Controller, control method, and program

Abstract

To enable a pan driving unit and a tilt driving unit to simultaneously arrive at respective target positions, while preventing resonance.SOLUTION: A controller has calculation means that calculates a pan control speed and a tilt control speed so that a drive time when pan driving means drives to a pan target position and a drive time when tilt driving means drives to a tilt target position become equal to each other. When at least either one of the calculated pan control speed or tilt control speed is included in a range of a specified speed specified on the basis the structural resonance of imaging means, the calculation means corrects the pan control speed and the tilt control speed so that the drive time when the pan driving means drives to the pan target position and the drive time when the tilt driving means drives to the tilt target position become equal to each other.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control technique for a camera capable of pan / tilt control. [Background technology]

[0002] In recent years, systems have become common in video production where the pan / tilt drive unit of a camera with a controllable pan / tilt drive unit is controlled to change the camera's imaging direction while shooting. Some such cameras calculate and control the pan control speed and tilt control speed separately so that the pan and tilt drive units reach the target position simultaneously when driving the pan / tilt drive unit to the target position.

[0003] On the other hand, in cameras with controllable pan / tilt drivers, when controlling the drive to a predetermined control speed, vibrations due to resonance may occur due to the mechanical characteristics of the pan / tilt driver (hereinafter, the predetermined speed at which resonance occurs is referred to as the resonance speed). In this case, if the control speed is calculated so that the pan and tilt drivers reach the target position simultaneously, vibrations due to resonance may occur if the control speed is within the range of the resonance speed.

[0004] Patent Document 1 discloses a method for preventing resonance by setting the control speed outside the resonance region when one of the drive amounts of the pan / tilt drive unit is small and the control speed is within the resonance region. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 3726826 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional technology disclosed in the above-mentioned patent document, the control speed of either the pan or tilt is set outside the resonance region, so the pan and tilt drive units cannot be controlled to reach the target position simultaneously.

[0007] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a control device that allows pan and tilt drive units to simultaneously reach target positions while preventing resonance. [Means for solving the problem]

[0008] In order to achieve the above object, an imaging apparatus according to one aspect of the present invention has the following configuration: a calculation unit that calculates a pan control speed and a tilt control speed so that the drive time required for the pan drive unit to drive to a pan target position is the same as the drive time required for the tilt drive unit to drive to the tilt target position, and a control unit that controls the pan drive unit to drive at the pan control speed and the tilt drive unit to drive at the tilt control speed, wherein when at least one of the calculated pan control speed or the tilt control speed is within a range of specified speeds that is specified based on mechanical resonance of the imaging unit, the calculation unit corrects the pan control speed and the tilt control speed so that the drive time required for the pan drive unit to drive to the pan target position is the same as the drive time required for the tilt drive unit to drive to the tilt target position. [Effects of the Invention]

[0009] According to the present invention, the pan and tilt drive units can reach the target positions simultaneously while preventing resonance. [Brief explanation of the drawings]

[0010] [Figure 1] System configuration diagram according to the first embodiment [Figure 2] Block diagram of the first embodiment [Figure 3](A) is a control command showing the registration of a preset position according to the first embodiment; (B) is a control command showing the preset movement according to the first embodiment. [Figure 4] 1A is a conceptual diagram of an imaging device driven in a pan direction according to a first embodiment, and FIG. 1B is a conceptual diagram of an imaging device driven in a tilt direction. [Figure 5] 10 is a flowchart showing a basic control speed calculation process when performing preset movement. [Figure 6] 10 is a flowchart showing a control speed calculation process when performing preset movement according to the first embodiment; [Figure 7] 1A is a flowchart showing the control speed calculation process when performing preset movement according to a second embodiment; FIG. 1B is a flowchart showing the pan / tilt / lens control speed calculation process when the lens drive time is longer than the pan / tilt drive time; [Figure 8] 10 is a flowchart showing a control speed calculation process when performing preset movement according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention claimed. Although multiple features are described in the embodiments, not all of these multiple features are necessarily essential to the invention, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same reference numerals are used to designate the same or similar components, and redundant explanations will be omitted.

[0012] First Embodiment FIG. 1 is a configuration diagram of an imaging system according to a first embodiment. The imaging system according to this embodiment includes an imaging device 100, an external device 200, and a network 300. The method of connection between these devices is not limited to a specific method. For example, the devices may be connected via a wired cable. The imaging device 100 receives commands from the external device 200 via the network 300 and transmits responses from a system control unit 103 (described later) to the external device 200 via the network 300. The imaging device 100 includes a pan driver 106 and a tilt driver 108 (described later), and can change the imaging direction by driving at least one of the pan driver 106 and the tilt driver 108. The imaging device 100 according to this embodiment can drive the pan driver to a pan target position set by the external device 200 and the tilt driver to a tilt target position. In general, drive sources such as motors for driving the pan driver and tilt driver may resonate with the imaging device body at certain drive frequencies, generating noise and vibration. In other words, resonance may occur when the imaging device is driven at a speed corresponding to a specific drive frequency that causes mechanical resonance. To prevent such resonance, the imaging device 100 according to this embodiment stores a parameter (resonance speed parameter) for a specified speed (resonance speed) that is specified based on the speed at which resonance occurs. Furthermore, the imaging device calculates control speeds based on the resonance speed parameter stored in the imaging device so that the pan driving unit and the tilt driving unit reach their respective target positions simultaneously.

[0013] <Explanation of each device> Next, an example of the configuration of the imaging device 100 and the external device 200 according to this embodiment will be described with reference to FIG. 2. Note that the configuration shown in FIG. 2 is merely an example of a configuration capable of realizing this embodiment, and the configuration is not limited to the configuration shown in FIG. 2. Furthermore, the configuration shown in FIG. 2 merely illustrates the main components for realizing the operation of the imaging device 100 described below, and components that are not essential for the following description, such as the configuration related to the power supply system and the configuration related to recording and distribution of captured video, are not shown. As a specific example, the processing of at least some of the components may be realized by hardware incorporated in the imaging device 100. For example, a dedicated circuit (AISC) or a processor (DSP) may be used as the hardware.

[0014] 2 , the imaging device 100 includes an imaging unit 101, an image processing unit 102, a system control unit 103, and a lens driving unit 104. It also includes a lens control unit 105, a pan driving unit 106, a pan control unit 107, a tilt driving unit 108, a tilt control unit 109, and a communication interface unit 110. In this embodiment, the imaging device 100 and the external device 200 are described as separate entities, but this is not limiting. For example, the imaging device may include a user interface unit 201, which will be described later. In this case, a control command input via the user interface unit 201 is output to the system control unit 103.

[0015] The imaging unit 101 converts external light into a video signal by photoelectric conversion, and outputs the video signal to a downstream image processing unit 102. As an imaging element for performing photoelectric conversion, for example, a CMOS image sensor can be used. Alternatively, a CCD image sensor can be used as the imaging element.

[0016] The image processing unit 102 is a circuit for generating a captured video by performing various well-known image processing on the video signal output from the imaging unit 101. For example, the image processing unit 102 digitizes the video signal acquired from the imaging unit 101 and converts it into captured video data that can be played back on other devices. In order for the image processing unit 102 to convert the video signal into video data, video data in various well-known formats such as HEVC (High Efficiency Video Coding) can be used. The image processing unit 102 may also appropriately compress and encode the captured video. Examples of image processing that the image processing unit 102 performs on the digital image signal include offset processing, gamma correction processing, gain processing, RGB interpolation processing, noise reduction processing, and color correction processing.

[0017] The system control unit 103 has a processor (e.g., a CPU or DSP) and memory (e.g., RAM), and the processor executes processing using computer programs and data stored in the memory, thereby controlling the operation of each unit constituting the imaging device. As a result, the system control unit 103 executes or controls each process described below as being performed by the imaging device. For example, the system control unit 103 instructs the image processing unit 102 to adjust image quality, and instructs the lens control unit 105 to control zoom and focus. The system control unit 103 also instructs the pan control unit 107 and tilt control unit 109 to perform pan and tilt operations, respectively. The system control unit 103 also has a non-volatile memory, which is used to register preset positions described below.

[0018] In this embodiment, the system control unit 103 acquires the control speed parameters and target position set by the user in the external device 200 via the communication interface unit 110. The system control unit 103 also calculates the control speed from the target position and the control speed parameters. A specific method for calculating the control speed will be described later. In this embodiment, the control speed parameters refer to parameters set by the user in the external device 200 and include information about the control speed. For example, the control speed parameters are the upper and lower speed limits when controlling the pan drive unit at a predetermined speed, the control speed specified by the user, or the set value of the control speed. The control speed refers to the control speed when driving the pan drive unit to the pan target position and the tilt drive unit to the tilt target position, and the system control unit 103 drives the pan drive unit and the tilt drive unit at the control speeds so that they simultaneously reach the target positions.

[0019] The lens driver 104 is configured with a drive system for the focus lens and zoom lens, and a motor as a drive source for the drive system. For example, it has a lens mechanism that performs optical zoom and an actuator such as a stepping motor. The operation of the lens driver 104 is controlled by a lens controller 105.

[0020] The lens control unit 105 is connected to the system control unit 103 and controls the operation of the lens driving unit 104 in accordance with instructions from the system control unit 103 .

[0021] The pan driving unit 106 is composed of a mechanical driving system and a driving motor for performing panning of the imaging device, and as one example, can rotate the imaging direction (optical axis of the imaging lens) 360 degrees in the pan direction. The pan driving unit 106 is composed of a mechanical mechanism for performing panning, an actuator such as a stepping motor, and an encoder for detecting the pan position. The operation of the pan driving unit 106 is controlled by a pan control unit 107. In this embodiment, the pan driving unit 106 is described as being capable of rotating the imaging direction 360 degrees in the pan direction, but the angle of rotation in the pan direction is not limited to this. For example, it may be capable of endless rotation.

[0022] The pan control unit 107 is connected to the system control unit 103, and controls the operation of the pan drive unit 106 in accordance with instructions from the system control unit 103. The pan control unit 107 also acquires information on the drive position of the pan drive unit 106 from the pan drive unit 106 and outputs the information to the system control unit 103.

[0023] The tilt drive unit 108 is composed of a mechanical drive system and a drive motor for performing tilt operations of the imaging device, and as an example, can rotate the imaging direction (the optical axis of the imaging lens) up to 180 degrees in a tilt direction perpendicular to the pan direction. The tilt drive unit 108 is composed of a mechanism for performing tilt operations, an actuator such as a stepping motor, and an encoder for detecting the tilt position. The operation of the tilt drive unit 108 is controlled by a tilt control unit 109. In this embodiment, the tilt drive unit 108 is described as being capable of rotating the imaging direction in the tilt direction from -45 degrees diagonally downward forward to +90 degrees upward, with the horizontal direction being 0 degrees, but the angle of rotation in the tilt direction is not limited to this. For example, it may be capable of endless rotation.

[0024] Tilt control unit 109 is connected to system control unit 103, and controls the operation of tilt drive unit 108 according to instructions from system control unit 103. Tilt control unit 109 also obtains information on the tilt drive position from tilt drive unit 108 and outputs it to system control unit 103.

[0025] The communication interface unit 110 performs data communication with the external device 200. For example, the communication interface unit 110 transmits the captured image generated by the image processing unit 102 to the external device 200. Furthermore, the communication interface unit 110 receives setting data and setting parameters for pan / tilt operation transmitted from the external device 200, such as the control speed of pan / tilt.

[0026] The external device 200 includes a user interface unit 201, a CPU 202, a ROM 203, a RAM 204, a display unit 205, and an internal bus 206 that enables intercommunication.

[0027] The user interface unit 201 is a mouse, keyboard, or the like for receiving operations from a user and outputting the received results to the CPU 202. The user interface unit 201 receives operations from a user, and instructions from the operations are converted into control commands by the CPU 202.

[0028] The CPU 202 controls each component of the external device 200, thereby controlling the entire external device. Furthermore, the CPU 202 transmits control commands related to the image capturing device 100 to the image capturing device 100 via the network 300. The CPU 202 also controls the entire external device based on a response related to the external device 200 acquired from the image capturing device 100 via the network 300. For example, when an image captured from the image capturing device 100 is acquired, the CPU 202 controls the display unit 205 to display the image.

[0029] The ROM 203 is used as a permanent storage area for the OS, various programs, and various data, and is also used as a short-term storage area for various data.

[0030] The RAM 204 is a volatile, high-speed storage device such as a DRAM, into which the OS, various programs, and various data are loaded, and which is also used as a work area for the OS and various programs.

[0031] The display unit 205 is a display such as an LCD for displaying captured images acquired from the imaging device 100, various settings, etc. It displays the captured images sent from the imaging device 100 on the screen, displays a screen for making settings required for pan-tilt control, and displays buttons for executing pan-tilt control.

[0032] In the imaging device 100 of this embodiment, preset positions are registered by associating each of the positions of the lens driver 104, pan driver 106, and tilt driver 108 with a preset number, but this is not limited to this. For example, a preset position may be registered by associating a preset number with at least one of the position of the lens driver 104, the position of the pan driver 106, and the position of the tilt driver 108. Alternatively, a preset position may be registered using a zoom value, pan value, and tilt value obtained by converting the position of the optical lens of the lens driver 106 and the positions of the pan driver 106 and tilt driver 108 into predetermined values. Furthermore, image quality settings and the like may also be included in the preset registration in addition to the positions of the pan / tilt / lens driver.

[0033] In this embodiment, a user can call up a preset position associated with a registered preset number using a specified command. Also, different preset positions can be registered for multiple preset numbers, and the user can move to a specified preset position by specifying the preset number (preset movement). The preset movement in this embodiment is achieved by moving at a controlled speed from the positions of the lens driving unit, pan driving unit, and tilt driving unit at the time the command specifying the preset movement is received to the preset position registered with the specified preset number.

[0034] Furthermore, in the preset movement of this embodiment, the user can set information related to the speed of each path via the external device 200. That is, the imaging device 100 of this embodiment can move to each preset position according to information related to the order and speed. Furthermore, this preset movement is started upon receiving a control command indicating the start of the preset movement, and continues to move to each preset position according to the set order until receiving a control command indicating the stop.

[0035] <Control commands for registering and deleting target positions> Here, the process of registering a target position when moving to a preset position will be described. Control command 2100 in FIG. 3(A) is a control command indicating an instruction to register or delete a preset position in this embodiment. Command identifier 2101 is an identifier that identifies various control commands, and its value "0100" indicates an instruction to register or delete a preset. Parameter 2102 is a parameter indicating preset registration or preset deletion, and specifies a value indicating registration or deletion. Parameter 2103 is a parameter indicating a preset number; for example, 20 preset numbers can be registered, and a preset number from among them is specified. Note that the control command is an example, and the identifiers and parameters are not limited to this.

[0036] A user registers a preset position via a user interface 201 of the external device 200. When the user selects a button displayed on the display unit 205 indicating the registration or deletion of a preset, the CPU 202 transmits a control command indicating the registration or deletion of the preset to the imaging device 100.

[0037] 3A, when the system control unit 103 acquires a control command 2100 and specifies preset registration by parameter 2102, the current pan position, tilt position, and lens position are registered in preset number 3, which is the preset number specified by parameter 2103. Also, when preset deletion is specified by parameter 2102, the pan position, tilt position, and lens position that have already been registered in the preset number specified by parameter 2103 are deleted.

[0038] <Control commands for preset movement> 3(B) is a control command 2200 indicating an instruction to start and stop preset movement. The value "0200" of command identifier 2201 indicates an instruction to start and stop preset movement. Parameter 2202 is a parameter indicating the start of preset movement or the stop of preset movement, and specifies a value indicating the start or stop of movement. Parameter 2203 is a parameter indicating the preset number, and specifies the preset number at which movement starts or stops. Parameter 2204 is a parameter indicating a speed value, and the system control unit 103 calculates the control speed based on the speed value specified by parameter 2204.

[0039] As shown in FIG. 3B, the system control unit 103 receives a control command 2200 and parameter 2202 specifies the start of preset movement. At this time, the system control unit 103 controls the lens driver 104, pan driver 106, and tilt driver 108 to move from the current pan position, tilt position, and lens position to the pan position, tilt position, and lens position of preset number 3 specified by parameter 2203. That is, the system control unit 103 sets the pan position, tilt position, and lens position of preset number 3 as the pan target position, tilt target position, and lens target position, and controls the system to drive the current pan position, tilt position, and lens position to each target position. The system control unit 103 also calculates the control speed based on the parameter specified by parameter 2204 (control speed parameter). A specific calculation method will be described later. When parameter 2202 specifies the stop of preset movement, the preset movement operation that is in progress (in operation) is stopped. After stopping, the pan, tilt, and lens positions are stopped at the stop point, but this is not limited to this. For example, it may move to a preset position, that is, move to a home position or initial position. In this embodiment, the control command 2200 is described as specifying a command identifier 2201, a parameter 2202, and a parameter 2203, but this is not limited to this. If parameter 2202 specifies that the movement of the preset is to be stopped, it is not necessary to specify a preset number in parameter 2203 and a speed value in parameter 2204. If parameter 2202 specifies that the movement of the preset is to be stopped, the system control unit 1006 does not need to read parameter 2203.

[0040] Here, the movement of the pan / tilt driver during preset movement will be described with reference to Figures 4(A) and (B). Figure 4(A) is an image diagram of the imaging device driven in the pan direction during shooting, and Figure 4(B) is an image diagram of the imaging device driven in the tilt direction, with P300 being a front view of the actual environment in which the imaging device 100 captures an image. P201 is the first angle of view captured when the imaging device 100 is at pan position P207 and tilt position P209, and P202 is the second angle of view captured when the pan driver 106 is at pan position P208 and tilt position P210. P203 is the center of the first angle of view, and P204 is the center of the second angle of view. P205 is the drive angle in the pan direction when driving from the first angle of view to the second angle of view (pan drive angle D P ), and P206 is the driving angle in the tilt direction when driving from the first angle of view to the second angle of view (tilt driving angle D T The pan driving unit 106 moves from the pan position P207 to the pan position P208 at a pan driving angle D P The tilt driving unit 108 changes the imaging direction by driving the tilt driving angle D from the tilt position P209 to the tilt position 210. T (degrees) to change the imaging direction.

[0041] When the system control unit 103 receives a control command 2100 from the external device 200 indicating the registration of a preset position, it registers the current pan and tilt positions to the preset number specified by the preset number 2103. For example, if the control command 2100 is received when the pan position is P208 and the tilt position is P210, the pan position P208 and tilt position P210 are registered to preset number 3. When the system control unit 103 receives a control command 2200, it starts preset movement from the current position to the position specified by the preset number. When the system control unit 103 receives a control command 2200 when the pan position is P207 and the tilt position is P209, it starts preset movement to the pan position P208 and tilt position P210 registered to preset number 3.

[0042] <Basic control speed calculation process> In addition, the system control unit 103 controls the pan driving unit 106 in the pan direction at a pan driving angle D P The pan driving time and tilt driving angle D of the tilt driving unit 107 in the tilt direction are T The pan control speed v is set to match the tilt drive time. P and tilt control speed v T The calculation process of the control speed when starting the preset movement will be described below.

[0043] 5 is executed when the system control unit 103 receives a control command 2200 indicating a preset movement from the external device 200 via a communications interface and performs the preset movement based on the control command 2200. A screen for setting control speed parameters related to the pan / tilt control speed is displayed on the display unit 205, and the user sets the control speed parameters via the user interface unit 201. The control speed parameters related to the set pan / tilt control speed are transmitted to the communications interface unit 110.

[0044] In step S301, the system control unit 103 acquires the current position of the pan driver 106 from the pan control unit 107 and the current position of the tilt driver 108 from the tilt control unit 109. As described above, the pan control unit 107 and the tilt control unit 109 acquire the current positions from the encoders of the pan / tilt drivers and output them to the system control unit 103. Furthermore, the system control unit 103 acquires the preset number and the control speed parameter from the external device 200.

[0045] In step S302, the system control unit 103 sets the pan position and tilt position of the preset number held by the system control unit 103 as target positions based on the preset number acquired in step S301, and then the process proceeds to step S303.

[0046] In step S303, the system control unit 103 determines the pan driving angle D based on the current position of the pan-tilt driving unit acquired in step S301 and the target position of the pan-tilt driving unit set in step S302. P and tilt drive angle D T For example, if the current position of the pan driving unit 106 is 10 degrees and the target position is 150 degrees, the pan driving angle D P teeth, 150-10=140 degrees It is calculated as follows.

[0047] Similarly, the tilt drive angle D of the tilt drive unit 108 T After calculating, the process proceeds to step S304.

[0048] In step S304, the pan drive angle D calculated in step S303 is P is the tilt drive angle D T Determine whether the pan angle is greater than or equal to D. P is the tilt drive angle D T If it is determined that the pan driving angle is equal to or greater than the predetermined value, the process proceeds to step S305. P is the tilt drive angle D T If it is determined that the number is not equal to or greater than the limit, the process proceeds to step S307.

[0049] In step S305, the system control unit 103 calculates the control speed parameter 2204 acquired in step S301 and the pan driving angle D calculated in step S302. P Pan control speed based on v P The external device 200 of this embodiment specifies the control speed from 10 levels when the drive unit of the imaging device 100 performs preset movement, and transmits this to the imaging device 100 as a control speed parameter. The imaging device 100 converts the acquired control speed parameter 2204 into a control speed, thereby enabling calculation of the control speed based on the drive angle. In this embodiment, the conversion method from the control speed parameter to the control speed is described as conversion from a predetermined formula, but is not limited to this. For example, conversion may be performed based on a control speed table held by the system control unit 103.

[0050] The system control unit 103 controls the control speed parameter 2204 and the pan drive angle D P Pan control speed based on v P The control flow from step S301 to step S305 is referred to as flow A. Specifically, if the control speed parameter acquired from the user via the user interface unit 201 is 5, then the pan control speed v P is calculated as follows: v P =AB×(C-5) (A, B, C are constants)

[0051] In step S306, the system control unit 103 adjusts the pan control speed v calculated in step S304. P , the pan drive angle D calculated in step S302 P and tilt drive angle D T Tilt control speed based on V T The pan driving unit 106 is driven in the pan direction at a pan driving angle D P The pan driving time and tilt driving angle D of the tilt driving unit 108 in the tilt direction are T The tilt control speed v is set to match the tilt drive time. T Calculate.

[0052] If the drive time is T, the drive angle is D, and the control speed is v, the drive time T can be expressed as follows:

[0053]

number

[0054] Therefore, the tilt control speed v that matches the pan drive time and tilt drive time is T is calculated using the following formula:

[0055]

number

[0056] In step S307, the system control unit 103 calculates the control speed parameter 2204 acquired in step S301 and the tilt drive angle D calculated in step S303. T Tilt control speed based on V T The process proceeds to step S308. The specific calculation method is the same as that in step S305, so a description thereof will be omitted. The control flow from step S301 to step S307 is referred to as flow B.

[0057] In step S308, the system control unit 103 calculates the tilt control speed v calculated in step S307. T , the tilt drive angle D calculated in step S303 T and pan drive angle D P Pan control speed based on v P The specific calculation method is the same as that in step S306, so a description thereof will be omitted.

[0058] As described above, in this control flow, the control speed can be calculated based on the target position and control speed parameters set by the user so that the pan drive unit and tilt drive unit reach the target position simultaneously.

[0059] <Calculation flow of control speed to prevent resonance> Here, the calculated pan control speed v P and tilt control speed v T If any one of these is within the resonance speed range (resonance region), vibration will occur due to resonance. P Pan drive time and tilt drive angle D T The pan control speed v is set to match the tilt drive time. P and tilt control speed v T The calculation process for calculating the above will be described with reference to the flowcharts of FIGS.

[0060] In this embodiment, the resonance velocity range is held by the system control unit 103 as a resonance velocity parameter. Furthermore, the resonance velocity range in the pan direction and the resonance velocity range in the tilt direction are held as separate parameters. Also, the resonance velocity range in the pan direction and the tilt direction is not limited to one, and there is also a case where no resonance velocity range is set. Also, in this embodiment, the resonance velocity range, which is the range of velocities at which resonance occurs, is v x degree / sec~v y Although the description will be given assuming that the resonance velocity is expressed as a continuous range of speeds of degrees / sec, this is not limiting. For example, if the resonance velocity is discontinuous, the value of each resonance velocity may be stored as the resonance velocity parameter.

[0061] [Table 1]

[0062] As shown in Table 1, the resonant speed parameter is the minimum resonant speed v x degrees / sec~resonance maximum speed v y The pan resonance speed is expressed as a continuous speed range of degrees / sec. Pan resonance speed range 1 is set to 0.1 (degrees / sec) to 0.15 (degrees / sec), and if the control speed is within the range of 0.1 (degrees / sec) to 0.15 (degrees / sec), it is determined to be within the resonance speed range. In this embodiment, the resonance speed range is set to the maximum resonance speed and the minimum resonance speed, which are speeds at which the resonance phenomenon does not cause image distortion, but is not limited to this. For example, the resonance speed at which vibration due to resonance is maximized may be used as a reference, and a certain range from this reference speed may be set as the resonance speed range.

[0063] In this embodiment, the system control unit 103 determines whether any of the control speeds calculated based on the control speed parameters is within the range of resonance speeds indicated by the resonance speed parameters. If it is determined that the control speed is within the range of resonance speeds, the system control unit 103 corrects the control speed based on the resonance speed parameters. Furthermore, the system control unit 103 performs a control speed calculation process based on the corrected control speed so that the drive times match. By performing the above process, it is possible to prevent resonance and calculate control speeds that allow the motors to reach the target positions simultaneously.

[0064] FIG. 6 will now be described in detail.

[0065] Steps S301 to S305 and step S307 are the same as the processes shown in FIG. 5, and therefore the description thereof will be omitted.

[0066] In step S601, the system control unit 103 refers to the resonance velocity parameters related to the range (resonance range) of the resonance velocity held by the system control unit 103, and calculates the pan control velocity v P Determine whether the pan control speed v is within the resonance speed range (resonance region). P If it is determined that the pan control speed v is within the resonance speed range (resonance region), the process proceeds to step S602. P If it is not determined that is within the range of resonance speed, the process proceeds to step S606.

[0067] In step S602, the system control unit 103 determines the minimum speed in the range of resonance speeds (resonance minimum speed v x ) and pan control speed v P The difference value (v P -v x ) and the maximum speed in the resonance speed range (maximum resonance speed v y ) and pan control speed v P The difference value (v y -v P ) and proceed to step S603.

[0068] In step S603, the system control unit 103 sets the minimum speed in the range of resonance speeds (resonance minimum speed v x) and pan control speed v P The difference value (v P -v x ) is the maximum speed in the resonance speed range (maximum resonance speed v y ) and pan control speed v P It is determined based on the following formula whether the difference between the

[0069]

number

[0070] Resonant minimum speed v x and pan control speed v P The difference between the maximum resonant speed v y and pan control speed v P If it is determined that the minimum resonance speed v is equal to or greater than the difference value between the minimum resonance speed v and the minimum resonance speed v, the process proceeds to step S604. x and pan control speed v P The difference between the maximum resonant speed v y and pan control speed v P If it is determined that the difference is not equal to or greater than the difference between the two, the process proceeds to step S605.

[0071] In step S604, the system control unit 103 calculates the maximum resonance speed v y Pan control speed V P and proceeds to step S606.

[0072] In step S605, the system control unit 103 calculates the minimum resonance speed v x Pan control speed V P and proceeds to step S606.

[0073] In step S606, the system control unit 103 calculates the control speed parameter acquired in step S301 and the pan control speed v P Tilt control speed based on V T The specific calculation method is the same as in S306, so the explanation will be omitted. After the calculation, the process proceeds to step S607.

[0074] In step S607, the system control unit 103 calculates the tilt control speed v calculated in step S606. T It is determined whether the resonance speed is within the range (resonance region) of the resonance speed. If it is determined that the resonance speed is within the range (resonance region), the process proceeds to S608. If it is not determined that the resonance speed is within the range (resonance region), the process proceeds to S613.

[0075] In step S608, the system control unit 103 determines the minimum speed in the range of resonance speeds (resonance minimum speed v x ) and tilt control speed v T The difference value (v T -v x ) and the maximum speed in the resonance speed range (maximum resonance speed v y ) and tilt control speed v T The difference value (v y -v T ) and proceed to step S609.

[0076] In step S609, the system control unit 103 calculates the tilt control speed v T The minimum resonance velocity v of the resonance region containing x and tilt control speed v T The difference between the maximum resonant speed v y and tilt control speed v T It is determined based on the following formula whether the difference between the

[0077]

number

[0078] Resonant minimum speed v x and tilt control speed v T The difference between the maximum resonant speed v y and tilt control speed v T If it is determined that the minimum resonance speed v is equal to or greater than the difference between the minimum resonance speed v and the minimum resonance speed v, the process proceeds to step S610. x and tilt control speed v T The difference between the maximum resonant speed v y and tilt control speed v TIf it is determined that the difference is not equal to or greater than the difference between the two, the process proceeds to step S611.

[0079] In step S610, the system control unit 103 calculates the maximum resonance speed v y Tilt control speed V T and the process proceeds to step S612.

[0080] In step S611, the system control unit 103 calculates the minimum resonance speed v x Tilt control speed V T and the process proceeds to step S612.

[0081] In step S612, the system control unit 103 calculates the tilt control speed v calculated in step S606. T and the tilt control speed v set in step S610 or step S611. T (tilt correction speed) to pan control speed v P In other words, the tilt control speed v calculated based on the control speed parameter is set. T The ratio of the tilt correction speed set based on the resonance speed parameter to the pan control speed v P The system control unit 103 sets the multiplication result as the pan control speed, and proceeds to step S601. Specifically, the tilt control speed v calculated in step S606 is multiplied by T v T1 , the tilt control speed v held by the system control unit 103 T v T2 In addition, the pan control speed v held by the system control unit 103 is P Pan control speed V P1 , the pan control speed v set in step S612 P Pan control speed V P2 Then, the pan control speed v P2 is calculated using the following formula:

[0082]

number

[0083] In step S613, the system control unit 103 controls the pan control speed v P and tilt control speed v T Based on this, the pan / tilt drive unit is controlled to drive to the target position, and this flow ends.

[0084] Next, a description will be given of the process when it is not determined in step S304 that the pan drive angle is greater than the tilt drive angle. Steps S6001 to S6012 are assumed to be the same as the calculation methods in steps S601 to S612, and descriptions thereof will be omitted where appropriate.

[0085] In step S6001, the system control unit 103 refers to the resonance velocity parameters related to the range (resonance region) of the resonance velocity held by the system control unit 103, and calculates the tilt control velocity v T Determine whether the tilt control speed v is within the range of resonance speed (resonance region). T If it is determined that the tilt control speed v is within the range of the resonance speed (resonance region), the process proceeds to step S602. T If it is not determined that is within the range of resonance speed, the process proceeds to step S606.

[0086] In step S6002, the system control unit 103 determines the minimum speed in the range of resonance speeds (resonance minimum speed v x ) and tilt control speed v T The difference value (v T -v x ) and the maximum speed in the resonance speed range (maximum resonance speed v y ) and tilt control speed v T The difference value (v y -v T ) and proceed to step S6003.

[0087] In step S6003, the system control unit 103 sets the minimum speed in the range of resonance speeds (resonance minimum speed v x ) and tilt control speed v T The difference value (v T -v x) is the maximum speed in the resonance speed range (maximum resonance speed v y ) and tilt control speed v T It is determined based on the following formula whether the difference between the

[0088]

number

[0089] Resonant minimum speed v x and pan control speed v P The difference between the maximum resonant speed v y and tilt control speed v T If it is determined that the minimum resonance speed v is equal to or greater than the difference value between the minimum resonance speed v and the minimum resonance speed v, the process proceeds to step S6004. x and tilt control speed v T The difference between the maximum resonant speed v y and tilt control speed v T If it is determined that the difference is not greater than or equal to the difference value, the process proceeds to step S6005.

[0090] In step S6004, the system control unit 103 calculates the maximum resonance speed v y Tilt control speed V T and the process proceeds to step S6006.

[0091] In step S6005, the system control unit 103 calculates the minimum resonance speed v x Tilt control speed V T and the process proceeds to step S6006.

[0092] In step S6006, the system control unit 103 calculates the control speed parameter acquired in step S301 and the tilt control speed v T Pan control speed based on v P The specific calculation method is the same as in S306, so the explanation will be omitted. After the calculation, the process proceeds to step S6007.

[0093] In step S6007, the system control unit 103 adjusts the pan control speed v calculated in step S6006. PIt is determined whether the speed is within the range of resonance speed (resonance region). If it is determined that the speed is within the range of resonance speed (resonance region), the process proceeds to S6008. If it is not determined that the speed is within the range of resonance speed (resonance region), the process proceeds to S613.

[0094] In step S6008, the system control unit 103 determines the minimum speed in the range of resonance speeds (resonance minimum speed v x ) and pan control speed v P The difference value (v P -v x ) and the maximum speed in the resonance speed range (maximum resonance speed v y ) and pan control speed v P The difference value (v y -v P ) and proceed to step S6009.

[0095] In step S6009, the system control unit 103 sets the pan control speed v P The minimum resonance velocity v of the resonance region containing x and pan control speed v P The difference between the maximum resonant speed v y and pan control speed v P It is determined based on the following formula whether the difference between the

[0096]

number

[0097] Resonant minimum speed v x and pan control speed v P The difference between the maximum resonant speed v y and pan control speed v P If it is determined that the minimum resonance speed v is equal to or greater than the difference between the minimum resonance speed v and the minimum resonance speed v, the process proceeds to step S610. x and pan control speed v P The difference between the maximum resonant speed v y and pan control speed v P If it is determined that the difference is not equal to or greater than the difference between the two, the process proceeds to step S6011.

[0098] In step S6010, the system control unit 103 calculates the maximum resonance speed v y Pan control speed V P and the process proceeds to step S6012.

[0099] In step S6011, the system control unit 103 calculates the minimum resonance speed v x Pan control speed V P and the process proceeds to step S612.

[0100] In step S6012, the system control unit 103 adjusts the pan control speed v calculated in step S6006. P and the pan control speed v set in step S6010 or step S6011. P (Pan correction speed) to Tilt control speed v T In other words, the ratio between the pan control speed calculated based on the control speed parameter and the pan correction speed set based on the resonance speed parameter is set as the tilt control speed v T The system control unit 103 multiplies the result of the multiplication by the tilt control speed v T and proceeds to step S6001. The calculation method is the same as in step S612, so a detailed explanation will be omitted.

[0101] In this way, according to this embodiment, vibrations caused by resonance can be suppressed by avoiding speeds that cause resonance during preset movement. Furthermore, it is possible to calculate a pan / tilt control speed that allows the pan / tilt drive units to reach the target positions simultaneously.

[0102] The functions of the above-described embodiments can also be realized by the following configuration. That is, the functions can be achieved by distributing program code for performing the processing of the present embodiments to a system or device and having the computer (or CPU or MPU) of the system or device execute the program code. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code also realizes the functions of the present embodiments.

[0103] Furthermore, the program code for realizing the functions of this embodiment may be executed by one computer (or CPU, MPU), or may be executed by multiple computers working together. Furthermore, the program code may be executed by a computer, or hardware such as a circuit for realizing the functions of the program code may be provided. Alternatively, part of the program code may be implemented by hardware, and the remaining part may be executed by a computer.

[0104] <Second embodiment> In the first embodiment, the system control unit 103 avoids a speed at which resonance occurs when starting the preset movement, and also moves the pan driving unit 106 in the pan direction at a pan driving angle D P The pan driving time and tilt driving angle D of the tilt driving unit 108 in the tilt direction are T The pan control speed v is set to match the tilt drive time. P and tilt control speed v T The process of calculating the above has been described.

[0105] In this embodiment, an example is shown in which the system control unit 103 controls the driving of the lens driving unit in addition to the pan / tilt driving unit. When the pan / tilt / lens driving units are driven to simultaneously reach the target positions, the control speeds of the pan / tilt and lens driving units are calculated so that the pan / tilt control speed is outside the range of the resonance speed and the driving times of the pan / tilt / lens driving units match.

[0106] The calculation process of the control speed when starting the preset movement will be described with reference to the flowcharts of FIGS. 7(A) and 7(B).

[0107] 7A and 7B are executed when the system control unit 103 receives a control command 2200 indicating a preset movement from the external device 200 via the communications interface and performs the preset movement based on the control command 2200. A screen for setting control speed parameters related to the pan / tilt control speed is displayed on the display unit 205, and the user sets the control speed parameters via the user interface unit 201. The control speed parameters related to the set pan / tilt control speed are transmitted to the communications interface unit 110.

[0108] FIG. 7A is a flow chart showing the calculation of the control speed according to this embodiment, and FIG. 7B is a flow chart showing the calculation of step S709 in detail.

[0109] In step S701, the system control unit 103 acquires the current position of the pan driving unit 106 from the pan control unit 107, the current position of the tilt driving unit 108 from the tilt control unit 109, and the current position of the lens driving unit 104 from the lens control unit 105. Furthermore, the system control unit 103 acquires the preset number and control speed parameter specified in the control command 2200. Then, the process proceeds to step S702.

[0110] In step S702, the system control unit 103 sets the pan position, tilt position, and lens position of the preset number held by the system control unit 103 as target positions based on the preset number acquired in step S301, and then proceeds to step S703.

[0111] In step S703, the system control unit 103 determines the pan drive angle D based on the current position of the pan-tilt lens drive unit and the target position of the pan-tilt lens drive unit set in step S302. P , tilt drive angle D T , lens driving distance D L Calculate.

[0112] In this embodiment, the lens driving distance D L The distance (m) indicates the distance (m) when the reference lens is driven from the current position to the target position inside the lens barrel, but is not limited to this. Any value can be used as long as it allows the drive time for driving from the current position to the target position to be calculated in step S704, which will be described later. For example, the zoom value indicating the zoom magnification can be converted into the lens position, and the drive time can be calculated from the zoom value.

[0113] In step S704, the system control unit 103 calculates the drive time required for each of the pan drive unit, tilt drive unit, and lens drive unit to reach the target position when driven using the control speed parameters of the pan drive unit, tilt drive unit, and lens drive unit. The method for calculating the control speed is the same as that in step S305, so a description thereof will be omitted.

[0114] In step S705, the system control unit 103 controls the lens control speed v L and pan control speed v P and tilt control speed v T The lens drive time, pan control time, and tilt control time are calculated from the target positions of the drive units. The drive times of the drive units can be calculated in the same manner as in step S306.

[0115] In step S706, the system control unit 103 determines whether the lens drive time is longer than the pan drive time and tilt drive time based on the drive times of the pan drive unit, tilt drive unit, and lens drive unit calculated in step S705. If it is determined that the lens drive time is not longer, the process proceeds to step S707. If it is determined that the lens drive time is longer, the process proceeds to step S708.

[0116] In step S707, the system control unit 103 sets the pan / tilt speed according to the flowchart in FIG. 6, and the process proceeds to step S405.

[0117] In step S708, the system control unit 103 sets the lens control speed v of the lens driving unit so that the lens driving unit and the pan / tilt driving unit reach the target positions simultaneously when the pan / tilt driving unit is driven at the set pan / tilt control speed. L Then, the flow advances to step S710. At this time, the lens control speed v L The pan control time T P , tilt control time T T For example, when the system control unit 103 sets the pan control time T P Using the lens control speed T L When calculating, it can be calculated as follows:

[0118]

number

[0119] In other words, the lens control speed v is set so that the pan / tilt drive unit reaches the target position in the same time as the drive time of the pan drive unit and tilt drive unit calculated in step S707. L Calculate.

[0120] In step S709, the control speeds of the pan / tilt driver, tilt driver, and lens driver are calculated so that the control speed of the pan / tilt driver is no longer within the resonance speed range and so that the pan driver, tilt driver, and lens driver simultaneously reach and stop at their target positions. First, the pan / tilt control speed is calculated so that both the pan control speed and the tilt control speed are outside the resonance speed range. Next, the change ratio of the pan / tilt control speed is calculated, and the pan control speed and the tilt control speed are set so that the pan / tilt drive time are the same. Furthermore, the lens control speed is calculated so that the pan / tilt drive time and the drive time of the lens driver are the same, and the process proceeds to step S710. The specific calculation method is described in FIG. 7(B).

[0121] In step S710, the set pan control speed v P , tilt control speed v T , and the lens control speed vL Then, the pan / tilt / lens drive unit is driven to the target position.

[0122] As described above, according to this embodiment, when the system control unit 103 drives the pan / tilt / lens drive unit to perform preset movement, vibrations due to resonance can be suppressed by avoiding speeds that cause resonance. Furthermore, it is possible to calculate pan / tilt / lens control speeds that allow the pan / tilt / lens drive units to reach their target positions simultaneously.

[0123] FIG. 7B explains the calculation process of the pan / tilt / lens control speed when the driving distance of the lens driving unit is longer than the pan / tilt driving distance.

[0124] In step S7001, the system control unit 103 calculates a pan / tilt control speed so that the lens drive time and pan / tilt drive time are equal when the lens drive unit is driven at the lens control speed calculated in step S704. For example, the pan control speed is calculated as follows.

[0125]

number

[0126] In step S7002, the system control unit 103 determines whether the pan control speed and tilt control speed calculated in step S7001 are within the range of the resonance speed.

[0127] In step S7003, the change ratio between the pan control speed and tilt control speed calculated in step S704 and the pan control speed and tilt control speed calculated in step S7001 is calculated. P v P1 The pan control speed v calculated in step S7001 P v P2 Then, the change rate of the pan control speed Δv P can be calculated using the following formula:

[0128]

number

[0129] In step S7004, the system control unit 103 calculates the change rate Δv of the pan control speed. P is the change rate of tilt control speed Δv T The change rate of the pan control speed Δv is determined to be greater than P is the change rate of tilt control speed Δv T If it is determined that the change rate of the pan control speed Δv is larger than P is the change rate of tilt control speed Δv T If it is not determined that the value is greater than , the process proceeds to step S7006.

[0130] In step S7005, the system control unit 103 sets the pan control speed and the tilt control speed. The system control unit 103 calculates the difference between the pan control speed and the minimum resonance speed, and the difference between the pan control speed and the maximum resonance speed (S602). Next, the pan control speed v P The minimum speed of the range of resonance speeds including (minimum resonance speed v x ) and pan control speed v P The difference between the maximum speed of the resonance speed range (maximum resonance speed v y ) and pan control speed v P The minimum resonance speed or the maximum resonance speed is set as the pan control speed (S602). The minimum resonance speed or the maximum resonance speed is set as the pan control speed (S604, S605). Next, the tilt control speed is calculated (S606). It is determined whether the tilt control speed is within the range of resonance speeds (S607). If it is determined that the tilt speed is within the range of resonance speeds, the minimum resonance speed or the maximum resonance speed is set as the tilt control speed (S610, S611). If it is not determined that the tilt speed is within the range of resonance speeds, the process proceeds to step S710. The pan control speed is also corrected based on the correction of the tilt control speed (S612), and the processes of steps S601 to S612 are repeated until the pan control speed and tilt control speed fall outside the range of resonance speeds.

[0131] In step S7006, the system control unit 103 sets the control speed and the tilt control speed. The system control unit 103 calculates the difference between the tilt control speed and the minimum resonance speed, and the difference between the tilt control speed and the maximum resonance speed (S602). Next, the tilt control speed v T The minimum speed of the range of resonance speeds including (minimum resonance speed v x ) and tilt control speed v T The difference between the maximum speed of the resonance speed range (maximum resonance speed v y ) and tilt control speed v T The minimum resonance speed or the maximum resonance speed is set as the tilt control speed (S6002). The minimum resonance speed or the maximum resonance speed is set as the tilt control speed (S6004, S6005). Next, the pan control speed is calculated (S606). It is determined whether the tilt control speed is within the range of resonance speeds (S607). If it is determined that the tilt speed is within the range of resonance speeds, the minimum resonance speed or the maximum resonance speed is set as the pan control speed (S6010, S6011). If it is not determined that the pan speed is within the range of resonance speeds, the process proceeds to step S710. The tilt control speed is also corrected based on the correction of the pan control speed (S6012), and the processes of steps S6001 to S6012 are repeated until the pan control speed and tilt control speed fall outside the range of resonance speeds.

[0132] As described above, according to this embodiment, when the system control unit 103 drives the pan / tilt / lens drive unit to perform preset movement, vibrations due to resonance can be suppressed by avoiding speeds that cause resonance. Furthermore, it is possible to calculate pan / tilt / lens control speeds that allow the pan / tilt / lens drive units to reach their target positions simultaneously.

[0133] <Third embodiment> In the first embodiment, the system control unit 103 avoids a speed at which resonance occurs when starting the preset movement, and also moves the pan driving unit 106 in the pan direction at a pan driving angle D P The pan driving time and tilt driving angle D of the tilt driving unit 108 in the tilt direction are TThe pan control speed v is set to match the tilt drive time. P and tilt control speed v T The process of calculating the above has been described.

[0134] In this embodiment, the pan / tilt drive time can also be set, and the pan / tilt control speed is calculated accordingly.

[0135] In this flowchart, the OS, various programs, and various data are loaded into RAM (storage device) that temporarily stores computer programs executed by the system control unit 103, and the system control unit 103 executes this processing. The flowchart in Fig. 8 is executed when the system control unit 103 receives a control command indicating a preset movement from the external device 200 via the communication interface and performs the preset movement based on the control command. Note that a screen for setting control speed parameters related to the pan / tilt control speed is displayed on the display unit 205, and the user sets the control speed parameters via the user interface unit 201. The control speed parameters related to the set pan / tilt control speed are transmitted to the communication interface unit 110. Furthermore, in this embodiment, the control speed parameters can set a drive time.

[0136] In this embodiment, steps S601 to S613 and steps S6001 to S6012 are the same, so a description thereof will be omitted.

[0137] In step S801, the system control unit 103 calculates a pan control speed v based on the current position of the pan drive unit, the pan target position, and the drive time set by the control speed parameter. P Furthermore, the tilt control speed v is calculated based on the current position of the tilt drive unit 108, the tilt target position, and the drive time set by the control speed parameter. T That is, the pan control speed v is calculated based on the current position of the pan / tilt driving unit acquired in step S301, the pan / tilt target position set in step S302, and the driving time. P and tilt control speed vT Calculate.

[0138] In step S802, the system control unit 103 determines whether at least one of the pan control speed and tilt control speed calculated in step S801 is within the range of resonance speed. If it is determined that at least one of the pan control speed and tilt control speed is within the range of resonance speed, the process proceeds to step S601. If it is not determined that at least one of the pan control speed and tilt control speed is within the range of resonance speed, the process proceeds to step S613.

[0139] As described above, according to this embodiment, when the system control unit 103 drives the pan / tilt drive unit to perform a preset movement, vibrations caused by resonance can be suppressed by avoiding speeds that cause resonance. Furthermore, it is possible to calculate a pan / tilt control speed that allows the pan / tilt drive unit to simultaneously reach the target position in a drive time that is as close as possible to the drive time set by the user. [Explanation of symbols]

[0140] 101 Imaging unit 102 Image processing section 103 System control section 104 Lens drive unit 106 Pan drive unit 108 Tilt drive unit 110 Communication interface unit 111 User Interface Section

Claims

1. A control device that controls a pan driving means that changes the imaging direction of the imaging means in a pan direction and a tilt driving means that changes the imaging direction in a tilt direction, a calculation means for calculating a pan control speed and a tilt control speed so that a drive time required for driving the pan driving means to a pan target position and a drive time required for driving the tilt driving means to a tilt target position are equal; control means for controlling the pan driving means to be driven at the pan control speed and for controlling the tilt driving means to be driven at the tilt control speed; and when at least one of the calculated pan control speed or the tilt control speed is within a range of specified speeds that is specified based on mechanical resonance of the imaging means, the calculation means corrects the pan control speed and the tilt control speed so that a drive time required for the pan driving means to drive to the pan target position and a drive time required for the tilt driving means to drive to the tilt target position are the same; A control device characterized by:

2. the calculation means calculates the pan control speed and the tilt control speed based on predetermined speed parameters; 2. The control device according to claim 1.

3. the control means includes a determination means for determining whether one of the pan control speed and the tilt control speed is within the range of the specified speed; and When the determination means determines that either one of the pan control speed and the tilt control speed is within the specified speed range, the correction means corrects at least one of the pan control speed and the tilt control speed based on the determination of the determination means.

2. The control device according to claim 1.

4. When a drive angle of the tilt drive means to the tilt target position is larger than a drive angle of the pan drive means to the pan target position, When the determining means determines that the pan control speed is within the range of the specified speed, the calculation means calculates the tilt control speed based on a ratio between the pan control speed and a pan correction speed obtained by correcting the pan control speed; a drive angle of the tilt drive means to the tilt target position is not larger than a drive angle of the pan drive means to the pan target position, When the determination means determines that the tilt control speed is within the range of the specified speed, the calculation means calculates the pan control speed based on a ratio between the tilt control speed and a tilt correction speed obtained by correcting the tilt control speed; 4. The control device according to claim 2 or 3.

5. The imaging means further includes a lens driving means for driving a lens, the calculation means calculates the pan control speed, the tilt control speed, and the lens control speed so that the drive times required for the pan drive means, the tilt drive means, and the lens drive means to drive to the pan target position, the tilt target position, and the lens target position, respectively, are the same; 2. The control device according to claim 1, further comprising:

6. The imaging means further includes a lens driving means for driving a lens, the calculation means calculates the pan control speed, the tilt control speed, and the lens control speed so that the drive times required for the pan drive means, the tilt drive means, and the lens drive means to drive to the pan target position, the tilt target position, and the lens target position, respectively, are the same; When the correction means corrects at least one of the pan control speed and the tilt control speed, the calculation means calculates the lens control speed based on a ratio between the pan control speed and the pan correction speed or a ratio between the tilt control speed and the tilt correction speed.

5. The control device according to claim 4.

7. the speed parameters further include information regarding a driving time required for the pan driving means to drive to the pan target position or a driving time required for the tilt driving means to drive to the tilt target position; 3. The control device according to claim 2.

8. A control method for controlling a pan driving means for changing an imaging direction of an imaging means in a pan direction and a tilt driving means for changing the imaging direction in a tilt direction, comprising: a calculation step of calculating a pan control speed and a tilt control speed so that a drive time required for driving the pan drive means to a pan target position and a drive time required for driving the tilt drive means to a tilt target position are equal; a control step of controlling the pan driving means to be driven at the pan control speed and controlling the tilt driving means to be driven at the tilt control speed; and If at least one of the calculated pan control speed or the tilt control speed falls within a range of specified speeds defined based on mechanical resonance of the imaging means in the calculation step, the pan control speed and the tilt control speed are corrected so that a drive time required for the pan driving means to drive to the pan target position and a drive time required for the tilt driving means to drive to the tilt target position become equal. A control method comprising:

9. A computer program for causing a computer to function as each of the means of the control device according to any one of claims 1 to 7.

Images