Imaging device, imaging device control method and program

Abstract

To make it possible to reduce photobombing of an imaging device body and the like at an imaging angle upon a rotation drive of an imaging unit.SOLUTION: When a system control unit drives a rotation mechanism at 90° and a photobombing area of an imaging device body and the like appears at an imaging angle, the system control unit is configured to limit a drivable range of a tilt mechanism to a range where the photobombing area does not appear. Then, the system control unit is configured to drive the tilt mechanism in an upward direction in accordance with a set drivable range, and thereby cause the photobombing area of the imaging device body and the like not to appear at the imaging angle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention particularly relates to an imaging device including a rotation mechanism, a control method of the imaging device, and a program.

Background Art

[0002] Conventionally, imaging devices used for surveillance or video production purposes include a zoom mechanism for enlarging and reducing a subject to flexibly change the shooting range, a pan mechanism for driving the imaging unit in the horizontal direction, and a tilt mechanism for driving the imaging unit in the vertical direction. Further, Patent Document 1 discloses an imaging device having a mechanism for rotating the imaging element itself (hereinafter, rotation mechanism) in addition to these three mechanisms.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the case of an imaging device having a rotation mechanism as in the device disclosed in Patent Document 1, depending on the installation environment and the driving position, a part of the instrument for installing the imaging device or the imaging device body itself (hereinafter, imaging device body, etc.) may be reflected in the imaging area.

[0005] In view of the above problems, an object of the present invention is to reduce the reflection of the imaging device body, etc. in the imaging angle of view when the imaging unit is rotationally driven.

Means for Solving the Problems

[0006] The imaging device according to the present invention includes an imaging means, a first driving means for rotating the imaging means about the optical axis of the imaging optical system, a second driving means for changing the imaging range of the imaging means, and a control means for controlling so as to determine a drivable range by the second driving means according to the imaging range of the imaging means when the imaging means is rotated by the first driving means.

Effect of the Invention

[0007] According to the present invention, when the imaging unit is rotationally driven, it is possible to reduce the reflection of the imaging device main body or the like in the imaging angle of view.

Brief Description of the Drawings

[0008]

Figure 1

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments described below are examples of the implementation means of the present invention and should be appropriately modified or changed according to the configuration and various conditions of the devices and systems to which the present invention is applied, and the present invention is not limited to the following embodiments.

[0010] (First Embodiment) FIG. 1 is a block diagram showing an internal configuration example of an imaging device 100 that constitutes an imaging system 10 according to this embodiment. The imaging system 10 includes an imaging device 100 and a control device 170 having a UI (user interface) display unit. The imaging device 100 is connected wirelessly or wired in a state where it can communicate with the control device 170 via an IP network 160. The user can change the imaging angle of view, imaging conditions, and various settings of the imaging device 100 by performing various operations from the control device 170.

[0011] As shown in FIG. 1, the imaging device 100 includes an imaging unit 110, an image processing unit 120, a system control unit 130, a drive unit 140, and a storage unit 150. The imaging unit 110 further includes an imaging optical system 111 and an imaging element 112. The imaging optical system 111 is composed of a zoom lens, a focus lens, an aperture mechanism, and the like. The imaging element 112 photoelectrically converts a subject image (optical image) formed through the imaging optical system 111 and outputs an electrical signal. Specifically, the imaging element 112 is a sensor such as a CMOS (Complementary Metal Oxide Semiconductor) sensor or a CCD (Charge-Coupled Device) sensor.

[0012] The image processing unit 120 is composed of a dedicated circuit such as a central processing unit (CPU), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA), and performs various signal processes on the electrical signals input from the imaging unit 110. The system control unit 130 is composed of a CPU, an ASIC, an FPGA, etc., converts the data input from the image processing unit 120 into data that can be output to the IP network 160, and transmits it to the control device 170. Also, the system control unit 130 inputs various operation instructions from the control device 170, and controls the imaging unit 110, the image processing unit 120, and the drive unit 140. Further, the system control unit 130 calculates the area where reflection of the imaging device main body or the like occurs from the state of the drive unit 140 and the image data input from the image processing unit 120. Here, the reflection of the imaging device main body or the like refers to a state in which the imaging device main body or the like is imaged and reflected in the imaging area. The system control unit 130 performs control of the drive unit 140 and various processes according to the presence or absence of the occurrence of reflection. In the example shown in FIG. 1, the image processing unit 120 and the system control unit 130 are separated, but they may be configured with the same device.

[0013] The drive unit 140 includes a zoom mechanism 142 that expands (changes) the imaging angle of view, a pan mechanism 143 that moves the imaging unit 110 in the horizontal direction, a tilt mechanism 144 that moves the imaging unit 110 in the vertical direction, and a rotation mechanism 145 that rotates the imaging unit 110 (image sensor 112) about the optical axis of the imaging optical system 111. Also, the drive unit 140 includes a drive control unit 141 composed of a motor driver or the like for controlling the zoom mechanism 142, the pan mechanism 143, the tilt mechanism 144, and the rotation mechanism 145. The drive control unit 141 performs drive control of the zoom mechanism 142, the pan mechanism 143, the tilt mechanism 144, and the rotation mechanism 145 according to the control signal from the system control unit 130. The storage unit 150 is composed of a memory device such as a FlashROM or an EEPROM, and stores various setting information and the like. The system control unit 130 reads and rewrites the information stored in the storage unit 150 as necessary.

[0014] Next, the generation of the reflection area will be described with reference to FIG. 8. FIG. 8(a) shows a state where the rotation mechanism 145 of the imaging device 100 has stopped near 0°. The rotation mechanism 145 can rotate the imaging unit 110 (imaging element 112) about the optical axis of the imaging optical system 111. As shown in FIG. 8(a), at the imaging angle of view 801 near 0°, no reflection of the imaging device body or the like occurs. On the other hand, FIG. 8(b) shows a state where the rotation mechanism 145 of the imaging device 100 has stopped near 90°. When driving from the state of FIG. 8(a) to the state of FIG. 8(b), the vertical and horizontal directions of the imaging element 112 in the imaging unit 110 are interchanged, and the imaging angle of view 802 becomes wider in the vertical direction. At this time, depending on the position of the tilt mechanism 144, as shown by the shaded area, a region 803 where the housing of the imaging device 100 overlaps with the imaging angle of view 802 appears, and reflection of the housing occurs. In the example of FIG. 8, the reflection of the imaging device body has been described, but reflections of other objects such as instruments for installing the imaging device may also be targeted.

[0015] <Avoidance drive for reflection generated by rotation> Next, with reference to FIGS. 2 and 3, the process when reflection of the main body of the imaging device 100 occurs due to rotation drive will be described. As shown in FIG. 2(a), in the initial state of the imaging device 100, an imaging range (imaging angle of view) 201 is set, and it is assumed that the rotation angle of the rotation mechanism 145 is set to the initial state (0°).

[0016] FIG. 3 is a flowchart showing an example of a processing procedure when reflection of the main body of the imaging device 100 occurs due to rotation drive in the present embodiment. This flowchart is realized by the system control unit 130 executing a program developed in the storage unit 150. First, when the system control unit 130 receives a request for rotation drive to change the imaging angle of view from the control device 170, the process starts. First, in S301, the system control unit 130 issues a control instruction for rotation drive to the drive control unit 141. In this embodiment, an example of the case where a control instruction for driving the rotation mechanism 145 from 0° to 90° is given.

[0017] Next, in S302, the system control unit 130 calculates the imaging range (imaging angle of view) after rotation drive from the states of the zoom mechanism 142, the pan mechanism 143, the tilt mechanism 144, and the rotation mechanism 145 after drive. Then, in S303, it is determined whether an image reflection area of the imaging device 100 main body occurs in the calculated imaging range (imaging angle of view) after drive.

[0018] FIG. 2(b) shows an example of the imaging range (imaging angle of view) 202 after driving the rotation mechanism 145 by 90°. In the example of FIG. 2(b), when the rotation mechanism 145 is driven by 90°, an image reflection area 203 shown by the hatched portion occurs. Therefore, in this case, it is necessary to further drive the tilt mechanism so that no image reflection area occurs.

[0019] As a result of the determination in S303, if an image reflection area of the imaging device 100 main body occurs in the imaging range (imaging angle of view) after drive, the process proceeds to S304. Then, in S304, the system control unit 130 drives the rotation mechanism 145 to the target angle via the drive control unit 141. And in S305, the system control unit 130 sets the drivable range of the tilt mechanism 144 so that no image reflection area occurs, and drives the tilt mechanism 144 according to the set drivable range. For example, as shown in FIG. 2(b), when the rotation mechanism 145 is driven by 90° and an image reflection area 203 occurs in the imaging range (imaging angle of view) 202, the system control unit 130 sets the drivable range of the tilt mechanism 144 to a range where no image reflection area occurs. Then, by driving the tilt mechanism 144 upward according to the set drivable range, an imaging range (imaging angle of view) 204 as shown in FIG. 2(c) can be obtained.

[0020] On the other hand, if as a result of the determination in S303, there is no reflection area of the imaging device 100 body in the imaging angle of view after driving, the process proceeds to S306. Then, in S306, the system control unit 130 drives the rotation mechanism 145 via the drive control unit 141 to the target angle and ends the process.

[0021] In the present embodiment, when the reflection of the imaging device 100 body occurs due to rotation drive, the tilt mechanism is driven so that no reflection area occurs, but there may be cases where it is desired to maintain the imaging angle of view centered on the subject of interest 205. Therefore, in consideration of such cases, the process may be ended with the imaging range (imaging angle of view) 202 as it is without performing tilt drive. Also, other drives may be performed within a range where the subject of interest 205 does not deviate from the center. Further, in the processing procedure shown in FIG. 3, the drive control is performed such that the tilt drive is performed after the rotation drive, but the rotation drive and the tilt drive may be performed simultaneously.

[0022] Furthermore, in the examples shown in FIGS. 2 and 3, when the reflection of the imaging device 100 body occurs due to rotation drive, the drivable range of the tilt mechanism is limited within a range where no reflection of the imaging device 100 body occurs, and the tilt mechanism is controlled in a direction where no reflection occurs. On the other hand, the drive control for preventing reflection is not limited to the control of the tilt mechanism, and can be similarly applied to the control of the pan mechanism. Further, for example, the position (zoom amount) of the zoom mechanism 142 may also be taken into account in combination with the rotation angle. In this case, when the reflection area of the imaging device 100 body occurs due to rotation drive, the zoom may be driven to a position where no reflection area occurs to narrow the imaging angle of view. Also, instead of controlling the zoom mechanism 142, the image processing unit 120 may cut out the reflection area of the imaging device 100 body by digital zoom and transmit it to the control device 170.

[0023] According to the present embodiment as described above, when reflection of the imaging device main body or the like occurs due to rotation drive, other drive units are driven so that reflection does not occur. Thereby, even when rotation drive is performed, reflection of the imaging device main body or the like can be prevented.

[0024] (Second Embodiment) In the present embodiment, an example will be described in which when reflection of the imaging device main body or the like occurs due to rotation drive, the user is allowed to select whether to perform drive control so that the reflection does not occur. Note that since the configurations of the imaging system and the imaging device according to the present embodiment are the same as those of the first embodiment, the description thereof will be omitted. Hereinafter, differences from the first embodiment will be described. As shown in FIG. 4(a), it is assumed that in the initial state of the imaging device 100, an imaging range (imaging angle of view) 401 is set, and the rotation angle of the rotation mechanism 145 is set to the initial state (0°).

[0025] FIG. 5 is a flowchart showing an example of a processing procedure when reflection of the main body of the imaging device 100 occurs due to rotation drive in the present embodiment. This flowchart is realized by the system control unit 130 executing a program developed in the storage unit 150. First, when the system control unit 130 receives a request for rotation drive to change the imaging angle of view from the control device 170, the process starts. First, S501 is the same as S301 in FIG. 3. Note that in the present embodiment, an example in which a control instruction to drive the rotation mechanism 145 from 0° to about 45° is given will be described.

[0026] Next, in S502, the system control unit 130 drives the rotation mechanism 145 to a target angle via the drive control unit 141. Then, in S503, the system control unit 130 calculates the imaging angle of view after the rotation drive from the states of the zoom mechanism 142, the pan mechanism 143, the tilt mechanism 144, and the rotation mechanism 145 after driving. FIG. 4(b) shows an example of the imaging range (imaging angle of view) 402 after driving the rotation mechanism by 45°.

[0027] Next, in S504, the system control unit 130 determines whether there is an area where the main body of the imaging device 100 is reflected within the imaging range (imaging angle of view) after rotation driving. As a result of this determination, if there is no area where the main body of the imaging device 100 is reflected, the process ends as it is.

[0028] On the other hand, if, as a result of the determination in S504, an area where the main body of the imaging device 100 is reflected is generated, the process proceeds to S505. Then, in S505, the system control unit 130 generates and acquires a captured image within the imaging range (imaging angle of view), and stores it in the storage unit 150 together with the position information. Next, in S506, the system control unit 130 sets the drivable range of the tilt mechanism 144 so that the reflected area does not occur, and drives the tilt mechanism 144 according to the set drivable range. For example, as shown in FIG. 4(b), when the rotation mechanism 145 is driven by 45° and a reflected area 403 is generated in the imaging range (imaging angle of view) 402, the system control unit 130 sets the drivable range of the tilt mechanism 144 to a range where the reflected area does not occur. Then, by driving the tilt mechanism 144 upward according to the set drivable range, an imaging range (imaging angle of view) 404 as shown in FIG. 4(c) is obtained.

[0029] Next, in S507, the system control unit 130 transmits the image of the current imaging range (imaging angle of view) after tilt driving and the image of the imaging range (imaging angle of view) before tilt driving stored in the storage unit 150 in S505 to the control device 170. Thereby, on the UI display unit of the control device 170, for example, the image of the imaging range (imaging angle of view) 402 before tilt driving shown in FIG. 4(b) and the image of the imaging range (imaging angle of view) 404 after tilt driving shown in FIG. 4(c) are displayed side by side.

[0030] FIG. 6 is a diagram showing an example of a screen 601 displayed on the UI display unit of the control device 170. As shown in FIG. 6, an image of the imaging range (imaging angle of view) 402 before tilt driving and an image of the imaging range (imaging angle of view) 404 after tilt driving are displayed side by side, and a pop-up display 602 for selecting whether to perform tilt driving is also displayed. In the imaging range (imaging angle of view) 404 after tilt driving shown in FIG. 4(c), since the subject of interest is no longer included, the user can select whether to perform tilt driving while checking the content of the captured image. When the user selects either image, the information is transmitted to the imaging device 100.

[0031] Next, in S508, the system control unit 130 tilts and drives to the position of the image selected by the user at the control device 170 and ends the process. Specifically, when the image of the imaging range (imaging angle of view) 404 after tilt driving is selected by the user, since there is no need to perform a new tilt drive, no drive control is particularly performed in S508 and the process ends. On the other hand, when the image of the imaging range (imaging angle of view) 402 before tilt driving is selected by the user, it is necessary to return to the position before tilt driving. Therefore, in S508, the system control unit 130 releases the drivable range of the tilt mechanism 144 set in S506 and drives the tilt mechanism 144 downward to return to the imaging range (imaging angle of view) 402 in FIG. 4(b).

[0032] As described above, according to the present embodiment, when reflection of the imaging device main body or the like occurs due to rotation driving, it is possible to set the imaging range (imaging angle of view) reflecting the intention of the user. Note that, similar to the first embodiment, the control after rotation driving is not limited to the control of the tilt mechanism, and the same applies to pan driving and zoom driving.

[0033] (Third Embodiment) In this embodiment, an example will be described in which, when reflection occurs in the imaging device main body or the like due to rotation drive, control is performed so that the reflection area disappears while paying attention to the area of interest. Note that since the configurations of the imaging system and the imaging device according to this embodiment are the same as those of the first embodiment, the description thereof will be omitted. Hereinafter, differences from the first embodiment will be described. As shown in FIG. 4(a), in the initial state, the imaging range (imaging angle of view) 401 is set for the imaging device 100, and the rotation angle of the rotation mechanism 145 is set to the initial state (0°). Further, in this embodiment, it will be described assuming that the user sets the area of interest 405 indicated by the dotted line via the control device 170, and the information is stored in advance in the storage unit 150. Here, the area of interest refers to an area set as an area for performing various detections such as moving object detection, carry-away detection, and abandonment detection.

[0034] FIG. 7 is a flowchart showing an example of a processing procedure when reflection occurs in the main body of the imaging device 100 due to rotation drive in this embodiment. This flowchart is realized by the system control unit 130 executing the program expanded in the storage unit 150. First, when the system control unit 130 receives a control instruction request for rotation drive to change the imaging angle of view from the control device 170, the processing starts. S701 to S704 are the same as S501 to S504 in FIG. 5, respectively. In this embodiment as well, an example will be described in the case of issuing a control instruction to drive the rotation mechanism 145 from 0° to about 45°.

[0035] If, as a result of the determination in S704, there is a reflection area in the imaging device 100 main body, the process proceeds to S705. Then, in S705, the system control unit 130 calculates the imaging range (imaging angle of view) when tilting is driven so that no reflection area occurs. Next, in S706, the system control unit 130 determines whether or not the attention area preset by the user is outside the imaging range (imaging angle of view) within the imaging range (imaging angle of view) calculated in S705. Here, as a criterion for determining whether or not the attention area is outside the imaging angle of view, it may be based on the case where the attention area is completely outside the imaging angle of view, or it may be based on the case where only a few percent or less of the area of the attention area is included within the imaging angle of view. As a result of this determination, if the attention area 405 is outside the imaging angle of view, the process ends without driving the tilt.

[0036] On the other hand, if, as a result of the determination in S706, the attention area 405 is not outside the imaging angle of view, the process proceeds to S707. Then, in S707, the system control unit 130 sets the drivable range of the tilt mechanism 144 so that no reflection area occurs, drives the tilt mechanism 144 according to the set drivable range, and ends the process.

[0037] Note that in this embodiment, whether or not to perform tilt driving is determined based on whether or not the attention area set by the user is outside the imaging angle of view, but it is not limited to this method. For example, in the process of S706, when it is determined that the attention area has deviated from the imaging angle of view calculated in S705, tilt driving may be performed so that the reflection area becomes smaller within the range where the attention area is not outside the imaging angle of view. Also, in this embodiment, an example in which the user presets the attention area has been described, but the method of setting the attention area is not limited to this. For example, the imaging device 100 side may set, as the attention area, an area where various detections such as moving object detection or person detection are being performed in the captured image, and determine whether or not to perform tilt driving.

[0038] According to the present embodiment as described above, when reflection such as that of the imaging device main body occurs due to rotation drive, it is determined whether or not to perform tilt drive depending on the position of the attention area. As a result, it is possible to prevent the attention area from falling outside the imaging angle of view without the user checking the image. Note that, similar to the first embodiment, the control after the rotation drive is not limited to the control of the tilt mechanism, and can be similarly applied to pan drive and zoom drive.

[0039] (Other Embodiments) In each of the above-described embodiments, the case where the rotation mechanism is driven in the direction in which reflection of the imaging device main body or the like occurs has been described. On the other hand, when the rotation drive is performed in the direction in which the reflection area is reduced in a state where the drivable range is limited so that the reflection area does not occur, the drivable range may be relaxed up to the range where the reflection area does not occur. Also, in each of the above-described embodiments, an example in which the rotation angle is driven near 90° or near 45° has been described. On the other hand, the drivable range may be changed only when the rotation angle reaches a predetermined angle, for example, by reducing the drivable range of the tilt mechanism only when the rotation angle is 90°.

[0040] (Other Embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (for example, an ASIC) that realizes one or more functions.

[0041] The disclosure of the present embodiment includes the following configurations, methods, and programs.

[0042] (Configuration 1) Imaging means, First drive means for rotating the imaging means about the optical axis of the imaging optical system, Second drive means for changing the imaging range of the imaging means, Control means for controlling to determine a drivable range by the second driving means according to the imaging range of the imaging means when the imaging means is rotated by the first driving means; An imaging device, characterized by comprising the above.

[0043] (Configuration 2) When a predetermined object is included in the image generated by the imaging means due to the rotation of the imaging means by the first driving means, the control means determines a drivable range by the second driving means so that the predetermined object is not included in the image. The imaging device according to Configuration 1. (Configuration 3) The control means determines a drivable range by the second driving means after the imaging means is rotated by the first driving means. The imaging device according to Configuration 1 or 2. (Configuration 4) Output means for outputting, as an image for the user to select, the image generated by the imaging means due to the rotation of the imaging means by the first driving means and the image whose imaging range is changed by the second driving means after the drivable range is determined by the control means. The imaging device according to any one of Configurations 1 to 3.

[0044] (Configuration 5) The control means further determines a drivable range by the second driving means based on the presence or absence of a region of interest in the image generated by the imaging means. The imaging device according to any one of Configurations 1 to 3. (Configuration 6) When the region of interest is not included in the image by restricting the drivable range by the second driving means, the control means does not restrict the drivable range. The imaging device according to Configuration 5. (Configuration 7) The imaging device according to any one of Configurations 1 to 6, wherein the control means restricts the drivable range by the second driving means when the imaging means is rotated by the first driving means at a predetermined angle. (Configuration 8) The imaging device according to any one of Configurations 1 to 7, wherein the second driving means drives a tilt mechanism. (Configuration 9) The imaging device according to any one of Configurations 1 to 7, wherein the second driving means changes the zoom of the imaging means.

[0045] (Method) A control method for an imaging device including an imaging means, a first driving means for rotating the imaging means about an optical axis of an imaging optical system, and a second driving means for changing an imaging range of the imaging means, a control step of controlling to determine a drivable range by the second driving means according to an imaging range of the imaging means when the imaging means is rotated by the first driving means; The control method for an imaging device, characterized by comprising the above.

[0046] (Program) A program for controlling an imaging device including an imaging means, a first driving means for rotating the imaging means about an optical axis of an imaging optical system, and a second driving means for changing an imaging range of the imaging means, a control step of controlling to determine a drivable range by the second driving means according to an imaging range of the imaging means when the imaging means is rotated by the first driving means; A program for causing a computer to execute the above.

Explanation of Signs

[0047] 110 Imaging unit, 130 System control unit, 142 Zoom mechanism, 143 Pan mechanism, 144 Tilt mechanism, 145 Rotation mechanism

Claims

1. An imaging means, a first driving means for rotating the imaging means about the optical axis of the imaging optical system, a second driving means for changing the imaging range of the imaging means, a control means for controlling to determine a drivable range by the second driving means according to the imaging range of the imaging means when the imaging means is rotated by the first driving means, and an imaging device characterized by comprising the same.

2. When a predetermined object is included in an image generated from the imaging means by the rotation of the imaging means by the first driving means, the control means determines a drivable range by the second driving means so that the predetermined object is not included in the image. The imaging device according to claim 1, characterized in that.

3. The imaging device according to claim 1, characterized in that the control means determines a drivable range by the second driving means after the imaging means is rotated by the first driving means.

4. Output means for outputting, as an image for the user to select, an image generated from the imaging means by the rotation of the imaging means by the first driving means and an image whose imaging range is changed by the second driving means after the drivable range is determined by the control means. The imaging device according to claim 1, further comprising the same.

5. The imaging device according to claim 1, characterized in that the control means further determines a drivable range by the second driving means based on the presence or absence of a region of interest in the image generated from the imaging means.

6. When the region of interest is not included in the image by restricting the drivable range by the second driving means, the control means is characterized in that the drivable range is not restricted. The imaging device according to claim 5.

7. The imaging device according to claim 1, characterized in that the control means restricts a drivable range by the second driving means when the imaging means is rotated by the first driving means by a predetermined angle.

8. The imaging device according to claim 1, characterized in that the second driving means drives a tilt mechanism.

9. The imaging device according to claim 1, characterized in that the second driving means changes the zoom of the imaging means.

10. A control method for an imaging device, comprising an imaging unit, a first driving unit that rotates the imaging unit about the optical axis of an imaging optical system, and a second driving unit that changes the imaging range of the imaging unit, the method comprising: A control step of controlling to determine a drivable range by the second driving unit according to the imaging range of the imaging unit when the imaging unit is rotated by the first driving unit; A control method for an imaging device, characterized by comprising the above.

11. A program for controlling an imaging device, comprising an imaging unit, a first driving unit that rotates the imaging unit about the optical axis of an imaging optical system, and a second driving unit that changes the imaging range of the imaging unit, the program comprising: A control step of controlling to determine a drivable range by the second driving unit according to the imaging range of the imaging unit when the imaging unit is rotated by the first driving unit; A program for causing a computer to execute the above.

Images