Imaging device, control method, and computer program

Abstract

To provide an imaging apparatus capable of appropriately setting an imaging range of an imaging part.SOLUTION: An imaging device includes: first imaging means and second imaging means rotatable about a common rotation axis; zoom driving means of changing a zoom magnification of the first imaging means and a zoom magnification of the second imaging means; pan driving means of rotating the first imaging means and the second imaging means about the common rotation axis; determination means of determining whether the first imaging means and the second imaging means are close to or in contact with each other; and control means of controlling the zoom driving means to change at least one of the zoom magnification of the first imaging means and the zoom magnification of the second imaging means when the determination means determines that the first imaging means and the second imaging means are close to or in contact with each other.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an imaging device having a plurality of rotatable imaging units. [Background technology]

[0002] To enable a single camera to capture images in multiple directions, there are cameras (hereinafter referred to as multi-lens cameras) that are configured with multiple image capturing units. For multi-lens cameras, an imaging device has been proposed in which each image capturing unit can move independently around a common rotation axis on the same circumference. In this imaging device, the user can operate the image capturing position of each image capturing unit from a PC (Personal Computer) or the like connected via a network, making it easy to set the image capturing position. Patent Document 1 discloses an imaging device that can control the image capturing direction of each multi-lens camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2020-188349 Summary of the Invention [Problem to be solved by the invention]

[0004] In an imaging device in which each imaging unit can rotate independently around a common rotation axis, operating the imaging position of each imaging unit can result in contact with an adjacent imaging unit. If an imaging unit comes into contact with an adjacent imaging unit while the zoom magnification is high, the imaging range of the operating imaging unit may not overlap with the imaging range of the adjacent imaging unit. Therefore, there is a risk that there may be a range between the imaging units that the user cannot see. Furthermore, even if the imaging unit being operated is not in contact with the adjacent imaging unit, if the operating imaging unit approaches the adjacent imaging unit and completes installation while the zoom magnification of the imaging unit is high, the imaging range of the operating imaging unit may not overlap with the imaging range of the adjacent imaging unit.

[0005] However, in the imaging device disclosed in Patent Document 1, if the images captured by the two imaging units cannot be combined, the images captured by each imaging unit are output, which may result in a range that the user cannot see between the imaging ranges of the imaging units.

[0006] Therefore, an object of the present invention is to provide an imaging device in which each imaging unit can rotate around a common rotation axis, and in which the imaging range of the imaging unit can be appropriately set depending on the positional relationship between the multiple imaging units. [Means for solving the problem]

[0007] In order to solve the above problem, an imaging device of the present invention includes a first imaging means and a second imaging means that are rotatable around a common rotation axis, a zoom driving means for changing the zoom magnification of the first imaging means and the zoom magnification of the second imaging means, and a pan driving means for rotating the first imaging means and the second imaging means around the common rotation axis. The imaging device is characterized by comprising a determination means for determining whether the first imaging means and the second imaging means are close to each other or in contact with each other, and a control means for controlling the zoom driving means to change at least one of the zoom magnification of the first imaging means or the zoom magnification of the second imaging means when the determination means determines that the first imaging means and the second imaging means are close to each other or in contact with each other. [Effects of the Invention]

[0008] In an imaging device in which each imaging unit can rotate around a common rotation axis, it is possible to provide an imaging device in which the imaging range of the imaging unit can be appropriately set according to the positional relationship between the multiple imaging units. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing the functional configuration of a system according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing the arrangement of an imaging unit according to a first embodiment; [Figure 3] 1A is a diagram showing an imaging range before a change in the angle of view of an imaging unit according to a first embodiment, and FIG. 1B is a diagram showing an imaging range after a change in the angle of view of an imaging unit according to the first embodiment; [Figure 4] 1 is a flowchart showing the operation of the imaging device 100 according to the first embodiment. [Figure 5] 10A is a diagram showing an imaging range before a change in the angle of view of an imaging unit according to a second embodiment, and FIG. 10B is a diagram showing an imaging range after a change in the angle of view of an imaging unit according to the second embodiment; [Figure 6] 10 is a flowchart showing the operation of the imaging device 100 according to the second embodiment. [Figure 7] 5(a) is a diagram showing the overlap of the captured images in FIG. 5(b), and FIG. 5(b) is a diagram showing the imaging range after changing the settings of the imaging unit according to the third embodiment. [Figure 8] 10 is a flowchart showing the operation of the imaging device 100 according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as defined in the claims. Although the embodiments describe multiple features, not all of these features are necessarily essential to the invention, and multiple features may be combined in any desired manner. Furthermore, in the accompanying drawings, identical or similar components are designated by reference numerals, and redundant descriptions will be omitted.

[0011] First Embodiment The functional configuration of the system according to the first embodiment will be described below with reference to Fig. 1. Fig. 1 is a block diagram showing the functional configuration of the system according to the first embodiment. The imaging device 100 is made up of a first imaging unit 110, a second imaging unit 120, a first driving unit 113, a second driving unit 123, an image processing unit 130, a control unit 140, a determination unit 150, and a communication unit 160.

[0012] The imaging device 100 is connected to an external control device 200 via a network 170, and is capable of transmitting image data acquired by the imaging device 100 and receiving control signals for the imaging device 100.

[0013] The first imaging unit 110 and the second imaging unit 120 each have an imaging optical system 111, 121 and a solid-state imaging element 112, 122. Light transmitted through the imaging optical system 111, 121 forms an image on the solid-state imaging elements 112, 122, is converted into an electrical signal, and is output as image data through processing in an image processing unit 130. The driving of the solid-state imaging elements 112, 122 and signal readout are controlled by a control unit 140.

[0014] The imaging optical systems of the first imaging unit 110 and the second imaging unit 120 have zoom lenses that can be moved in the optical axis direction, and the shooting range of the imaging units can be controlled by controlling the first zoom driving unit 115 and the second zoom driving unit 125 with the control unit 140.

[0015] The first drive unit 113 and the second drive unit 123 have a first pan drive unit 114 and a second pan drive unit 124, and a first zoom drive unit 115 and a second zoom drive unit 125, respectively.

[0016] The first pan driving unit 114 and the second pan driving unit 124 are each capable of controlling the imaging directions of the first imaging unit 110 and the second imaging unit 120 within the same plane (within the XY plane in FIG. 2). Specifics will be described with reference to FIG. 2. FIG. 2 is a diagram showing the arrangement of the imaging units according to the first embodiment, with the imaging device 100 viewed from above (the +Z axis side).

[0017] The first pan drive unit 114 and the second pan drive unit 124 are equipped with motors and gears. Furthermore, the first pan drive unit 114 and the second pan drive unit 124 are capable of rotating the first imaging unit 110 and the second imaging unit 120 around a common rotation axis, shaft 101, by controlling the power that drives the motors. A dotted line 102 indicates a common rotation range within which the imaging unit 110 and the imaging unit 120 can rotate around shaft 101. The power that drives the motors is controlled by the control unit 140. In this way, the imaging device 100 is equipped with a drive mechanism that can control the shooting direction of at least one of the first imaging unit 110 and the second imaging unit 120.

[0018] The first zoom driving unit 115 and the second zoom driving unit 125 include motors and gears. Furthermore, the first zoom driving unit 115 and the second zoom driving unit 125 can drive the zoom lenses of the imaging optical system by controlling the power that drives the motors. The power that drives the motors is controlled by the control unit 140. Furthermore, the position of the zoom lens can be acquired using a photointerrupter, a Hall element, or the like. The angle of view 116 and the angle of view 126 indicate the angles of view captured by the imaging unit 110 and the imaging unit 120. Thus, the imaging device 100 includes a driving mechanism that can control the angle of view (imaging range) of at least one of the first imaging unit 110 and the second imaging unit 120.

[0019] The control unit 140 controls the first imaging unit 110, the second imaging unit 120, the first driving unit 113, the second driving unit 123, the image processing unit 130, the determination unit 150, and the communication unit 160. The control unit 140 is configured with a CPU (Central Processing Unit) and the like, and performs overall control of the imaging device 100. The control unit 140 can control at least one of the first driving unit 113 or the second driving unit based on the determination result of the determination unit 150.

[0020] The determination unit 150 determines whether the first imaging unit 110 and the second imaging unit 120 are close to or in contact with each other in the pan rotation direction. Specifically, it determines whether the distance between the first imaging unit 110 and the second imaging unit 120 in the pan rotation direction is equal to or less than a threshold. The distance between the first imaging unit 110 and the second imaging unit 120 in the pan rotation direction is calculated from information about the positions of the first imaging unit 110 and the second imaging unit 120. The information about the positions of the first imaging unit 110 and the second imaging unit 120 includes, for example, the rotation speeds of the first pan driving unit 114 and the second pan driving unit 124 and the rotation angles of the first imaging unit 110 and the second imaging unit 120 in the pan rotation direction.

[0021] For example, the distance is determined by calculating the position in the pan rotation direction from the rotation speed of the motors of the first pan driving unit 114 and the second pan driving unit 124. Alternatively, without calculating the distance, the rotation angle in the pan rotation direction of the first imaging unit 110 and the second imaging unit 120 may be used, and if the rotation angle is equal to or less than a threshold, it may be determined that the first imaging unit 110 and the second imaging unit 120 are in proximity or in contact. Alternatively, without calculating the distance, it may be determined that the first imaging unit 110 and the second imaging unit 120 are in proximity or in contact directly using a sensor that detects physical contact or proximity between the imaging units. Alternatively, without calculating the distance, it may be determined that the second imaging unit 120 is in proximity or in contact directly using a sensor that detects the distance between the imaging units. Note that the threshold is assumed to be set in advance. Thereafter, the determination unit 150 notifies the control unit 140 of the determination result.

[0022] The communication unit 160 transfers the image sent from the image processing unit 130 to an external control device 200 via a network 170, such as a wired or wireless network.

[0023] The external control device 200 is composed of a communication unit 201, a control unit 202, a display unit 203, and an instruction unit 204. The communication unit 201 of the external control device 200 can communicate with the imaging device 100 via the network 170. The display unit 203 can display image data from the first imaging unit 110 and the second imaging unit 120 transmitted from the imaging device 100. The instruction unit 204 has a user interface, accepts mouse and keyboard operations performed by the user, and generates control signals for controlling the imaging device 100 via the control unit 202. The control signals are used to control, for example, the first driving unit 113 and the second driving unit 123. That is, the user can control the imaging positions and zoom magnifications of the first imaging unit 110 and the second imaging unit 120 from the external display device 200 via the network 170. Furthermore, the user can specify the imaging ranges of the first imaging section 110 and the second imaging section 120 from the external display device 200 via the network 170.

[0024] The control device 200 as an external device is, for example, an external device such as a PC, and the network 170 is configured by a wired LAN, a wireless LAN, etc. Also, the imaging device 100 may be configured to be supplied with power via the network.

[0025] The operation of the imaging device 100 according to the first embodiment will be described below with reference to FIG. 3. In the first embodiment, a case will be described in which the first imaging unit 110 is panned by a user operation, causing the first imaging unit 110 to come into contact with the second imaging unit 120, which is not moving. The first embodiment also assumes that the second imaging unit 120 has already been installed, and the angle of view of the second imaging unit 120 will not be changed. Note that the term "installed" may be set by the user, or may refer to a situation in which a change has been made from a previous setting and the change in setting has been saved. The first embodiment is an example in which the user pans the first imaging unit 110. However, the same applies to a case in which the second imaging unit 110 is panned instead of the first imaging unit 110, and therefore a description thereof will be omitted.

[0026] FIG. 3(a) is a diagram showing the imaging range of the imaging unit according to the first embodiment before the angle of view is changed, and FIG. 3(b) is a diagram showing the imaging range of the imaging unit according to the first embodiment after the angle of view is changed.

[0027] In both Figures 3(a) and 3(b), the first imaging unit 110 and the second imaging unit 120 are in contact with each other. Figure 3(a) also shows a state in which the first imaging unit 110 is capturing images at a high zoom magnification. Because the first imaging unit 110 and the second imaging unit 120 move on a common rotation axis 102, the first imaging unit 110 cannot pan when it comes into contact with the second imaging unit 120 and reaches a position where it cannot move. For example, if the user pans the first imaging unit 110 using the instruction unit 204 and it comes into contact with the second imaging unit 120, if the first imaging unit 110 is capturing images at a high zoom magnification, the angle of view is narrow, making it difficult to check the surroundings, and adjustments are not easy. Furthermore, even if the first imaging unit 110 and the second imaging unit 120 do not move to a position where they come into contact, if they come close to each other, the angle of view is narrow, making it difficult to check the surroundings, and adjustments are not easy.

[0028] Therefore, in this embodiment, when the determination unit 150 determines that the first imaging unit 110 has come close to or in contact with the second imaging unit 120, the angle of view 116 of the first imaging unit 110 is changed to the wide-angle side, as shown in Fig. 3(b). Specifically, when the determination unit 150 determines that the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than a threshold, the determination unit 150 determines that the first imaging unit 110 and the second imaging unit 120 are in a first state in which they are close to each other, or in a second state in which they are in contact with each other.

[0029] The first state refers to a state in which the first imaging unit 110 and the second imaging unit 120 are close to each other but not in contact with each other. Whether to determine whether the first state or the second state is determined can be changed by setting a threshold value. For example, if the threshold value is set to the distance at which the first imaging unit 110 and the second imaging unit 120 come into contact with each other, it is determined whether the second state is present. If the threshold value is set to a value greater than the distance at which the first imaging unit 110 and the second imaging unit 120 come into contact with each other, it is determined whether the first state is present.

[0030] Then, the determination unit 150 transmits the determination result to the control unit 140. Upon receiving the determination result, the control unit 140 acquires the drive position of the first zoom drive unit 115, and if the zoom magnification is high (telephoto side), transmits a control signal to the first zoom drive unit 115 to change the zoom magnification to low (wide-angle side). Based on the control signal from the control unit 140, the first zoom drive unit 115 changes the position of the lens to the wide-angle side.

[0031] Hereinafter, with reference to FIG. 4, the processing of the imaging device according to the first embodiment will be described using a flowchart. This flowchart is realized by the control unit 140 executing a program loaded in RAM. In this embodiment, it is assumed that a user operates the control device to move the first imaging unit 110. This flowchart is assumed to start when a certain amount of time has elapsed since a control signal for moving the first imaging unit 110 is received via the control device 200. Alternatively, this flowchart is assumed to start when an instruction to complete installation of the first imaging unit 110 is received via the control device. Alternatively, this flowchart is assumed to start when the imaging device receives a drive instruction even though the first imaging unit, to which the user has sent a drive instruction, is not in a state where it should move.

[0032] In S401, the determination unit 150 determines whether the first imaging unit 110 and the second imaging unit 120 are in close proximity to each other or in contact with each other based on the distance between the first imaging unit 110 and the second imaging unit 120. Specifically, the determination unit 150 acquires information about the positions of the first imaging unit 110 and the second imaging unit 120 and determines whether the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than a threshold. If the determination unit 150 determines that the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than the threshold, the process proceeds to S402. In other words, if the first imaging unit 110 and the second imaging unit 120 are in close proximity to each other or in contact with each other, the process proceeds to S402. Note that, as described above, it is also possible to determine that the first imaging unit 110 and the second imaging unit 120 are in close proximity to each other or in contact with each other without calculating the distance, using the rotation angle in the pan rotation direction of the first imaging unit 110 and the second imaging unit 120, if the rotation angle is equal to or less than a threshold.

[0033] If the determination unit 150 does not determine that the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than the threshold value, the process returns to S401.

[0034] In S402, the control unit 140 acquires drive information, including zoom magnification, from the first zoom drive unit 115 and the second zoom drive unit 125, and determines whether there is overlap in the imaging ranges. If there is no overlap in the imaging ranges, the process proceeds to S403. If there is overlap in the imaging ranges, the flow ends.

[0035] In S403, the control unit 140 acquires the zoom magnification of the first imaging unit 110 operated by the user, and determines whether the zoom magnification of the first imaging unit 110 is higher than a predetermined zoom magnification. If the control unit 140 determines that the zoom magnification of the first imaging unit 110 is higher than the predetermined zoom magnification, the process proceeds to S404. If the control unit 140 determines that the zoom magnification of the first imaging unit 110 is not higher than the predetermined zoom magnification, that is, the zoom magnification is equal to or lower than the predetermined zoom magnification, the process ends. In other words, the control unit 140 determines whether the zoom magnification of the first imaging unit 110 is high (telephoto side), and if it is high (telephoto side), the process proceeds to S404. Note that in S403, the zoom magnification of the first imaging unit 110 is acquired again, but the zoom magnification acquired in S402 may be used.

[0036] In S404, the control unit 140 controls the first zoom driving unit 115 to change the zoom magnification to a lower magnification (wide-angle side) so that the zoom magnification is lower than a predetermined zoom magnification. Specifically, the control unit 140 changes the zoom magnification of the first imaging unit 110 until the angle of view 116 (imaging range) of the first imaging unit 110 overlaps with the angle of view 126 (imaging range) of the second imaging unit 120, and then ends the processing. Alternatively, even if the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 do not overlap, if the zoom magnification of the first imaging unit 110 has been changed to a state where no zoom is performed (zoom magnification of 1), the processing ends.

[0037] Whether or not the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 overlap is calculated by the control unit 140 acquiring the drive positions of the first imaging unit 110 and the second imaging unit 120 and based on the acquired drive positions.

[0038] As described above, according to the first embodiment, an imaging device can be provided in which each imaging unit can rotate independently around a common rotation axis, and the imaging range of the imaging unit can be appropriately set depending on the positional relationship between the multiple imaging units.

[0039] <Second embodiment> The operation of the imaging device according to the second embodiment will be described below with reference to Fig. 5. In the second embodiment, a case will be described in which the first imaging unit 110 is panned by a user operation, causing the first imaging unit 110 to come into contact with the second imaging unit 120 that is not moving. Furthermore, in the first embodiment, it was assumed that the second imaging unit 120 had already been installed and that the angle of view of the second imaging unit 120 would not change, but in the second embodiment, it is assumed that the second imaging unit 120 has not yet been installed.

[0040] Figure 5(a) is a diagram showing the imaging range of the imaging unit according to the second embodiment before the angle of view is changed, and Figure 5(b) is a diagram showing the imaging range of the imaging unit according to the second embodiment after the angle of view is changed.

[0041] 5(a) shows a state in which the first imaging unit 110 and the second imaging unit 120 are capturing images at a high zoom magnification and the first imaging unit 110 operated by the user is in contact with the second imaging unit 120. More specifically, FIG. 5(b) shows the capturing angle of view in which both the first imaging unit 110 and the second imaging unit 120 are in contact and not zoomed.

[0042] That is, the first imaging unit 110 and the second imaging unit 120 can capture images so that their imaging ranges overlap in range 501, and the imaging ranges may not overlap depending on the zoom magnification. However, when it is determined that the first imaging unit 110 has come close to or into contact with the second imaging unit 120, it is desirable to change the angle of view by capturing images so that the angle of view 116 (imaging range) and the angle of view 126 (imaging range) overlap in range 501.

[0043] Therefore, in the second embodiment, when the determination unit 150 determines that contact or proximity has occurred, the zoom magnifications of the first imaging unit 110 and the second imaging unit 120 are changed to the wide-angle side. In the second embodiment, not only the zoom magnification of the first imaging unit 110 but also the zoom magnification of the second imaging unit 120 is changed. Specifically, the first zoom driving unit 115 changes the lens position to the wide-angle side based on a control signal from the control unit 140. Similarly, the control unit 140 determines the zoom state of the second zoom driving unit 125, and if it is on the telephoto side, sends a control signal to the second zoom driving unit 125 to change the zoom magnification to the wide-angle side. The second zoom driving unit 125 changes the lens position to the wide-angle side based on the control signal from the control unit 140.

[0044] The processing of the imaging device according to the second embodiment will be described below with reference to FIG. 6 using a flowchart. This flowchart is implemented by the control unit 140 executing a program loaded in RAM. In this embodiment, it is assumed that a user operates the control device to move the first imaging unit 110. Note that the user may also operate the control device to move the second imaging unit 110. This flowchart begins when a certain amount of time has elapsed since the control device received a control signal to move the first imaging unit 110. Alternatively, this flowchart begins when the control device receives an instruction to complete installation of the first imaging unit 110. Alternatively, this flowchart begins when the imaging device receives a drive instruction even though the imaging unit to which the user sent a drive instruction is not moving.

[0045] In S601, the determination unit 150 determines whether the first imaging unit 110 and the second imaging unit 120 are close to each other or in contact with each other, based on information about the positions of the first imaging unit 110 and the second imaging unit 120. If the determination unit 150 determines that the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than the threshold, the process proceeds to S602. In other words, if the first imaging unit 110 and the second imaging unit 120 are close to each other, the process proceeds to S602. If the determination unit 150 does not determine that the distance between the first imaging unit 110 and the second imaging unit 120 is equal to or less than the threshold, the process returns to S601.

[0046] In S602, the control unit 140 acquires drive information including zoom magnifications from the first zoom drive unit 115 and the second zoom drive unit 125 and determines whether there is overlap in the imaging ranges. If there is no overlap in the imaging ranges, the process proceeds to S603. If there is overlap in the imaging ranges, the flow ends.

[0047] In S603, the control unit 140 acquires the zoom magnification of the first imaging unit 110 operated by the user, and determines whether the zoom magnification of the first imaging unit 110 is higher than a predetermined zoom magnification. If the control unit 140 determines that the zoom magnification of the first imaging unit 110 is higher than the predetermined value, the process proceeds to S604. If the control unit 140 determines that the zoom magnification of the first imaging unit 110 is not higher than the predetermined zoom magnification, that is, is equal to or lower than the predetermined zoom magnification, the process proceeds to S605. In other words, the control unit 140 determines whether the zoom magnification of the first imaging unit 110 is high (telephoto side), and if it is high (telephoto side), the process proceeds to S604. Note that in S603, the zoom magnification of the first imaging unit 110 is acquired again, but the zoom magnification acquired in S602 may be used.

[0048] In S604, the control unit 140 controls the first zoom driving unit 115 to change the zoom magnification to a lower magnification (wide-angle side). Specifically, the control unit 140 changes the zoom magnification of the first imaging unit 110 until the angle of view 116 (imaging range) of the first imaging unit 110 overlaps with the angle of view 126 (imaging range) of the second imaging unit 120, and then proceeds to S605. Alternatively, even if the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 do not overlap, if the zoom magnification of the first imaging unit 110 has been changed to a state where no zoom is performed, then proceeds to S605.

[0049] Whether or not the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 overlap is determined by the control unit 140 acquiring the positions and angles of view in the pan rotation direction of the first imaging unit 110 and the second imaging unit 120. Then, the overlap is calculated based on the acquired positions and angles of view in the pan rotation direction.

[0050] In S605, the control unit 140 acquires drive information including zoom magnifications from the first zoom drive unit 115 and the second zoom drive unit 125, and determines whether there is overlap in the imaging ranges. If there is no overlap in the imaging ranges, the process proceeds to S606. If there is overlap in the imaging ranges, the process ends.

[0051] In S606, the control unit 140 acquires the zoom magnification of the second imaging unit 120 and determines whether the zoom magnification of the second imaging unit 120 is higher than a predetermined zoom magnification. If the control unit 140 determines that the zoom magnification of the first imaging unit 110 is higher than the predetermined zoom magnification, the process proceeds to S607. If the control unit 140 determines that the zoom magnification of the second imaging unit 120 is not higher than the predetermined zoom magnification, i.e., is lower than the predetermined zoom magnification, the process ends.

[0052] In S607, the control unit 140 controls the second zoom driving unit 115 to change the zoom magnification to a lower magnification (wide-angle side). Specifically, the control unit 140 changes the zoom magnification of the first imaging unit 110 until the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 overlap, and then proceeds to S605. Alternatively, even if the angle of view 116 (imaging range) of the first imaging unit 110 and the angle of view 126 (imaging range) of the second imaging unit 120 do not overlap, if the zoom magnification of the second imaging unit 110 has been changed to a state where no zoom is performed (zoom magnification 1), the flow ends.

[0053] As described above, according to the second embodiment, an imaging device can be provided in which each imaging unit can rotate independently around a common rotation axis, and the imaging range of the imaging unit can be appropriately set depending on the positional relationship between the multiple imaging units.

[0054] <Third embodiment> The operation of the imaging device according to the third embodiment will be described below with reference to FIG. 7. In the third embodiment, the first driver 113 and the second driver 123 each further include a tilt driver that can be driven independently. FIG. 7(a) is a diagram showing the angle of view 116 (imaging range) of the first imaging unit 110, the angle of view 126 (imaging range) of the second imaging unit 120, and an overlapping range 501 thereof in FIG. 5(b). That is, the diagram shows the angle of view after the angle of view 116 of the first imaging unit 110 and the angle of view 126 of the second imaging unit 120 are changed to the wide-angle side when it is determined that the user has operated the first imaging unit 110 and made contact with the first imaging unit 110 and the second imaging unit 120. It is assumed that the user issues an instruction from the instruction unit 204 to change the angle of view of the first imaging unit 110 to a range 701 after changing the angle of view to the wide-angle side shown in FIG. 7(a).

[0055] 7(b), it is desirable to control the first imaging unit 110 to drive the second imaging unit 120 and capture an image of a range 701 specified by the user. Specifically, the control unit 140 acquires the pan drive amount of the first imaging unit 110 required to capture the range 701, and first sends a control signal to the second pan imaging unit 124 to move the second imaging unit 120 in order to secure the drive position of the first imaging unit 110. The drive amount for moving the second imaging unit 120 is set so as not to overlap with the position required for imaging by the first imaging unit 110.

[0056] Next, the control unit 140 transmits control signals to the first zoom driving unit 115, the first pan driving unit 114, and the first tilt driving unit (not shown) to cause the first imaging unit 110 to capture an image of the range 701. The first pan driving unit 114 and the first tilt driving unit are driven based on the control signals and face the direction of the range 701.

[0057] Hereinafter, the processing flow of the imaging device according to the third embodiment will be described with reference to Fig. 8. This flow is executed after the processing flow of Fig. 6 is completed. This flowchart is realized by the control unit 140 executing a program expanded in RAM.

[0058] In S801, the control unit 140 acquires, from the instruction unit 204, information on the imaging range (range 701) of the first imaging unit 110 designated by the user.

[0059] In S802, the control unit 140 determines whether it is necessary to move the first imaging unit 110 to capture the specified range 701, and if it is determined that it is not necessary to move, the process proceeds to S805. If it is determined that it is necessary to move, the control unit 140 proceeds to S803.

[0060] In S803, the control unit 140 acquires information about the first pan driving unit 114, the first zoom driving unit 115, and the first tilt driving unit (not shown) for capturing an image of the range 701 with the first imaging unit 110. The control unit 140 further determines, based on the driving position of the first pan driving unit 114, whether the range 701 can be captured by changing the settings of the first imaging unit 110 without moving the position of the second imaging unit 120. If the control unit 140 determines that the range 701 can be captured by changing the settings of the first imaging unit 110, the process proceeds to S804; if the control unit 140 determines that the range 701 cannot be captured, the process proceeds to S806. Here, the "settings" of the first imaging unit 110 refer to at least one of the pan position, tilt position, and zoom magnification (optical zoom magnification) of the first imaging unit 110.

[0061] In S804, the control unit 140 sends control signals to the first pan driving unit 114, the first zoom driving unit 115, and the first tilt driving unit to change the settings of the first imaging device 110 and capture an image of the range 701. Then, the process proceeds to S805.

[0062] In S805, the control unit 140 returns the settings of the second imaging unit to the original settings. The original settings refer to the settings before the settings of the second imaging unit 120 were changed in the processing flow of FIG. 6. Here, the "settings" of the second imaging unit 110 refer to at least one of the pan position and zoom magnification of the first imaging unit 110. After the settings are returned to the original settings, the processing flow ends.

[0063] In S806, the control unit 140 determines whether it is possible to drive the second imaging unit 120. The determination of whether the second imaging unit 120 is possible to drive may be made by the user through the instruction unit 204, or may be made when it is detected that the second imaging unit 120 has not yet been set. If it is determined that the second imaging unit 120 cannot be moved, the process proceeds to S807, and if it is determined that the second imaging unit 120 can be moved, the process proceeds to S810.

[0064] In S807, the control unit 140 determines whether the range 701 is within the angle of view of the first imaging unit 110. If the range 701 is within the angle of view of the first imaging unit 110, the process proceeds to S808, and if the range 701 is outside the angle of view of the first imaging unit 110, the process proceeds to S809.

[0065] In S808, the control unit 140 performs electronic zoom processing to enlarge the range 701 from the angle of view of the first imaging unit 110 without moving the lens. Then, the process proceeds to S805.

[0066] In S809, the control unit 140 transmits to the control device 200 a notification indicating that the first imaging unit 110 cannot be set to capture an image of the range 701. Thereafter, the process proceeds to S805.

[0067] In S810, the control unit 140 first transmits a control signal to drive the second pan driver 124, thereby moving the second imaging unit 120. Next, the control unit 140 transmits control signals to the first pan driver 114, the first zoom driver 115, and the first tilt driver to change the settings of the first imaging unit 110 and capture the range 701. Here, the "settings" of the first imaging unit 110 refer to at least one of the pan position, tilt position, and zoom magnification (optical zoom magnification) of the first imaging unit 110. Then, the processing flow ends.

[0068] As described above, according to the second embodiment, an imaging device can be provided in which each imaging unit can rotate independently around a common rotation axis, and the imaging range of the imaging unit can be appropriately set depending on the positional relationship between the multiple imaging units.

[0069] <Modification> In S402 of the above embodiment, it is determined whether or not there is an overlap between the imaging range of the first imaging unit 110 and the imaging range of the second imaging unit 120, but this step may be skipped.

[0070] In the above embodiment, the control unit 140 automatically changes the zoom magnification of the first imaging unit 110, but the user may be allowed to change the zoom magnification when the imaging units get closer to each other. Specifically, the display unit 203 of the control device 200 may display (notify) that the imaging units are getting closer to each other, and the user may change the zoom magnification. At this time, the user determines whether the angle of view 116 of the first imaging unit 110 and the angle of view 126 of the second imaging unit 120 overlap while looking at the images.

[0071] Furthermore, the zoom magnification may be changed in conjunction with the panning operation of the first imaging unit 110 without displaying (notifying) that the imaging units are in contact with each other on the display unit 203 of the control device 200. Specifically, when the imaging units are not in contact with each other, the instruction unit 204 of the control device 200 has a user interface for instructing the operation of the pan driving unit and a user interface for instructing the operation of the zoom driving unit. However, when the imaging units are in contact with each other, the zoom operation is linked to the user interface of the pan driving unit. That is, when the imaging units are close to each other, if the user continues to instruct pan driving, the zoom is gradually changed to the wide-angle side. Furthermore, when the panning operation is stopped, the zoom operation also stops, and when the panning is operated in the opposite direction, the zoom magnification may be gradually changed to the telephoto side.

[0072] Furthermore, when the determination unit determines that the first imaging unit 110 and the second imaging unit 120 have come into contact, for example, a composite image may be generated in which the image captured by the first imaging unit and the image captured by the second imaging unit are arranged adjacent to each other. Alternatively, the overlapping range of the angles of view may be displayed superimposed on each display screen.

[0073] First drive unit 113 and second drive unit 123 may further include tilt drive units that can be driven independently. When the determination unit determines that first imaging unit 110 and second imaging unit 120 have come into contact, control unit 140 may acquire the respective tilt angles and change the tilt position of first imaging unit 110 operated by the user to match the tilt angle of second imaging unit 120.

[0074] Each functional unit of the imaging device 100 shown in FIG. 1 may be implemented by hardware or software (computer program). Each functional unit may be implemented by hardware such as an ASIC or a programmable logic array (PLA). ASIC stands for Application Specific Integrated Circuit. Note that some of the functional units may be implemented by hardware.

[0075] A computer device capable of executing such a computer program is applicable to the image capturing apparatus 100. An example of the hardware configuration of a computer device applicable to the image capturing apparatus 100 will be described.

[0076] The CPU 140 (control unit 140) executes various processes using computer programs and data stored in RAM and ROM. As a result, the CPU 140 controls the operation of the entire computer device, and also executes or controls the various processes described as processes performed by the imaging device 100. Note that a programmable processor such as an MPU may be used instead of the CPU 140. CPU stands for Central Processing Unit. MPU stands for Micro-Processing Unit.

[0077] The RAM has an area for storing computer programs and data loaded from the ROM or storage device, and an area for storing computer programs and data received from the outside via the I / F. The RAM also has a work area used by the CPU 140 when executing various processes. In this way, the RAM can provide various areas as needed.

[0078] The ROM stores setting data for the computer device, computer programs and data related to the startup of the computer device, computer programs and data related to the basic operation of the computer device, and the like.

[0079] The storage device is a large-capacity information storage device such as a hard disk drive. The storage device stores an OS (operating system), computer programs and data for causing CPU 140 to execute or control the various processes described as processes performed by imaging device 100. The computer programs stored in the storage device may include computer programs for causing CPU 140 to execute or control the functions of the functional units shown in FIG. 1. The data stored in the storage device may also include the above-mentioned threshold values.

[0080] The CPU 140, RAM, ROM, and storage device are all connected to a system bus. Note that the hardware configuration of a computer device applicable to the imaging device 100 is not limited to this configuration, and can be modified / altered as appropriate.

[0081] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0082] 100 Imaging device 110, 120 Imaging unit 113, 123 Drive unit 114, 124 Pan drive unit 115, 125 zoom drive unit 130 Image processing section 140 Control Unit 150 Judgment section

Claims

1. a first imaging means and a second imaging means that are rotatable about a common rotation axis; a zoom driving means for changing the zoom magnification of the first imaging means and the zoom magnification of the second imaging means; a pan drive means for rotating the first imaging means and the second imaging means about the common rotation axis; a determination means for determining whether the first imaging means and the second imaging means are close to each other or in contact with each other; and a control means for controlling the zoom driving means to change at least one of the zoom magnification of the first imaging means or the zoom magnification of the second imaging means when the determination means determines that the first imaging means and the second imaging means are close to or in contact with each other.

2. 2. The imaging device according to claim 1, wherein the determining means determines whether the first imaging means and the second imaging means are close to each other or in contact with each other based on a distance between the first imaging means and the second imaging means.

3. 3. The imaging device according to claim 2, wherein the threshold value is a distance at which the first imaging means and the second imaging means come into contact with each other.

4. the determination means determines whether or not the zoom magnification of the first imaging means is higher than a predetermined zoom magnification; 2. The imaging device according to claim 1, wherein, when the determination means determines that the zoom magnification of the first imaging means is higher than the predetermined zoom magnification, the control means controls the zoom driving means so that the zoom magnification of the first imaging means is lower than the predetermined zoom magnification.

5. the determining means determines whether or not there is an overlap between the imaging range of the first imaging means and the imaging range of the second imaging means; 2. The imaging device according to claim 1, wherein, when the determination means determines that there is no overlap, the control means controls the zoom drive means so that the zoom magnification of the first imaging means is lower than the predetermined zoom magnification.

6. 5. The imaging device according to claim 4, wherein the determination means determines whether the zoom magnification of the second imaging means is higher than the predetermined zoom magnification after the control means controls the zoom drive means so that the zoom magnification of the first imaging means is lower than the predetermined zoom magnification.

7. 7. The imaging device according to claim 6, wherein, when the determination means determines that the zoom magnification of the second imaging means is higher than the predetermined zoom magnification, the control means controls the zoom driving means so that the zoom magnification of the second imaging means becomes lower than the predetermined zoom magnification.

8. 2. The imaging device according to claim 1, wherein the first imaging means and the second imaging means are driven by the pan driving means to come close to or come into contact with each other.

9. The imaging device further includes a tilt driving unit for tilting the first imaging unit and the second imaging unit, and a communication unit for communicating with an external device, the communication means receives information relating to a photographing range photographed by the first photographing means via the external device; 2. The imaging device according to claim 1, wherein, when the control means determines that the shooting range can be photographed by changing the settings of the first imaging means, the control means changes the settings of the pan driving means, the tilt driving means, and the zoom driving means of the first imaging means in order to photograph the shooting range.

10. The imaging device further includes a tilt driving unit for tilting the first imaging unit and the second imaging unit, and a communication unit for communicating with an external device, the communication means receives information relating to a photographing range photographed by the first photographing means via the external device; 2. The imaging device according to claim 1, wherein, when the control means does not determine that the shooting range can be photographed by changing the settings of the first imaging means, the control means drives the second imaging means and then changes the settings of the pan driving means, the tilt driving means, and the zoom driving means of the first imaging means in order to photograph the shooting range.

11. further comprising tilt driving means for tilting the first imaging means and the second imaging means; 2. The imaging device according to claim 1, wherein, when the determination means determines that the first imaging means and the second imaging means are close to each other or in contact with each other, the control means drives the tilt drive means so as to match the tilt angle of the first imaging means with the tilt angle of the second imaging means.

12. 8. The imaging device according to claim 7, wherein the control means generates a composite image from the images captured after changing the zoom magnifications of the first imaging means and the second imaging means.

13. a communication means for communicating with an external device; 2. The imaging device according to claim 1, wherein the communication means receives drive instructions for the pan drive means of the first imaging means and the second imaging means via the external device.

14. 2. The imaging device according to claim 1, wherein the communication means transmits the image data acquired by the first imaging means and the second imaging means to the external device.

15. A control method for an imaging device including a first imaging means and a second imaging means rotatable around a common rotation axis, a zoom driving means for changing a zoom magnification of the first imaging means and a zoom magnification of the second imaging means, and a pan driving means for rotating the first imaging means and the second imaging means around the common rotation axis, the method comprising: A control method for an imaging device, comprising: a determination step of determining whether the first imaging means and the second imaging means are close to each other or in contact with each other; and a control step of controlling the zoom driving means to change at least one of the zoom magnification of the first imaging means or the zoom magnification of the second imaging means when it is determined in the determination step that the first imaging means and the second imaging means are close to each other or in contact with each other.

16. A computer program for causing a computer to function as each of the means of the imaging device according to any one of claims 1 to 14.

Images