Imaging apparatus, method, and program

Abstract

To correct an error of a panning / tilting position in a range which is not largely deviated from an operation range of a loop function, when the error of the panning / tilting position occurs during an operation using the loop function.SOLUTION: An imaging apparatus includes: control means for controlling at least one of a tilting position and panning position of imaging means on the basis of setting of a preset position corresponding to each of a plurality of imaging directions of the imaging means; detection means for detecting an error of at least one of the tilting position and panning position of the imaging means; and correction means for correcting the error of at least one of the tilting position and the panning position, while the imaging means moves to a second position which is different from a first position and based on the setting of the preset position, when the error of at least one of the tilting position and the panning position is detected while the imaging means moves to the first position based on the setting of the preset position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an imaging device, a method, and a program. [Background technology]

[0002] In recent years, remote cameras with pan-tilt drive mechanisms have become increasingly popular in video production, as they can capture footage with various angles of view by adjusting the pan-tilt. Cameras can also deliver real-time streaming video, allowing users to control the pan-tilt and shooting angle of view via a networked computer while viewing the streamed video. Cameras also have a "preset function" that registers and stores multiple angles of view (e.g., pan-tilt and zoom positions), and sometimes even a "loop function" that captures footage by moving between multiple preset positions in sequence (cyclically or back and forth). These functions are reducing the number of people required for video production, making it possible to automatically change the angle of view and capture footage even when no one is near the camera.

[0003] In this way, while realizing labor savings, it is important that the images repeatedly captured with multiple required angles of view using a single remote camera are captured within the set range of angles of view. Therefore, if a camera position error occurs due to a disturbance such as a large impact, it is important to be able to quickly correct the position error.

[0004] Therefore, Patent Document 1 (JP 2011-49967 A) proposes a method in which, if a position error in the pan-tilt position is detected while automatically moving through multiple preset positions, the pan-tilt position is returned to its initial position by performing an initial positioning operation for the pan-tilt position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-49967 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in Patent Document 1, the initial positioning operation requires a positional movement that is unrelated to the preset position, and an image that is distributed will be significantly different from the image with the angle of view desired by the user.

[0007] Therefore, an object of the present invention is to correct a pan / tilt position error within a range that does not deviate significantly from the operating range of the loop function when a pan / tilt position error occurs during operation using the loop function. [Means for solving the problem]

[0008] In order to achieve the object of the present invention, an imaging device according to one embodiment of the present invention comprises the following configuration: a control unit that controls at least one of a tilt position and a pan position of an imaging unit based on settings of preset positions corresponding to a plurality of imaging directions of the imaging unit, a detection unit that detects an error in at least one of the tilt position and the pan position of the imaging unit, and a correction unit that, when an error in at least one of the tilt position and the pan position is detected while the imaging unit is moving to a first position based on the settings of the preset positions, corrects the error in at least one of the tilt position and the pan position while the imaging unit is moving to a second position based on the settings of the preset positions that is different from the first position. [Effects of the Invention]

[0009] According to the present invention, if an error in the pan / tilt position occurs during operation using the loop function, the error in the pan / tilt position can be corrected within a range that does not deviate significantly from the operating range of the loop function. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a block diagram showing an example of the configuration of an imaging system according to a first embodiment. [Figure 2] 6 is a flowchart illustrating a position error correction process of the imaging device according to the first embodiment. [Figure 3] 10 is a flowchart of a position error correction process of the imaging device according to the second embodiment. [Figure 4] 11 is a flowchart showing a position error correction process of the imaging device according to the third embodiment. [Figure 5] FIG. 2 is a schematic diagram of a pan drive assembly according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing an example of the configuration of a slit for detecting a mechanical position. [Figure 7] FIG. 11 is a diagram showing an example of a warning display according to the third embodiment. [Figure 8] FIG. 2 is a block diagram showing an example of the hardware configuration of a computer device applicable to the imaging device 100. 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 claimed invention. 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 In the first embodiment, an example of an operation in which, when a pan and / or tilt position error is detected during a loop operation, the position error is corrected beyond a specified movement distance will be described. For ease of explanation, error correction processing for the pan position will be described, but it should be noted that this processing can also be applied to error correction processing for the tilt position.

[0013] 1 is a block diagram showing an example of the configuration of an imaging system according to the first embodiment. The imaging system includes an imaging device 100, a network 131, and an information processing device 133.

[0014] The imaging device 100 is a network camera, and is connected to an information processing device 133 via a network 131 in a state in which they can communicate with each other.

[0015] The imaging device 100 includes a system control unit 116 , a lens 111 , an imaging element 112 , a signal processing circuit 113 , an imaging control circuit 114 , a memory transfer circuit 115 , and a motor control unit 160 .

[0016] The image sensor 112 converts the light that has been focused through the lens 111 into an electric charge, and generates an image signal.

[0017] The signal processing circuit 113 digitizes the image signal captured by the image sensor 112 to generate a captured image.

[0018] The lens 111 is a lens group including a zoom lens, a focus lens, an anti-shake lens, and diaphragm blades. The lens 111 is equipped with a CPU (Central Processing Unit). The CPU controls each part of the lens 111 based on instructions input from an imaging unit (not shown) of the imaging device 100. Specifically, the CPU controls the zoom lens, the focus lens, the anti-shake lens, and the diaphragm blades.

[0019] The imaging control circuit 114 controls the imaging element 112 at the same cycle as the image output cycle. When the accumulation time is longer than the image output cycle, the imaging control circuit 114 controls the signal processing circuit 113 so as to hold the captured image in the frame memory of the signal processing circuit 113 while the imaging element 112 is not outputting an imaging signal.

[0020] The memory transfer circuit 115 transfers the captured image digitized by the signal processing circuit 113 to the memory 122 .

[0021] The network communication function of the imaging device 100 is configured by a system control unit 116, a memory 122, and a network I / F 123.

[0022] The image data transferred to the memory 122 by the memory transfer circuit 115 is transmitted to the network 131 via the network I / F 123 and the external network device 130 .

[0023] The storage device 117 is a non-volatile storage device, and stores setting information, preset information, and the like of the imaging device 100. The storage device 117 is, for example, a ROM (Read Only Memory) or a flash memory.

[0024] The system control unit 116 transmits the generated image data to the information processing device 133 via the network I / F 123 .

[0025] The network I / F 123 receives a camera control command transmitted from the information processing device 133 and transmits it to the system control unit 116. The network I / F 123 transmits a response to the camera control command to the information processing device 133.

[0026] The system control unit 116 analyzes the camera control command and performs processing according to the camera control command. Based on the camera control command, the system control unit 116 instructs the signal processing circuit 113 to set the image quality and instructs the motor control unit 160 to perform pan and tilt operations, for example.

[0027] The signal processing circuit 113 performs image processing based on instructions from the system control unit 116 .

[0028] The motor control unit 160 controls the pan driving unit 161 and the tilt driving unit 162 based on instructions from the system control unit 116. The pan driving unit 161 and the tilt driving unit 162 are each composed of a motor, gears, belts, and the like.

[0029] The PT mechanical phase detection control unit 170 detects the mechanical phases of the pan and tilt mechanical components driven by the pan driving unit 161 and the tilt driving unit 162. The PT mechanical phase detection control unit 170 performs control to detect mechanical phase signals from the pan phase detection unit 171 and the tilt phase detection unit 172.

[0030] The pan phase detection unit 171 and the tilt phase detection unit 172 are, for example, PI (Photo Interrupter) sensors that optically detect the presence or absence of an object at a specific position. A PI sensor is a sensor in which a light-emitting element and a light-receiving element are arranged opposite each other in a single package. The PI sensor can detect the presence or absence of an object by determining whether the object blocks or does not block light between the light-emitting element and the light-receiving element. In the first embodiment, the PT mechanical phase detection control unit 170 detects the mechanical phase by blocking or not blocking light from the PI sensor with a mechanical position detection slit 171a.

[0031] The power supply control unit 150 is, for example, a DC-DC converter, and is configured with a switch circuit that switches the control module to be energized, etc. The power supply control unit 150 receives power supply from the external power supply 140 via a power cable, and controls the power supply to the imaging device 100.

[0032] The network device 130 receives images distributed from the imaging device 100. The network device 130 can also supply power to the imaging device 100 via a network cable. The method of supplying power to the imaging device 100 complies with standards for supplying power from a wired LAN cable, such as PoE and PoE+.

[0033] The operation device 132 is, for example, a joystick, and is connected to the network device 130 via an RC232C cable, allowing communication between the devices. The joystick also transmits information on the direction and tilt of the lever to the imaging device 100. Based on the information from the joystick, the imaging device 100 can determine the speed and direction of panning and tilting, and control the pan driving unit 161 and tilt driving unit 162.

[0034] The information processing device 133 is a client device. The information processing device 133 is, for example, a general-purpose computer such as a personal computer, and is connected to the imaging device 100 via the network 131.

[0035] A display device 134 connected to the information processing device 133 displays an image captured by the imaging device 100 and a setting screen for controlling the imaging device 100 .

[0036] The CPU 136 of the information processing device 133 executes various processes while exchanging data with the ROM 137 and RAM 135. For example, the CPU 136 transfers data and commands to devices connected via the network 131, and controls and displays the devices.

[0037] The operation unit 138 is, for example, a mouse and a keyboard.

[0038] The external power supply 140 is, for example, a commercial power supply or a DC power supply, and supplies power to the imaging device 100 .

[0039] 2 is a flowchart illustrating the position error correction process of the imaging device according to the first embodiment. This flowchart is implemented by the system control unit 116 executing a program loaded in the RAM 902, which will be described later.

[0040] In S100, the imaging device 100 is in a power-on state and is connected to an information processing device 133 or an operation device 132 via a network 131. Pan and tilt operations are performed by the information processing device 133 or the operation device 132 (such as a joystick).

[0041] In S101, the imaging device 100 waits until it receives an instruction to start a loop operation. The display device 134 of the information processing device 133 displays a setting screen for changing the settings of the imaging device 100. The user selects a setting (preset position) on the setting screen using the mouse of the operation unit 138, which is an input means, and instructs the imaging device 100 to start a loop operation. When the imaging device 100 receives an instruction to start a loop operation, it advances the process to S102.

[0042] Here, loop operation will be described. "Loop operation" refers to repeatedly moving the imaging device 100 to multiple pan / tilt positions (preset positions) corresponding to multiple registered angles of view (imaging directions). The storage device 117 can store multiple pan and tilt positions using a preset storage function, and can store points A, B, and C as preset pan / tilt positions, for example. Repeated operations include, for example, patrol operation and reciprocating operation. "Patrol operation" refers to the imaging device 100 moving in the order of point A → point B → point C → point A → point B → .... "Reciprocating operation" refers to the imaging device 100 moving in the order of point A → point B → point C → point B → point A. The user can select either patrol operation or reciprocating operation via the mouse of the operation unit 138.

[0043] In S102, the system control unit 116 of the imaging device 100 sets a preset point A, which is the start position of the loop operation. The system control unit 116 acquires the pan position and tilt position of point A from the storage device 117, sets point A as loop destination X, and proceeds to the process of S103.

[0044] In S103, the pan driving unit 161 and the tilt driving unit 162 start moving to the loop movement destination X (= point A), which is the "first position." Here, this process will be described in detail. First, the system control unit 116 transmits a movement start instruction to the motor control unit 160 to start movement to the movement destination X (= point A). Based on the movement start instruction, the motor control unit 160 outputs a drive signal to the pan driving unit 161 and the tilt driving unit 162. The motors of the pan driving unit 161 and the tilt driving unit 162 rotate in response to the drive signal (for example, an output of a sine wave signal in the case of a stepping motor). Then, in response to the rotation of the motor, the mechanical mechanisms of the pan driving unit 161 and the tilt driving unit 162 rotate via gears.

[0045] In S104, the system control unit 116 detects the pan and tilt mechanical positions and performs processing to determine whether there is a position error.

[0046] Here, a mechanical position detection method will be described with reference to Fig. 5. Fig. 5 is a schematic diagram of a pan drive assembly according to the first embodiment.

[0047] The pan drive assembly includes a motor 161a, a gear 161c, a slit 171a for detecting a mechanical position, a pan movable part 161b, a motor driver 160a, a motor control microcomputer 116a, and a mechanical position detection part 170a. A user operation instruction is transmitted from the information processing device 133 to the motor control microcomputer 116a via the network I / F 123.

[0048] In the slit substrate 171a for detecting mechanical position, black slits (second slits) that do not transmit light and transparent slits (first slits) that transmit light are alternately arranged (e.g., printed) in a radial pattern. The black slits and transparent slits have different slit widths in each region of the slit substrate 171a for detecting mechanical position. For example, the black slits are arranged at 0° to 10° of the slit substrate 171a for detecting mechanical position, the transparent slits are arranged at 10° to 15°, the black slits are arranged at 15° to 30°, and the transparent slits are arranged at 30° to 35°. A more specific slit arrangement of the slit substrate 171a for detecting mechanical position will be described later with reference to FIG. 6.

[0049] The light-emitting element and light-receiving element that make up the PI sensor of mechanical position detection unit 170a are configured to sandwich mechanical position detection slit 171a. When the light-emitting element emits light into mechanical position detection slit 171a and the light is blocked by the black slit, an electrical signal Hi is detected. On the other hand, when the light-emitting element emits light into mechanical position detection slit 171a and the light is received by the light-receiving element, an electrical signal Lo is detected.

[0050] The panning movable section 161b and the mechanism position detection slit 171a are assembled so that the reference position 161e of the panning movable section 161b and the reference position 161d of the mechanism position detection slit 171a are aligned on a vertical line (shown by a dashed line). Furthermore, position information of each slit of the mechanism position detection slit 171a, angle information defining the slit width, and electrical signal information (Hi / Lo) are stored in the storage device 117. The storage device 117 stores information such as an electrical signal Hi for a panning direction of 0° to 10°, an electrical signal Lo for a panning direction of 10° to 15°, an electrical signal Hi for a panning direction of 15° to 30°, and so on.

[0051] The pan movable unit 161b is driven by a motor 161a via a gear 161c. The motor 161a is controlled by a motor control microcomputer 116a via a motor driver 160a. The motor 161a is, for example, a two-phase stepping motor. The motor driver 160a outputs two-phase pulse signals to the motor 161a. The motor control microcomputer 116a acquires a "software control position" based on, for example, the number of output pulses and periodically transmits the software control position as current pan position information to the system control unit 116. Here, if the system control unit 116 detects a difference between the software control position and the position information for each slit, it determines that there is a pan position error. The method for determining a tilt position error is the same as the method for determining a pan position error, so a detailed description will be omitted. Here, we return to the description of Figure 2.

[0052] If the system control unit 116 determines that there is a pan position error (Yes in S104), the process proceeds to S105. On the other hand, if the system control unit 116 determines that there is no pan position error (No in S104), the process proceeds to S107.

[0053] In S105, the system control unit 116 transmits to the motor control unit 160 an instruction to move the pan position to the loop destination X (= point A) or an instruction to continue moving the pan position beyond the loop destination X (= point A). If the loop destination X (= point A) of pan or tilt is X≧0, the system control unit 116 changes the loop destination X (= point A) to the positive mechanical end (180°), and if the loop destination X (= point A) is X<0, the system control unit 116 changes the loop destination X (= point A) to the negative mechanical end (−180°). Then, the system control unit 116 transmits the new destination X (= mechanical end, ±180°) to the motor control unit 160, and the process proceeds to S106. The new destination X (= mechanical end, ±180°) corresponds to the “second position.” Here, the second position refers to a position clockwise or counterclockwise away from the loop movement destination X (= point A), which is the first position on the mechanism position detection slit 171a (slit substrate). For example, the second position is a position of ±180° on the slit substrate.

[0054] In S106, the system control unit 116 determines whether or not the pan position error has been corrected while the pan position is moving to the new destination X (=mechanical end, ie ±180°).

[0055] Here, a method for correcting a pan / tilt position error will be described. The system control unit 116 acquires position information for each slit, slit width angle information, and electrical signal information (Hi / Lo) from the storage device 117, and stores the acquired information as "slit position information." Furthermore, the system control unit 116 calculates the Hi period (or Lo period) of the electrical signal information and the slit width angle based on a signal from the mechanical position detection unit 170a. The system control unit 116 compares the calculated slit width angle information and electrical signal information (Hi / Lo) with the slit position information to determine the current pan or tilt position. The system control unit 116 copies (overwrites) the determined pan or tilt position to the software-controlled position. This process causes the software-controlled position and the mechanical position to match, and thus the correction of the position error is completed at this timing.

[0056] If the system control unit 116 determines that the position error has been corrected (Yes in S106), the process proceeds to S103. If the system control unit 116 determines that the position error has not been corrected (No in S106), the system control unit 116 repeats the process of correcting the position error.

[0057] In S107, the system control unit 116 determines whether the pan position (i.e., software control position) has reached the loop destination X (= point A). The system control unit 116 determines whether the current software control position has reached the position of the loop destination X (= point A). If the software control position is greater than or equal to the loop destination X (= point A) (Yes in S107), the system control unit 116 determines that the pan position has reached the loop destination X (= point A) and proceeds to S108. If the software control position is not greater than or equal to the loop destination X (= point A) (No in S107), the system control unit 116 waits until the pan position reaches the loop destination X (= point A).

[0058] In S108, the system control unit 116 sets the next loop destination X. The system control unit 116 sets the preset position (=point B) next to the preset position (=point A) specified in S102 as the next loop destination X, and proceeds to S109.

[0059] In S109, the system control unit 116 determines whether or not there is an instruction to end the loop operation. The system control unit 116 determines whether or not there is an instruction to stop the loop operation. If there is an instruction to stop the loop operation (Yes in S109), the system control unit 116 sends an instruction to stop motor drive to the motor control unit 160 and ends the process. If there is no instruction to stop the loop operation (No in S109), the system control unit 116 proceeds to the process at S103.

[0060] As described above, according to the first embodiment, if a pan or tilt position error occurs during a loop operation and the position error cannot be corrected even when the next loop destination is reached, position error correction is performed while the camera is moving beyond the loop destination. This makes it possible to correct a position error after it is detected during a loop operation and before it moves to the next loop destination. Furthermore, it is possible to prevent the loop operation from continuing in a position error state.

[0061] Second Embodiment In the second embodiment, an appropriate pan or tilt movement direction is determined to perform position error correction processing after position error detection, and the position error correction is performed by switching the pan / tilt movement direction. In the second embodiment, only the differences from the first embodiment will be described. Note that, for ease of explanation, error correction processing for the pan position will be described, but it should be noted that this processing can also be applied to error correction processing for the tilt position.

[0062] Fig. 3 is a flowchart of position error correction processing of the imaging device according to the second embodiment. Note that steps S200 to S209 in Fig. 3 are similar to steps S100 to S109 in Fig. 2 of the first embodiment, and therefore detailed description thereof will be omitted. This flowchart is realized by the system control unit 116 executing a program loaded in RAM 902, which will be described later.

[0063] In S210, the system control unit 116 determines whether the pan movement direction when the pan position error was detected is toward 0°.

[0064] 6 is a diagram showing an example of the configuration of a slit for detecting the mechanical position of the panning movable part. Here, only the panning mechanism will be described, but the tilting mechanism is similar to the panning mechanism.

[0065] A slit substrate (mechanism position detection slit 171a) as shown in FIG. 6 is attached to the pan mechanism. When the image capture device 100 faces straight ahead, 0° on the slit substrate corresponds to the front direction of the image capture device 100. This slit substrate rotates in accordance with the rotation of the pan mechanism. This mechanism is used to perform position error correction. For example, the mechanism position detection unit 170a can perform position error correction by detecting an electrical signal (Hi / Lo) generated when both the first end 610 and the second end 620 of a slit 600, an example of a slit wider than a predetermined slit width indicated by an asterisk (*) in FIG. 6, pass through. Furthermore, the ratio of the first slit to the second slit in the 0° to 180° range (right side region) of the mechanism position detection slit 171a in FIG. 6 is opposite to the ratio of the first slit to the second slit in the 0° to −180° range (left side region). In this embodiment, the proportion of second slits (black slits) is high in the right region and the proportion of first slits (transparent slits) is high in the left region, but this is not limited to this. For example, the proportion of first slits (transparent slits) may be high in the right region and the proportion of second slits (black slits) may be high in the left region.

[0066] As described in S106 of the first embodiment, position error correction processing is performed based on the slit position information in the storage device 117 and the electrical signal information of the mechanical position detection unit 170a. Furthermore, this mechanical position detection slit 171a has a feature in that the slit widths of the first slit (transparent slit) and the second slit (black slit) become narrower as the angle approaches 0°. The system control unit 116 performs the pan or tilt position error correction processing at a position where the slit width is narrow, thereby achieving position error correction in a short time.

[0067] Next, a method for determining whether the current pan position is moving toward 0° will be described. The system control unit 116 determines the position of the pan movable unit 161b on the mechanical position detection slit 171a based on the signal switching information and electrical signal information (Hi / Lo) of the mechanical position detection unit 170a. Furthermore, the system control unit 116 determines the rotation direction (clockwise or counterclockwise) of the pan movable unit 161b based on the information on the current pan position and the target pan position. The system control unit 116 can use this information to determine whether the current pan position is moving toward 0°. Here, we return to the description of FIG. 3.

[0068] If the pan position is moving toward 0° (Yes in S210), the system control unit 116 proceeds to S205. If the pan position is not moving toward 0° (No in S210), the system control unit 116 proceeds to S211.

[0069] In S211, the system control unit 116 sends an instruction to the motor control unit 160 to move the pan position in the opposite direction to the currently designated loop position X (=point A), and the process proceeds to S206.

[0070] As described above, according to the second embodiment, when a position error is detected during loop operation, the time required for error correction processing can be reduced by appropriately switching the pan or tilt movement direction, thereby reducing the time required to return to correct loop operation.

[0071] Third Embodiment In the third embodiment, an example of the operation of the imaging device 100 when a pan position error cannot be detected during loop operation will be described. Also, in the third embodiment, an example of the operation of the imaging device 100 when a pan position error can be detected will be described, in which the moving speed of the pan position is changed during position error correction processing. Note that, for ease of explanation, error correction processing for the pan position will be described, but this processing can also be applied to error correction processing for the tilt position. In the third embodiment, differences from the first embodiment will be described.

[0072] Fig. 4 is a flowchart of position error correction processing of the imaging device according to the third embodiment. Note that steps S300 to S309 in Fig. 4 are similar to steps S100 to S109 in Fig. 2 of the first embodiment, and therefore their explanation will be omitted. This flowchart is realized by the system control unit 116 executing a program loaded in RAM 902, which will be described later.

[0073] In S310, the system control unit 116 determines whether or not a pan position error can be detected in the loop operation at the set preset position.

[0074] Here, a case where a position error cannot be detected will be described. For example, when a loop operation is set in the 95° to 180° section of the mechanism position detection slit 171a in Fig. 6 (i.e., within the slit 650), the mechanism position detection unit 170a cannot detect the switching of the electrical signal from the black slit (second slit) to the transparent slit (first slit) or from the transparent slit (first slit) to the black slit (second slit). Therefore, the system control unit 116 cannot detect a pan position error. Note that the loop operation within the slit 650 refers to an operation in which the pan position of the imaging device 100 moves within the slit 650 in the order of point A → point B → point C, for example.

[0075] The system control unit 116 calculates the angle (referred to as the maximum movement angle) of the range in which the pan position (or tilt position) moves during the loop operation based on the preset position information in the storage device 117 and the preset pan (or tilt) position information registered in the loop operation. If the maximum movement angle is smaller than the maximum angle information of the slit (here, slit 650) (No in S310), the system control unit 116 determines that position error detection is not possible and proceeds to S311. On the other hand, if the maximum movement angle is larger than the maximum angle information of the slit (Yes in S310), the system control unit 116 determines that position error detection is possible and proceeds to S302. Note that the maximum movement angle represents the angle of a specific slit on the slit substrate (mechanism position detection slit 171a) corresponding to the preset position.

[0076] In S311, the system control unit 116 notifies the user of a warning message indicating that a pan position error cannot be detected during loop operation before the loop operation starts, and the process proceeds to S302. For example, the system control unit 116 transmits a warning message to the information processing device 133. Specifically, the system control unit 116 transmits the warning message to the information processing device 133 via the network device 130 via the network I / F 123. The information processing device 133 then displays the warning message on the display device 134. This allows the user to recognize in advance that a pan position error cannot be detected during loop operation, and allows the user to reset the preset position for loop operation using the operation unit 138. FIG. 7 shows an example of a warning message according to the third embodiment. The display screen of the display device 134 displays the message, "The movement range of the specified preset is 50 degrees. Because this movement range is too narrow, a PT error cannot be detected during loop operation. Please be careful." 7, the user may be warned by other warning means such as a blinking lamp or a warning sound provided in a device such as the display device 134. This allows the user to quickly and reliably recognize that a pan position error cannot be detected during loop operation.

[0077] In S312, before starting the position error correction process, the system control unit 116 controls the movement speed of the pan position (first movement speed) to be faster than the movement speed of the pan position in the loop operation immediately before the position error occurred (second movement speed). For example, the system control unit 116 sends an instruction to the motor control unit 160 to make the movement speed of the pan position (first movement speed) the maximum movement speed, and proceeds to S305. Note that the first movement speed may be any movement speed between the second movement speed and the maximum movement speed.

[0078] As described above, according to the third embodiment, if a pan or tilt position error cannot be detected because the movement range of the pan or tilt loop operation is narrow, a warning that a position error cannot be detected can be notified to the user before the loop operation starts. Also, by increasing the movement speed of the pan or tilt position before the position error correction process, the position error correction process time can be shortened.

[0079] <Fourth embodiment> Each functional unit of the imaging device 100 shown in FIG. 1 may be implemented by hardware or software (computer program). In the former case, each functional unit may be implemented by hardware such as an ASIC or a programmable logic array (PLA). ASIC stands for Application Specific Integrated Circuit. Note that some of the functional units may be implemented by hardware.

[0080] In the latter case, a computer device capable of executing such a computer program is applicable to the image capture device 100. An example of the hardware configuration of a computer device applicable to the image capture device 100 will be described with reference to the block diagram of FIG.

[0081] The CPU 901 (which is the main body that realizes the functions of the system control unit 116 and the like) executes various processes using computer programs and data stored in the RAM 902 and the ROM 903. As a result, the CPU 901 controls the operation of the entire computer device, and also executes or controls the various processes described as processes performed by the imaging device 100. Note that a programmable processor such as an MPU may be used instead of the CPU 901. CPU stands for Central Processing Unit. MPU stands for Micro-Processing Unit.

[0082] The RAM 902 has an area for storing computer programs and data loaded from the ROM 903 or the storage device 906, and an area for storing computer programs and data received from the outside via the I / F 907. The RAM 902 also has a work area used by the CPU 901 when executing various processes. In this way, the RAM 902 can provide various areas as needed.

[0083] The ROM 903 stores setting data for the computer device, computer programs and data relating to the startup of the computer device, computer programs and data relating to the basic operation of the computer device, and the like.

[0084] The storage device 906 is a large-capacity information storage device such as a hard disk drive. The storage device 906 stores an OS (operating system), computer programs and data for causing the CPU 901 to execute or control the various processes described as processes performed by the imaging device 100. The computer programs stored in the storage device 906 may also include computer programs for causing the CPU 901 to execute or control the functions of the functional units shown in FIG.

[0085] The I / F 907 is a communication interface for performing data communication with an external device via a network such as a LAN or the Internet.

[0086] The CPU 901, RAM 902, ROM 903, storage device 906, and I / F 907 are all connected to a system bus 908. Note that the hardware configuration of a computer applicable to the imaging device 100 is not limited to the configuration shown in FIG. 8 and can be modified / changed as appropriate.

[0087] The processing of the above-described embodiments may be performed by providing a storage medium on which software program code embodying each function is recorded to a system or device. The computer (or CPU or MPU) of the system or device then reads and executes the program code stored in the storage medium, thereby realizing the functions of the above-described embodiments. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium on which the program code is stored constitutes the present invention. Examples of storage media for providing such program code include floppy disks, hard disks, optical disks, and magneto-optical disks. Alternatively, storage media such as CD-ROMs, CD-Rs, magnetic tapes, non-volatile memory cards, and ROMs may also be used.

[0088] Furthermore, the functions of the above-described embodiments are not only realized by a computer reading and executing the program code. The scope of the present invention also includes a case where an operating system (OS) running on a computer performs part or all of the actual processing based on the instructions of the program code, and the functions of the above-described embodiments are realized by that processing.

[0089] Furthermore, the program code read from the storage medium may be written to a memory provided on a function expansion board inserted into a computer or a function expansion unit connected to the computer, and then, based on the instructions of the program code, a CPU or the like provided on the function expansion board or the function expansion unit performs part or all of the actual processing, thereby realizing the functions of each of the above-mentioned embodiments. This case is also included within the scope of the present invention.

[0090] <Other embodiments> The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0091] The disclosure of this specification includes the following imaging device, method, and program. (Item 1) a control means for controlling at least one of a tilt position and a pan position of the imaging means based on settings of preset positions corresponding to a plurality of imaging directions of the imaging means; a detection means for detecting an error in at least one of the tilt position and the pan position of the imaging means; and a correction means for correcting an error in at least one of the tilt position and the pan position while the imaging means is moving to a second position different from the first position and based on the setting of the preset position, when an error in at least one of the tilt position and the pan position is detected while the imaging means is moving to a first position based on the setting of the preset position. Imaging device. (Item 2) an acquisition means for acquiring at least one mechanical position of the tilt position and the pan position of the imaging means using a PI sensor; the imaging means includes a slit substrate located between a light receiving element and a light emitting element of the PI sensor, In the slit substrate, first slits that transmit light from the light-emitting elements and second slits that block the light are alternately arranged radially, each of the first slit and the second slit has a different width in each region of the slit substrate; As the slit substrate approaches 0°, the widths of the first slit and the second slit become smaller, a ratio of the first slits to the second slits in a region of 0° to 180° of the slit substrate is opposite to a ratio of the first slits to the second slits in a region of 0° to -180° of the slit substrate, the correction means corrects an error in at least one of the tilt position and the pan position based on the mechanical position; Item 1. The imaging device according to item 1. (Item 3) the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means moves to the second position through a first end of the first slit or the second slit, the first end being larger than a predetermined slit width, and a second end located opposite to the first end. Item 2. The imaging device according to item 2. (Item 4) the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means is moving to the second position so as to approach 0° of the slit board; Item 2 or 3. The imaging device according to item 2 or 3. (Item 5) an input means for inputting the preset position; and a notification means for displaying a warning regarding correction of an error in at least one of the tilt position and the pan position when an angle of a range in which the imaging means moves based on the preset position is smaller than an angle of a specific slit on the slit board corresponding to the preset position. 5. The imaging device according to any one of items 2 to 4. (Item 6) when an error in at least one of the tilt position and the pan position is detected, the control means controls at least one of the tilt position and the pan position of the imaging means so that a first movement speed at which the imaging means moves to the second position is faster than a second movement speed at which the imaging means moves to the first position before the correction means corrects the error in at least one of the tilt position and the pan position; the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means is moving to the second position at the first moving speed. 6. The imaging device according to any one of items 1 to 5. (Item 7) the first movement speed is the maximum movement speed; Item 7. The imaging device according to item 6. (Item 8) the second position is a position on the slit substrate that is spaced apart from the first position in a clockwise or counterclockwise direction; 6. The imaging device according to any one of items 2 to 5. (Item 9) The second position is a ±180° position on the slit substrate. 6. The imaging device according to any one of items 2 to 5. (Item 10) A method performed by an imaging device, comprising: a control step of controlling at least one of a tilt position and a pan position of the imaging means based on settings of preset positions respectively corresponding to a plurality of imaging directions of the imaging means; a detection step of detecting an error in at least one of a tilt position and a pan position of the imaging means; and a correction step of correcting the error in at least one of the tilt position and the pan position while the imaging means is moving to a second position different from the first position and based on the setting of the preset position, when an error in at least one of the tilt position and the pan position is detected while the imaging means is moving to a first position based on the setting of the preset position. method. (Item 11) A program for causing a computer to function as each of the means of the imaging device according to any one of items 1 to 9.

[0092] The invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0093] 100 Imaging device 111 Lens 112 Image sensor 113 Signal Processing Circuit 114 Imaging control circuit 115 Memory Transfer Circuit 116 System Control Unit 122 memory 123 Network I / F 130 Network Equipment 131 Network 132 Operating equipment 133 Information processing equipment 134 Display device 135 RAM 136 CPU 137 ROM 138 Operation section 140 External power supply 150 Power supply control unit 160 Motor control unit 161 Pan drive unit 162 Tilt drive unit 170 PT mechanism phase detection control section 171 Pan Phase Detector 172 Tilt phase detector 116a Motor control microcomputer 160a motor driver 161a Motor 161b Pan moving part 161c gear 161d Reference position 161e Reference position

Claims

1. a control means for controlling at least one of a tilt position and a pan position of the imaging means based on settings of preset positions corresponding to a plurality of imaging directions of the imaging means; a detection means for detecting an error in at least one of the tilt position and the pan position of the imaging means; and a correction means for correcting the error in at least one of the tilt position and the pan position while the imaging means is moving to a second position different from the first position and based on the setting of the preset position, when an error in at least one of the tilt position and the pan position is detected while the imaging means is moving to a first position based on the setting of the preset position. Imaging device.

2. an acquisition means for acquiring at least one of a tilt position and a pan position of the imaging means using a PI sensor; the imaging means includes a slit substrate located between a light receiving element and a light emitting element of the PI sensor, In the slit substrate, first slits that transmit light from the light-emitting elements and second slits that block the light are alternately arranged in a radial pattern, each of the first slit and the second slit has a different width in each region of the slit substrate; As the slit substrate approaches 0°, the widths of the first slit and the second slit become smaller, a ratio of the first slits to the second slits in a region of 0° to 180° of the slit substrate is opposite to a ratio of the first slits to the second slits in a region of 0° to −180° of the slit substrate, the correction means corrects an error in at least one of the tilt position and the pan position based on the mechanical position; The imaging device according to claim 1 .

3. the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means moves to the second position through a first end of the first slit or the second slit, the first end being larger than a predetermined slit width, and a second end located opposite to the first end. The imaging device according to claim 2 .

4. the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means is moving to the second position so as to approach 0° of the slit board; The imaging device according to claim 2 .

5. an input means for inputting the preset position; and a notification means for displaying a warning regarding correction of an error in at least one of the tilt position and the pan position when an angle of a range in which the imaging means moves based on the preset position is smaller than an angle of a specific slit on the slit board corresponding to the preset position. The imaging device according to claim 2 .

6. when an error in at least one of the tilt position and the pan position is detected, the control means controls at least one of the tilt position and the pan position of the imaging means so that a first moving speed at which the imaging means moves to the second position is faster than a second moving speed at which the imaging means moves to the first position before the correction means corrects the error in at least one of the tilt position and the pan position; the correction means corrects an error in at least one of the tilt position and the pan position while the imaging means is moving to the second position at the first moving speed; The imaging device according to claim 1 .

7. the first movement speed is a maximum movement speed; The imaging device according to claim 6 .

8. the second position is a position on the slit substrate spaced apart from the first position in a clockwise or counterclockwise direction; The imaging device according to claim 2 .

9. the second position is a position of ±180° on the slit substrate; The imaging device according to claim 2 .

10. A method performed by an imaging device, comprising: a control step of controlling at least one of a tilt position and a pan position of the imaging means based on settings of preset positions respectively corresponding to a plurality of imaging directions of the imaging means; a detection step of detecting an error in at least one of a tilt position and a pan position of the imaging means; and a correction step of correcting the error in at least one of the tilt position and the pan position while the imaging means is moving to a second position different from the first position and based on the setting of the preset position, when an error in at least one of the tilt position and the pan position is detected while the imaging means is moving to a first position based on the setting of the preset position. method.

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

Images