Control device, control method, and control system

Abstract

To automatically set a setting value for enabling control of an imaging direction of an imaging apparatus.SOLUTION: A control device has: control means that can control an imaging direction of an imaging apparatus to be at least one direction of a pan direction and a tilt direction; acquisition means that acquires information on the speed of controlling the imaging direction of the imaging apparatus; and calibration means that determines through calibration, for the pan direction and the tilt direction, a setting value of the minimum speed at which operations can be performed and a setting value of the maximum speed at which the operations can be stopped. The setting value of the minimum speed and the setting value of the maximum speed determined by the calibration means are set to a setting value of the minimum speed and a setting value of the maximum speed in controlling the imaging direction.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a control device that controls an imaging device having an imaging unit with interchangeable lenses.

Background Art

[0002] Among the cameras used for high-level monitoring, there are cameras with interchangeable lenses according to the shooting application. In addition, there is a configuration in which a camera used for high-level monitoring is mounted on an external pan-tilt unit to realize the pan-tilt function of the camera.

[0003] In such a configuration combining a camera and a pan-tilt unit, the pan-tilt control may not operate as specified depending on the combination of the interchangeable lens and the pan-tilt unit. Patent Document 1 discloses a technique in a camera to vary the pan-tilt operation according to whether the attached lens is a wide-angle lens or a telephoto lens.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Similarly, when the control speed of the pan-tilt is low according to the size and weight of the attached lens, the drive unit that drives in the pan-tilt direction may not operate, or when the control speed of the pan-tilt is high, the drive unit may not stop at the specified position. However, in Patent Document 1, the pan-tilt operation cannot be varied according to the weight of the attached lens.

[0006] Therefore, when the pan-tilt unit and the lens attached to the camera change, the user has to manually move and check the controllable speed as pan-tilt control.

[0007] Therefore, an object of the present embodiment is to automatically set a setting value for controlling the imaging direction of an imaging device.

Means for Solving the Problem

[0008] To solve the above problems, a control device of the present invention includes the following configuration. That is, control means capable of controlling the imaging direction of the imaging device in at least one of the pan direction and the tilt direction, acquisition means for acquiring information on the imaging direction of the imaging device and the control speed thereof, and calibration means for obtaining, by calibration, at least one of a set value of the minimum speed at which operation is possible or a set value of the maximum speed at which stoppage is possible for at least one of the pan direction and the tilt direction, and setting at least one of the set value of the minimum speed and the set value of the maximum speed calculated by the calibration means to the minimum speed or the maximum speed at a speed that can be specified when controlling the imaging direction.

Effect of the Invention

[0009] According to the present embodiment, it becomes possible to automatically set a setting value for controlling the imaging direction of the imaging device.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

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Figure 11

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims. Although a plurality of features are described in the embodiments, not all of these plurality of features are essential to the invention, and the plurality of features may be arbitrarily combined. Further, in the accompanying drawings, the same or similar configurations are denoted by the same reference numerals, and redundant descriptions are omitted.

[0012] <The First Embodiment> FIG. 1 is a configuration diagram of a control system according to a first embodiment including a camera 100. The control system in this embodiment includes a camera 100, a lens 200, a pan-tilt unit 300, a client device 400, and a network 500. The lens 200 is a lens attached to the camera 100. The pan-tilt unit 300 is a pan-tilt unit on which the camera 100 is mounted. The client device 400 is described as being connected in a state where it can communicate with the camera 100 via the network 500 in this embodiment, but the connection method between the respective devices is not limited to a specific method. For example, it may be connected by SDI (Serial Digital Interface) or HDMI (registered trademark) (High-Definition Multimedia Interface).

[0013] The client device 400 controls the imaging direction, angle of view, image quality control, or registration and playback of preset settings for the camera 100 by sending a control command to the camera 100. Here, the preset setting can be registered as a preset position by associating the positions of the pan drive unit 301 and tilt drive unit 302, and the position of the lens drive unit 201, respectively, with a predetermined number (preset number). Furthermore, the preset position can be reproduced by inputting the preset number. Settings related to imaging such as image quality and white balance can also be associated with the preset number. The camera 100 sends a response to the control command obtained from the client device 400 to the client device 400. In this control system, the imaging direction of the camera 100 can be changed by connecting the camera 100 to the pan-tilt unit 300 having drive units that drive in the horizontal and vertical directions. Furthermore, a control instruction is given from the client device 400 to the system control unit 303 of the pan-tilt unit 300. Or, by the client device 400 giving a control instruction to the system control unit 303 of the pan-tilt unit 300 via the camera 100, it becomes possible to control the imaging direction of the camera 100 remotely.

[0014] <Configuration example of each device> Next, referring to FIG. 2, a functional configuration example of the camera 100, the lens 200, the pan-tilt unit 300, and the client device 400 will be described.

[0015] The camera 100 in the present embodiment includes an imaging unit 101, an image processing unit 102, a storage unit 103, a system control unit 104, and a communication unit 105.

[0016] The imaging unit 101 captures an image of a subject, converts the captured image into an electrical signal, and outputs it to the image processing unit 102.

[0017] The image processing unit 102 performs predetermined image processing and compression encoding processing on the signal captured and photoelectrically converted by the imaging unit 101 to generate image data. Note that the number of pieces of generated image data is not limited to one, and a plurality of pieces of image data having different resolutions and video qualities may be generated simultaneously. Further, the generated image data is transmitted to the system control unit 104.

[0018] The storage unit 103 holds a database regarding the lens, such as information on the previously attached lens 200, the lens name, the weight of the lens, and the length of the lens. Further, it holds a database regarding the pan-tilt unit, such as information on the previously mounted pan-tilt unit 300, the pan-tilt control speed, and the load capacity, and also holds the calibration result.

[0019] The system control unit 104 analyzes the acquired control commands and performs processing according to the commands. Here, the control commands are described as being acquired from the client device 400, but are not limited to this. They may also be control commands input from the operation unit of the camera 100. Further, the processing according to the control commands refers to, for example, instructing the image processing unit 102 to adjust the image quality, instructing the lens control unit 202 to perform zoom or focus control, and instructing the system control unit 303 of the pan-tilt unit 300 to perform pan-tilt operations. Also, it acquires the image data generated by the image processing unit 102 and transmits it to the communication unit 105. Further, by the calibration processing according to this embodiment, it calculates the operable pan-tilt control speed. Also, by the calibration processing according to this embodiment, it calculates the maximum speed of pan-tilt control that can obtain a certain stop accuracy. The system control unit 104 determines whether to execute the calibration processing by performing comparison processing of the presence or absence of the calibration result and with the lens 200 that was previously mounted and the pan-tilt unit 300 that was previously mounted. Also, regarding the calibration processing according to this embodiment, it controls the backup and restore processing of the calibration result. Also, in the calibration processing according to this embodiment, it instructs the system 303 to control the pan-tilt position to the position where the calibration processing starts for the pan-tilt operation.

[0020] The communication unit 105 transmits the image data transmitted from the system control unit 104 to the client device 400. Also, it receives various setting commands and camera control commands transmitted from the client device 400 and transmits them to the system control unit 104. Also, it transmits the response of the camera 100 to the commands transmitted from the client device 400 to the client device 400. Also, it transmits the control command for the pan-tilt operation transmitted from the system control unit 104 to the communication unit 3004 of the pan-tilt unit 300. Also, it transmits the response to the commands transmitted from the pan-tilt unit 300 to the system control unit 104.

[0021] Note that the configuration of the camera 100 is not limited to this.

[0022] Next, a functional configuration example of the lens 200 in the present embodiment will be described.

[0023] The lens driving unit 201 is composed of a driving system for a focus lens and a zoom lens, and its operation is controlled by the lens control unit 202.

[0024] The lens control unit 202 controls the lens driving unit 201 based on an instruction transmitted from the system control unit 104 of the camera 100. Further, focus movement information and zoom movement information are transmitted to the system control unit 104 of the camera 100. Note that the configuration of the lens 200 is not limited to this.

[0025] Next, a functional configuration example of the pan-tilt head 300 in the present embodiment will be described.

[0026] The pan driving unit 301 is composed of a mechanical driving system that performs a pan operation and a motor as a driving source, and its operation is controlled by the system control unit 303.

[0027] The tilt driving unit 302 is composed of a mechanical driving system that performs a tilt operation and a motor as a driving source, and its operation is controlled by the system control unit 303.

[0028] The system control unit 303 controls the pan driving unit 301 and the tilt driving unit 302 based on an instruction transmitted from the communication unit 304.

[0029] Note that the configuration of the pan-tilt head 300 is not limited to this.

[0030] Next, a functional configuration example of the client device 400 in the present embodiment will be described. The client device 400 is a general-purpose computer such as a personal computer or a remote controller. The client device 400 includes a display unit 401, an input unit 402, a system control unit 403, and a communication unit 404.

[0031] The display unit 401 uses a display device such as a liquid crystal projector or a liquid crystal monitor to display the image acquired from the camera 100 and to display a graphic user interface (hereinafter referred to as GUI) for performing camera control.

[0032] The input unit 402 uses a pointing device such as a keyboard, a mouse, or a touch panel. The user of the client device operates the GUI via the input unit 402. When controlling the lens exchangeable camera 1000 using a remote controller, the lens exchangeable camera 1000 is operated via a joystick or various buttons mounted on the remote controller.

[0033] The system control unit 403 generates various setting commands and camera control commands according to the user's GUI operations, and transmits them to the camera 100 via the communication unit 404. In addition, the system control unit 403 receives the response of the camera 100 to the various setting commands and camera control commands transmitted via the communication unit 404. Further, the system control unit 403 displays the image data received from the camera 100 via the communication unit 401 on the display unit 401.

[0034] The communication unit 404 transmits various setting commands and camera control commands transmitted from the system control unit 403 to the camera 100. In addition, the communication unit 404 transmits the image data transmitted from the camera 100 and the response of the camera 100 to the commands transmitted from the client device 400 to the system control unit 403.

[0035] In this way, the client device 400 can perform settings and control related to various imaging operations of the camera 100 via the network 500.

[0036] <Calibration process for operating speed> The first embodiment of the present embodiment will be described below.

[0037] In this embodiment, the camera 100 calculates the pan driving speed and the tilt driving speed at which it can operate in the pan direction or the tilt direction by calibration. Further, when stopping the camera 100 that is driving in the pan direction or the tilt direction, this embodiment is characterized in that the maximum speed at which stopping accuracy can be obtained is calculated by calibration. Here, the operable pan speed and tilt speed refer to the lowest speed (set value of the lowest speed) determined to operate in the pan direction and the tilt direction. Similarly, the maximum speed at which stopping accuracy can be obtained refers to the highest speed (set value of the highest speed) determined to have stopped when stopping the camera 100 that is driving in the pan direction or the tilt direction.

[0038] Using FIG. 3, the processing flow for calculating the pan speed and the tilt speed at which the camera 100 can operate with respect to the lens 200 by calibration will be described. In this embodiment, the pan speed and the tilt speed that can operate in the pan direction and the tilt direction are calculated, but it is not limited to this. It is also possible to calculate at least one of the pan speed and the tilt speed. Similarly, in this embodiment, the pan speed and the tilt speed at which the camera can stop in the pan direction and the tilt direction are calculated, but it is not limited to this. It is also possible to calculate at least one of the pan speed and the tilt speed at which it can stop.

[0039] In S3001, the system control unit 104 calculates the lowest speed (hereinafter referred to as the set value of the lowest speed) at which the pan-tilt control can operate by calibration processing, and proceeds to S3002. The details of the processing for calibrating the lowest speed will be described with reference to FIG. 4.

[0040] In S3002, the system control unit 104 calculates the highest speed (hereinafter referred to as the set value of the highest speed) at which stopping accuracy can be obtained for the pan-tilt control by calibration processing, and proceeds to S3003. The details of the processing for calibrating the highest speed will be described with reference to FIG. 5.

[0041] In S3003, the system control unit 104 determines whether the current speed setting of the pan-tilt control is within the range of the minimum speed setting value and the maximum speed setting value obtained in S3001 and S3002. As a result of the determination, if the speed setting of the pan-tilt control is within the range of the calibration result, the process ends. And if the speed setting of the pan-tilt control is within the range of the calibration result, proceed to S3004.

[0042] In S3004, the system control unit 104 changes the setting of the speed setting of the pan-tilt control to a speed within the range of the speed obtained in S3001 and S3002, and ends the process. At this time, as a method of changing the speed, a method of changing to a speed closer to either the minimum speed or the maximum speed can be considered. Or, it may be changed to a speed in the middle of the minimum speed and the maximum speed. It may be changed to the speed of the initial setting of the camera 100.

[0043] <Calibration process for the minimum speed> Using FIG. 4, the processing flow of the calibration process for calculating the setting value of the minimum speed at which the pan-tilt operation is possible will be described.

[0044] In S4001, the system control unit 104 changes the speed setting of the pan-tilt control to the minimum speed set in the camera 100, and proceeds to S4002. That is, it is changed to the minimum speed for driving the camera 100. The speed set at this time was the minimum speed set in the camera 100, but it is not limited to this. For example, it may start from speed 0, or a predetermined speed at which a generally lightweight lens can be panned and tilted may be used as the minimum speed in this embodiment.

[0045] In S4002, the system control unit 104 transmits a drive command (pan drive instruction) for driving in the pan direction toward a predetermined position to the system control unit 3003, and proceeds to S4003.

[0046] In S4003, the system control unit 104 determines whether the camera 100 or the pan / tilt unit 300 has been driven in the pan direction in response to a pan drive instruction. If the result of the determination is that it has been driven in the pan direction, the process proceeds to S4005. If it has not been driven in the pan direction, the process proceeds to S4004. The determination process for pan drive is performed using a plurality of captured images. Specifically, in the frames of at least two or more captured images, the difference between the frames is obtained. Further, the system control unit 104 acquires the lens zoom value (lens data) from the lens control unit 202 and calculates the angle of view information corresponding to the vertical and horizontal widths of the captured image. The system control unit 104 calculates the relative angle θ in the pan direction based on the angle of view information and the difference between the frames. When the relative angle θ is equal to or greater than a predetermined threshold value, it is determined that the camera 100 or the pan / tilt unit 300 has been driven in the pan direction. Also, when the relative angle θ is less than the predetermined threshold value, it is determined that the camera 100 or the pan / tilt unit 300 has not been driven in the pan direction. Alternatively, the pan drive determination may be performed by acquiring the position information of the pan drive unit 301 from the system control unit 303. Specifically, the position of the pan drive unit 301 before the pan drive instruction is compared with the position of the pan drive unit 301 after the pan drive instruction. At this time, if the position information of the pan drive unit 301 before and after the pan drive instruction matches, it is determined that it has been driven in the pan direction, and if it does not match, it is determined that it has not been driven in the pan direction.

[0047] In S4004, the system control unit 104 changes the speed setting for pan control to a one-step faster setting and proceeds to S4002.

[0048] In S4005, the system control unit 104 sets the set value of the lowest speed that can be specified as the speed setting for pan control to the speed determined to have been driven in the pan direction in S4003 and proceeds to S4006.

[0049] In S4006, the system control unit 104 sends a position designation command for tilt to the system control unit 3003 and proceeds to S4007.

[0050] In S4007, the system control unit 104 determines whether the tilt control has operated. As a result of the determination, if the tilt has operated, the process proceeds to S4009. If the tilt has not operated, the process proceeds to S4008. Since the determination method is the same as that in S4003, the description thereof is omitted.

[0051] In S4008, the system control unit 104 changes the speed setting of the tilt control to a faster setting and proceeds to S4006.

[0052] In S4009, the system control unit 104 sets the set value of the lowest speed that can be specified as the speed setting of the tilt control to the speed determined to have been driven in the tilt direction in S4007, and ends the process.

[0053] <Calibration process for maximum speed> Using FIG. 5, the processing flow of the calibration process for detecting the maximum speed in the pan-tilt control will be described.

[0054] In S5001, the system control unit 104 changes the speed setting of the pan-tilt control to the set value of the lowest speed. Further, a drive command is output to the system control unit 303 so that the system control unit 104 operates in the pan direction from a predetermined position A set by the set speed toward a position B. After the output, the process proceeds to S5002. In the present embodiment, the predetermined position A and the position B are set to the maximum angle drivable in the pan direction. That is, in the case of the camera 100 that can be driven in the pan direction from 0 degrees to 360 degrees, the position A and the position B are set to 0 degrees to 360 degrees, but the present invention is not limited thereto. For example, the predetermined position A and the position B may be from 0 degrees to 10 degrees. When driving from an arbitrary position A to a position B in this way, it may not reach the position B at the specified speed. At this time, it is determined whether it has reached at the speed set for the position B. If it is determined that it has not reached, the setting is reconfigured so as to drive a longer distance from the position A to the position B.

[0055] At S5002, after the pan position reaches position B, the system control unit 104 outputs a pan drive stop command to the system control unit 303 and proceeds to S5003.

[0056] At S5003, the system control unit 104 checks whether the pan position has stopped within a certain range from position B. As a result of the check, if it has stopped within a certain range from the specified position, it proceeds to S5004. If it has not stopped within a certain range from the specified position, it proceeds to S5005. The determination process of the pan operation is performed using a plurality of captured images. Specifically, in the frames of at least two or more captured images, the difference between the frames is obtained. Further, the system control unit 104 acquires the lens zoom value (lens data) from the lens control unit 202 and calculates the angle of view information corresponding to the vertical and horizontal widths of the captured image. The system control unit 104 calculates the relative angle θ in the pan direction based on the angle of view information and the difference between the frames. When the relative angle θ is smaller than a predetermined threshold value, it is determined that the camera 100 or the pan-tilt unit 300 has stopped in the pan direction. Also, when the relative angle θ is equal to or greater than the predetermined threshold value, it is determined that the camera 100 or the pan-tilt unit 300 has stopped in the pan direction. Alternatively, the stop determination may be made by acquiring the position information of the pan drive unit 301 from the system control unit 303. Specifically, the position of the pan drive unit 301 before the pan stop instruction is compared with the position of the pan drive unit 301 after the pan stop instruction. At this time, if the difference value of the position information of the pan drive unit 301 before and after the pan drive instruction is within a predetermined range, it is determined that it has stopped in the pan direction, and if it is not within the predetermined range, it is determined that it has not stopped in the pan direction.

[0057] At S5004, the system control unit 104 changes the speed setting of the pan control to a one-step faster setting and proceeds to S5006.

[0058] At S5005, the system control unit 104 sets the maximum speed that can be specified in the pan control to a speed one step lower than the speed driven at S5003 and proceeds to S5008.

[0059] In S5006, the system control unit 104 checks whether the control speed of the pan control has reached the maximum speed preset in the camera 100. If it has reached the maximum speed, proceed to S5007. If it has not reached the maximum speed, an actuation command is output to the system control unit 303 so that it operates in the pan direction from the predetermined position A to the position B at the speed set in S5004, and proceed to S5002.

[0060] In S5007, the system control unit 104 sets the maximum speed that can be specified in the pan control to the preset maximum speed, and proceed to S5008.

[0061] In S5008, similar to S5001, the system control unit 104 outputs an actuation command to the system control unit 303 so that it operates in the tilt direction from the predetermined position A set by the system control unit 104 to the position B at the minimum speed, and proceed to S5009.

[0062] In S5009, after the tilt position reaches the position B, the system control unit 104 outputs a pan drive stop command to the system control unit 303 and shifts to S5010.

[0063] In S5010, the system control unit 104 determines whether the pan position has stopped within a certain range from the position B. As a result of the determination, if it has stopped within a certain range from the specified position, proceed to S5011. If it has not stopped within a certain range from the specified position, proceed to S5014. Since the determination method is the same as that in S5003, the explanation is omitted.

[0064] In S5011, the system control unit 104 changes the speed setting of the tilt control to a setting that is one step faster, and proceed to S5012.

[0065] In S5012, the system control unit 104 checks whether the control speed of the tilt control has reached the maximum speed. If it has reached the maximum speed, proceed to S5013. If it has not reached the maximum speed, an operation command is output to the system control unit 303 to operate in the tilt direction from a predetermined position A to position B at the speed set in S5011, and proceed to S5009.

[0066] In S5013, the system control unit 104 sets the maximum speed that can be specified in the tilt control to the current speed and ends the process.

[0067] In S5014, the system control unit 104 sets the maximum speed that can be specified in the tilt control to a speed one level lower than the speed at which it was driven in S5010 (the currently set driving speed) and ends the process.

[0068] As described above, according to this proposal, by performing calibration processing in the camera 100, it becomes possible to automatically calculate the minimum speed and the maximum speed at which the pan-tilt operation is possible. As a result, it is no longer necessary for the user to manually check the operable speed after replacing the lens 200.

[0069] Note that in this embodiment, the verification of the operating speed is performed by the calibration process, but the object to be verified does not necessarily have to be the operating speed. For example, it may be information necessary for the control of pan and tilt, such as the torque required for the operation.

[0070] Note that the functions of the above embodiment can also be realized by the following configuration. That is, it is also achieved by distributing the program code for performing the processing of this embodiment to a system or device, and the computer (or CPU or MPU) of the system or device executing the program code. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiment, and the storage medium storing the program code also realizes the functions of this embodiment.

[0071] <Second Embodiment> Next, a second embodiment will be described. This embodiment is characterized by determining whether to perform calibration processing by checking the presence or absence of a calibration result and the presence or absence of a change in the connected lens.

[0072] Note that this embodiment is another embodiment of the camera 100 in Embodiment 1. In this embodiment, descriptions of configurations and contents that are the same as those described in Embodiment 1 will be omitted.

[0073] A processing flow for determining whether to perform calibration processing by checking the presence or absence of a calibration result and the presence or absence of a change in the connected lens will be described with reference to FIG. 6.

[0074] In S6001, the system control unit 104 checks whether a calibration result is stored in the storage unit 103. If a calibration result is stored, the process proceeds to S6002. If no calibration result is stored, the process proceeds to S6003.

[0075] In S6002, the system control unit 104 determines whether the lens 200 connected to the camera 100 has changed. If the connected lens 200 has changed, the process proceeds to S6003. If the connected lens 200 has not changed, the process ends.

[0076] Since S6003 is the same as the processing in S3001, the description thereof will be omitted.

[0077] Since S6004 is the same as the processing in S3002, the description thereof will be omitted.

[0078] Since S6005 is the same as the processing in S3003, the description thereof will be omitted.

[0079] Since S6006 is the same as the processing in S3004, the description thereof will be omitted.

[0080] In S6007, the system control unit 104 stores the calibration results calculated in S6003 and S6004 and the lens information of the mounted lens 200 in the storage unit 103, and ends the process.

[0081] As described above, according to the present proposal, by determining whether to perform the calibration process before performing the calibration process in the camera 100, it is possible to avoid performing the calibration process repeatedly.

[0082] Note that the functions of the above embodiments can also be realized by the following configuration. That is, it can also be achieved by distributing the program code for performing the processing of the present embodiment to a system or device, and the computer (or CPU or MPU) of the system or device executing the program code. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code also realizes the functions of the present embodiment.

[0083] <Third Embodiment> Subsequently, a third embodiment will be described. This embodiment is characterized in that when determining the set value of the maximum speed or the minimum speed in the calibration process, the calibration result is saved.

[0084] Note that this embodiment is another embodiment of the camera 100 of the first embodiment. In this embodiment, the description of the same configuration and content as those described in the first embodiment will be omitted.

[0085] When calculating the pan / tilt controllable speed in the calibration process, the description of the processing flow for saving the calibration result is omitted because it is the same as the processing in FIG. 6.

[0086] The process of backing up the calibration result stored by the camera 100 will be described with reference to FIG. 7.

[0087] In S7001, the system control unit 104 checks whether the calibration result is stored in the storage unit 103. If the calibration result is stored, proceed to S7002. If the calibration result is not stored, end the process.

[0088] In S7002, the system control unit 104 performs a backup of the calibration result and proceeds to S7003.

[0089] In S7003, the system control unit 104 outputs the backup file to the client device 400 via the communication unit 105 and ends the process. Here, if an auxiliary storage device such as a memory card can be connected to the camera 100, the backup file may be output to the memory card.

[0090] Subsequently, with reference to FIG. 7, the processing flow for restoring the backup file output by the camera 100 will be described.

[0091] In S7004, the system control unit 104 verifies whether the lens information recorded in the backup file is the same as the lens information currently mounted. If the recorded lens information is the same as the current lens information, proceed to S7005. If the recorded lens information is different from the current lens information, end the process.

[0092] In S7005, the system control unit 104 restores the calibration result from the backup file and ends the process.

[0093] As described above, in the present proposal, by storing the calibration result in the camera 100, it becomes possible to perform backup and restoration of the calibration result.

[0094] Incidentally, the functions of the above embodiments can also be realized by the following configuration. That is, it can also be achieved by distributing the program code for performing the processing of this embodiment to a system or device, and having a computer (or CPU or MPU) of the system or device execute the program code. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code also realizes the functions of this embodiment.

[0095] <Fourth Embodiment> Subsequently, a fourth embodiment will be described. This embodiment is characterized in that it determines whether to perform calibration processing by acquiring information on the lens 200 connected to the camera 100 from the storage unit 103.

[0096] Incidentally, this embodiment is another embodiment of the camera 100 in Embodiment 1. In this embodiment, the same configurations and contents as those described in Embodiment 1 will not be described.

[0097] Using FIG. 8, a processing flow for determining whether to perform calibration processing by determining whether the attached lens 200 matches a database that is information regarding the lens will be described. Here, the database indicates information regarding the type of lens. In this embodiment, it will be described that information regarding the type and weight of the previously connected lens is stored in the database, but it is not limited to this. For example, at this time, the database may be acquired from an external device or may be held in the storage unit 103 in advance. In this embodiment, it will be described that it is held in the storage unit 103 in advance, but when acquiring from an external device, it can be realized by acquiring lens information (database) from an external device (not shown) and storing it in the storage unit 103 in S8003 described later.

[0098] S8001 will not be described because it is the same processing as S6001.

[0099] Explanation of S8002 is omitted since it is the same process as S6002.

[0100] In S8003, the system control unit 104 checks the information of the lens 200 attached to the camera 100 against the database stored in the storage unit 103, and proceeds to S8004.

[0101] In S8004, the system control unit 104 checks the information of the lens that was last connected to the storage unit 103, and proceeds to S8005.

[0102] In S8005, the system control unit 104 compares the lens information obtained in S8003 with the lens information obtained in S8004 to check if there is a significant change in the size or weight of the lens. If there is a significant change in the size or weight of the lens, it proceeds to S8006. When there is no significant change in the size or weight of the lens, the calibration process is skipped and the process ends.

[0103] Explanation of S8006 is omitted since it is the same process as S3001.

[0104] Explanation of S8007 is omitted since it is the same process as S3002.

[0105] Explanation of S8008 is omitted since it is the same process as S3003.

[0106] Explanation of S8009 is omitted since it is the same process as S3004.

[0107] Explanation of S8010 is omitted since it is the same process as S6007.

[0108] As described above, in this proposal, by comparing the information of the lens 200 replaced in the camera 100 with the information of the lens that was last connected, the calibration process is skipped. This makes it possible to perform calibration only when the calibration process is necessary, improving the convenience for the user.

[0109] <Fifth Embodiment> Next, the fifth embodiment will be described. This embodiment is characterized by controlling the position at which calibration starts.

[0110] Note that this embodiment is another embodiment of the camera 100 in the first embodiment. In this embodiment, the same configurations and contents as those described in the first embodiment will be omitted from the description.

[0111] Using FIG. 9, the processing flow for performing calibration after controlling the position at which calibration processing starts will be described.

[0112] In S9001, the system control unit 104 performs pan-tilt control to the position where the calibration of the set value of the lowest operable speed starts, and proceeds to S9002. Here, as the position where calibration starts, the 0 position of the pan-tilt control may be specified, or the position with the highest load for starting calibration may be specified as the start position.

[0113] S9002 is omitted from the description because it has the same processing as S3001.

[0114] In S9003, the system control unit 104 performs pan-tilt control to the position where the calibration regarding the highest speed at which stop accuracy can be obtained starts, and proceeds to S9002. Here, as the position where calibration starts, the 0 position of the pan-tilt control may be specified, or the position with the highest load for starting calibration may be specified as the start position.

[0115] S9004 is omitted from the description because it has the same processing as S3002.

[0116] S9005 is omitted from the description because it has the same processing as S3003.

[0117] S9006 is omitted from the description because it has the same processing as S3004.

[0118] As described above, in the present proposal, by controlling the position where calibration starts in the camera 100, it becomes possible to more appropriately calculate the operable speed.

[0119] <Sixth Embodiment> The sixth embodiment of the present embodiment will be described.

[0120] This embodiment is characterized in that it determines whether to perform calibration processing by determining whether the pan-tilt 300 to which the camera 100 is attached has changed.

[0121] Note that this embodiment is another embodiment of the camera 100 in Embodiment 1. In this embodiment, the description of the same configurations and contents as those described in Embodiment 1 will be omitted.

[0122] Using FIG. 10, a processing flow for determining whether to perform calibration processing by determining whether the pan-tilt 300 to which the camera 100 is attached has changed will be described.

[0123] S1001 is omitted from the description because it is the same process as S6001.

[0124] S1002 is omitted from the description because it is the same process as S6002.

[0125] In S1003, the system control unit 104 checks the information of the connected pan-tilt 300 in the storage unit 103. As a result of the check, if there is a change in the connected pan-tilt 300, the process proceeds to S1004. If there is no change in the connected pan-tilt 300, the process ends.

[0126] S1004 is omitted from the description because it is the same process as S3001.

[0127] S1005 is omitted from the description because it is the same process as S3002.

[0128] Explanation of S1006 is omitted because it is the same as the process of S3003.

[0129] Explanation of S1007 is omitted because it is the same as the process of S3004.

[0130] In S1008, the system control unit 104 stores the calibration result, information on the attached lens 200, and information on the pan-tilt unit 300 to which the camera is connected in the storage unit 103 and ends the process.

[0131] As described above, in this proposal, in addition to detecting changes in the attached lens 200 in the camera 100, it is determined whether to execute the calibration process after detecting changes in the attached pan-tilt unit 300. As a result, the calibration process can be performed not only when the lens 200 changes but also when the pan-tilt unit 300 changes, eliminating the need to manually check the operation speed when the pan-tilt unit 300 changes.

[0132] In this embodiment, after calculating the change in the lens 200, the change in the pan-tilt unit 300 is calculated. However, it is not always necessary to calculate the change in the lens 200. It is also possible to only calculate the change in the pan-tilt unit 300.

[0133] <The Seventh Embodiment> The seventh embodiment of this embodiment will be described.

[0134] This embodiment is characterized in that it determines whether to perform the calibration process by checking whether the calibration process is a process instructed by the user.

[0135] Note that this embodiment is another embodiment of the camera 100 in Embodiment 2. In this embodiment, descriptions of the same configurations and contents as those described in Embodiment 2 are omitted.

[0136] A processing flow for determining whether to perform calibration processing will be described by checking whether the calibration processing is a process instructed by the user using FIG. 11.

[0137] In S11001, the system control unit 104 determines whether the calibration process is a process instructed by the user. If it is a process instructed by the user, the process proceeds to S11004. If it is not an instruction from the user, for example, if it is a calibration instruction during the activation of the camera 100, the process proceeds to S11002.

[0138] Since the processing after S11002 is the same as the processing of S6001 to S6007 in FIG. 6, the description thereof will be omitted.

[0139] As described above, by determining whether the user has instructed the calibration process, the calibration process according to the user instruction is executed. As a result, it is possible to avoid duplicating the calibration process in other cases.

[0140] Also, in the first to seventh embodiments, the camera 100 and the pan-tilt unit 300 have been described as separate entities, but this is not the only case. For example, a camera having a pan-tilt drive unit may be used. In that case, the control command is output to the camera 100, and drive control is executed by the system control unit 103 inside the camera 100.

Description of Reference Numerals

[0141] 100 Camera 101 Imaging unit 102 Image processing unit 103 Storage unit 104 System control unit 105 Communication unit 200 Lens 201 Lens drive unit 202 Lens control unit 300 Pan-tilt unit 301 Pan drive unit 302 Tilt drive unit 303 System control unit 304 Communication unit 400 Client device 401 Display unit 402 Input unit 403 System control unit 404 Communication unit 500 Network

Claims

1. Control means capable of controlling the imaging direction of the imaging device in at least one of the pan direction and the tilt direction, acquisition means for acquiring information regarding the control speed of the imaging direction of the imaging device, Calibration means for determining, by calibration, at least one of a set value of the minimum operable speed and a set value of the maximum stoppable speed for at least one of the pan direction and the tilt direction, having setting at least one of the set value of the minimum speed determined by the calibration means and at least one of the set values of the maximum speed as at least one of the set value of the minimum speed and the set value of the maximum speed when controlling the imaging direction A control device characterized by

2. When controlling at least one of the pan direction and the tilt direction of the imaging direction of the imaging device, first determination means for determining whether the imaging direction operates at a predetermined speed or at least one of whether it stops at a predetermined speed, The imaging device according to claim 1, further comprising

3. The first determination means determines based on information regarding the imaging direction of the imaging device or an imaging image captured by the imaging device, The control device according to claim 1, characterized by

4. The imaging direction of the imaging device can be controlled by the control means controlling a pan head to which the imaging device is attached, Second detection means for detecting that the type of the pan head to which the imaging device is attached has changed, According to the result of the second detection means, the calibration means executes a calibration process The control device according to claim 1, characterized by

5. When the control means executes the calibration process, it controls the pan and tilt positions to start from a predetermined position. The control device according to claim 1, characterized in that.

6. Detection means for detecting that the type of the lens mounted on the imaging unit has changed; The calibration means executes the calibration process according to the result of the detection means. The control device according to claim 1, characterized in that.

7. Holding means for holding the calibration result determined by the calibration means; The control device according to claim 6, characterized in that calibration is executed when there is no calibration result held by the holding means.

8. Conversion means for converting the calibration result held by the holding means into a backup file; Backup means for backing up the backup file converted by the conversion means to an external device; Restore means for restoring the backup file output by the output means from the external device; The control device according to claim 7, characterized by comprising.

9. The holding means further holds information regarding the lens; Second determination means for determining whether to execute the calibration process based on the information of the lens mounted on the imaging device and the information held by the holding means; The control device according to claim 8, characterized by comprising.

10. The control device according to claim 6, characterized in that calibration is executed when the instruction for the calibration process is an instruction by the user.

11. A control step capable of controlling the imaging direction of the imaging device in at least one of the pan direction and the tilt direction, and an acquisition step of acquiring information regarding the control speed of the imaging direction of the imaging device, A calibration step of determining, by calibration, at least one of a set value of the lowest operable speed and a set value of the highest stoppable speed for at least one of the pan direction and the tilt direction, having, setting at least one of the set value of the lowest speed determined in the calibration step and the set value of the highest speed as at least one of the set value of the lowest speed and the set value of the highest speed when controlling the imaging direction, characterized by a control method.

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

Images