Control device, control method, and computer program

Abstract

To provide a control device capable of appropriately determining whether de-ice is completed.SOLUTION: The control device has a support unit that supports an imaging unit so that it can be panned or tilted, a drive unit for panning or tilting the support unit, a heater for heating the support unit, and a control unit that determines whether the support unit is in a predetermined state on the basis of the torque for rotating the support unit by driving the drive unit after starting heating of the support unit using the heater.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 are used in low temperatures outdoors such as in cold regions and snowy areas. Therefore, there are cases where the pan-tilt drive unit freezes and the pan-tilt function becomes inoperable. Also, a pan-tilt device (hereinafter: positioning unit (pan-tilt head)) separated from the camera unit may similarly have the pan-tilt drive unit freeze in extremely low temperatures and the pan-tilt function become inoperable.

[0003] In order to solve such problems, a method is generally known in which heating is performed by a heater to defrost and the pan-tilt function is restored to an available state. In the pan-tilt head of Patent Document 1, the temperature of the pan-tilt head 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.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the configuration of Patent Document 1, after heating by the heater, the user had to check whether defrosting was completed. Also, if it was not completely defrosted, the user had to instruct heating by the heater again.

[0006] Therefore, one of the objects of the present invention is to provide a control device capable of appropriately determining whether defrosting is completed.

Means for Solving the Problem

[0007] In order to achieve the object of the present invention, a control device according to one aspect of the present invention includes: a support unit that supports an imaging unit so as to be pan-rotatable or tilt-rotatable; a drive unit for pan-rotating or tilt-rotating the support unit; a heater for heating the support unit; and a control unit that, after starting heating of the support unit using the heater, drives the drive unit and determines whether it is in a predetermined state based on the torque for rotating the support unit.

Advantages of the Invention

[0008] According to the present invention, a control device capable of appropriately determining whether a deicing is completed can be realized.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0010] 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 denoted by the same reference numerals, and redundant descriptions are omitted or simplified.

[0011] In the following embodiments, an example of a network camera is described as the imaging device. However, the imaging device may be any device capable of imaging a moving image, and includes, for example, a video camera, a still camera, a mobile phone having an imaging function, a portable information terminal, and the like.

[0012] <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.

[0013] Note that 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 as a storage medium.

[0014] 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.

[0015] In addition, 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 signal paths. 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.

[0016] 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.

[0017] However, in this embodiment, the imaging device 100 incorporates a pan-tilt drive unit 105 as a pan-tilt head. However, the imaging device and the pan-tilt drive unit 105 as a pan-tilt head may be separate bodies, 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 as a pan-tilt head, the CPU 101, etc. function as a control device that controls the pan-tilt head.

[0018] 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 each moved along the optical axis by a lens drive unit 103.

[0019] 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.

[0020] 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 a bus 110.

[0021] 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 an instruction from the CPU 101.

[0022] FIG. 7 is a diagram showing a configuration example of an imaging device according to an 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. 7, 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. When the turntable 201 rotates in the horizontal direction, the imaging unit 102 rotates in the pan direction.

[0023] 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 rotate in the pan direction or the tilt direction.

[0024] 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 equipped 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 from the pan - tilt drive unit 105.

[0025] 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.

[0026] Note that the actuator 106 is provided for the pan drive unit 105a and the tilt drive unit 105b respectively. In this embodiment, the pan - tilt drive unit 105 has both the pan drive unit 105a and the tilt drive unit 105b, but a configuration having only at least one of them may also be used. That is, the pan - tilt drive unit 105 may have a configuration that drives the imaging device in the pan direction or the tilt direction.

[0027] That is, the actuator 106 may be any device that drives the imaging device in the pan drive (rotation in the pan direction) or the tilt drive (rotation in the tilt direction). In the following description, pan - tilt means pan or tilt.

[0028] The heater 107 heats the pan - tilt drive unit 105 as a support unit. In the case of 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.

[0029] 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 the displacement of acceleration, angular velocity, azimuth, illuminance, and temperature related to the imaging unit 102 at a predetermined sampling rate.

[0030] 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.

[0031] 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 - off 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In addition, various digital image processes include optical black processing, pixel defect correction, aberration correction, peripheral light quantity 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.

[0036] 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.

[0037] 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).

[0038] 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.

[0039] I / F117 is various I / Fs (interfaces) related to input and output. I / F117 is connected to the input device 118, receives the instruction information, and notifies the CPU101 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).

[0040] 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 RAM114 from the imaging device 100, and displays it. I / F117 is connected to the network 120 via a LAN or the like. Note that, for example, the input device 118, the display device 119, etc. may be provided in an external control device or the like.

[0041] The image processing unit 121 performs processes such as correction of image blurring, trimming and dewarping of an image, and stitching for synthesizing and combining a plurality of videos in accordance with a control instruction from the CPU101 via the bus 110. Also, an OSD (on-screen display) such as an arbitrary message, icon, and graphics is superimposed on the image.

[0042] 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 CPU101 via the bus 110.

[0043] The compression / decompression unit 123 changes the compression rate of a predetermined designated area such as ADSR (area data reduction) in accordance with a control instruction from the CPU101 via the bus 110, and performs compression processing in a predetermined format to generate compressed data.

[0044] The compressed data is stored in the storage device 116 via the I / F 117, or output to the network 120 via the I / F 117. Also, decompression processing of a predetermined format is performed on the compressed data stored in the storage device 116 to generate uncompressed data. The compression / decompression processing of the predetermined format includes compression / decompression conforming to standards such as JPEG, MOTIOIN-JPEG, MPEG2, AVC / H.264, and AVC / H.265.

[0045] In addition, in Embodiment 1, when the pan-tilt drive unit 105 freezes and the pan-tilt function becomes inoperable, after heating the pan-tilt drive unit 105 with the heater 107, it is determined whether the de-icing is completed by driving the pan-tilt.

[0046] FIG. 2 is a flowchart showing an example of the processing of the control method executed by the imaging device according to Embodiment 1. Hereinafter, with reference to FIG. 2, the de-icing processing in the present embodiment will be described. Note that 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.

[0047] <Step S201> The CPU 101 as a control unit receives an instruction to start de-icing input from the input device 118 via the network 120.

[0048] Alternatively, when the temperature obtained from the temperature sensor of the sensor 108 by the CPU 101 as a control unit via the bus 110 becomes equal to or lower than a predetermined temperature, 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.

[0049] <Step S202> The heater control unit 101-2 starts heating the pan-tilt drive unit 105 or the entire imaging device 100 with the heater 107.

[0050] <Step S203> After a predetermined time has elapsed, the CPU 101 as the control unit acquires data from the temperature sensor of the sensor 108 via the bus 110.

[0051] <Step S204> The heater control unit 101-2 compares the temperature acquired in step S203 with a preset target heating temperature, and controls the power of the heater 107 to adjust the heating amount. By doing so, heating can be continued so as to be near the target temperature. The target heating temperature can also be set by the user. However, this embodiment does not limit the method of setting the target heating temperature.

[0052] <Step S205> Based on the temperature acquired in step S203 and the elapsed overheating time, the heater control unit 101-2 determines whether the pan-tilt drive unit 105 or the imaging device 100 has been sufficiently heated by the heater 107 and whether the de-icing has progressed. If the heating is sufficient, the process proceeds to step S206. If the heating is not sufficient, the process returns to step S203.

[0053] <Step S206> The heater control unit 101-2 turns off the heater 107 and stops the heating of the entire pan-tilt drive unit 105 or imaging device 100.

[0054] <Step S207> The pan-tilt control unit 101-1 drives the pan-tilt drive unit 105 via the bus 110 and the actuator 106 to rotate the pan and tilt, or one of them, and checks whether the de-icing is completed, that is, whether the pan-tilt function has been restored to an available state.

[0055] Here, step S207 functions as a determination step for the control unit to determine whether it is in a predetermined state based on the torque for driving the support part and rotating the support part after starting the heating of the support part using the heater when the pan-tilt drive part is frozen. Here, the predetermined state is a state where the de-icing is completed.

[0056] Specifically, when driving the pan-tilt drive unit 105, the pan-tilt control unit 101-1 measures that the torque required for the rotation of the motor of the actuator 106 has become equal to or less than a predetermined value within a predetermined time, and determines that the deicing is completed.

[0057] That is, when not frozen, the torque required for the rotation of the motor of the actuator 106 in driving the pan drive unit or the tilt drive unit of the pan-tilt drive unit 105 can be calculated based on the structure of the pan-tilt drive unit 105 and the actuator 106.

[0058] Alternatively, when not frozen, the torque required for the rotation of the motor of the actuator 106 in driving the pan drive unit or the tilt drive unit of the pan-tilt drive unit 105 can be measured in advance and stored in the storage device 116. And when it is measured that the torque curve is substantially the same as that when not frozen, it may be determined that the deicing is completed.

[0059] In addition, the pan-tilt control unit 101-1 may obtain the rotation speed of the motor from the hall element of the actuator 106 that drives the pan drive unit or the tilt drive unit of the pan-tilt drive unit 105, and determine whether the deicing is completed based on the rotation speed.

[0060] Alternatively, it may be determined whether the deicing is completed from the angle of the pan drive unit or the tilt drive unit obtained from the position encoder of the pan-tilt drive unit 105.

[0061] That is, when the pan drive unit or the tilt drive unit of the pan-tilt drive unit 105 is frozen, the rotation speed of the motor calculated from the hall element of the actuator 106 that drives the pan drive unit or the tilt drive unit will not reach the desired rotation speed.

[0062] Alternatively, the angle of the pan drive unit or tilt drive unit obtained from the position encoder of the pan-tilt drive unit 105 also does not reach the desired angle. Therefore, it may be determined that freezing occurs when the desired change amount cannot be obtained with at least one of them.

[0063] FIGS. 5(A) and 5(B) are diagrams for explaining an example of the relationship between torque and rotational speed. FIG. 5(A) shows the torque curve 501-1 required for the rotation of the motor of the actuator 106 and the rotational speed 501-2 of the motor of the actuator 106 when the actuator 106 rotates the pan-tilt drive unit 105 at a constant acceleration.

[0064] When the motor of the actuator 106 starts to rotate, the pan-tilt control unit 101-1 generates a minute rotation because backlash related to the structure such as gears and belts occurs. Thereafter, the friction related to the structure such as gears and belts becomes dominant and the required torque increases.

[0065] Thereafter, when the motor of the actuator 106 starts to rotate, the torque required for the rotation of the motor of the actuator 106 decreases and converges. In this embodiment, in such a case, it is determined that the deicing is completed.

[0066] On the other hand, FIG. 5(B) shows the torque curve used for the rotation of the motor when the actuator 106 is frozen, for example, when the actuator 106 accelerates and rotates the pan-tilt drive unit 105 at a constant acceleration. FIG. 5(B) also shows the rotational speed of the motor of the actuator 106 in that case. Also, 502-3 indicates the range of the torque required for the rotation of the motor of the actuator 106 when it is not frozen.

[0067] In FIG. 5(B), the pan-tilt control unit 101-1 increases the rotational torque of the motor of the actuator 106, and although it reaches the maximum rotational torque of the motor that the actuator 106 has, the motor of the actuator 106 does not rotate.

[0068] That is, in FIG. 5(B), the rotational torque of the motor of the actuator 106 exceeds the range 502-3 of the torque required for the rotation of the motor of the actuator 106 when not frozen. In this embodiment, in such a case, it is determined that it is frozen.

[0069] In this way, in step S207, when driving the pan drive unit or the tilt drive unit of the pan-tilt drive unit 105, it is analyzed whether the torque required for the rotation of the motor of the actuator 106 falls within a predetermined range within a predetermined time. If it falls within the predetermined range, it is determined that the de-icing is completed, and if it does not fall within the predetermined range, it is determined that it is frozen.

[0070] <Step S208> The CPU 101 as the control unit determines whether to continue the de-icing based on the determination result of the completion of the de-icing in step S207. If it is determined No in step S208, it proceeds to step S209. If it is determined Yes in step S208, it returns to step S202.

[0071] <Step S209> The pan-tilt control unit 101-1 sets the tilt drive unit of the pan-tilt drive unit 105 to an angle at which the remaining ice, water droplets attached to the imaging unit 102 or the pan-tilt drive unit 105, and the snow accumulated on the imaging unit 102 are likely to fall. That is, the imaging unit is directed downward, for example, so that the snow accumulated on the imaging unit or the pan-tilt drive unit 105 is likely to fall.

[0072] Next, the pan-tilt control unit 101-1 drives at least one of the pan drive unit and the tilt drive unit of the pan-tilt drive unit 105 at a predetermined speed or acceleration in order to shake off the remaining ice, water droplets attached to the imaging unit 102 or the pan-tilt drive unit 105, and the snow accumulated on the imaging unit 102.

[0073] Thus, in step S209, the control unit performs a removal operation of driving the support unit to remove snow, ice, or water droplets. Note that in step S209, when performing the removal operation, the support unit may be driven in a predetermined direction and the reverse direction of the predetermined direction to perform a head shaking operation to improve the removal efficiency.

[0074] Note that when performing the removal operation, after the imaging unit is once directed upward by the support unit, for example, the imaging unit may be driven downward, and the removal operation may be performed using the weight of the imaging unit.

[0075] Also, in step S209, the pan-tilt drive unit 105 may be vibrated by alternately driving the pan-tilt drive unit 105 in the reverse direction at a predetermined short period, thereby shaking off remaining ice, water droplets, and remaining snow. Alternatively, a vibrating body may be provided on the pan-tilt drive unit 105, and the remaining ice, water droplets, and remaining snow may be shaken off by vibrating the vibrating body in step S209.

[0076] <Step S210> The notification unit 101-3 outputs a moving image to the display device 119 and the network 120 via the I / F 117 after superimposing a message or icon indicating the completion of the de-icing on the moving image by the image processing unit 121 via the bus 110. That is, in step S210, the notification unit 101-3 notifies that the de-icing of the pan-tilt control unit has been completed.

[0077] Alternatively, the notification unit 101-3 may perform a message or event notification of the completion of the de-icing determination to the network 120 via the bus 110 and the I / F 117. However, this embodiment is not limited to the notification method of the completion of the de-icing determination.

[0078] As described above, according to this embodiment, it is not necessary for the user to operate the pan-tilt and confirm whether the de-icing is completed by trial and error. If the de-icing is not completed, the heating by the heater can be automatically restarted. Also, it is possible to avoid continuing the heating by the heater even though the de-icing is completed.

[0079] <Embodiment 2> In Embodiment 2, when the pan-tilt drive unit 105 freezes and the pan-tilt function becomes inoperable, the heater 107 heats the pan-tilt drive unit 105 to defrost it while varying the heating temperature and period according to the outside air temperature. That is, in Embodiment 2, the control unit determines the heating temperature or heating time by the heater according to the outside air temperature.

[0080] FIG. 3 is a flowchart showing an example of the processing of the pan-tilt control method executed by the imaging device according to Embodiment 2. Note that the operations of each step of the flowchart in FIG. 3 are sequentially performed when the CPU 101 as a computer executes a computer program stored in the memory.

[0081] <Step S301> Since the process is the same as that in Step S201 in Embodiment 1, the description thereof is omitted.

[0082] <Step S302> The CPU 101 as the control unit acquires at least one of the temperature outside the imaging device 100, the temperature inside the imaging device 100, and the temperature of the pan-tilt drive unit 105 from the temperature sensor of the sensor 108 via the bus 110 and, for example, averages them. Note that the averaging includes temporal averaging.

[0083] <Step S303> The heater control unit 101-2 determines at least one of the power used for heating, the heating temperature, and the heating period by the heater 107 based on the temperature acquired in Step S302.

[0084] The power used for heating, the heating temperature, or the heating period by the heater 107 is calculated based on the housing and structure of the imaging device 100 or measured in advance and stored in the storage device 116.

[0085] FIG. 6 is a diagram for explaining an example of a table 601 showing the relationship between the measured temperature, the maximum value of the torque used, the power consumption of the heater, the target heating temperature, and the target heating period. In step S303, as shown in the table 601 of FIG. 6, for example, when the measured temperature is -60° C., the heater 107 uses 50 mW and heats at the target heating temperature of 10° C. for 60 minutes. However, this embodiment is not limited to the example of this table 601.

[0086] <Steps S304 to S307> Since the processes in steps S202 to S204 in Embodiment 1 are the same as those in steps S304 to S307 respectively, the description thereof is omitted.

[0087] <Step S308> Based on the temperature acquired in step S305 and the elapsed time of overheating, the heater control unit 101-2 determines whether the pan-tilt drive unit 105 or the imaging device 100 is sufficiently heated by the heater 107 and whether the de-icing is promoted. If the heating is sufficient, the process proceeds to step S309. If the heating is not sufficient, the process returns to step S305.

[0088] <Steps S309 to S313> Since the processes in steps S206 to S210 in Embodiment 1 are the same as those in steps S309 to S313 respectively, the description thereof is omitted.

[0089] As described above, according to Embodiment 2, based on the temperature of the pan-tilt drive unit 105, the outside air temperature of the imaging device 100, the internal temperature of the imaging device 100, etc., an optimal de-icing process can be performed by the heater 107, and the time required for de-icing can be shortened.

[0090] <Embodiment 3> In Embodiment 3, when the pan-tilt drive unit 105 is frozen and the pan-tilt function becomes inoperable, and when the de-icing is not completed even after heating the pan-tilt drive unit 105 with the heater 107, the pan-tilt drive unit 105 is driven to break the ice.

[0091] FIG. 4 is a flowchart showing a processing example of a control method executed by the imaging device according to Embodiment 3. Note that, by the CPU 101 as a computer executing a computer program stored in a memory, the operations of each step of the flowchart in FIG. 4 are sequentially performed.

[0092] <Steps S401 to S407> Since the processes are the same as those in Steps S201 to S207 in Embodiment 1, the description thereof is omitted.

[0093] <Step S408> The CPU 101 as a control unit determines whether to continue the device based on the determination result of device completion in Step S407. If it is determined No in Step S408, the process proceeds to Step S411. If it is determined Yes in Step S408, the process proceeds to Step S409.

[0094] <Step S409> The pan-tilt control unit 101-1 drives the pan-tilt drive unit 105 via the bus 110 and the actuator 106 to rotate the pan and tilt, or one of them, and break the ice adhering to the pan-tilt drive unit 105.

[0095] For example, when driving the pan-tilt drive unit 105, the pan-tilt control unit 101-1 breaks the ice while increasing or decreasing the rotational torque of the motor of the actuator 106 with respect to the load related to the rotation of the motor of the actuator 106 and moving forward in the ice-breaking direction. However, in order to protect the actuator 106, a torque exceeding the maximum rotational torque of the motor of the actuator 106 is not applied.

[0096] In this way, the removal operation may be performed by increasing or decreasing the driving power of the support unit according to the load applied to the support unit and moving the support unit forward in the ice-breaking direction.

[0097] Alternatively, the pan-tilt control unit 101-1 performs at least once an operation of moving the pan-tilt drive unit 105 forward after moving it backward with respect to the ice crushing direction. Thereby, in addition to the rotation speed of the pan-tilt drive unit 105, ice is crushed with a collision pressure obtained by adding the weight of the imaging device 100 or the imaging unit 102. That is, the pan-tilt control unit 101-1 drives the pan-tilt drive unit 105 in a direction opposite to the ice crushing direction by a predetermined amount.

[0098] After that, the pan-tilt control unit 101-1 collides the pan-tilt drive unit 105 with the freezing part while accelerating, while increasing the rotation speed of the motor with the maximum rotational torque of the largest motor that the actuator 106 has in the ice crushing direction.

[0099] When ice cannot be crushed even by continuously driving in the ice crushing direction, by operating as in Embodiment 3, particularly by tilting and panning the camera downward after once turning the imaging device upward, the weight of the camera can be added and ice can be crushed, which is effective.

[0100] Also, in the case of the pan direction, since the acceleration distance can be lengthened, the ice crushing effect can be enhanced. In Embodiment 3, by implementing at least one of the ice crushing methods as described above, de-icing can be completed in a shorter time. Note that the pan-tilt drive method for ice crushing is not limited to the above method.

[0101] <Step S410> The heater control unit 101-2 determines at least one of the power consumption for heating, the target heating temperature, and the target heating period in the heater 107 based on the maximum value of the rotational torque of the motor of the actuator 106 used in step 409.

[0102] In step S410, the power consumption for heating, the target heating temperature, and the target heating period in the heater 107 are calculated from the housing and structure of the imaging device 100, or measured in advance, and stored in the storage device 116 as in the table 601 of FIG. 6, for example.

[0103] In the table 601 of FIG. 6, when the maximum value of the rotational torque of the motor of the actuator 106 used in step S409 is 0.072 N·m, the power consumption of the heater 107 is 50 mW, the target heating temperature is 10° C., and heating is performed for 60 minutes as the target heating period.

[0104] However, the power consumption of the heater 107, the target heating temperature, and the target heating period in step S410 with respect to the maximum value of the rotational torque used in step S409 are not limited to the example of the table 601 in FIG. 6.

[0105] <Steps S411 to S412> Since the processes are the same as those in steps S309 to S310 in Embodiment 1 respectively, the description is omitted.

[0106] As described above, according to Embodiment 3, when the deicing is not completed, by driving the pan-tilt drive unit 105 to perform ice crushing, the deicing can be promoted, and the temperature and period of heating by the heater 107 during ice crushing can be optimized. Therefore, the time and power consumption of deicing can be reduced.

[0107] 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 at least partial combinations of the above Embodiments 1 to 3 are possible based on the gist of the present invention, and they are not excluded from the scope of the present invention. Note that the present invention includes the following configurations and methods.

[0108] (Configuration 1) A control device, comprising: a support unit that supports an imaging unit so as to be pan-rotatable or tilt-rotatable; a drive unit for pan-rotating or tilt-rotating the support unit; a heater for heating the support unit; and a control unit that, after starting heating of the support unit using the heater, drives the drive unit and determines whether it is in a predetermined state based on the torque for rotating the support unit.

[0109] (Configuration 2) The control unit is the control device according to Configuration 1, characterized in that it determines the heating temperature or heating time by the heater according to the outside air temperature.

[0110] (Configuration 3) The predetermined state is a state where the deicing is completed, and the control device according to Configuration 1 or 2, characterized in that it has a notification unit for notifying that the deicing is completed.

[0111] (Configuration 4) The control unit is the control device according to any one of Configurations 1 to 3, characterized in that it performs a removal operation of driving the support unit to remove snow, ice, or water droplets.

[0112] (Configuration 5) The control unit is the control device according to Configuration 4, characterized in that when performing the removal operation, it drives the support unit in a predetermined direction and in the opposite direction of the predetermined direction.

[0113] (Configuration 6) The control unit is the control device according to Configuration 4 or 5, characterized in that when performing the removal operation, it advances the support unit in the ice crushing direction while increasing or decreasing the driving power of the support unit according to the load applied to the support unit, thereby performing the removal operation. A pan-tilt control device, characterized by having...

[0114] (Configuration 7) The control unit is the control device according to any one of Configurations 4 to 6, characterized in that when performing the removal operation, after directing the imaging unit upward by the support unit, it drives the imaging unit downward to perform the removal operation.

[0115] (Method) A control method for controlling a control device having a support unit that supports an imaging unit so as to be pan-rotatable or tilt-rotatable, a drive unit for pan-rotating or tilt-rotating the support unit, and a heater for heating the support unit, the method including: after starting heating of the support unit using the heater, driving the drive unit, and having a determination step of determining whether it is in a predetermined state based on the torque for rotating the support unit.

[0116] A computer program for controlling each part of the control device described in any one of Configurations 1 to 7 by a computer.

[0117] In addition, in order to realize part or all of the control in the above-described 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. Then, a computer (or a 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

[0118] 100: Imaging device 101: CPU 102: Imaging unit 103: Lens drive 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 unit that supports the imaging unit so that it can be panned or tilted; A drive unit for panning or tilting the support unit; A heater for heating the support unit; A control unit that, after starting to heat the support unit using the heater, drives the drive unit and determines whether it is in a predetermined state based on the torque for rotating the support unit. A control device characterized by comprising:

2. The control device according to claim 1, wherein the control unit determines the heating temperature or heating time by the heater according to the outside air temperature.

3. The predetermined state is a state where the deicing is completed, The control device according to claim 1, further comprising a notification unit that notifies that the deicing is completed.

4. The control device according to claim 1, wherein the control unit performs a removal operation of driving the support unit to remove snow, ice, or water droplets.

5. The pan-tilt control device according to claim 4, wherein the control unit drives the support unit in a predetermined direction and in the opposite direction of the predetermined direction when performing the removal operation.

6. The control device according to claim 4, wherein the control unit performs the removal operation by advancing the support unit in the ice-crushing direction while increasing or decreasing the driving power of the support unit according to the load applied to the support unit.

7. The control device according to claim 4, wherein the control unit performs the removal operation by driving the imaging unit downward after directing the imaging unit upward by the support unit when performing the removal operation.

8. A control method for controlling a control device having a support portion that supports an imaging unit so as to be pan-rotatable or tilt-rotatable, a drive unit for pan-rotating or tilt-rotating the support portion, and a heater for heating the support portion, comprising: After starting heating of the support portion using the heater, a determination step of driving the drive unit and determining whether it is in a predetermined state based on the torque for rotating the support portion is provided. The control method is characterized by this.

9. A computer program for controlling each part of the control device according to any one of claims 1 to 7 by a computer.

Images