Imaging apparatus

Abstract

To provide an imaging apparatus capable of performing PT (pan-tilt) drive having high quietness regardless of the kind of a lens and the adjustment position of an imaging part.SOLUTION: The imaging apparatus includes: an imaging part having an imaging element for imaging light from a photographic lens; a driving part for driving the imaging part in a pan or tilt direction; a detection part for detecting the state of the imaging part; a driving state acquisition part for acquiring a driving state, when the state of the detection part is changed; a control part for changing a table of rotational speed; and a storage part for storing the table of rotational speed. The control part updates the table of rotational speed on the basis of information of the driving state acquisition part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Surveillance systems and video distribution systems use pan-tilt (PT) cameras equipped with a PT driver that rotates the imaging unit in pan or tilt directions via a network. Among these PT cameras, there are interchangeable-lens PT cameras that allow for interchangeable lenses to meet the need for a wider range of focal lengths. Furthermore, some interchangeable-lens PT cameras are equipped with a position adjustment mechanism that adjusts the position of the imaging unit, which includes the imaging lens and image sensor, along the optical axis.

[0003] In such PT cameras, the mechanical characteristics of the PT drive unit can cause vibrations that resonate, generating noise. In particular, cameras used for video streaming require quiet operation, as the quality of the video being streamed is of paramount importance, so it is necessary to minimize this type of resonance noise.

[0004] In the PT camera described in Patent Document 1, when the photographic lens is changed, lens information such as a lens ID indicating the type of photographic lens is acquired, and the corresponding ramp setting is stored in advance in memory. This configuration discloses a method for avoiding resonance regardless of the type of photographic lens attached. Here, the ramp setting indicates a series of relationships between the rotation speed and time, such as when starting and stopping rotation in the pan or tilt drive mechanism. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-41705 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the PT camera disclosed in Patent Document 1 cannot handle cases where lens information cannot be obtained, such as when an unexpected photographic lens is attached or when a photographic lens is attached using a mount adapter without electronic contacts.

[0007] Furthermore, if there is a mechanism for adjusting the position of the imaging unit, even if lens information is acquired, the conditions for resonance will change depending on the adjusted position of the imaging unit, so resonance may not be avoided simply by using the ramp settings stored in memory in advance.

[0008] The present invention has been made in consideration of the above-mentioned points, and aims to provide an imaging device that is capable of performing highly quiet pan or tilt rotation operations regardless of the type of photographic lens attached or the adjustment position of the imaging unit. [Means for solving the problem]

[0009] In order to achieve the above object, the imaging device of the present invention is characterized by having an imaging unit equipped with a lens mounting unit to which a photographing lens is detachably mounted, a drive unit that rotates the imaging unit horizontally or vertically, a mounting state detection unit that detects the mounting state of the photographing lens in the lens mounting unit, a drive state acquisition unit that, when a change in the mounting state of the photographing lens is detected by the mounting state detection unit, rotates the imaging unit by the drive unit while changing the rotation speed and acquires the drive state of the drive unit, and a control unit that controls the drive unit not to rotate the imaging unit at a rotation speed within a resonance speed range, based on the drive state of the drive unit acquired by the drive state acquisition unit. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an imaging device that can perform a highly silent panning or tilting operation regardless of the type of photographing lens attached or the adjustment position of the imaging unit. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an imaging apparatus according to a first embodiment. [Figure 2] 1 is an external view of an imaging device according to a first embodiment. [Figure 3] 4 is a flowchart showing a resonance velocity avoidance process of the imaging device according to the first embodiment. [Figure 4] 5A to 5C are diagrams illustrating the operation of a resonance velocity avoidance process of the imaging device according to the first embodiment. [Figure 5] 5 is a diagram showing updating of a control table for the rotation speed of the imaging device according to the first embodiment. FIG. [Figure 6] 5A and 5B are diagrams illustrating updates of the GUI of the imaging device according to the first embodiment. [Figure 7] 10 is a flowchart showing a resonance velocity avoidance process of the imaging device according to the second embodiment. [Figure 8] 10A and 10B are diagrams illustrating the operation of a resonance velocity avoidance process of the imaging device according to the second embodiment. [Figure 9] 10A and 10B are diagrams illustrating updates to the acceleration / deceleration control table of the imaging device according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the embodiments described below are merely examples of means for realizing the present invention, and should be appropriately modified or changed depending on the configuration of the device to which the present invention is applied and various conditions, and the present invention is not limited to the following embodiments.

[0013] Example 1 1 is a block diagram showing the configuration of an imaging device according to this embodiment. The imaging device 100 includes an imaging unit 110, an image processing unit 120, a drive unit 130, a storage unit 140, a system control unit 150, and a communication unit 160. The imaging unit 110 includes an image sensor 111, a detection unit 112, and a drive state acquisition unit 113. A photographic lens 10 can be detachably attached to the imaging unit 110.

[0014] The image sensor 111 receives light from a subject that has been imaged by the photographic lens 10, and converts the optical image of the subject into an electrical signal through photoelectric conversion. The image processing unit 120 is electrically connected to the image sensor 111, and performs image processing and compression encoding on the electrical signal converted by the image sensor 111 to generate image data. The image processing unit 120 is connected to the system control unit 150, and transmits the generated image data to the system control unit 150.

[0015] The detection unit 112 is connected to the system control unit 150, detects the state of the imaging unit 110, and transmits the detected data to the system control unit 150. The data detected by the detection unit 112 may be lens information such as a lens ID indicating the type of photographic lens 10 attached. In this case, the detection unit 112 has a mechanical switch or an optical sensor provided in the imaging unit 110, detects whether the photographic lens 10 is attached, the attachment state, whether the attached photographic lens 10 has been changed, and outputs the information to the system control unit 150. In other words, the detection unit 112 functions as a unit detecting the attachment state of the photographic lens 10. Furthermore, if the imaging device 100 has a position adjustment mechanism for the imaging unit 110 (described later), the detection unit 112 may have a linear encoder or the like and detect the position of the imaging unit 110 in the optical axis direction. In other words, the detection unit 112 functions as a unit detecting the position of the imaging unit 110.

[0016] The driving state acquisition unit 113 includes an acceleration sensor, a gyro sensor, a microphone, etc., and acquires the driving state (actual rotation speed, vibration or sound generated by the rotation operation, etc.) when the imaging unit 110 is panned or tilted. The driving state acquisition unit 113 is connected to the system control unit 150, and transmits the acquired driving state data to the system control unit 150.

[0017] The drive unit 130 includes a pan drive mechanism and a tilt drive mechanism (not shown), is communicatively connected to the system control unit 150, and drives each mechanism to an angle specified by a control command. More specifically, it includes an actuator such as a stepping motor, and rotates the imaging device 100 in the horizontal or vertical direction around a predetermined axis via a drive force transmission unit such as a belt or gear.

[0018] The storage unit 140 has a non-volatile memory (ROM) that stores programs executed by the system control unit 150, and a volatile memory (RAM) that is used as a work area for the system control unit 150. The storage unit 140 of this embodiment stores lens information such as the lens ID described above and the adjustment position of the imaging unit 110 in the ROM, and can refer to previously set values ​​even after restarting.

[0019] The system control unit 150 controls the entire imaging device 100. The system control unit 150 includes a CPU (Central Processing Unit), and is connected to a client device 200, which is an information processing device, via a communication unit 160. The system control unit 150 controls the imaging device 100 while communicating with the client device 200.

[0020] That is, system control unit 150 receives a camera control command transmitted from client device 200, analyzes the acquired camera control command, and executes processing according to the command. System control unit 150 then transmits a response to the camera control command to client device 200. For example, system control unit 150 controls image processing unit 120 based on instructions in the image quality adjustment command, and controls drive unit 130 based on a PT command that instructs PT operation of imaging device 100.

[0021] The communication unit 160 is communicably connected to the client device 200 via the network 300. The communication unit 160 receives commands from the client device 200 via the network 300 and transmits responses from the system control unit 150 to the client device 200.

[0022] The network 300 is configured from a plurality of routers, switches, cables, etc. that comply with a communication standard such as Ethernet (registered trademark). Here, the communication standard, scale, and configuration are not important as long as communication can be performed between the imaging device 100 and the client device 200. For example, the network 300 may be configured from the Internet, a wired LAN (Local Area Network), a wireless LAN, a WAN (Wide Area Network), etc.

[0023] The client device 200 transmits a command to the imaging device 100. For example, the client device 200 transmits a command to change the imaging direction or the imaging angle of view of the imaging device 100. The client device 200 includes a display unit 210, an operation unit 220, a system control unit 230, and a communication unit 240. A general-purpose computer such as a personal computer is used as the client device 200.

[0024] The display unit 210 uses a liquid crystal display device or the like, and displays an image acquired from the imaging device 100, and a graphic user interface (hereinafter referred to as GUI) for controlling the rotation of the imaging unit 110 in the pan direction or tilt direction, etc. The operation unit 220 uses a pointing device such as a keyboard or a mouse, and the user of the client device 200 operates the GUI via the operation unit 220.

[0025] The operation unit 220 includes a joystick that can be tilted up, down, left, right, and so on, and its control circuit, and may input instructions from the user regarding the direction and speed of pan or tilt rotation. For example, the left and right direction of the joystick indicates the horizontal direction, the up and down direction indicates the vertical direction, and the degree of tilt of the joystick indicates the rotation speed.

[0026] The operation unit 220 rotates faster the greater the tilt of the joystick, with the maximum tilt indicating a speed designation of 100% based on the angle of view ratio, and no tilt indicating a speed designation of 0% based on the angle of view ratio, i.e., stop. The speed designation values ​​for tilts between these ranges are allocated in predetermined increments. This correspondence between the joystick tilt and the speed designation values ​​is one example, and is set in consideration of the operational feel of the PT drive.

[0027] The system control unit 230 controls the entire client device 200. The system control unit 230 includes a CPU (Central Processing Unit), and receives video data from the imaging device 100 via the communication unit 240. The system control unit 230 transmits commands according to GUI operation input by the user to the imaging device 100 via the communication unit 240.

[0028] Figure 2 is an external view of the imaging device according to this embodiment, where Figure 2(a) is a view of the imaging device seen from above, Figure 2(b) is a view of the imaging device seen from the side, and Figure 2(c) is a view of the imaging device seen from the front.

[0029] The imaging device 100 includes a base unit 20, a pan rotation unit 30, a tilt rotation unit 40, and an imaging unit 110. A user-removable interchangeable photographic lens 10 is attached to a lens attachment unit of the imaging unit 110. The photographic lens 10 can be fixed to the lens attachment unit of the imaging unit 110 by, for example, a bayonet structure or a screw-in structure. The user can change the photographic lens 10 depending on the angle of view desired for shooting. Specifically, a wide-angle lens can be attached to the imaging unit 110 when shooting wide-angle images, and a telephoto lens can be attached to the imaging unit 110 when shooting a distant subject in a magnified manner.

[0030] The base unit 20 holds a pan rotation unit 30. The pan rotation unit 30 has a cylindrical turntable 31, and is supported rotatably relative to the base unit 20 with the central axis of the turntable 31 serving as a pan rotation axis. The pan rotation unit 30 holds a tilt rotation unit 40. The tilt rotation unit 40 is supported rotatably relative to the pan rotation unit 30 with an axis perpendicular to the pan rotation axis serving as a tilt rotation axis. The tilt rotation unit 40 holds the imaging unit 110.

[0031] The imaging unit 110 is supported so as to be movable in the optical axis direction relative to the tilt rotation unit 40. The tilt rotation unit 40 has a lens support member 41, and a lens fixing member 42 that is movable in the optical axis direction is held by the lens support member 41. A ring-shaped lens holding member (not shown) attached to the photographic lens 10 is fastened to the lens fixing member 42 with a screw, whereby the photographic lens 10 is held by the lens support member 41.

[0032] The weight of the photographic lens 10 attached to the lens attachment portion of the imaging unit 110 varies, and when a heavier photographic lens is attached to the lens attachment portion of the imaging unit, the driving force of the actuator of the drive unit 130 may be insufficient. In this case, step-out may occur, making it impossible for the drive unit 130 to rotate the imaging unit. The risk of step-out can be reduced or avoided by adjusting the position of the imaging unit 110 in the optical axis direction and reducing the torque required by the actuator. The position adjustment of the imaging unit 110 may be performed manually by the user, or may be performed automatically using an actuator such as a stepping motor.

[0033] Next, a description will be given of the resonance velocity avoidance process of the above-mentioned image pickup apparatus 100. The following describes the operation of pan driving, but the same applies to tilt driving.

[0034] Fig. 3 is a flowchart of the resonance speed avoidance process of the imaging device 100 in Example 1. The flowchart of Fig. 3 starts when the imaging device 100 is turned on. Here, a case where the rotation speed control table stored in the storage unit 140 is updated will be described.

[0035] In S101, the system control unit 150 detects the state of the imaging unit 110 via the detection unit 112. As described above, for example, the mounting state of the photographic lens 10 is detected by acquiring lens information of the mounted photographic lens 10. Also, the position of the imaging unit 110 in the optical axis direction may be acquired from a linear encoder or the like.

[0036] In S102, the system control unit 150 acquires from the storage unit 140 the state of the imaging unit 110 the last time the imaging device 100 was used, compares it with the current state of the imaging unit 110, and determines whether the state of the imaging unit 110 has changed. If it is determined that the state has changed, the process proceeds to S103, and if it is determined that the state has not changed, the process ends.

[0037] In S103, the system control unit 150 displays a message for selecting whether or not to perform resonance velocity avoidance processing on the display unit 210 of the client device 200 via the network 300. For example, even if the user replaces the photographic lens 10, there is no need to perform resonance velocity avoidance processing if the change in resonance velocity is not a problem.

[0038] In S104, the system control unit 150 determines whether the user has selected to perform the resonance velocity avoidance processing via the display unit 210 of the client device 200. If the user has selected to perform the processing, the process proceeds to S105, and if the user has not selected to perform the processing, the process ends. Note that the system control unit 150 may be controlled to automatically perform the resonance velocity avoidance processing when a change in the state of the image capturing unit 110 is confirmed in S102.

[0039] In S105, the system control unit 150 performs resonance velocity avoidance processing. Fig. 4 is a diagram showing the operation of the resonance velocity avoidance processing of the image pickup device 100 in this embodiment. The resonance velocity avoidance processing will be described with reference to Fig. 4.

[0040] First, the panning of the imaging unit 110 is started from a stopped state, and the panning is accelerated until it reaches its maximum speed Vmax. At this time, the acceleration is controlled to be small so that the speed at which vibrations and sounds due to resonance occur before the maximum speed Vmax of the panning is reached can be determined. After the maximum speed Vmax is reached, the panning is gradually decelerated at the same deceleration rate as during acceleration, and the panning continues until the panning stops. Even during deceleration, the speed at which vibrations and sounds due to resonance occur can be detected.

[0041] In S106, the drive state acquisition unit 113 acquires the rotation speed when the pan drive was performed in S105.

[0042] In S107, the system control unit 150 calculates the speed deviation of the rotation speed acquired in S106, and calculates the speed range Vr in which the calculated speed deviation exceeds a predetermined threshold. This speed range Vr is the speed at which vibrations and sounds occur due to resonance of the drive unit, that is, the resonant speed range.

[0043] In S108, system control unit 150 determines whether the numerical values ​​of the rotation speed control table stored in storage unit 140 are included in the calculated resonance speed range Vr. If they are included in the calculated resonance speed range Vr, the process proceeds to S109; if they are not included, the process ends.

[0044] In S109, the system control unit 150 updates the value of the control table for the rotation speed included in the resonance speed range Vr to the upper limit speed or lower limit speed of the resonance speed range Vr.

[0045] 5 is a diagram showing the update of the rotation speed control table. In S107, when the resonance speed range Vr is calculated to be 15.0 to 25.0 deg / s, the numerical values ​​of speed levels 9 and 10 in the rotation speed control table are included in the resonance speed range Vr.

[0046] In this embodiment, the control table is updated so that, for example, speed level 9 is set to 15.0 deg / s, which is the lower limit speed of the resonance velocity range Vr, and speed level 10 is set to 25.0 deg / s, which is the upper limit speed of the resonance velocity range Vr. In other words, the image capture unit 110 is controlled so as not to rotate at a rotation speed within the resonance velocity range. Note that at the upper or lower limit speed of the resonance velocity range Vr, it is assumed that almost no vibration due to resonance occurs in the image capture device 100.

[0047] In S110, the system control unit 150 reflects the rotation speed control table updated in S109 in the setting value of the PT rotation speed of the display unit 210 of the client device 200, and ends this process.

[0048] Fig. 6 is a diagram showing an update of the GUI. In cases where the user can set the PT rotation speed by selecting it from a pull-down list, as in the GUI of Fig. 6, the control table for the rotation speed updated in S109 is reflected. In this embodiment, the pan / tilt speeds of 15.0 deg / s and 25.0 deg / s in Fig. 6 are values ​​that reflect the control table for the rotation speed after the resonance speed avoidance process has been performed.

[0049] As described above, according to this embodiment, by calculating the resonance velocity range Vr and removing the allocation of rotational speeds included in the resonance velocity range Vr from the rotational velocity control table, it is possible to avoid the generation of vibrations and noise due to resonance when the imaging device 100 is driven by PT.

[0050] Example 2 Next, a description will be given of the resonance velocity avoidance process in Example 2. Here, differences from Example 1 will be mainly described, and the same matters as those in Example 1 will be described by using the same symbols and signs as those already used, and detailed description thereof will be omitted.

[0051] Fig. 7 is a flowchart of the resonance speed avoidance process of the image pickup device 100 in the second embodiment. The flowchart of Fig. 7 starts when the image pickup device 100 is turned on. Here, a case where the control table for acceleration and deceleration of the PT is updated will be described. Also, it is assumed that the acceleration has multiple values ​​before reaching the specified rotation speed, and that there is a switching speed Vs at which the acceleration switches from a small value to a large value.

[0052] The control from S201 to S204 is the same as S101 to S104 in FIG. 3, and therefore a description thereof will be omitted.

[0053] In S205, the system control unit 150 performs resonance velocity avoidance processing. Fig. 8 is a diagram illustrating the operation of the resonance velocity avoidance processing of the image pickup device 100 in this embodiment. The resonance velocity avoidance processing will be described with reference to Fig. 8.

[0054] First, the panning rotation of the imaging unit 110 is started from a stopped state, and the rotation speed is accelerated in a stepwise manner at a predetermined interval until it reaches the maximum speed Vmax. At this time, the interval for each rotation speed and the time for passing each rotation speed are set so that the speed at which vibrations and sounds due to resonance are generated before the maximum speed Vmax of the panning rotation is reached can be determined.

[0055] In S206 and S207, speed information is acquired in the same manner as in S106 and S107 of FIG. 3, and the resonance speed range Vr is calculated.

[0056] In S208, the system control unit 150 determines whether the switching speed Vs is greater than the lower limit speed of the resonance speed range Vr. If it is determined that the switching speed Vs is greater than the lower limit speed of the resonance speed range Vr, the process proceeds to S209, and if it is determined that the switching speed Vs is smaller, the process ends.

[0057] In S209, the system control unit 150 updates the switching speed Vs to a value equal to or lower than the lower limit speed of the resonance speed range Vr, and ends this process.

[0058] Figure 9 shows how the acceleration / deceleration control table is updated. Assume that the photographic lens 10 is replaced from lens A to lens B, causing the resonance velocity range to shift to the lower speed side. If resonance velocity avoidance processing is not performed, the switching speed will exceed the lower limit of the resonance velocity range after the lens change, and the lens will enter the resonance velocity range before reaching the switching speed. Passing through the resonance velocity range at low acceleration increases the time it takes to pass through the resonance velocity range, potentially generating vibrations and noise due to resonance.

[0059] To avoid this, resonance speed avoidance processing is performed, and by setting the switching speed below the lower limit of the resonance speed range as shown in the figure, the resonance speed range is quickly passed through at high acceleration, reducing the risk of vibration and noise due to resonance. In this embodiment, it is assumed that there are two accelerations before the specified rotation speed is reached, and the rotation speed increases linearly from the switching speed onwards. However, there may be three or more accelerations before the specified rotation speed is reached, or the acceleration / deceleration curve may be a complex shape such as an S-shape. In either case, the acceleration / deceleration control table may be changed so that the resonance speed range is passed through at high acceleration.

[0060] As described above, according to this embodiment, by calculating the resonance speed range Vr and setting the acceleration switching speed below the lower limit speed of the resonance speed range, it is possible to avoid vibrations and noise caused by resonance when accelerating and decelerating the PT drive of the imaging unit 110.

[0061] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications are possible within the scope of the gist thereof, and the above-described embodiments may be combined as appropriate.

[0062] (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.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0063] The disclosure of this embodiment includes the following configuration.

[0064] (Configuration 1) an imaging unit having a lens mounting unit to which a photographic lens is detachably attached; a drive unit that rotates the imaging unit horizontally or vertically; a mounting state detection unit that detects a mounting state of the photographic lens in the lens mounting unit; a drive state acquisition unit that, when the mounting state detection unit detects a change in the mounting state of the photographing lens, rotates the imaging unit by the drive unit while changing the rotation speed, and acquires a drive state of the drive unit; a control unit that controls the drive unit not to rotate the imaging unit at a rotation speed within a resonance speed range, based on the drive state of the drive unit acquired by the drive state acquisition unit; An imaging device comprising:

[0065] (Configuration 2) 2. The imaging device according to configuration 1, wherein the mounting state detection unit detects the type of the photographic lens mounted in the lens mounting unit.

[0066] (Configuration 3) further comprising a position detection unit for detecting a position of the imaging unit in the optical axis direction, 3. The imaging device according to claim 1, wherein when the position detection unit detects that the position of the imaging unit in the optical axis direction has been changed, the drive status acquisition unit rotates the imaging unit using the drive unit while changing the rotation speed, and acquires the drive status of the drive unit.

[0067] (Configuration 4) 4. The imaging device according to claim 1, wherein the driving state includes vibration or sound generated by a rotational operation of the imaging unit by the driving unit.

[0068] (Configuration 5) The imaging device according to any one of claims 1 to 4, further comprising a storage unit that stores a control table of a rotation speed at which the driving unit rotates the imaging unit, and the control unit updates the control table when the driving state acquisition unit acquires a new driving state.

[0069] (Configuration 6) 6. The imaging device according to claim 5, wherein the control unit updates a rotation speed that can be set by a user when the control table is updated.

[0070] (Configuration 7) 7. The imaging device according to configuration 5 or 6, wherein the control unit updates the control table in response to a user instruction.

[0071] (Configuration 8) The imaging device according to any one of configurations 5 to 7, wherein the control unit updates the control table when the mounting state detection unit detects a change in the mounting state of the photographing lens.

[0072] (Configuration 9) The imaging device according to any one of configurations 1 to 8, wherein the drive state acquisition unit acquires a rotational speed of the imaging unit, and the control unit calculates a speed deviation of the acquired rotational speed of the imaging unit, and sets a speed range in which the speed deviation exceeds a predetermined threshold as the resonance speed range.

[0073] (Configuration 10) The imaging device according to any one of configurations 1 to 9, wherein the drive status acquisition unit rotates the imaging device while changing the rotation speed stepwise at predetermined intervals, and acquires the drive status of the drive unit.

[0074] (Configuration 11) an imaging unit having a lens mounting unit to which a photographic lens is detachably attached; a drive unit that rotates the imaging unit horizontally or vertically; a mounting state detection unit that detects a mounting state of the photographing lens in the lens mounting unit, a drive state acquisition step of rotating the imaging unit by the drive unit while changing the rotation speed when the change in the mount state of the photographing lens is detected by the mount state detection unit, and acquiring the drive state of the drive unit; a control step of controlling the driving unit so as not to rotate the imaging unit at a rotation speed within a resonance speed range, based on the driving state of the driving unit acquired in the driving state acquisition step; 10. A method for controlling an imaging device, comprising: [Explanation of symbols]

[0075] 10. Camera Lens 30 Pan Rotation Unit 40 Tilt rotation section 100 Imaging device 110 Imaging unit 112 Detection unit 113 Drive status acquisition unit 130 Drive unit

Claims

1. an imaging unit having a lens mounting unit to which a photographic lens is detachably attached; a drive unit that rotates the imaging unit horizontally or vertically; a mounting state detection unit that detects a mounting state of the photographic lens in the lens mounting unit; a drive state acquisition unit that, when the mounting state detection unit detects a change in the mounting state of the photographing lens, rotates the imaging unit by the drive unit while changing the rotation speed, and acquires a drive state of the drive unit; a control unit that controls the driving unit not to rotate the imaging unit at a rotation speed within a resonance speed range, based on the driving state of the driving unit acquired by the driving state acquisition unit; An imaging device comprising:

2. 2. The imaging device according to claim 1, wherein the mounting state detection unit detects the type of the photographic lens mounted in the lens mounting unit.

3. further comprising a position detection unit for detecting a position of the imaging unit in the optical axis direction, The imaging device according to claim 1, characterized in that, when the position detection unit detects that the position of the imaging unit in the optical axis direction has been changed, the drive status acquisition unit rotates the imaging unit using the drive unit while changing the rotation speed, and acquires the drive status of the drive unit.

4. 2. The imaging device according to claim 1, wherein the driving state includes vibration or sound generated by a rotational operation of the imaging unit by the driving unit.

5. The imaging device according to claim 1, further comprising a storage unit that stores a control table of a rotation speed at which the imaging unit is rotated by the drive unit, and the control unit updates the control table when the drive state acquisition unit acquires a new drive state.

6. 6. The imaging device according to claim 5, wherein the control unit updates the rotation speed that can be set by the user when the control table is updated.

7. 6. The imaging device according to claim 5, wherein the control unit updates the control table in response to a user instruction.

8. 6. The imaging device according to claim 5, wherein the control unit updates the control table when the mounting state detection unit detects a change in the mounting state of the photographic lens.

9. 2. The imaging device according to claim 1, wherein the drive state acquisition unit acquires a rotational speed of the imaging unit, and the control unit calculates a speed deviation of the acquired rotational speed of the imaging unit, and sets a speed range in which the speed deviation exceeds a predetermined threshold as the resonance speed range.

10. 2. The imaging device according to claim 1, wherein the drive status acquisition unit rotates the imaging device while changing the rotation speed stepwise in predetermined increments, and acquires the drive status of the drive unit.

11. an imaging unit having a lens mounting unit to which a photographic lens is detachably attached; a drive unit that rotates the imaging unit horizontally or vertically; a mounting state detection unit that detects a mounting state of the photographing lens in the lens mounting unit, a drive state acquisition step of rotating the imaging unit by the drive unit while changing the rotation speed when the change in the mount state of the photographing lens is detected by the mount state detection unit, and acquiring the drive state of the drive unit; a control step of controlling the driving unit so as not to rotate the imaging unit at a rotation speed within a resonance speed range, based on the driving state of the driving unit acquired in the driving state acquisition step; 10. A method for controlling an imaging device, comprising:

Images