Control method for optical device

Abstract

To suppress image shake when vibration acts on an optical device while an angle of an imaging unit is being changed toward a subject.SOLUTION: An optical device 10 comprises an imaging unit 12, an actuator 30 that changes an angle of the imaging unit, and a gyro sensor 78 that acquires information on a deviation angle of the imaging unit. In a control method for the optical device, a subject is designated. When the subject is designated, a virtual line connecting the center of the imaging unit and the center of the subject is set as a reference line. A threshold value of the deviation angle of the imaging unit in an intersecting direction intersecting the reference line is set. The actuator changes the angle of the imaging unit along the reference line. The gyro sensor acquires information on the deviation angle. When the actuator changes the angle of the imaging unit along the reference line and the deviation angle exceeds the threshold value, the actuator changes the angle of the imaging unit until the deviation angle becomes smaller than the threshold value. After the deviation angle becomes smaller than the threshold value, the actuator continues an operation to change the angle of the imaging unit along the reference line.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a method for controlling an optical device. [Background technology]

[0002] Patent Document 1 describes a camera control device that controls the pan, tilt, and zoom of a camera. The camera control device has a face detection means that detects the face of a presenter from an image captured by the camera, and a first control means that controls the pan, tilt, or zoom of the camera so that the face is detected if the face is not detected by the face detection means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-087613 Summary of the Invention [Problem to be solved by the invention]

[0004] When the angle of the imaging unit is changed toward the subject, as in the configuration of Patent Document 1, vibrations may act on the imaging unit. For example, when an optical device is placed on a desk and an image of a subject is being captured, vibrations may act on the optical device due to an earthquake or the like, or vibrations may act on the optical device when walking while taking a selfie using the optical device. In this way, vibrations acting on the optical device while the angle of the imaging unit is changed toward the subject may cause image blurring.

[0005] An object of the present disclosure is to suppress image blurring that occurs when vibrations act on an optical device while the angle of an imaging unit toward a subject is being changed. [Means for solving the problem]

[0006] In a control method for an optical device according to one aspect of the present disclosure, the optical device includes an imaging unit, a driving unit that changes the angle of the imaging unit, and an acquisition unit that acquires information on a deviation angle of the imaging unit relative to a reference angle. In the control method for an optical device, a subject is designated. When the subject is designated, a virtual line connecting the center of the imaging unit and the center of the subject is set as a reference line representing the reference angle. A threshold value for the deviation angle relative to the reference angle of the imaging unit in an intersecting direction that intersects with the reference line is set. The driving unit starts an operation to change the angle of the imaging unit along the reference line. The acquisition unit acquires information on the deviation angle in the intersecting direction. When the deviation angle in the intersecting direction exceeds the threshold value while the driving unit is changing the angle of the imaging unit along the reference line, the driving unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the threshold value. After the deviation angle in the intersecting direction becomes smaller than the threshold value, the driving unit continues the operation to change the angle of the imaging unit along the reference line. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to suppress image blurring that occurs when vibrations act on the optical device while the angle of the imaging unit toward the subject is being changed. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing a state in which the optical device according to the first embodiment is operated by a communication terminal. [Figure 2] FIG. 2 is a block diagram showing the internal configuration of the optical device and the communication terminal shown in FIG. [Figure 3] FIG. 3 is a cross-sectional view showing a part of the internal structure of the optical device shown in FIG. [Figure 4] FIG. 4 is a plan view showing a part of the internal structure of the optical device shown in FIG. [Figure 5] FIG. 5 is a perspective view showing a part of the internal structure of the optical device shown in FIG. [Figure 6]FIG. 6 is an explanatory diagram showing patterns of images of a subject obtained by operating an optical device placed on a desk. [Figure 7] FIG. 7 is a table showing deviation angle correction patterns that can be set in the optical device shown in FIG. [Figure 8] FIG. 8 is a graph showing reference lines and the like used to correct the deviation angle of the optical device shown in FIG. [Figure 9] FIG. 9 is a flowchart showing each process when correcting the deviation angle in the optical device shown in FIG. [Figure 10] FIG. 10 is a graph showing the state of correcting the deviation angle occurring in the optical device shown in FIG. [Figure 11] FIG. 11 is an explanatory diagram showing a state in which the optical device according to the second embodiment captures an image of the face of a sitting subject and a state in which the optical device captures an image of the face of a standing subject. [Figure 12] FIG. 12 is a block diagram showing the internal configuration of a communication terminal according to the second embodiment. [Figure 13A] FIG. 13A is a graph showing the setting state of the reference line and the boundary line when the position of the subject's face changes in the optical device shown in FIG. [Figure 13B] FIG. 13B is a graph showing how the acceleration of the operation of the drive unit to change the angle of the imaging unit changes at each point in time when the position of the subject's face changes in the optical device shown in FIG. [Figure 14] FIG. 14 is a flowchart showing each process for correcting the deviation angle when capturing an image while tracking the subject using the optical device shown in FIG. [Figure 15] FIG. 15 is an explanatory diagram showing a state in which a subject is taking a selfie using the optical device according to the third embodiment. [Figure 16] FIG. 16 is a graph showing the setting state of the reference line, boundary line, and limit line in the optical device shown in FIG. [Figure 17] FIG. 17 is a flowchart showing each process for correcting the deviation angle when capturing an image while tracking the subject in the optical device shown in FIG. [Figure 18] FIG. 18 is an explanatory diagram showing an image pattern when the orientation of the imaging unit in the optical device according to the fourth embodiment is switched from the first object to the second object. [Figure 19] FIG. 19 is a graph showing the setting state of the reference line and the boundary line when switching to a second object while capturing an image of a first object in the optical device shown in FIG. [Figure 20] FIG. 20 is a flowchart showing each process for correcting the deviation angle when switching between subjects and capturing images in the optical device shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Each embodiment and each modified example of the present disclosure will be described in detail below with reference to the drawings. Note that in all drawings referred to in describing each embodiment and modified example, the same or substantially the same configurations and elements will be designated by the same reference numerals. Furthermore, as a general rule, configurations and elements that have already been described will not be described again. In the following description, unless otherwise specified, terms such as "first" and "second" are used merely to distinguish components from one another and do not represent a specific order or sequence.

[0010] [Configurations of the first embodiment] FIG. 1 shows an optical device 10 according to a first embodiment. The optical device 10 includes a main body case 11, an imaging unit 12, and an actuator 30. The main body case 11 has an opening 11A. The imaging unit 12 is housed in the main body case 11. A portion of the imaging unit 12 is visible from outside the main body case 11 through the opening 11A. The actuator 30 changes the angle of the imaging unit 12.

[0011] The optical device 10 operates by transmitting and receiving information to and from a communication terminal 100, for example. The communication terminal 100 is a mobile terminal that has a wireless communication function and can be operated by a user. The user is not limited to the subject. A smartphone (registered trademark) or a tablet can be used as the communication terminal 100. Bluetooth (registered trademark) is used as a communication method between the communication terminal 100 and the optical device 10, for example. Wi-Fi (registered trademark) can also be used as another method.

[0012] As an example, a first subject S1, a second subject S2, and a designated frame FR are displayed on a display panel 108 (described later) of the communication terminal 100.

[0013] [Communication terminal] 2, the communication terminal 100 includes a controller 102, a display panel 108, and a communication I / F (Interface) 109. The controller 102 includes a CPU (Central Processing Unit) 104 and a memory 106. The memory 106 stores a plurality of programs for controlling the optical device 10.

[0014] The controller 102 functions as a control unit that controls the operation of the optical device 10. The multiple programs stored in the controller 102 include a program that changes the angle of the imaging unit 12, which will be described later, and corrects the angular deviation of the imaging unit 12. Note that each process executed by the program will be described using a flowchart (FIG. 9), which will be described later.

[0015] The display panel 108 functions as a touch panel. The display panel 108 can display subjects including the user and allow the user to set various items. Settings made using the display panel 108 include user face authentication settings and settings for selecting subjects to be captured. The communication I / F 109 performs wireless communication with the communication I / F 26, which will be described later.

[0016] A rectangular designated frame FR (FIG. 1) is displayed on the display panel 108. The designated frame FR can be moved to a desired position by the user touching the display panel 108 with a finger. As an example, the designated frame FR is set to the face of the first subject S1 (FIG. 1). The center of an object located inside the designated frame FR is located at the center of the image obtained by the imaging unit 12. In other words, the actuator 30 operates and the angle of the imaging unit 12 is changed so that the center of the object designated by the designated frame FR is located at the center of the image.

[0017] [Optical device] 2, the optical device 10 includes a main body case 11, an imaging unit 12, a controller 20, an actuator 30, a detection unit 72, a gyro sensor 78, a communication I / F 26, and a battery (not shown). The controller 20 includes a CPU (Central Processing Unit) 22 and a memory 24. The memory 24 stores a program for transmitting and receiving signals to and from each unit of the optical device 10.

[0018] The controller 20 operates each part of the optical device 10 based on a command received from the communication terminal 100. The controller 20 has a function of intermediating the transmission and reception of signals between the controller 102 and each part of the optical device 10. The communication I / F 26 performs wireless communication with the communication I / F 109.

[0019] <Image capture unit> The imaging unit 12 shown in FIG. 3 has a lens 14 as an optical element and a main body 16. The main body 16 includes an imaging element 18 that captures an image of a subject formed by the lens 14. In this manner, the imaging unit 12 captures an image of a subject. The imaging unit 12 also has an optical axis Z1. The imaging unit 12 is driven to rotate in a pan direction and a tilt direction by an actuator 30. The imaging unit 12 is fixed to a housing portion 38 of a holder 36, which will be described later. Although not described in this embodiment, the imaging unit 12 may also have a focus portion consisting of a lens and a drive mechanism.

[0020] <Actuator> The actuator 30 shown in FIG. 3 is an example of a drive unit that changes the angle of the imaging unit 12 (FIG. 2). Specifically, the angle of the imaging unit 12 means the angles in the pan direction and tilt direction of the optical axis Z1. The angle of the imaging unit 12 is changed by changing the angles in the pan direction and tilt direction of the optical axis Z1. In this way, the actuator 30 changes the angle of the imaging unit 12 in the pan direction and tilt direction.

[0021] The arrows X, Y, and Z in the drawings used in the following explanation represent the X-axis direction, the Y-axis direction, and the Z-axis direction. For each of the X-axis direction, the Y-axis direction, and the Z-axis direction, the tip of the arrow is one side (+ side), and the base of the arrow is the other side (- side). In the following explanation, these may be referred to as the +X side, -X side, +Y side, -Y side, +Z side, and -Z side.

[0022] In this embodiment, when the imaging unit 12 is in an initial position before rotation (hereinafter referred to as the reference position), the X-axis direction is the pan direction, the Y-axis direction is the tilt direction, and the Z-axis direction is the optical axis direction. Note that the relationships between the X-axis, Y-axis, and Z-axis directions and the pan direction, tilt direction, and optical axis direction in this embodiment are shown as examples and are not limited to these. When the imaging unit 12 is in the reference position, the X-axis, Y-axis, and Z-axis directions are perpendicular to one another. The point where the X-axis, Y-axis, and Z-axis intersect is referred to as reference point C.

[0023] 4 includes, for example, a case 32, a holder 36, a support mechanism 40, two first magnet units 56, two second magnet units 58, and a coil unit 62. The actuator 30 also includes an FPC (Flexible Printed Circuits) 68, a driver IC (Integrated Circuit) 70, a first sensor 74, a second sensor 76, and a gyro sensor 78 (FIG. 2).

[0024] <<Case>> 4, the case 32 has a bottom wall 33, support walls 34 and 35, and side walls (not shown). The bottom wall 33 is formed in a disk shape having a predetermined thickness in the Z-axis direction. The support walls 34 and 35 stand upright on the +Z side from the bottom wall 33 and face each other in the X-axis direction. A holder 36 (described later) is housed in a space surrounded by the bottom wall 33, the support walls 34 and 35.

[0025] <<Holder>> As shown in Fig. 5, the holder 36 is formed in an overall spherical shape. In this embodiment, the term "spherical shape" refers not only to spherical portions but also to non-spherical portions such as flat portions and curved portions. The holder 36 has an opening 37 and a housing portion 38 (Fig. 3). The housing portion 38 houses the imaging unit 12 (Fig. 2). The holder 36 is provided with two first magnet portions 56, two first yokes 57 (Fig. 3), two second magnet portions 58, and two second yokes 59 (Fig. 3).

[0026] 3, the holder 36 has a spherical surface with a preset reference point C as its center. In the present embodiment, as an example, the position of the rotation center of the holder 36 overlaps with the position of the reference point C. Note that the positions of the reference point C and the position of the rotation center of the holder 36 do not have to overlap. Regarding the rotation direction of the holder 36, the clockwise rotation shown in the figure is defined as the +R direction rotation, and the counterclockwise rotation shown in the figure is defined as the -R direction rotation.

[0027] <<Support mechanism section>> As shown in FIG. 4 , the support mechanism 40 is provided inside the case 32. The support mechanism 40 supports the holder 36 rotatably around a reference point C. When viewed from the +Z side of the reference point C, a line passing through the reference point C and extending in a direction intersecting the radial direction of the holder 36 is defined as a rotation axis CA. The support mechanism 40 includes, for example, a frame member 42, four pedestals 44, and a rotation shaft 46. In this embodiment, when viewed from the +Z side of the reference point C, the rotation axis CA has a first rotation axis CX and a second rotation axis CY that are perpendicular to each other. The first rotation axis CX extends along the X-axis direction. The second rotation axis CY extends along the Y-axis direction. Unless otherwise specified, the reference point C is the starting point when changing the angle of the imaging unit 12.

[0028] 5, when viewed from the Z-axis direction, the frame member 42 is formed in a circular ring shape with the reference point C (FIG. 4) as its center. The four pedestals 44 are arranged at equal intervals in the circumferential direction of the frame member 42. The four pedestals 44 are fastened to the frame member 42 by a plurality of screws 49.

[0029] 4, the rotating shaft portion 46 is provided on the frame member 42 so as to be rotatable about a rotation axis CA. Specifically, the rotating shaft portion 46 has a set (two) of first shaft portions 47 that are rotatable about a first rotation axis CX, and a set (two) of second shaft portions 48 that support the holder 36 so as to be rotatable about a second rotation axis CY. In this way, the support mechanism portion 40 has the frame member 42, the set of first shaft portions 47, and the set of second shaft portions 48.

[0030] A set of first shaft portions 47 and a set of second shaft portions 48 are provided on the four base portions 44. The first shaft portions 47 and the second shaft portions 48 are each made of a non-magnetic material. In this embodiment, "non-magnetic" means that the relative magnetic permeability is less than 1.5. Furthermore, "ferromagnetic" means that the relative magnetic permeability is 1.5 or more.

[0031] The set of first shafts 47 are rotatably supported by the support walls 34 and 35 of the case 32. The set of second shafts 48 rotatably support the holder 36. In other words, the set of first shafts 47 rotate relative to the support walls 34 and 35. The set of second shafts 48 rotate relative to the holder 36. This allows the holder 36 to rotate in the pan direction around the first rotation axis CX and in the tilt direction around the second rotation axis CY. The position of the holder 36 when the opening 37 of the holder 36 is open toward the +Z side is referred to as the reference position of the actuator 30. The rotation angle of the holder 36 when the holder 36 is in the reference position is defined as 0°.

[0032] A first magnetic member 52 is fixed to the first shaft portion 47 on the +X side. The first magnetic member 52 is formed in an annular shape. In the first magnetic member 52, the direction of the magnetic force changes with the rotation of the first shaft portion 47. The magnetic force of the first magnetic member 52 is detected by a first sensor 74, which will be described later.

[0033] A second magnetic member 54 is fixed to the second shaft portion 48 on the +Y side. The second magnetic member 54 is formed in an annular shape. The direction of the magnetic force of the second magnetic member 54 changes with the rotation of the second shaft portion 48. The magnetic force of the second magnetic member 54 is detected by a second sensor 76, which will be described later.

[0034] <<First magnet part>> 3, the first magnet portion 56 is fixed to the holder 36 via a first yoke 57. The first magnet portion 56 is provided on one radial side of a reference point C. The first magnet portion 56 has two north poles and one south pole sandwiched between the two north poles.

[0035] <<Second magnet part>> The second magnet portion 58 is fixed to the holder 36 via a second yoke 59. The second magnet portion 58 is provided on the other radial side of the reference point C. The second magnet portion 58 has one north pole and one south pole. The first magnet portion 56 and the second magnet portion 58 are positioned asymmetrically with respect to the reference point C, and have different lengths along the circumferential direction of the holder 36.

[0036] The direction in which the first set of first magnet portions 56 and the first set of second magnet portions 58 are aligned is defined as the K1 direction. The direction in which the second set of first magnet portions 56 and the second set of second magnet portions 58 are aligned is defined as the K2 direction (FIG. 4). The K1 direction and the K2 direction are perpendicular to each other. The K1 direction and the K2 direction also intersect with the X-axis direction and the Y-axis direction, respectively. When viewed from the Z-axis direction, the K1 direction and the K2 direction are offset by 45° from the X-axis direction and the Y-axis direction, respectively.

[0037] When distinguishing between the first and second sets of the first and second magnet portions 56 and 58, the first set will be referred to as the first and second magnet portions 56A and 58A, and the second set will be referred to as the first and second magnet portions 56B and 58B. The first and second magnet portions 56A and 58A are aligned in the K1 direction. The first and second magnet portions 56B and 58B are aligned in the K2 direction.

[0038] <<Coil section>> As shown in FIG. 4, a coil portion 62 is provided on the support wall 34 and the support wall 35 of the actuator 30. The coil portion 62 is composed of a first coil 63, a second coil 64, a third coil 65, and a fourth coil 66. The first coil 63 and the second coil 64 are positioned with a gap between them in the K1 direction. The third coil 65 and the fourth coil 66 are positioned with a gap between them in the K2 direction. The coil portion 62 faces the first magnet portion 56 and the second magnet portion 58 in the radial direction of the holder 36. Therefore, when energized, the coil portion 62 generates a magnetic field that acts on the first magnet portion 56 and the second magnet portion 58.

[0039] As shown in FIG. 3, a line passing through reference point C and extending in the K1 direction is defined as imaginary line H. One south pole of the first magnet section 56 straddles imaginary line H in the R direction, and is located on both the -Z and +Z sides. In the second magnet section 58, the boundary surface (polarization surface) between the north and south poles is located on imaginary line H. Note that the positional relationship of each component in the actuator 30 is the same in the K2 direction. Therefore, a description of each component in the K2 direction will be omitted.

[0040] < <fpc>> 4, the FPC 68 is inserted from the outside of the case 32 into the inside of the case 32 and extends above the bottom wall 33. A driver IC 70, which will be described later, is mounted on and connected to a portion of the FPC 68. The FPC 68 also branches off above the bottom wall 33 and is electrically connected to the coil section 62, a first sensor 74, and a second sensor 76.

[0041] <<Driver IC>> 4 drives the coil portion 62 to rotate the holder 36 about the first rotation axis CX and about the second rotation axis CY. The rotational driving of the holder 36 will be described later. The driver IC 70 is electrically connected to the controller 20 (FIG. 2).

[0042] <Detection section> The detection unit 72 detects the angles (pan angle and tilt angle) of the imaging unit 12. Information on the angle of the imaging unit 12 detected by the detection unit 72 is transmitted to the controller 20 (FIG. 2). The detection unit 72 has a first sensor 74 and a second sensor 76.

[0043] The first sensor 74 is configured as a TMR (Tunnel Magneto Resistance) sensor. The first sensor 74 is provided on the support wall 34. The first sensor 74 detects the direction of the magnetic force of the first magnetic member 52, thereby detecting the rotational position of the holder 36 about the first axis of rotation CX.

[0044] The second sensor 76 is configured as a TMR sensor. The second sensor 76 is provided on the frame member 42. The second sensor 76 detects the rotational position of the holder 36 about the second rotation axis CY by detecting the direction of the magnetic force of the second magnetic member 54. Information on the rotational position of the holder 36 about the first rotation axis CX and information on the rotational position of the holder 36 about the second rotation axis CY are converted into information on the angle in the pan direction and the angle in the tilt direction.

[0045] <Gyro sensor> 2 is an example of an acquisition unit that acquires information on the angle of deviation from the reference angle of the imaging unit 12. The reference angle of the imaging unit 12 refers to the angles in the pan direction and tilt direction of a virtual line drawn from the center of the imaging unit 12 as the origin (starting point) to the center of the imaging unit 12 and the center of the subject (subject in a stationary state) being imaged. In the following description, this virtual line will be referred to as a reference line M (FIG. 8) that represents the reference angle.

[0046] In this embodiment, as an example, the holder 36 (FIG. 3) is included in the imaging unit 12, and the center of the imaging unit 12 is set as the reference point C (FIG. 3). The center of the imaging unit 12 may be set at the center position or center of gravity position of the imaging element 18. Furthermore, the center of the subject means the center of the range of the subject that is imaged by the imaging unit 12. For example, if the subject is a person and the face is imaged, the center of the subject means the center of the face. Furthermore, if the entire body is imaged, the center of the subject means the center of the body.

[0047] The gyro sensor 78 detects the angular velocity acting on the actuator 30 (optical device 10). By integrating the angular velocity detected by the gyro sensor 78, it is possible to calculate the deviation angles (angular deviations) in the pan direction and tilt direction. Note that the integration of the obtained angular velocities may be performed by the gyro sensor 78 or by the CPU 22.

[0048] The "deviation angle" acquired by the gyro sensor 78 can be considered to be a deviation angle due to a disturbance of the imaging unit 12 in an intersecting direction intersecting with a reference line M, which will be described later, when changing the angle of the imaging unit 12. Note that the intersecting direction is not limited to a direction that forms a right angle with respect to the reference line M, but also includes a direction that intersects with the reference line M at an angle other than a right angle.

[0049] As an example, assume that the deviation angle (including components in the pan and tilt directions) of the imaging unit 12 with respect to the reference line M is θα (°) while the actuator 30 is driving the holder 36 ( FIG. 3 ) so that the angle of the imaging unit 12 is aligned with the reference line M. At this time, assume that the deviation angle (deviation angle caused by external disturbances such as vibrations) calculated by the gyro sensor 78 is θβ (°). In this case, the actual deviation angle dθ of the imaging unit 12 from the reference line M is dθ = θα + θβ. Then, based on a command input via the controller 20, the actuator 30 changes the angle of the imaging unit 12 toward the reference line M so that the deviation angle dθ decreases to 0°. Note that the deviation angles θα and θβ are not shown.

[0050] <Holder rotation drive> 4, when the coil portion 62 is energized, a thrust toward the -Z side acts on the first magnet portion 56A and the second magnet portion 58B, and a thrust toward the +Z side acts on the first magnet portion 56B and the second magnet portion 58A. In this case, the holder 36 is rotated toward one side about the second rotation axis CY. When the thrust acts on the opposite side, the holder 36 is rotated toward the other side about the second rotation axis CY. In other words, the imaging unit 12 and the holder 36 are rotated in the tilt direction.

[0051] Furthermore, suppose that energization of the coil portion 62 causes a thrust toward the +Z side to act on the first magnet portion 56A and the first magnet portion 56B, and a thrust toward the -Z side to act on the second magnet portion 58A and the second magnet portion 58B. In this case, the holder 36 rotates toward one side about the first rotation axis CX. When the thrust acts on the opposite side, the holder 36 rotates toward the other side about the first rotation axis CX. In other words, the imaging unit 12 and the holder 36 rotate in the pan direction. In this way, the actuator 30 changes the angle of the imaging unit 12 in the pan direction and the tilt direction. The angle of the imaging unit 12 has both pan direction and tilt direction components that are perpendicular to each other.

[0052] <Control of optical devices using communication terminals> As shown in Fig. 6, the optical device 10 is placed on the top surface of a desk D. The optical device 10 is supported by a support plate (not shown). As an example, a first subject S1 and a second subject S2 are located within the range of the angle of view VA of the imaging unit 12. The imaging unit 12 is oriented in a direction corresponding to a preset reference angle.

[0053] 7 shows a table of control patterns of the optical device 10 (FIG. 2). The control pattern of the optical device 10 is determined by a combination of an imaging mode that can be set in the communication terminal 100 (FIG. 2) and the state of use of the optical device 10. Examples of control patterns include pattern A, pattern B, and pattern C. Pattern A is a control pattern when the optical device 10 is placed on a desk D (FIG. 6) and a normal mode or a target input mode, which will be described later, is selected.

[0054] Pattern B is a control pattern when a target tracking mode, which will be described later, is selected with the optical device 10 placed on a desk D. Pattern C is a control pattern when the target tracking mode is selected with the optical device 10 held in hand. Note that, as an example, when the optical device 10 is held in hand, the normal mode or the target input mode is not selected. In the first embodiment, a case where the control pattern is pattern A will be described. Patterns B and C will be described in the second embodiment and thereafter.

[0055] <Baseline and tolerance range> 8 shows a reference line M when the angle of the imaging unit 12 (FIG. 3) is changed from an initial angle d0 to a target angle d4. The angle of the imaging unit 12 corresponds to the orientation of the imaging unit 12, which is determined by the angle of the tilt direction (tilt angle) and the angle of the pan direction (pan angle) of the imaging unit 12. The initial angle d0 refers to the tilt angle θA (°) and pan angle θ0 (°) when the imaging unit 12 is in a reference orientation before the orientation is changed. The target angle d4 refers to the tilt angle θB (°) and pan angle θ2 (°) when the imaging unit 12 reaches an orientation that allows it to capture an image of a specified subject.

[0056] When a subject is specified, the reference line M is a virtual line connecting the center of the imaging unit 12 and the center of the subject. The reference line M is also a straight line that connects the coordinates of the initial angle d0 and the coordinates of the target angle d4 in the shortest distance. The reference line M represents a reference angle that serves as a control basis when changing the angle of the imaging unit 12. In other words, the reference line M represents changes in the tilt angle and the pan angle when controlling the operation of the actuator 30 (FIG. 3).

[0057] Angles d1, d2, and d3, which represent the angle of the imaging unit 12 as it is changed from the initial angle d0 to the target angle d4, are shown on the reference line M. By controlling the operation of the actuator 30 (FIG. 3) so that it follows the reference line M and changing the tilt angle and pan angle of the imaging unit 12, it is possible to orient the angle of the imaging unit 12 toward the target subject.

[0058] When the actuator 30 operates based on the reference line M, the angle of the imaging unit 12 changes over time in the following order: initial angle d0, angle d1, angle d2, angle d3, and target angle d4. In FIG. 8, the intersecting direction that intersects with the reference line M is indicated by an arrow Q. The amount of deviation in the intersecting direction from the reference line M represents the amount of deviation in the angle of the imaging unit 12, i.e., the "deviation angle." The angle that the intersecting direction forms with the reference line M is not limited to a right angle, and may be any other angle.

[0059] The deviation angle of the imaging unit 12 with respect to the reference line M is defined as dθ (°). In this embodiment, a threshold value (°) of the deviation angle dθ, including a measurement error, is determined in advance. As an example, the same threshold value of the deviation angle dθ is set for each of the initial angle d0 to the target angle d4. Note that FIG. 8 shows a circle AR whose radius is the threshold value of the deviation angle dθ. If the deviation angle dθ is inside the circle AR, it means that the deviation angle dθ is within the allowable range.

[0060] The range through which the circle AR passes along the reference line M (the range indicated by diagonal lines) is defined as the allowable range A1 of the deviation angle dθ of the imaging unit 12. The allowable range A1 is a range that represents the allowable deviation angles for each of the tilt angle and pan angle with respect to the reference line M. The line segment indicating the lower limit of the allowable range A1 is defined as the boundary line BL. Furthermore, the line segment indicating the upper limit of the allowable range A1 is defined as the boundary line UL. In other words, the allowable range A1 is the range sandwiched between the boundary lines BL and UL.

[0061] [Operations of each component of the first embodiment] A control method for the optical device 10 will be described using the flowchart shown in Fig. 9. Note that for each configuration of the optical device 10 (Fig. 2) and the communication terminal 100 (Fig. 2), reference will be made to Figs. 1 to 5, and individual figure numbers will be omitted. Each process shown in Fig. 9 is performed by the CPU 104 reading, expanding, and executing a program (not shown) from the memory 106. As an example, the program is started when the user operates the communication terminal 100 and sets a subject. Then, the angle of the imaging unit 12 is changed so that the center of the set (selected) subject is positioned at the center of the display panel 108.

[0062] As a rough outline of the process in the flowchart, after the angle of the imaging unit 12 is set to an initial angle d0, a target angle d4 is set. Then, after the actuator 30 starts operating, if a deviation in the angle of the imaging unit 12 occurs when the angle of the imaging unit 12 is changed from the initial angle d0 to the target angle d4, a process is performed to correct the deviation. Causes of a deviation in the angle of the imaging unit 12 (image blur) include, for example, vibrations that the optical device 10 experiences due to an earthquake, or hand shake when the user holds the optical device 10 in their hand. When the angle of the imaging unit 12 falls within the allowable range of the target angle d4 (smaller than the set threshold), the program ends.

[0063] In FIG. 9, "ACT" is used as an abbreviation for the actuator 30. Note that "ACT" is also used as an abbreviation for the actuator 30 in flowcharts other than FIG. 9. "Target" refers to the subject to be imaged. Note that the range in which the angle of the imaging unit 12 can be changed by the actuator 30 is physically limited. For this reason, an angle of 37.5° is set as an example of the upper limit of the target angle d4. Note that the upper limit of the target angle d4 may be set to an angle other than 37.5°. "ACT angle" refers to the tilt angle and pan angle of the imaging unit 12.

[0064] In step S10, the CPU 104 transmits command information to the driver IC 70 via the controller 20 to turn on the servo of the actuator 30. Then, the process proceeds to step S12.

[0065] In step S12, the CPU 104 detects the angle of the actuator 30 (the pan angle and tilt angle of the imaging unit 12) based on the detection information of the detection unit 72. Then, the process proceeds to step S14.

[0066] In step S14, CPU 104 determines whether the difference between the detected angle of actuator 30 and the initial angle d0 is 1° or less. If the difference between the angle of actuator 30 and the initial angle d0 is 1° or less (S14: YES), it is determined that the angle of actuator 30 is the initial angle d0, and the process proceeds to step S16. If the difference between the angle of actuator 30 and the initial angle d0 is greater than 1° (S14: NO), the process proceeds to step S18.

[0067] In step S16, the CPU 104 starts detecting the deviation angle dθ from the reference line M using the gyro sensor 78. Then, the process proceeds to step S20.

[0068] In step S18, the CPU 104 operates the actuator 30 so that the difference between the angle of the actuator 30 and the initial angle d0 is 1° or less. Specifically, the CPU 104 changes the state of current flow to the first coil 63, the second coil 64, the third coil 65, and the fourth coil 66 by the driver IC 70, thereby changing the angle of the imaging unit 12. Then, the process proceeds to step S12.

[0069] In step S20, CPU 104 designates a target based on information designated (set) by the user (subject S) on display panel 108. Here, as an example, a description will be given assuming that a first subject S1 is designated. Then, the process proceeds to step S22. Note that step S20 is an example of a step of designating a subject.

[0070] In step S22, CPU 104 acquires information about target angle d4. As an example, information about the orientation (tilt angle and pan angle) of first subject S1 relative to the center of imaging unit 12 is acquired based on position information of first subject S1 within display panel 108. Specifically, a data table is stored in memory 106 regarding the relationship between the position of an object displayed on display panel 108 and the orientation of first subject S1, and CPU 104 obtains the orientation of first subject S1 by comparing the position information of the object with the information in the data table. Then, the process proceeds to step S24.

[0071] In step S24, CPU 104 determines whether target angle d4 is equal to or less than 37.5°, which is the upper limit angle. If target angle d4 is equal to or less than 37.5° (S24: YES), the process proceeds to step S26. If target angle d4 is greater than 37.5° (S24: NO), the process proceeds to step S28. Note that target angle d4 being equal to or less than 37.5° means that both the tilt angle and pan angle are equal to or less than 37.5°.

[0072] In step S26, the CPU 104 sets the target angle d4 in the memory 24 of the optical device 10. Then, the process proceeds to step S30.

[0073] In step S28, the CPU 104 sets the target angle d4 to 37.5° in the memory 24 of the optical device 10. Then, the process proceeds to step S30.

[0074] In step S30, CPU 104 sets a reference line M for the tilt angle and pan angle based on information on the initial angle d0 and information on the target angle d4. Then, the process proceeds to step S32. Note that step S30 is an example of a step in which, when a first subject S1 is designated, a virtual line connecting the center of imaging unit 12 and the center of first subject S1 is set as reference line M representing the reference angle.

[0075] In step S32, CPU 104 sets a data table of the allowable range A1 (threshold value) of the deviation angle dθ. Specifically, a table of combinations of tilt angle values ​​and pan angle values ​​is created, and a combination of threshold values ​​corresponding to the boundary line BL and boundary line UL is determined for the created table. This enables CPU 104 to determine whether the angle of image capture unit 12 is within allowable range A1 based on the threshold value. Then, the process proceeds to step S34. Note that step S32 is an example of a step of setting a threshold value for the deviation angle dθ from the reference angle of image capture unit 12 in the intersecting direction intersecting with reference line M.

[0076] In step S34, CPU 104 starts the operation of actuator 30. Specifically, CPU 104 operates actuator 30 (passes current through the coil) so that the angle of imaging unit 12 changes from initial angle d0 to target angle d4 in accordance with reference line M. Step S34 is an example of a step in which actuator 30 starts the operation of changing the angle of imaging unit 12 along reference line M. Then, the process proceeds to step S36.

[0077] In step S36, CPU 104 determines whether the difference between the tilt angle detected by detection unit 72 and the tilt angle of target angle d4, and the difference between the pan angle detected by detection unit 72 and the pan angle of target angle d4 (collectively referred to as the angle difference) are each greater than 1°. If the angle difference is greater than 1° (S36: YES), it is determined that target angle d4 has not been reached, and the process proceeds to step S38. If the angle difference is 1° or less (S36: NO), it is determined that target angle d4 has been reached, and the program ends.

[0078] In step S38, the CPU 104 acquires tilt angle information and pan angle information (denoted as deviation angle dθ1) detected by the detection unit 72, and also acquires tilt angle and pan angle information (denoted as deviation angle dθ2) from the gyro sensor 78. The total deviation angle dθ=dθ1+dθ2. Note that the deviation angles dθ1 and dθ2 are not shown. Step S36 is an example of a step in which the gyro sensor 78 acquires information on the deviation angle dθ2 in the intersecting direction. Then, the process proceeds to step S40.

[0079] In step S40, the CPU 104 determines whether the deviation angle dθ is greater than a threshold value based on the information on the total deviation angle dθ acquired in step S38. Specifically, the CPU 104 compares the value of the total deviation angle dθ with the threshold value in the set table. If the total deviation angle dθ is greater than the threshold value (S40: YES), the process proceeds to step S42. If the total deviation angle dθ is equal to or less than the threshold value (S40: NO), the process proceeds to step S34.

[0080] In step S42, the CPU 104 sets deviation angle reduction information in the driver IC 70 via the controller 20. Specifically, the CPU 104 sets in the driver IC 70 the movement amount of the actuator 30 (the amount of change in the angle of the image capture unit 12) for making the total deviation angle dθ equal to or less than the threshold value. Then, the process proceeds to step S34. Note that steps S40 and S42 are an example of a step in which, if the deviation angle dθ in the intersecting direction exceeds the threshold value while the actuator 30 is changing the angle of the image capture unit 12 along the reference line M, the actuator 30 changes the angle of the image capture unit 12 until the deviation angle dθ in the intersecting direction becomes smaller than the threshold value. Furthermore, step S34 is an example of a step in which the actuator 30 continues the operation of changing the angle of the image capture unit 12 along the reference line M after the deviation angle dθ in the intersecting direction becomes smaller than the threshold value.

[0081] 10 shows a state in which a deviation angle dθ that exceeds the allowable range A1 (threshold: boundary line BL) occurs while the orientation of the imaging unit 12 (FIG. 2) is being changed to a target angle d4 based on the reference line M. Note that in FIG. 10, the change in the actual angle of the imaging unit 12 is indicated by a virtual line G. The angle of the imaging unit 12 is within the allowable range A1 along the reference line M until it reaches angle dA. However, if vibration or the like acts on the optical device 10 (FIG. 2) at angle dA, the deviation angle dθ increases, resulting in an angle dB that exceeds the allowable range A1.

[0082] As the deviation angle dθ exceeds the allowable range A1, the actuator 30 (FIG. 2) changes (corrects) the tilt angle and pan angle of the imaging unit 12 so that the deviation angle dθ of the imaging unit 12 falls within the allowable range A1. As a result, as shown by the imaginary line G, the angle of the imaging unit 12 is again within the allowable range A1, and the deviation angle of the imaging unit 12 from the reference line M is reduced. The actuator 30 then continues the operation of changing the angle of the imaging unit 12 toward the target angle d4.

[0083] As described above, in the control method for the optical device 10 of the first embodiment, when a first subject S1 is designated on the display panel 108, a reference line M is set that connects the center of the imaging unit 12 and the center of the first subject S1 (the center of the designated frame FR). Furthermore, a threshold value and an allowable range A1 of the deviation angle dθ of the imaging unit 12 in the intersecting direction that intersects with the reference line M are set. Then, the actuator 30 changes the angle of the imaging unit 12 (the direction of the optical axis Z1) based on the reference line M. Here, if the deviation angle dθ acquired from the detection unit 72 and the gyro sensor 78 is within the allowable range A1, i.e., if the shake occurring in the optical device 10 is small, the operation of the actuator 30 continues, and the angle of the imaging unit 12 reaches the target angle d4. As a result, the imaging unit 12 is directed toward the first subject S1. Therefore, when an image is captured by the imaging unit 12, an image of the first subject S1 is displayed in the center of the display panel 108.

[0084] On the other hand, if the deviation angle dθ acquired from the detection unit 72 and the gyro sensor 78 exceeds the threshold value and the angle of the imaging unit 12 exceeds the allowable range A1, i.e., if the shake occurring in the optical device 10 is large, the angle of the imaging unit 12 is changed to reduce the deviation angle dθ. Then, the change of the angle of the imaging unit 12 based on the reference line M is continued. That is, the actuator 30 continues to change the angle of the imaging unit 12 until the angle of the imaging unit 12 falls within the allowable range A1. Therefore, even if large vibrations occur in the optical device 10, the angle of the imaging unit 12 can reach the target angle d4 while reducing deviations that affect the image. Then, when an image is captured by the imaging unit 12, an image of the first subject S1 is displayed in the center of the display panel 108.

[0085] In this way, in the optical device 10, when the imaging unit 12 is directed toward the first subject S1 to capture an image, even if vibration occurs in the optical device 10, the imaging unit 12 can be directed toward the first subject S1 regardless of the magnitude of the vibration. In other words, when the angle of the imaging unit 12 is being changed to face the first subject S1, image blurring caused by vibration acting on the optical device 10 can be suppressed.

[0086] Furthermore, according to the control method for the optical device 10 of the first embodiment, the actuator 30 drives the imaging unit 12 to an angle (orientation) having a pan direction component and a tilt direction component, so that the angle of the imaging unit 12 can be changed in the pan direction and the tilt direction.

[0087] [Configurations of the second embodiment] 11 shows a state in which the imaging unit 12 changes its angle in response to the movement of the subject S in the optical device 10 according to the second embodiment. Note that the second embodiment differs from the first embodiment in the method of controlling the optical device 10. The same components as those in the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and a description thereof will be omitted.

[0088] Subject S is sitting on a chair CH. The optical device 10 is placed on a desk D. The face SF of subject S faces the imaging unit 12. Range B1 represents the imaging range in which the imaging unit 12 can capture the entire face SF when subject S is sitting on chair CH. Range B2 represents the imaging range in which the imaging unit 12 can capture the entire face SF when subject S has stood up from chair CH.

[0089] The optical device 10 operates by transmitting and receiving information to and from the communication terminal 110. For example, the angle of the imaging unit 12 in the optical device 10 is changed by the subject S operating the communication terminal 110. In this embodiment, the face SF of the subject S is identified when the subject S is sitting. Then, when the subject S stands up, the imaging unit 12 tracks the face SF in conjunction with the movement of the face SF of the subject S.

[0090] [Communication terminal] 12, communication terminal 110 includes controller 112, display panel 108, and communication I / F 109. Controller 112 includes CPU 104 and memory 106. Controller 112 further includes, as functional units, a recognition unit 114 and a movement detection unit 116. In controller 112, CPU 104 executes a program stored in memory 106, thereby realizing the functions of recognition unit 114 and movement detection unit 116.

[0091] In addition, in the controller 112, corresponding hardware may be implemented separately as the identification unit 114 and the movement detection unit 116. Each process executed by the program of the controller 112 will be described later with reference to a flowchart (FIG. 14).

[0092] <Identification section> The controller 112 acquires information about the face SF of the subject S from the image captured by the imaging unit 12 (FIG. 11) using a known face recognition technique, and stores the information in the identification unit 114. The identification unit 114 identifies whether or not the face SF (FIG. 11) designated by the subject S by operating the display panel 108 is the subject S by comparing it with information about the face SF stored in advance.

[0093] <Movement detection section> The movement detection unit 116 detects movement of the identified subject S from a first position to a second position. Specifically, the movement detection unit 116 detects movement of the subject S from the first position to the second position by determining whether or not the center position of the face SF identified by the identification unit 114 changes within the image over time.

[0094] <Baseline and tolerance range> 13A shows a reference line M1 when the orientation of the imaging unit 12 (FIG. 11) is changed from an initial angle d0 to a target angle d4, and a reference line M2 when the angle of the imaging unit 12 is changed from the initial angle d0 to a target angle d5. The reference line M2 is an example of a new reference line.

[0095] Target angle d5 has tilt angle θC (°) and pan angle θ2 (°). Here, target angle d4 and target angle d5 have the same pan angle θ2. That is, when actuator 30 (FIG. 2) changes the angle of imaging unit 12 from target angle d4 to target angle d5 in accordance with movement of face SF (FIG. 11), tilt angle θB is changed to tilt angle θC while pan angle θ2 is maintained.

[0096] In FIG. 13A, the crossing direction intersecting with the reference line M1 is indicated by arrow Q1. Furthermore, the crossing direction intersecting with the reference line M2 is indicated by arrow Q2. Note that FIG. 13A illustrates a state in which the target angle d4 is changed to the target angle d5 because the subject S (FIG. 11) stands up before the imaging unit 12 (FIG. 11) reaches the target angle d4. As an example, the angle is switched from the reference line M1 to the reference line M2 between the point at which the angle is dC on the reference line M1 and the point at which the angle is dE on the reference line M2. Note that the reference for the angle of the imaging unit 12 when the angle is switched from the reference line M1 to the reference line M2 is indicated by reference line M3. After the angle of the imaging unit 12 is switched from the reference line M3 to the reference line M2 at angle dE, the angle of the imaging unit 12 is changed along the reference line M2 to the target angle d5.

[0097] At the initial angle d0, the allowable range of the deviation angle (an example of the imaging unit-side threshold) is indicated by a circle AR. On the other hand, at the target angles d4 and d5, the allowable range of the deviation angle (an example of the subject-side threshold) is indicated by a circle BR. The radius of the circle BR is smaller than the radius of the circle AR. In other words, the thresholds include a subject-side threshold and an imaging unit-side threshold that is set closer to the imaging unit 12 than the subject-side threshold, and the subject-side threshold is smaller than the imaging unit-side threshold.

[0098] The lower limit of the threshold for the reference line M1 is the boundary line BL1, the upper limit of the threshold is the boundary line UL1, and the range between the boundary lines BL1 and UL1 is the allowable range A2 of the deviation angle. Similarly, the lower limit of the threshold for the reference line M2 is the boundary line BL2, the upper limit of the threshold is the boundary line UL2, and the range between the boundary lines BL2 and UL2 is the allowable range A3 of the deviation angle. As an example, both the allowable range A2 and the allowable range A3 are set to continuously narrow as the angle of the imaging unit 12 approaches the target angles d4 and d5. Note that a boundary line corresponding to the reference line M3 exists, but is not shown in the figure.

[0099] <Acceleration settings> FIG. 13B shows a graph GC of the change in ACT speed (m / s) at each time point (s). The ACT speed means the speed of the movement of the actuator 30 (FIG. 11), and corresponds to the speed of the change in angle of the image capture unit 12 (FIG. 11). The change in ACT speed over time is expressed as the acceleration AC (m / s) of the movement of the image capture unit 12. 2 ) The data table of the graph GC is stored in advance in the memory 106 (FIG. 12).

[0100] In graph GC, the ACT speed is V0 (=0) at time t0 when the actuator 30 starts operating. From time t0 to time t1, the ACT speed increases from V0 to V1. From time t1 to time t2, as an example, the ACT speed is maintained at V1. From time t2 to time t3, the ACT speed decreases from V1 to V0. As an example, the time from time t0 to time t1 is shorter than the time from time t2 to time t3.

[0101] The data table of the graph GC is set so that the acceleration AC from time t0 to time t1 is α1, the acceleration AC from time t1 to time t2 is 0 (constant velocity), and the acceleration AC from time t2 to time t3 is α2, where α1>α2. Note that time t3 is the time when the angle of the imaging unit 12 reaches the target angle d5 (FIG. 13A). In this way, the acceleration AC of the operation of the actuator 30 to change the angle of the imaging unit 12 is set to decrease as the angle of the imaging unit 12 approaches the target angles d4 and d5 (as it approaches the reference lines M1 and M2).

[0102] [Operations of each configuration of the second embodiment] A control method for the optical device 10 of the second embodiment will be described using the flowchart shown in Fig. 14. Note that for the configurations of the optical device 10 (Fig. 11) and the communication terminal 100 (Fig. 12), reference will be made to Figs. 1 to 5, 11, 12, 13A, and 13B, and individual figure numbers will be omitted. Descriptions of operations similar to those in the first embodiment will be omitted.

[0103] 14 is performed by CPU 104 reading, expanding, and executing a program (not shown) from memory 106. As an example, the program is started when subject S operates communication terminal 110 and sets the face SF of subject S (face authentication is performed). Then, the angle of imaging unit 12 is changed so that the set face SF is positioned at the center of display panel 108.

[0104] Note that steps similar to those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. Specifically, the second embodiment differs from the first embodiment in that step S20 in the flowchart (FIG. 9) is replaced with step S21, and step S44 is added.

[0105] In step S21 after step S16, the CPU 104 performs face recognition on the face SF of the subject S designated by the subject S on the display panel 108 using the recognition unit 114. Here, it is assumed that the face SF of the subject S is identified as a result of the face recognition by the recognition unit 114. In this manner, in step S21, the subject S, who is the tracking target, is designated. Then, the process proceeds to step S22. Note that step S21 is included as an example of a step in which the recognition unit 114 identifies the subject S when the subject S is designated.

[0106] In step S22, if the designated subject S is sitting on a chair CH, the CPU 104 acquires information about a target angle d4. If the designated subject S is standing, the CPU 104 acquires information about a target angle d5. Then, the process proceeds to step S24.

[0107] In step S26, if the designated subject S is sitting on a chair CH, the CPU 104 sets a target angle d4. If the designated subject S is standing, the CPU 104 sets a target angle d5. Then, the process proceeds to step S30.

[0108] In step S30, when the target angle d4 is set, the CPU 104 sets a reference line M1 for the tilt angle and the pan angle based on the information on the initial angle d0 and the information on the target angle d4. Note that step S30 is an example of a step in which, when the subject S is in a first position (position when sitting: target angle d4), a virtual line connecting the center of the imaging unit 12 and the first position is set as the reference line M1 before movement.

[0109] Furthermore, in step S30, when target angle d5 is set, CPU 104 sets reference line M2 for the tilt angle and pan angle based on information on initial angle d0 and information on target angle d5. In other words, step S30 is also an example of a step in which, when movement detection unit 116 detects movement of subject S to a second position (position when standing: target angle d5), a virtual line connecting the center of imaging unit 12 and the second position is set as a new reference line. Then, the process proceeds to step S32.

[0110] In step S32, CPU 104 sets a data table for the allowable range A2 (threshold value) of the deviation angle dθ when the target angle is d4. Furthermore, CPU 104 sets a data table for a new allowable range A3 (new threshold value) of the deviation angle dθ when the target angle is d5. Step S32 is an example of a step for setting a new threshold value corresponding to a new reference line (reference line M2) when the subject S is at a second position. Then, the process proceeds to step S34.

[0111] In step S34, CPU 104 starts the operation of actuator 30. Specifically, CPU 104 operates actuator 30 so that the angle of imaging unit 12 changes from initial angle d0 to target angle d4 in accordance with reference line M. CPU 104 also operates actuator 30 so that the angle of imaging unit 12 changes from initial angle d0 to target angle d5 in accordance with reference line M2. Step S34 is an example of a step of changing the angle of imaging unit 12 in accordance with the new reference line. Then, the process proceeds to step S36.

[0112] In step S36, if the difference between the target angle d4 and the current angle (orientation) of the imaging unit 12 is 1° or less (S36: NO), the CPU 104 proceeds to step S44. If the angle difference is greater than 1° (S36: YES), it determines that the target angle d4 has not been reached, and proceeds to step S38.

[0113] Steps S40 and S42 are examples of steps in which, when the actuator 30 is changing the angle of the imaging unit 12 and the deviation angle exceeds the new threshold, the actuator 30 changes the angle of the imaging unit 12 until the deviation angle becomes smaller than the new threshold, and after the deviation angle becomes smaller than the new threshold, the actuator 30 continues to change the angle of the imaging unit 12 along the new reference line.

[0114] In step S44, the CPU 104 determines whether the position (target angle) of the subject S detected by the movement detection unit 116 is the same as the target angle acquired in step S22. In other words, the CPU 104 determines whether the position of the face SF in the image captured by the imaging unit 12 is the same as the position at the time of step S22.

[0115] If the CPU 104 determines that the position of the face SF is the same as the position at the time of step S22 (S44: YES), it determines that the tracking target subject S has not moved and ends the program. On the other hand, if the CPU 104 determines that the position of the face SF is different from the position at the time of step S22 (S44: NO), it determines that the tracking target subject S has moved and proceeds to step S22 to start tracking the subject S. In this way, in the second embodiment, as the position of the face SF of the subject S moves from a sitting position to a standing position, the target angle d4 is changed to the target angle d5 and the angle of the imaging unit 12 is changed.

[0116] As described above, in the control method for the optical device 10 of the second embodiment, the identification unit 114 identifies the face SF of the designated subject S by performing facial recognition. When the identified subject S moves, the movement detection unit 116 detects the position to which the subject S has moved based on the difference in the position of the face SF. Then, the reference line M1 and the allowable range A2 are replaced (set) with a new reference line M2 and an allowable range A3, thereby changing the angle of the image capture unit 12. Here, if the deviation angle of the image capture unit 12 changes due to vibration of the optical device 10, correction is performed based on the deviation angle in the intersecting direction with respect to the reference line M2, thereby suppressing blurring of the image captured by the image capture unit 12. In other words, the image capture direction can be changed to follow the subject S, and image blurring can be suppressed.

[0117] Furthermore, in the control method for the optical device 10 of the second embodiment, the subject-side threshold is smaller than the imaging unit-side threshold. In other words, the closer the angle of the imaging unit 12 is to the angle facing the subject S, the smaller the permissible range A3 becomes. This makes it possible to reduce the deviation between the imaging position of the face SF of the subject S when the imaging unit 12 reaches the target angle d5 of the reference line M2 and the position of the face SF in the actually obtained image.

[0118] Furthermore, in the control method for the optical device 10 of the second embodiment, the acceleration AC of the operation of the actuator 30 to change the angle of the imaging unit 12 becomes smaller as the actuator 30 approaches the reference line M1 or the reference line M2. Therefore, when the angle of the imaging unit 12 reaches the target angle d5, the imaging unit 12 is prevented from moving excessively due to the action of inertial force, and therefore, deviation of the angle of the imaging unit 12 from the target angle d5 can be suppressed.

[0119] [Configurations of the third embodiment] 15 shows a state in which a subject S is taking a selfie using an optical device 120 according to the third embodiment. Note that, with regard to the configuration of the optical device 120 and the control method of the optical device 120, the same configurations and processes as those of the first and second embodiments are denoted by the same reference numerals, and description of the figure numbers and explanations thereof will be omitted.

[0120] The control method of the optical device 120 differs from the first and second embodiments in that only the optical device 120 is used, without using the communication terminal 100 or the communication terminal 110. The optical device 120 also differs from the optical device 10 in that the main body case 11 is replaced with a case 122, that the case 122 is provided with a display panel 108, and that the controller 20 performs the functions of the controller 102. The other configurations are the same as those of the first and second embodiments.

[0121] The optical device 120 is supported by a support member 124. The support member 124 has a rod-shaped portion 125 that is extendable in one direction, and an attachment portion 126 fixed to the tip of the rod-shaped portion 125. The lower portion of the case 122 is detachable from the attachment portion 126. Here, with the case 122 attached to the attachment portion 126, the rod-shaped portion 125 is extended or retracted in one direction, and the subject S can grab the end of the rod-shaped portion 125, allowing the subject S to take a selfie using the optical device 120.

[0122] A rectangular designated frame FR is displayed on the display panel 108. The designated frame FR can be moved to a desired position by touching the display panel 108 with a finger. An object located inside the designated frame FR is positioned at the center of the image obtained by the imaging unit 12. In other words, the actuator 30 operates to change the angle of the imaging unit 12 so that the object designated by the designated frame FR is positioned at the center of the image.

[0123] 16 shows, in addition to the reference line M, boundary line BL, and boundary line UL, an imaginary line GA that represents the actual change in angle of the imaging unit 12, a lower limit line DL1, and an upper limit line DL2. The lower limit line DL1 is set on the side of the reference line M at a larger angle of deviation than the boundary line BL. The upper limit line DL2 is set on the side of the reference line M at a larger angle of deviation than the boundary line UL. The range indicated by the diagonal lines between the lower limit line DL1 and the upper limit line DL2 is defined as a limit range LR.

[0124] 16 also shows a state in which the angle of the imaging unit 12 exceeds the allowable range A1 and further exceeds the limit range LR (a state in which a deviation angle dθ3 has occurred) while the orientation of the imaging unit 12 (FIG. 15) is being changed to the target angle d4 based on the reference line M. In FIG. 16, the angle of the imaging unit 12 is within the allowable range A1 along the reference line M until the angle of the imaging unit 12 reaches angle dF, but when camera shake acts on the optical device 120 (FIG. 15) at angle dF, the deviation angle becomes dθ3, exceeding the limit range LR (lower limit line DL1).

[0125] If the angle of the imaging unit 12 exceeds the limit range LR, it is difficult to keep the angle of the imaging unit 12 within the allowable range A1 even if the actuator 30 (FIG. 15) is operated. For this reason, the optical device 120 is programmed in advance to terminate changing the angle of the imaging unit 12 and imaging by the imaging unit 12 when the angle of the imaging unit 12 exceeds the limit range LR.

[0126] [Operations of each configuration of the third embodiment] A control method for the optical device 120 of the third embodiment will be described using the flowchart shown in Fig. 17. Note that for each configuration of the optical device 120 (Fig. 15), reference will be made to Figs. 1 to 5, 15 and 16, and individual figure numbers will be omitted. Also, a description of the same operations as in the first embodiment will be omitted.

[0127] 17 is performed by the CPU 22 reading, expanding, and executing a program (not shown) from the memory 24. As an example, the program is started after the subject S operates the display panel 108 and the face SF of the subject S is set (face authentication is performed). Then, the angle of the imaging unit 12 is changed so that the set face SF is positioned at the center of the display panel 108. The optical device 120 is attached to the attachment part 126 in advance. The subject S starts taking a selfie with the rod part 125 extended.

[0128] Note that steps similar to those in the first and second embodiments are denoted by the same reference numerals as those in the first and second embodiments, and descriptions thereof will be omitted. Specifically, the flowchart of the third embodiment differs from the flowchart of the second embodiment (FIG. 14) in that step S32 is replaced by step S33, and step S41 is added.

[0129] After step S30 is executed, the process proceeds to step S33. In step S33, the CPU 104 sets the permissible shake range A1 and limit range LR based on the reference line M. Then, the process proceeds to step S34. Specifically, a table of combinations of tilt angle values ​​and pan angle values ​​is created, and thresholds corresponding to the boundary line BL and boundary line UL, and limit values ​​corresponding to the lower limit line DL1 and upper limit line DL2 are determined. By applying the tilt angle value and pan angle value obtained by the detection unit 72 to the table, the CPU 104 can determine whether the angle of the imaging unit 12 is within the permissible range A1 or whether the angle of the imaging unit 12 exceeds the limit range LR. Note that step S33 is an example of a step of setting a limit value for the deviation angle in the cross direction that is greater than a threshold value.

[0130] In step S40, if the acquired deviation angle dθ3 is greater than the threshold value (S40: YES), the process proceeds to step S41. If the acquired deviation angle dθ3 is equal to or less than the threshold value (S40: NO), the process proceeds to step S34.

[0131] In step S41, the CPU 104 determines whether the deviation angle dθ3 acquired in step S40 is greater than a limit value. Specifically, the CPU 104 compares the angle value corresponding to the difference between the reference line M and the lower limit line DL1 and the angle value corresponding to the difference between the reference line M and the upper limit line DL2 as limit values ​​with the acquired deviation angle dθ3. If the acquired deviation angle dθ3 is less than or equal to the limit value (S41: YES), the process proceeds to step S42. If the acquired deviation angle dθ3 is greater than the limit value (S41: NO), the program ends. Step S41 is an example of a step in which the actuator 30 stops the operation of changing the angle of the imaging unit 12 when the deviation angle dθ3 is greater than the limit value.

[0132] If the angle of the imaging unit 12 exceeds a limit range LR with respect to the reference line M, the actuator 30 cannot correct the angle of the imaging unit 12. Driving the actuator 30 when the angle of the imaging unit 12 cannot be corrected results in unnecessary consumption of battery power. Here, in the control method for the optical device 120 of the third embodiment, if the deviation angle of the imaging unit 12 in the intersecting direction is outside the limit range LR, the operation of the actuator 30 is stopped, thereby preventing unnecessary consumption of power due to the operation of the actuator 30.

[0133] [Configurations of the fourth embodiment] 18 shows a state in which the subject captured by the imaging unit 12 of the optical device 10 according to the fourth embodiment is switched from a first subject S1 to a second subject S2. The subjects include the first subject S1 and the second subject S2. Note that the configurations of the optical device 10 and the communication terminal 100 are similar to those of the first embodiment, and therefore the same reference numerals are used and a description thereof will be omitted.

[0134] An optical device 10 is placed on the top surface of a desk D. The optical device 10 is supported by a support plate (not shown). As an example, a first subject S1 and a second subject S2 are located within the range of a field of view VB of the imaging unit 12. In other words, it is assumed that the imaging unit 12 is directed toward the first subject S1 and the second subject S2 so that the first subject S1 and the second subject S2 are within the field of view VB. The first subject S1 is located far from the optical device 10. The second subject S2 is located close to the optical device 10. A designated frame FR is displayed on the display panel 108. As an example, the designated frame FR is designated by the second subject S2 operating the communication terminal 100.

[0135] In FIG. 19, arrows indicate a reference line M1 when the orientation of the imaging unit 12 (FIG. 18) is changed from the initial angle d0 to the target angle d4, and a reference line M4 when the angle of the imaging unit 12 is changed from the initial angle d0 to the target angle d6. As an example, the reference line M1 is switched to the reference line M4 between the point at which the angle dH is reached on the reference line M1 and the point at which the angle dK is reached on the reference line M4. The reference for the angle of the imaging unit 12 when the reference line M1 is switched to the reference line M4 is indicated by a reference line M5. After the angle of the imaging unit 12 is switched from the reference line M1 to the reference line M5 at the angle dH, the angle of the imaging unit 12 is changed along the reference line M4 to the target angle d6. The reference line M1 is an example of a first reference line. The reference line M4 is an example of a second reference line.

[0136] Target angle d4 is the angle of the imaging unit 12 when it becomes possible to image the first subject S1. Target angle d6 is the angle of the imaging unit 12 when it becomes possible to image the second subject S2. Target angle d4 is expressed by a tilt angle θB (°) and a pan angle θ2 (°). Target angle d6 is expressed by a tilt angle θC (°) and a pan angle θ1 (°). Note that θA<θB<θC and θ0<θ1<θ2. Here, when the subject to be imaged is switched between the first subject S1 and the second subject S2, both the tilt angle and pan angle of the imaging unit 12 are changed.

[0137] In Fig. 19, the crossing direction intersecting with reference line M1 is indicated by arrow Q3. Furthermore, the crossing direction intersecting with reference line M4 is indicated by arrow Q4. As described above, Fig. 19 shows a state in which the subject designation is changed from first subject S1 to second subject S2 before the angle of image capture unit 12 reaches target angle d4, and the angle of image capture unit 12 is changed to target angle d6.

[0138] The allowable range for the initial angle d0 is indicated by a circle AR, and the allowable ranges for the target angles d4 and d6 are indicated by circles BR. With boundary line BL3 as the lower limit and boundary line UL3 as the upper limit with respect to reference line M1, the range between boundary line BL3 and boundary line UL3 is defined as allowable range A4 of the deviation angle. Similarly, with boundary line BL4 as the lower limit and boundary line UL4 as the upper limit with respect to reference line M4, the range between boundary line BL4 and boundary line UL4 is defined as allowable range A5 of the deviation angle. Both allowable range A4 and allowable range A5 become smaller as the angle of the imaging unit 12 approaches target angle d4 or target angle d6.

[0139] [Functions of each configuration of the fourth embodiment] A control method for the optical device 10 of the fourth embodiment will be described using the flowchart shown in Fig. 20. Note that for each configuration of the optical device 10 and the communication terminal 100, reference will be made to Figs. 1 to 5, 18 and 19, and individual figure numbers will be omitted. Also, a description of the same operations as in the first embodiment will be omitted.

[0140] 20 is performed by the CPU 22 reading, expanding, and executing a program (not shown) from the memory 24. As an example, the program starts when the display panel 108 is operated by the second subject S2 and the face SF1 of the first subject S1 is set (face authentication is performed). Then, the angle of the imaging unit 12 is changed so that the set face SF1 is positioned at the center of the display panel 108. Here, a case will be described in which the display panel 108 is operated while the angle of the imaging unit 12 is facing the first subject S1, and the face SF2 of the second subject S2 is set.

[0141] The same steps as those in the first, second and third embodiments are denoted by the same reference numerals as those in the first, second and third embodiments, and the description thereof will be omitted. Specifically, the flowchart of the fourth embodiment differs from the flowchart of the second embodiment (FIG. 14) in that step S37 is set instead of step S44.

[0142] Step S20 is an example of a step of designating the first subject S1 or the second subject S2. Steps S30 and S32 are an example of a step of setting a reference line M1 and a first threshold value (acceptable range A4) as a threshold value when the first subject S1 is designated. Step S34 is an example of a step of starting the operation of the actuator 30 to change the angle of the imaging unit 12 along the reference line M1.

[0143] Furthermore, step S34 is also an example of a step in which, when the actuator 30 is changing the angle of the imaging unit 12 along the reference line M1 and the deviation angle in the cross direction relative to the reference line M1 exceeds a first threshold, the actuator 30 changes the angle of the imaging unit 12 until the deviation angle in the cross direction becomes smaller than the first threshold.

[0144] In step S36, the CPU 22 determines whether the angle difference is greater than 1°. If the angle difference is greater than 1° (S36: YES), the process proceeds to step S37. If the angle difference is 1° or less (S36: NO), the CPU 22 determines that the target angle d4 has been reached, and ends the program.

[0145] In step S37, the CPU 22 determines whether the target has changed based on the designation information of the designated frame FR. If the target has not changed (S37: YES), the process proceeds to step S38. If the target has changed (S37: NO), that is, if the target is changed from the first subject S1 to the second subject S2, the process proceeds to step S20. Note that step S37 and steps S20 to S32 when the target has changed are an example of a step for setting the reference line M4 and a second threshold value (acceptable range A5) as a threshold value when the second subject S2 is designated while the actuator 30 is changing the angle of the imaging unit 12 along the reference line M1. Steps S38 to S42 are the same as those in the second embodiment.

[0146] Note that step S34 after the target change is an example of a step in which the actuator 30 starts the operation of changing the angle of the imaging unit 12 along the reference line M4.

[0147] Furthermore, steps S34 to S42 after the target change are an example of steps in which, when the actuator 30 is changing the angle of the imaging unit 12 along the reference line M4 and the deviation angle in the intersecting direction relative to the reference line M4 exceeds a second threshold, the actuator 30 changes the angle of the imaging unit 12 until the deviation angle in the intersecting direction becomes smaller than the second threshold.

[0148] As described above, in the control method for the optical device 10 of the fourth embodiment, the reference line and the allowable range are changed in accordance with a change in the target. Here, as shown in FIGS. 18 and 19, when the actuator 30 is moving the imaging unit 12 toward the changed target angle d6, it is assumed that the angle dL is reached due to vibration acting on the optical device 10, exceeding the boundary line BL4. In this case, the actuator 30 corrects the angle (deviation angle) of the imaging unit 12 so that the angle falls within the allowable range A5 from the angle dL. In this way, even when the imaging target is changed from the first subject S1 to the second subject S2, image vibration can be suppressed.

[0149] [Modification] The present invention is not limited to any of the first, second, third, and fourth embodiments, and it goes without saying that various modifications are possible, such as combinations, within the scope of the gist of the present invention.

[0150] The number of magnetic poles in each of the first magnet portion 56 and the second magnet portion 58 may be different from the number shown in FIG.

[0151] In the actuator 30, the center position of the angle change in the pan direction and the center position of the angle change in the tilt direction do not have to be aligned with the reference point C. For example, a two-axis actuator that can be displaced in the X direction or the Y direction may be added, and the angle in the pan direction and the angle in the tilt direction may be changed after moving the actuator 30 in the X direction or the Y direction. Also, the angle of the imaging unit 12 does not have to have components in both the pan direction and the tilt direction, and may have only one of the components.

[0152] In the first, second and fourth embodiments, a limit range LR may be set, and the operation of changing the angle of the imaging unit 12 may be stopped when the limit range LR is exceeded.

[0153] The acceleration AC of the operation of the actuator 30 does not have to be set lower as the angle of the imaging unit 12 approaches the reference line M. Furthermore, the allowable ranges A1, A2, and A3 do not have to be set to become smaller as the angle of the imaging unit 12 approaches the target angle.

[0154] The method of specifying a target is not limited to the method of operating the specification frame FR on the display panel 108. For example, a list of target information (information on the subject's face) may be set in advance, and the target may be selected and registered from the list, and then the target may be specified by automatically performing face recognition.

[0155] The number of subjects is not limited to one or two, but may be three or more. In this case, the switching of subjects is not limited to one time, but may be performed two or more times.

[0156] In the first, second, third and fourth embodiments, the determination of whether or not there is an angular deviation (shake) of the imaging unit 12 may be made after a focus mechanism (not shown) is operated to achieve focus.

[0157] In the optical device 10 of the first, second, and fourth embodiments, the functions of the communication terminal 100 or the communication terminal 110 may be included in the optical device 10, and the optical device 10 may be used as a configuration of only the optical device 10. In other words, the optical device 10 of the first, second, and fourth embodiments may be configured not to use the communication terminal 100 or the communication terminal 110.

[0158] The "reference angle" is the orientation of the optical axis when the imaging unit captures an image with the subject positioned at the center of the image, and the "deviation angle" is the angular deviation from the reference angle. Here, assume that the drive unit is configured to slide the imaging unit in a set direction without rotating it. In this configuration, the orientation of the optical axis is approximately constant. However, to position the subject at the center of the image, a virtual line connecting the center of the imaging unit and the center of the subject is set, and the imaging unit is slid so that the direction of the virtual line aligns with the optical axis direction. In this case, the deviation between the direction of the virtual line and the optical axis direction can be considered as a deviation (deviation angle) of the optical axis. In other words, even in a configuration in which the imaging unit slides, the virtual line connecting the center of the imaging unit and the center of the subject can be considered as a "reference line" and the deviation angle can be corrected. The deviation angle in the direction intersecting the reference line can be considered as "shake (including camera shake)," which is an external disturbance. In this way, the control method of the present disclosure can also be applied to a configuration in which the imaging unit slides.

[0159] The present disclosure can be configured as follows. (1) A control method for an optical device having an imaging unit that images a subject, a driving unit that changes the angle of the imaging unit, and an acquisition unit that acquires information on a deviation angle of the imaging unit from a reference angle, comprising: specifying the subject; When the subject is designated, a virtual line connecting the center of the imaging unit and the center of the subject is set as a reference line representing the reference angle; setting a threshold value of the deviation angle with respect to the reference angle of the imaging unit in an intersecting direction intersecting the reference line; a step of the drive unit starting an operation of changing the angle of the imaging unit along the reference line; the acquiring unit acquiring information about the deviation angle in the cross direction; when the deviation angle in the intersecting direction exceeds the threshold value while the driving unit is changing the angle of the imaging unit along the reference line, the driving unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the threshold value, and after the deviation angle in the intersecting direction becomes smaller than the threshold value, the driving unit continues the operation of changing the angle of the imaging unit along the reference line; A method for controlling an optical device, comprising: (2) the subject includes a first subject and a second subject; designating the first subject or the second subject; When the first subject is designated, setting a first reference line as the reference line and a first threshold value as the threshold value; a step of starting an operation of the drive unit to change the angle of the imaging unit along the first reference line; when the deviation angle in the intersecting direction with respect to the first reference line exceeds the first threshold value while the drive unit is changing the angle of the imaging unit along the first reference line, the drive unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the first threshold value; a step of setting a second reference line as the reference line and a second threshold value as the threshold value when the second subject is designated while the drive unit is changing the angle of the imaging unit along the first reference line; a step of starting an operation of the drive unit to change the angle of the imaging unit along the second reference line; when the deviation angle in the intersecting direction with respect to the second reference line exceeds the second threshold while the drive unit is changing the angle of the imaging unit along the second reference line, the drive unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the second threshold; The method for controlling the optical device according to (1) above, (3) the optical device operates by transmitting and receiving information to and from a communication terminal; The communication terminal an identification unit for identifying the subject; a movement detection unit that detects movement of the identified subject from a first position to a second position, When the subject is designated, the identification unit identifies the subject; When the subject is at the first position, setting a virtual line connecting a center of the imaging unit and the first position as the reference line before movement; when the movement detection unit detects movement of the subject to the second position, setting a virtual line connecting a center of the imaging unit and the second position as a new reference line; If the object is at the second position, setting a new threshold value corresponding to the new reference line; changing the angle of the imaging unit along the new reference line; when the deviation angle exceeds the new threshold value while the drive unit is changing the angle of the imaging unit, the drive unit changes the angle of the imaging unit until the deviation angle becomes smaller than the new threshold value, and after the deviation angle becomes smaller than the new threshold value, the drive unit continues the operation of changing the angle of the imaging unit along the new reference line; The method for controlling the optical device according to (1) above, (4) the threshold value includes an object-side threshold value and an image capture unit-side threshold value that is set on a side closer to the image capture unit than the object-side threshold value, the subject-side threshold is smaller than the imaging unit-side threshold, A method for controlling an optical device according to any one of (1) to (3). (5) the acceleration of the operation of the drive unit to change the angle of the imaging unit decreases as the drive unit approaches the reference line; A method for controlling an optical device according to any one of (1) to (4). (6) setting a limit value for the deviation angle in the cross direction that is greater than the threshold value; If the deviation angle is greater than the limit value, the driving unit stops the operation of changing the angle of the imaging unit; having A method for controlling an optical device according to any one of (1) to (5). (7) The angle of the imaging unit has both components in a pan direction and a tilt direction that are orthogonal to each other, The drive unit changes the angle of the imaging unit in the pan direction and the tilt direction. A method for controlling an optical device according to any one of (1) to (6). [Explanation of symbols]

[0160] 10: Optical device, 11: Main body case, 11A: Opening, 12: Imaging unit, 14: Lens, 16: Main body, 18: Imaging element, 20: Controller, 22: CPU, 24: Memory, 26: Communication I / F, 30: Actuator, 32: Case, 33: Bottom wall, 34: Support wall, 35: Support wall, 36: Holder, 37: Opening, 38: Storage unit, 40: Support mechanism, 42: Frame member, 44: Base, 46: Rotating shaft, 47: First shaft, 48: Second shaft, 52: First magnetic member, 54: Second magnetic member, 56: First magnet, 56A: First magnet, 56B: First magnet magnet section, 57: first yoke, 58: second magnet section, 58A: second magnet section, 58B: second magnet section, 59: second yoke, 62: coil section, 63: first coil, 64: second coil, 65: third coil, 66: fourth coil, 70: driver IC, 72: detection section, 74: first sensor, 76: second sensor, 78: gyro sensor, 100: communication terminal, 102: controller, 104: CPU, 106: memory, 108: display panel, 109: communication I / F, 110: communication terminal, 112: controller, 114: identification section, 116: movement detection section, 120: optical Device, 122: case, 124: support member, 125: rod-shaped portion, 126: mounting portion, A1: tolerance range, A2: tolerance range, A3: tolerance range, A4: tolerance range, A5: tolerance range, AC: acceleration, AR: circle, B1: range, B2: range, BL: boundary line, BL1: boundary line, BL2: boundary line, BL3: boundary line, BL4: boundary line, BR: circle, C: reference point, CA: rotation axis, CH: chair, CX: first rotation axis, CY: second rotation axis, D: desk, d0: initial angle, d1: angle, d2: angle, d3: angle, d4: target angle, d5: target angle, d6: target angle, dA: angle, dB: angle, dC: angle, dE: angle, dF: angle, dG: angle, dH: angle, dK: angle, dL: angle, DL1: lower limit line, DL2: upper limit line, dθ: deviation angle, dθ3: deviation angle, FR: specified frame, G: virtual line, GA: virtual line, GC: graph, H: virtual line, LR: limit range, M: reference line, M1: reference line, M2: reference line, M3: reference line, M4: reference line, M5: reference line, Q: arrow, Q1: arrow, Q2: arrow, Q3: arrow, Q4: arrow, S: subject, S1: first subject, S2: second subject, SF: face, SF1: face, SF2: face, t0: time point, t1: time point, t2: time point,t3: time point, UL: boundary line, UL1: boundary line, UL2: boundary line, UL3: boundary line, UL4: boundary line, V0: ACT speed, VA: angle of view, VB: angle of view, Z1: optical axis, θ0: pan angle, θ1: pan angle, θ2: pan angle, θA: tilt angle, θB: tilt angle, θC: tilt angle,< / fpc>

Claims

1. A control method for an optical device having an imaging unit that images a subject, a driving unit that changes the angle of the imaging unit, and an acquisition unit that acquires information on a deviation angle of the imaging unit from a reference angle, comprising: specifying the subject; When the subject is designated, a virtual line connecting the center of the imaging unit and the center of the subject is set as a reference line representing the reference angle; setting a threshold value of the deviation angle with respect to the reference angle of the imaging unit in an intersecting direction intersecting the reference line; a step of the drive unit starting an operation of changing the angle of the imaging unit along the reference line; the acquiring unit acquiring information about the deviation angle in the cross direction; when the deviation angle in the intersecting direction exceeds the threshold value while the driving unit is changing the angle of the imaging unit along the reference line, the driving unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the threshold value, and after the deviation angle in the intersecting direction becomes smaller than the threshold value, the driving unit continues the operation of changing the angle of the imaging unit along the reference line; A method for controlling an optical device, comprising:

2. the subject includes a first subject and a second subject; designating the first subject or the second subject; When the first subject is designated, setting a first reference line as the reference line and a first threshold value as the threshold value; a step of starting an operation of the drive unit to change the angle of the imaging unit along the first reference line; when the deviation angle in the intersecting direction with respect to the first reference line exceeds the first threshold value while the drive unit is changing the angle of the imaging unit along the first reference line, the drive unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the first threshold value; a step of setting a second reference line as the reference line and a second threshold value as the threshold value when the second subject is designated while the drive unit is changing the angle of the imaging unit along the first reference line; a step of starting an operation of the drive unit to change the angle of the imaging unit along the second reference line; when the deviation angle in the intersecting direction with respect to the second reference line exceeds the second threshold while the drive unit is changing the angle of the imaging unit along the second reference line, the drive unit changes the angle of the imaging unit until the deviation angle in the intersecting direction becomes smaller than the second threshold; The method for controlling an optical device according to claim 1 , comprising:

3. the optical device operates by transmitting and receiving information to and from a communication terminal; The communication terminal an identification unit for identifying the subject; a movement detection unit that detects movement of the identified subject from a first position to a second position, When the subject is designated, the identification unit identifies the subject; When the subject is at the first position, setting a virtual line connecting a center of the imaging unit and the first position as the reference line before movement; when the movement detection unit detects movement of the subject to the second position, setting a virtual line connecting a center of the imaging unit and the second position as a new reference line; If the object is at the second position, setting a new threshold value corresponding to the new reference line; changing the angle of the imaging unit along the new reference line; when the deviation angle exceeds the new threshold value while the drive unit is changing the angle of the imaging unit, the drive unit changes the angle of the imaging unit until the deviation angle becomes smaller than the new threshold value, and after the deviation angle becomes smaller than the new threshold value, the drive unit continues the operation of changing the angle of the imaging unit along the new reference line; The method for controlling an optical device according to claim 1 , comprising:

4. the threshold value includes an object-side threshold value and an image capture unit-side threshold value that is set on a side closer to the image capture unit than the object-side threshold value, the subject-side threshold is smaller than the imaging unit-side threshold, The method for controlling an optical device according to claim 3 .

5. the acceleration of the operation of the drive unit to change the angle of the imaging unit decreases as the drive unit approaches the reference line; The method for controlling an optical device according to claim 4.

6. setting a limit value for the deviation angle in the cross direction that is greater than the threshold value; If the deviation angle is greater than the limit value, the driving unit stops the operation of changing the angle of the imaging unit; The method for controlling an optical device according to claim 1 , comprising:

7. The angle of the imaging unit has both components in a pan direction and a tilt direction that are orthogonal to each other, The drive unit changes the angle of the imaging unit in the pan direction and the tilt direction. The method for controlling an optical device according to claim 1 .

Images