog image signal. The generated analog image signal is subjected to an amplification process by sampling processing such as correlated double sampling and then given to the A / D conversion unit 111. The parameters used for the amplification process are controlled by the CPU 101.

[0037] The A / D conversion unit 111 converts the amplified analog image signal into a digital image signal. The digital image signal obtained by the A / D conversion unit 111 is output to the image input controller 112.

[0038] The image input controller 112 captures the digital image signal given from the A / D conversion unit 111 and outputs it to the image processing unit 113.

[0039] The image processing unit 113 performs various digital image processes on the digital image signal input from the image input controller 112 based on sensitivity information at the time of imaging, such as AGC (Automatic Gain Control) gain or ISO sensitivity. Then, the processed digital image signal is stored in the RAM 114 connected to the bus 110 via the bus 110.

[0040] In addition, various digital image processes include optical black processing, pixel defect correction, aberration correction, peripheral light amount drop correction, gain processing, white balance processing, RGB interpolation processing, dynamic range expansion processing, color difference signal conversion, etc. Also, various digital image processes include offset processing, gamma correction processing, noise reduction processing, contour correction processing, color tone correction processing, light source type determination processing, scaling processing, etc.

[0041] The RAM 114 is a volatile memory such as SRAM or DRAM, and the ROM 115 is a non-volatile memory such as EEPROM or flash memory.

[0042] The storage device 116 is a storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), eMMC (Embedded Multi-Media Card), EEPROM (Electrically Erasable Programmable Read-Only Memory), etc.

[0043] A computer program for realizing the functions according to this embodiment and data used when the computer program is executed are stored in the ROM 115 or the storage device 116. These programs and data are appropriately fetched into the RAM 114 via the bus 110 under the control of the CPU 101, executed by the CPU 101, and control each part of the imaging device.

[0044] I / F117 is various I / Fs (interfaces) related to input and output. I / F117 is connected to the input device 118, receives instruction information, and notifies the CPU 101 via the network 120. The input device 118 includes operation switches such as a relay switch and a power switch, a cross key, a joystick, a touch panel, a keyboard, and a pointing device (such as a mouse), etc.

[0045] Also, I / F117 is connected to the display device 119 such as an LCD display, acquires information regarding an image, an operation menu, etc. temporarily recorded in the RAM 114 from the imaging device 100, and displays it. I / F117 is connected to the network 120 via a LAN or the like.

[0046] The image processing unit 121 performs processes such as correction of image blur, trimming and dewarping of an image, and stitching for synthesizing and combining a plurality of videos in accordance with a control instruction from the CPU 101 via the bus 110. Also, an OSD (on-screen display) such as an arbitrary message, icon, and graphics is superimposed on the image.

[0047] The image analysis unit 122 performs image analysis such as face detection, person detection, moving object detection, passage detection, congestion detection, trajectory detection, and abandonment / theft detection. The image analysis result is transmitted to the CPU 101 via the bus 110.

[0048] The compression / decompression unit 123 changes the compression ratio of a predetermined designated area such as ADSR (area data reduction) in accordance with a control instruction from the CPU 101 via the bus 110, and performs compression processing in a predetermined format to generate compressed data.

[0049] The compressed data is stored in the storage device 116 via I / F117, or output to the network 120 via I / F117. Also, decompression processing in a predetermined format is performed on the compressed data stored in the storage device 116 to generate uncompressed data. The compression / decompression processing in a predetermined format includes compression / decompression conforming to standards such as JPEG, MOTIOIN-JPEG, MPEG2, AVC / H.264, and AVC / H.265.

[0050] The imaging device 100 receives power supply from a PoE power source via the network 120. In this embodiment, it is assumed that the imaging device 100 complies with the PoE++ standard. According to the specifications of the PoE++ standard, the upper limit of the power available for the entire imaging device 100 is, for example, 71W.

[0051] In addition, in this embodiment, when the de-icing is executed, it is assumed that the heater 107 consumes at least 60W or more of power. Since at least 5W or more is used for the minimum processing as an imaging device such as imaging and image processing, network signal processing, and distribution processing, in this embodiment, considering electrical losses and the like, the imaging device 100 prohibits the pan-tilt drive during de-icing.

[0052] Furthermore, in this embodiment, when at least a part of the pan-tilt drive unit is moved by an external force or the like during the execution of de-icing, it is detected. When detected, the de-icing is interrupted and the restriction on the prohibition of pan-tilt drive is released.

[0053] Hereinafter, with reference to FIG. 2, the de-icing process in this embodiment will be described. FIG. 2 is a flowchart showing an example of the processing of the control method executed by the imaging device according to Embodiment 1. The operations of each step of the flowchart in FIG. 2 are sequentially performed when the CPU 101 as a computer executes a computer program stored in the memory.

[0054] The flow of the de-icing process in FIG. 2 is started by the CPU 101 when an instruction to start de-icing input by the user from the input device 118 is received via the network 120.

[0055] Alternatively, when the temperature acquired from the temperature sensor of the sensor 108 reaches a predetermined temperature via the bus 110 by the CPU 101 as a control unit, or when a predetermined time is reached by a preset timer, the de-icing may be started. However, the start of the de-icing process is not limited thereto.

[0056] <Step S201> Upon receiving an instruction to start the de-icing process, the de-icing process shown in FIG. 2 is started. In step S201, the pan-tilt control unit 101-1 prohibits (stops or restricts) the pan-tilt drive for the pan-tilt drive unit 105 and the actuator 106.

[0057] Specifically, the pan-tilt control unit 101-1 does not execute the instruction command regarding the pan-tilt drive received from the external device via the network 120, but holds it in the RAM 114. Alternatively, the pan-tilt control unit 101-1 does not receive the instruction command regarding the pan-tilt drive transmitted from the external device via the network 120. In addition, when having only one of the pan drive and the tilt drive functions, prohibit (stop or restrict) that one drive.

[0058] <Step S202> The heater control unit 101-2 activates the heater 107 and starts heater control in the high-output mode for de-icing, and starts heating the pan-tilt drive unit 105 or the entire imaging device 100.

[0059] In addition, the high-output mode is a mode for snow melting or ice thawing. When warming the inside of the imaging device with a heater at low temperatures, etc., since the output of the heater may be lower than in the case of snow melting or ice thawing, such a case is set as the low-output mode.

[0060] <Step S203> The pan-tilt control unit 101-1 detects whether the pan-tilt drive unit 105 has moved (displaced) due to an external force or the like. Here, step S203 functions as a detection step for detecting the displacement of the support unit that supports the imaging unit so that it can be panned or tilted.

[0061] As a detection method, the position encoder provided in the pan-tilt drive unit 105 is used, and when the angle of the pan drive unit 105a or the tilt drive unit 105b obtained from the position encoder changes, it is determined that pan-tilt movement due to an external force has occurred. That is, the pan-tilt drive unit 105 as a support unit has an encoder, and the operation detection unit detects the displacement of the pan-tilt drive unit 105 as a support unit based on the encoder output.

[0062] In this embodiment, since pan-tilt driving is prohibited during device execution, if the angle of the pan drive unit 105a or the tilt drive unit 105b changes during device operation, it can be determined that there has been a displacement (including rotation) of the pan-tilt drive unit 105 due to an external force such as manual force or strong wind.

[0063] When the movement (displacement, etc.) of the pan-tilt due to an external force is detected, proceed to step S206. If not detected, proceed to step S204.

[0064] <Step S204> The CPU 101 as a control unit determines whether a predetermined specified time has elapsed since the start of the device. The device specified time may be instructed by the user at the start of the device, or the upper limit time may be stored in advance in the storage device 116 as a parameter. If it is determined that the specified time has elapsed, proceed to step S206. If not elapsed, proceed to step S205.

[0065] <Step S205> The CPU as a control unit acquires the temperature from the temperature sensor of the sensor 108 via the bus 110 and determines whether the temperature that is a condition for ending the device has been reached. The temperature that is a condition for ending the device may be instructed by the user at the start of the device, or the upper limit temperature may be stored in advance in the storage device 116 as a parameter.

[0066] If it is determined that the temperature for the end condition has been reached, proceed to step S206. If not reached, return to step S203 while continuing the device.

[0067] <Step S206> The heater control unit 101-2 terminates the heater control in the high-output mode for de-icing the heater 107. At this time, the heater 107 may be disabled, or the current or voltage supplied to the heater 107 may be decreased to such an extent that the pan-tilt drive is possible.

[0068] <Step S207> The pan-tilt control unit 101-1 releases the prohibition of the pan-tilt drive for the pan-tilt drive unit 105 and the actuator 106.

[0069] Specifically, the pan-tilt control unit 101-1 executes the instruction command regarding the pan-tilt drive held in the RAM 114 in Step S201. Alternatively, the pan-tilt control unit 101-1 executes the instruction command regarding the pan-tilt drive newly received from an external device via the network 120.

[0070] Steps S201 to S207 function as control steps for releasing the restriction when the operation detection unit detects the displacement of the support unit during the restriction of the pan rotation and tilt rotation of the support unit by the drive unit. Also, in Steps S201 to S207, the CPU 101 executes the above control steps as control means.

[0071] Also, in Embodiment 1, during the operation of the heater in the high-output mode, the pan rotation and tilt rotation of the support unit by the drive unit are restricted, and when the operation detection unit detects the displacement of the support unit during the operation of the heater in the high-output mode, the high-output mode is terminated and the restriction is released.

[0072] The above is the flowchart of the de-icing process in Embodiment 1. By configuring it in this way, when the pan-tilt drive is moved by an external force, it is determined that the freezing has been resolved, the de-icing is terminated without executing the de-icing more than necessary, the power consumption is reduced, and the pan-tilt drive can be executed promptly.

[0073] Incidentally, regarding the method of detecting the pan-tilt drive by an external force in step S203, it may be detected from the rotational speed of the motor calculated from the hall sensor of the actuator 106. When the rotational speed of the motor changes, it can be determined that the pan-tilt drive by an external force has occurred.

[0074] That is, the pan-tilt drive unit 105 as the support unit may have a hall sensor, and the operation detection unit may detect the displacement of the pan-tilt drive unit 105 as the support unit based on the output of the hall sensor.

[0075] Also, as another detection method, when excitation is applied to the motor of the actuator 106 to prevent misalignment, the current or voltage generated by the load applied to the motor by an external force may be measured and detected. In that case, when the measured current or voltage exceeds the threshold value, it may be determined that the pan-tilt movement by an external force has occurred.

[0076] That is, the control unit applies a predetermined excitation current or excitation voltage to the drive unit when the pan-tilt of the support unit stops, and the operation detection unit may detect the displacement based on the excitation current or excitation voltage while the heater is operating in the high-output mode.

[0077] [Embodiment 2] In Embodiment 2, during the de-icing, the excitation current or excitation voltage that is periodically applied to the motor of the actuator 106 during stoppage is weakened (stopped), and it is detected whether the pan-tilt drive unit 105 has moved. If it is detected, the de-icing is interrupted and the restriction on pan-tilt drive prohibition is released.

[0078] That is, in the second embodiment, it is assumed that the pan-tilt drive unit 105 applies an exciting current or an exciting voltage to the motor of the actuator 106 during the stop of the pan-tilt drive in order to prevent the displacement of the pan-tilt.

[0079] Hereinafter, with reference to FIG. 3, the de-icing process in the second embodiment will be described. FIG. 3 is a flowchart showing an example of the processing of the control method executed by the imaging device according to the second embodiment. It should be noted that the operations of each step of the flowchart in FIG. 3 are sequentially performed by the CPU 101 as a computer executing a computer program stored in the memory. The timing of executing the de-icing process is the same as that in the first embodiment.

[0080] <Steps S301 to S302> These are the same processes as Steps S201 to S202 in the first embodiment, and the description is omitted because of duplication.

[0081] <Step S303> The pan-tilt drive unit 105 periodically weakens or stops the exciting current or exciting voltage applied to the motor of the actuator 106 for a certain period of time while the pan-tilt is stopped.

[0082] The weakening time or the stopping time may be stored in advance as a set value, or may be set by the user. When weakening, the exciting current value or voltage value is set to a current or voltage level at which the pan-tilt drive unit moves due to the weight of the imaging device or the pan-tilt head.

[0083] <Step S304> The pan-tilt control unit 101-1 detects whether the pan-tilt has moved. When the freezing of the pan-tilt drive unit 105 is released by weakening or stopping the exciting current or exciting voltage at the stop in Step S303, the pan-tilt drive unit 105 may move (displace) due to the weight of the imaging device or the pan-tilt head. The method of detecting whether the pan-tilt drive unit 105 has moved is the same as that in the first embodiment, so it is omitted.

[0084] When the movement of the pan-tilt is detected, proceed to step S307. If not detected, proceed to step S305.

[0085] <Steps S305 to S308> They are the same processes as steps S204 to S207 in Embodiment 1, and since they are repetitive, the description is omitted.

[0086] Thus, in Embodiment 2, when the pan-tilt stops, a predetermined exciting current or exciting voltage is applied to the motor of the pan-tilt drive unit 105, and while the heater is operating in the high-output mode, the exciting current or exciting voltage is periodically set below a predetermined value. Thereby, displacement can be detected by the pan-tilt motion detection unit.

[0087] Therefore, according to Embodiment 2, by periodically weakening the exciting current or exciting voltage for stopping to the actuator 106, thawing is detected, the device is terminated without performing the defrosting more than necessary, and power consumption is reduced. Also, the user can quickly drive the pan-tilt.

[0088] [Embodiment 3] In Embodiment 3, in an imaging device having a brake mechanism in the pan-tilt drive unit 105 (pan-tilt head), the brake is periodically released during defrosting to detect whether the pan-tilt drive unit has moved. If detected, the defrosting is interrupted and the restriction on pan-tilt drive prohibition is released.

[0089] In this embodiment, it is assumed that the pan-tilt drive unit 105 has a brake mechanism, and during pan-tilt stop, the movement of the pan-tilt drive unit 105 is suppressed by the brake mechanism to prevent displacement of the pan-tilt drive unit 105.

[0090] The brake mechanism is connected to the brake motor of the actuator 106 and is operated to execute and release the brake by the motor control from the pan-tilt control unit 101-1. Note that since the brake mechanism prevents the positional deviation of the pan-tilt drive unit 105 during stoppage, excitation of the motor of the pan-tilt during stoppage is not performed in this embodiment.

[0091] Hereinafter, with reference to FIG. 4, the device processing in this embodiment will be described. FIG. 4 is a flowchart showing a processing example of a control method executed by the imaging device according to Embodiment 3. Note that the operations of each step of the flowchart in FIG. 4 are sequentially performed by the CPU 101 as a computer executing a computer program stored in the memory. The timing of executing the device processing is the same as that in Embodiment 1.

[0092] <Steps S401 to S402> These are the same processes as Steps S201 to S202 in Embodiment 1, and the description is omitted because of duplication.

[0093] <Step S403> The pan-tilt drive unit 105 periodically releases the brake applied during the stoppage of the pan-tilt for a certain period of time. The release time may be stored in advance as a set value, or may be settable by the user.

[0094] <Step S404> The pan-tilt control unit 101-1 detects whether movement of the pan-tilt has occurred. When the brake is released in Step S403 and the freezing of the pan-tilt drive unit 105 is eliminated, the pan-tilt drive unit 105 may move due to the weight of the imaging device or the pan-tilt head. Since the method of detecting whether the pan-tilt drive unit 105 has moved is the same as that in Embodiment 1, it is omitted.

[0095] When movement of the pan-tilt is detected, the process proceeds to Step S407. When no movement is detected, the process proceeds to Step S405.

[0096] <Steps S405 to S408> These are the same processes as Steps S204 to S207 in Embodiment 1, and the description is omitted because of duplication.

[0097] Thus, in Embodiment 3, the pan-tilt drive unit as the support unit has a brake mechanism. When the pan-tilt of the support unit stops, the rotation of the support unit is stopped by the brake mechanism, and when the heater is operating in the high-output mode, the brake by the brake mechanism is periodically released.

[0098] Therefore, according to Embodiment 3, by periodically releasing the brake at the time of stopping, the thawing is quickly detected, the defrosting is terminated without performing defrosting more than necessary, the power consumption is reduced, and the user can quickly perform pan-tilt driving.

[0099] In addition, in Embodiment 3, no exciting current or exciting voltage is applied to the motor of the pan-tilt at the time of stopping. However, when applying an exciting current or an exciting voltage in combination with the brake, the brake may be periodically released for a certain period of time in Step S403, and the exciting current or the exciting voltage may be weakened or stopped in the same manner as Step S303 of Embodiment 2.

[0100] In addition, a display unit for displaying that the drive prohibition has been released during operation in the high-output mode may be provided on the imaging device or the external control device side. Also, the display unit may display that the pan-tilt drive is prohibited during operation of the defrosting device in the high-output mode. By providing such a display unit, the user can timely perform pan-tilt control in the imaging device.

[0101] As described above, the present invention has been described in detail based on its preferred embodiments. However, the present invention is not limited to the above embodiments, and various modifications and combinations of the above embodiments are possible based on the gist of the present invention, and they are not excluded from the scope of the present invention. In addition, the present invention includes the following combinations.

[0102] (Configuration 1) A control device, comprising: a support part that supports an imaging part so as to be capable of pan rotation or tilt rotation; a drive part for pan-rotating or tilt-rotating the support part; an operation detection part for detecting displacement of the support part; and a control part for releasing the restriction when the operation detection part detects the displacement of the support part during the restriction of the pan rotation and tilt rotation of the support part by the drive part.

[0103] (Configuration 2) The control device according to Configuration 1, further comprising a heater for heating the support part, wherein the control part restricts the pan rotation and tilt rotation of the support part by the drive part during operation of the heater in a high output mode.

[0104] (Configuration 3) The control device according to Configuration 2, wherein the control part ends the high output mode and releases the restriction when the operation detection part detects the displacement of the support part during operation of the heater in the high output mode.

[0105] (Configuration 4) The control device according to Configuration 2 or 3, wherein the high output mode is a mode for snow melting or ice thawing.

[0106] (Configuration 5) The control device according to any one of Configurations 2 to 4, wherein the control part applies a predetermined exciting current or exciting voltage to the drive part when the pan-tilt of the support part stops, and the operation detection part detects the displacement based on the exciting current or exciting voltage during operation of the heater in the high output mode.

[0107] (Configuration 6) The control device according to any one of Configurations 2 to 5, wherein the control part applies a predetermined exciting current or exciting voltage to the drive part when the pan-tilt of the support part stops, and periodically reduces the exciting current or exciting voltage to a predetermined value or less during operation of the heater in the high output mode.

[0108] (Configuration 7) The support part has a brake mechanism, and the control part stops the rotation of the support part by the brake mechanism when the pan / tilt of the support part stops, and periodically releases the brake by the brake mechanism while the heater is operating in the high output mode. The control device according to any one of Configurations 2 to 6, characterized in that.

[0109] (Configuration 8) The support part has an encoder, and the motion detection part detects the displacement of the support part based on the output of the encoder. The control device according to any one of Configurations 1 to 7, characterized in that.

[0110] (Configuration 9) The support part has a hall sensor, and the motion detection part detects the displacement of the support part based on the output of the hall sensor. The control device according to any one of Configurations 1 to 8, characterized in that.

[0111] (Method) A detection step for detecting the displacement of a support part that supports an imaging part so as to be pan-rotatable or tilt-rotatable, and a control step for releasing the restriction when the motion detection part detects the displacement of the support part during the restriction of the pan rotation and tilt rotation of the support part by a drive part. A control method for a control device, characterized by having.

[0112] (Program) A computer program for controlling each part of the control device according to any one of Configurations 1 to 9 by a computer.

[0113] In addition, in order to realize part or all of the control in the above embodiment, a computer program for realizing the functions of the above-described embodiment may be supplied to an imaging device or the like via a network or various storage media. And a computer (or CPU, MPU, etc.) in the imaging device or the like may read and execute the program. In that case, the program and the storage medium storing the program will constitute the present invention.

Explanation of Signs

[0114] 100: Imaging device 101: CPU 102: Imaging unit 103: Lens control unit 104: Infrared illumination 105: Pan-tilt drive unit 106: Actuator 107: Heater 108: Sensor 110: Bus 111: A / D conversion unit 112: Image input controller 113: Image processing unit 114: RAM 115: ROM 116: Storage device 117: I / F 118: Input device 119: Display device 120: Network 121: Image processing section 122: Image analysis section 123: Compression / expansion section

Claims

1. A support part that supports an imaging part so as to be panning-rotatable or tilting-rotatable; A drive part for panning-rotating or tilting-rotating the support part; An operation detection part for detecting displacement of the support part; A control part that, when the operation detection part detects the displacement of the support part during restriction of panning rotation and tilting rotation of the support part by the drive part, releases the restriction; A control device, characterized by comprising:

2. Further comprising a heater for heating the support part; The control device according to claim 1, wherein the control part restricts panning rotation and tilting rotation of the support part by the drive part while the heater is operating in a high-output mode.

3. The control device according to claim 2, wherein the control part, when the operation detection part detects the displacement of the support part during operation of the heater in the high-output mode, ends the high-output mode and releases the restriction.

4. The control device according to claim 2 or 3, wherein the high-output mode is a mode for snow melting or ice thawing.

5. The control device according to claim 2, wherein the control part applies a predetermined exciting current or exciting voltage to the drive part when the panning / tilting of the support part stops, and the operation detection part detects the displacement based on the exciting current or exciting voltage while the heater is operating in the high-output mode.

6. The control device according to claim 2, wherein the control part applies a predetermined exciting current or exciting voltage to the drive part when the panning / tilting of the support part stops, and periodically reduces the exciting current or exciting voltage to a predetermined value or less while the heater is operating in the high-output mode.

7. The support part has a brake mechanism; The control unit stops the rotation of the support unit by the brake mechanism when the pan / tilt of the support unit stops, and periodically releases the brake by the brake mechanism while the heater is operating in the high-power mode. The control device according to claim 2, characterized in that.

8. The support unit has an encoder, and the motion detection unit detects the displacement of the support unit based on the output of the encoder. The control device according to claim 1, characterized in that.

9. The support unit has a hall sensor, and the motion detection unit detects the displacement of the support unit based on the output of the hall sensor. The control device according to claim 1, characterized in that.

10. A detection step for detecting the displacement of a support unit that supports an imaging unit so as to be pan-rotatable or tilt-rotatable; A control step of releasing the restriction when the displacement of the support unit is detected in the detection step during the restriction of the pan rotation and tilt rotation of the support unit by a drive unit; A control method for a control device, characterized by comprising:

11. A computer program for controlling each part of the control device according to any one of claims 1 to 9 by a computer.

Images