Camera platform apparatus, method for controlling camera platform apparatus, and storage medium

Abstract

To set the position of a pan movable part or a tilt movable part with high accuracy after the power source of a universal head device is turned on.SOLUTION: A gimbal device includes a mechanical position detection unit configured to detect a mechanical position of a pan movable unit or a tilt movable unit, a motor phase detection unit configured to detect a rotor phase of a motor configured to drive the pan movable unit or the tilt movable unit, and a control unit configured to acquire mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection unit after a power supply of the gimbal device is turned on. And a motor control means for setting the mechanical position information as a software position for driving the pan movable part or the tilt movable part when it is determined that the mechanical position information satisfies the predetermined condition, wherein the motor control means updates the software position for driving the pan movable part or the tilt movable part on the basis of the rotor phase detected by the motor phase detection means.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a pan head device, a control method for a pan head device, and a program. [Background technology]

[0002] The main body of a camera platform device that can accommodate a large camera is large. A large, sturdy camera platform device requires a large driving torque to achieve pan or tilt movement. Because the device is large in size and requires a large torque, unintended pan or tilt movements by the user are undesirable.

[0003] Therefore, it is preferable that the search operation for the reference position by pan or tilt movement cannot be performed when the power is turned on. For this reason, there are pan head devices equipped with absolute position encoders that do not require the search operation for the reference position. Pan head devices with this configuration obtain the reference position, which is the initial value of the software position, from the absolute position encoder. For this reason, in large pan head devices equipped with absolute position encoders, it is important that the initial value of the software position is a correct value when the power is turned on.

[0004] However, although absolute position encoders can obtain absolute positions with high accuracy using a plurality of position signals, they have the problem that the scale plates that make up the encoder are susceptible to dirt and dust.

[0005] Patent Document 1 discloses a method of calculating the noise component of a value obtained from an absolute value encoder, and if the noise component is large, selecting a position signal obtained from a second position information calculation means as a signal indicating the position of the movable member.

[0006] Patent Document 1 is capable of acquiring position information from an absolute position encoder and position information related to a potentiometer, determining the magnitude of the noise component of the absolute position encoder, and determining which position information to use as the initial position of the lens depending on the magnitude of the noise component. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-161425 Summary of the Invention [Problem to be solved by the invention]

[0008] However, there is a difference in accuracy between the position information of the absolute position encoder disclosed in Patent Document 1 and the position information related to the potentiometer, and the position information obtained from the potentiometer has low position accuracy.

[0009] An object of the present disclosure is to enable the position of a panning or tilting movable part to be set with high precision after the power of a camera head device is turned on. [Means for solving the problem]

[0010] The pan head device is a pan head device that has a mechanical position detection means that detects the mechanical position of a pan movable part or a tilt movable part, a motor phase detection means that detects the rotor phase of a motor that drives the pan movable part or the tilt movable part, a determination means that, after the power of the pan head device is turned on, acquires mechanical position information based on the mechanical position of the pan movable part or the tilt movable part detected by the mechanical position detection means and determines whether the mechanical position information satisfies a predetermined condition, and a motor control means that, if the determination means determines that the mechanical position information satisfies the predetermined condition, sets the mechanical position information as a soft position for driving the pan movable part or the tilt movable part, and the motor control means updates the soft position for driving the pan movable part or the tilt movable part based on the rotor phase detected by the motor phase detection means, and controls the drive of the motor that drives the pan movable part or the tilt movable part so that the soft position for driving the pan movable part or the tilt movable part reaches a target position. [Effects of the Invention]

[0011] According to the present disclosure, after the power supply of the camera platform device is turned on, the position of the pan movable part or tilt movable part can be set with high accuracy. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 2 is a block diagram showing an example of the configuration of a camera platform device and a personal computer. [Figure 2] 10 is a flowchart illustrating a method for controlling the pan head device. [Figure 3] FIG. [Figure 4] 3A and 3B are explanatory diagrams of electrical signals and position information output from a detection unit. [Figure 5] FIG. 2 is a timing diagram of each process. [Figure 6] 10 is a flowchart illustrating a method for controlling the pan head device. [Figure 7] 10 is a flowchart illustrating a method for controlling the pan head device. [Figure 8] 10 is a flowchart illustrating a method for controlling the pan head device. DETAILED DESCRIPTION OF THE INVENTION

[0013] Preferred embodiments will now be described with reference to the drawings.

[0014] (First embodiment) FIG. 1 is a block diagram showing an example of the configuration of a camera platform device 100 and a personal computer 133 according to the first embodiment.

[0015] The pan head device 100 has a system control unit 116, a storage device 117, a network I / F 123, a power supply control unit 150, a motor control unit 160, a pan drive unit 161, a tilt drive unit 162, a pan motor unit 163, and a pan movable unit 164. The pan head device 100 also has a tilt motor unit 165, a tilt movable unit 166, a pan mechanism position detection unit 171, a tilt mechanism position detection unit 172, a pan mechanism position detection control unit 173, and a tilt mechanism position detection control unit 174. The pan head device 100 also has a pan motor phase detection control unit 180, a pan motor phase detection unit 181, a tilt motor phase detection control unit 182, and a tilt motor phase detection unit 183.

[0016] In FIG. 1, a camera platform device 100 is connected to a client device (information processing device) (not shown) via a network 131 so as to be able to communicate with each other.

[0017] The network communication function of the camera platform device 100 is configured by a system control unit 116 and a network I / F 123 .

[0018] The storage device 117 is a non-volatile storage device that stores operation setting information and the like.

[0019] The system control unit 116 exchanges commands with the client device via the network I / F 123. The network I / F 123 also receives control commands sent from the client device and transfers them to the system control unit 116. The system control unit 116 also transmits responses to the control commands to the client device via the network I / F 123.

[0020] The system control unit 116 analyzes the transmitted control command and performs processing according to the control command. For example, the system control unit 116 instructs the motor control unit 160 to perform pan and tilt operations.

[0021] The motor control unit 160 controls the pan driving unit 161 and the tilt driving unit 162 based on the transmitted instruction.

[0022] The pan drive unit 161 and the tilt drive unit 162 respectively drive a pan motor unit 163 and a tilt motor unit 165. The pan motor unit 163 and the tilt motor unit 165 are respectively connected to a pan movable unit 164 and a tilt movable unit 166 by gears and belts.

[0023] The pan mechanism position detection control unit 173 and the tilt mechanism position detection control unit 174 are control units for detecting the mechanical positions of the mechanical parts of the pan movable unit 164 and the tilt movable unit 166, which are operated by the pan drive unit 161 and the tilt drive unit 162, respectively. The pan mechanism position detection control unit 173 and the tilt mechanism position detection control unit 174 receive as input mechanical position signals from the pan mechanism position detection unit 171 and the tilt mechanism position detection unit 172, respectively.

[0024] For example, pan mechanism position detection unit 171 and tilt mechanism position detection unit 172 are each composed of a PI (Photo Interrupter) sensor and a scale plate, and output the pan position and tilt position as electrical signals. Motor control unit 160 converts the electrical signals of the pan position and tilt position to obtain position information of the pan position and tilt position.

[0025] The pan motor phase detection control unit 180 and the tilt motor phase detection control unit 182 are control units for detecting the motor phases of the pan motor unit 163 and the tilt motor unit 165, respectively. The pan motor phase detection control unit 180 and the tilt motor phase detection control unit 182 receive motor phase signals as input from the pan motor phase detection unit 181 and the tilt motor phase detection unit 183, respectively.

[0026] For example, the pan motor phase detection unit 181 and the tilt motor phase detection unit 183 are each composed of a PI sensor and a slit plate, and output a predetermined electrical signal (pulse signal) according to the position of the rotor, which is a part of the pan motor unit 163 and the tilt motor unit 165.

[0027] The motor control unit 160 acquires pulse signals from the pan motor phase detection unit 181 and the tilt motor phase detection unit 183, counts the number of rotations of the motors of the pan motor unit 163 and the tilt motor unit 165, and controls the software position as the current position.

[0028] 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 and controls the power supply to the camera platform device 100.

[0029] The operation device 132 is, for example, a joystick, and is connected to the network I / F 123 via an RC232C cable, and is capable of communicating with the pan head device 100. The joystick also transmits information on the direction and tilt of the lever to the pan head device 100, and the pan head device 100 can determine the speed and direction based on this information and move the pan drive unit 161 and tilt drive unit 162.

[0030] The personal computer 133 includes a display device 134 , a RAM 135 , a CPU 136 , a ROM 137 , and an operation unit 138 .

[0031] The PC 133 is a general-purpose computer such as a personal computer, and is connected to the pan head device 100 via the network 131. The display device 134 displays a setting screen for controlling the pan head device 100. The CPU 136 executes various processes while exchanging data with the ROM 137 and RAM 135. Specifically, the CPU 136 controls and displays the connected devices while transferring data and commands to the devices connected via the network 131. The operation unit 138 is an operation device such as a mouse or keyboard.

[0032] The external power supply 140 is a commercial power supply or a DC power supply, and is capable of supplying power to the camera platform device 100 .

[0033] In the first embodiment, when the pan head device 100 is powered on, it acquires mechanical position information from the pan mechanical position detection unit 171. The pan head device 100 determines whether the mechanical position information satisfies a predetermined condition, and if the predetermined condition is not satisfied, it slightly moves the pan movable unit 164, acquires mechanical position information again, and determines whether the predetermined condition is satisfied. If it is determined that the predetermined condition is satisfied, an example of operation will be described in which the mechanical position information is set as the initial value of the software position.

[0034] In the first embodiment, the operation of the pan movable section 164 will be described, but the operation of the tilt movable section 166 is similar, so an example of the operation will be omitted.

[0035] 2 is a flowchart showing a control method for the pan head device 100 according to the first embodiment. The pan head device 100 is in a power-off state, and is also in a state where it is not possible to detect pan-related position information such as by the pan mechanism position detection control unit 173 or the pan motor phase detection unit 181.

[0036] In step S201, the system control unit 116 waits for an instruction to turn on the power of the pan head device 100. The user turns on the power switch of the pan head device 100. When the power switch turns on the power of the pan head device 100, the system control unit 116 transitions the process to step S202.

[0037] In step S202, pan mechanism position detection unit 171 detects the mechanical position of pan movable unit 164. Motor control unit 160 acquires pan mechanism position information A based on the mechanical position of pan movable unit 164 detected by pan mechanism position detection unit 171. Motor control unit 160 sends a detection start request to pan mechanism position detection control unit 173. Pan mechanism position detection control unit 173 controls pan mechanism position detection unit 171 to enter a state where position detection is possible. Motor control unit 160 acquires the electrical signal from pan mechanism position detection unit 171 and acquires pan mechanism position information A.

[0038] Here, a method for detecting the mechanical position of pan movable unit 164 by pan mechanism position detector 171 will be described with reference to Fig. 3. Fig. 3 shows pan motor unit 163, multiple gears, pan movable unit 164, pan mechanism position detector 171, and pan motor phase detector 181.

[0039] Pan mechanism position detection unit 171 is connected to a shaft that is connected via a gear to the shaft of pan movable unit 164, and rotates in accordance with the rotation of pan movable unit 164. For example, pan mechanism position detection unit 171 is an absolute position encoder that detects the absolute position of the pan mechanism position. Furthermore, the PI sensor that constitutes pan mechanism position detection unit 171 has its PI light emission turned on / off controlled by pan mechanism position detection control unit 173. Pan mechanism position detection unit 171 directs light emitted by the PI sensor onto a scale plate and outputs an analog electrical signal to pan mechanism position detection control unit 173 based on information about the reflected light.

[0040] The pan driving section 161 outputs a driving waveform to the pan motor section 163. The pan motor phase detection control section 180 controls the pan motor phase detection section 181, and receives a pulse signal from the pan motor phase detection section 181.

[0041] The aforementioned scale plates will now be described with reference to Figure 4(a). Scale plates 1 and 2, which constitute the aforementioned pan mechanism position detection unit 171, have multiple periodic patterns printed on them, such as scale tracks 1-1 and 1-2 and scale tracks 2-1 and 2-2, respectively.

[0042] As shown in Figure 4(a), a scale track 1-1 with a short period and a scale track 1-2 with a long period are printed on the scale plate 1. A scale track 2-1 with a short period and a scale track 2-2 with a long period are printed on the scale plate 2.

[0043] Furthermore, the periods and phases of these scale tracks are printed slightly differently from one another. The pan mechanism position detection unit 171 uses such a scale plate to enable absolute position detection. The pan mechanism position detection unit 171 irradiates this scale plate with LED light, receives the reflected signal with a PI sensor, and outputs multiple analog signals. Each analog signal is a two-phase sine wave signal with a 90-degree phase difference.

[0044] The motor control unit 160 receives these analog signals, performs arctangent conversion on each of the two-phase signals, and then performs synthesis processing to obtain pan mechanism position information A. The process proceeds to step S203.

[0045] In step S203, the motor control unit 160 determines whether or not the pan mechanism position information A acquired in step S202 satisfies a predetermined condition.

[0046] Here, a method for determining whether a predetermined condition is satisfied will be explained. This will be explained using Figures 4(c) and (d). The horizontal axes of Figures 4(c) and (d) indicate the position of the scale plate of the pan mechanism position detection unit 171. The vertical axis of Figure 4(c) indicates the absolute position of the pan mechanism position information A. The vertical axis of Figure 4(d) indicates the amount of synthesized noise calculated in the above synthesis process. The solid line in Figure 4(c) indicates the pan mechanism position information A at each scale plate position. Figure 4(d) shows the calculation results of the amount of noise at the scale plate position.

[0047] As a determination method, if the amount of combined noise in FIG. 4(d) exceeds the false detection threshold, the motor control unit 160 determines that the detection error is due to dust or scratches on the scale plate, and determines that the pan mechanism position information A does not satisfy the predetermined condition. If the amount of combined noise in FIG. 4(d) does not exceed the false detection threshold, the motor control unit 160 determines that the pan mechanism position information A satisfies the predetermined condition. The false detection threshold is an example of a threshold value.

[0048] Furthermore, if the pan mechanism position information A in Fig. 4(c) is not within the movable range of the pan movable unit 164 of the camera head device 100, the motor control unit 160 determines that a detection error has occurred, and can determine that the pan mechanism position information A does not satisfy a predetermined condition. If the pan mechanism position information A in Fig. 4(c) is within the movable range of the pan movable unit 164 of the camera head device 100, the motor control unit 160 can determine that the pan mechanism position information A satisfies a predetermined condition.

[0049] If the motor control unit 160 determines that the pan mechanism position information A satisfies the predetermined condition, it proceeds to step S206, and if it determines that the pan mechanism position information A does not satisfy the predetermined condition, it proceeds to step S204.

[0050] In step S204, the motor control unit 160 performs a small movement of the pan movable unit 164. The motor control unit 160 controls the pan motor unit 163 to move the position of the pan movable unit 164. The motor control unit 160 requests the pan drive unit 161 to move a predetermined amount (a small movement amount). The pan drive unit 161 outputs a drive signal to the pan motor unit 163, and drives it to stop when the predetermined movement is complete. As the pan motor unit 163 rotates in response to the drive signal, the pan movable unit 164 also rotates. The process proceeds to step S205.

[0051] Here, the minute movement amount will be explained. As shown in FIG. 3, the pan moving unit 164 is connected to the pan motor unit 163 via multiple gears. To smooth the meshing of the gears, there is a free running mechanism between the gears, which is called backlash. Therefore, the movement amount α in step S204 is an amount that exceeds this backlash amount. For example, the movement amount α is the backlash amount x 1.5.

[0052] In step S205, similar to step S202, motor control unit 160 acquires pan mechanism position information A based on the mechanical position of pan movable unit 164 detected by pan mechanism position detection unit 171. Motor control unit 160 sends a detection start request to pan mechanism position detection control unit 173. Pan mechanism position detection control unit 173 controls pan mechanism position detection unit 171 to enter a state where position detection is possible. Motor control unit 160 acquires an electrical signal from pan mechanism position detection unit 171 to acquire pan mechanism position information A. Processing proceeds to step S203.

[0053] The motor control unit 160 repeats the control of movement in step S204 and the acquisition of pan mechanism position information A in step S205 until it is determined in step S203 that the mechanism position information satisfies a predetermined condition.

[0054] In step S206, the motor control unit 160 sets an initial value of a software position for driving the pan movable unit 164. The motor control unit 160 sets the pan mechanism position information A determined in step S203 to satisfy the predetermined condition as the initial value of the software position for driving the pan movable unit 164.

[0055] A method for controlling the amount of pan movement will now be described with reference to FIG. 4. The amount of movement is controlled by the motor control unit 160. The motor control unit 160 stores position information of the pan movable unit 164 in RAM as a software position. At startup, the software position for driving the pan movable unit 164 is undefined, but an initial value is set in step S206. Thereafter, the software position is updated as needed to a value calculated by adding or subtracting a pulse signal obtained from the pan motor phase detection unit 181 depending on the direction of rotation, based on this initial value. The pan motor phase detection unit 181 detects the rotational phase angle of the rotor component of the pan motor unit 163 and is a sensor that outputs a pulse signal at predetermined rotational phase intervals, such as a pulse encoder that detects the rotor phase of the motor of the pan motor unit 163.

[0056] Furthermore, the PI sensor constituting pan motor phase detection unit 181 has its PI light emission turned on / off controlled by pan motor phase detection control unit 180. Pan motor phase detection unit 181 shines light emitted by the PI sensor on a slit plate and outputs a pulsed electrical signal based on information about the transmitted light and the blocked light. Pan motor phase detection control unit 180 acquires this pulsed electrical signal and sends it to motor control unit 160, which converts it into motor phase information and stores it in RAM as soft position information.

[0057] The pan motor phase detection unit 181 detects the rotor phase of the pan motor unit 163 that drives the pan movable unit 164. The motor control unit 160 updates the software position for driving the pan movable unit 164 based on the rotor phase detected by the pan motor phase detection unit 181. The motor control unit 160 controls the driving of the pan motor unit 163 that drives the pan movable unit 164 in response to a user operation of the operating device 132, so that the software position for driving the pan movable unit 164 reaches the pan target position.

[0058] Here, an explanation will be given using the timing diagram in Fig. 5. When the power to the pan head device 100 is in the OFF state, power is not supplied to the motor control unit 160 that controls the pan head device 100, so the information in the RAM is undefined and the software position Sa for driving the pan movable unit 164 is in an undefined state. When the power to the pan head device 100 transitions from the OFF state to the ON state, the motor control unit 160 acquires pan mechanism position information A in step S202.

[0059] 5(b), the value of the pan mechanism position of the pan mechanism position detector 171 may become indefinite. In this case, the process moves from step S203 to step S204, and the initial value of the software position Sa cannot be set. Possible causes of this indefinite value include dust or scratches on the scale plate of the pan mechanism position detector 171.

[0060] Therefore, as shown in FIG. 5(d), the motor control unit 160 executes a (small) pan movement to move the pan position in step S204. This allows the pan mechanism position detection unit 171 to execute detection at a scale plate position different from the previous time in step S205. Once the movement is complete, the motor control unit 160 acquires pan mechanism position information A again in step S205. If the motor control unit 160 determines in step S203 that the pan mechanism position information A satisfies a predetermined condition, it sets an initial value for the software position Sa in step S206, as shown in FIG. 5(c). Thereafter, the processing in FIG. 2 ends.

[0061] As described above, according to this embodiment, even if there is dust or scratches on the scale plate of the pan mechanism position detection unit 171 when the pan head device 100 is powered on, the correct initial position can be set to the soft position Sa.

[0062] Although the pan movable section 164 has been described above as an example, the same applies to the tilt movable section 166. The case of the tilt movable section 166 will be described below.

[0063] In step S202, tilt mechanism position detection unit 172 detects the mechanical position of tilt movable unit 166. Motor control unit 160 acquires tilt mechanism position information C based on the mechanical position of tilt movable unit 166 detected by tilt mechanism position detection unit 172. For example, motor control unit 160 receives the two-phase sine wave signals output by tilt mechanism position detection unit 172, performs arctangent conversion on the two-phase sine wave signals, and further performs synthesis processing to acquire tilt mechanism position information C.

[0064] In step S203, the motor control unit 160 determines whether or not the tilt mechanism position information C acquired in step S202 satisfies a predetermined condition.

[0065] If the amount of combined noise (FIG. 4(d)) in the above signal combining process exceeds the false detection threshold, the motor control unit 160 determines that the tilt mechanism position information C does not satisfy the predetermined condition. If the amount of combined noise (FIG. 4(d)) in the above signal combining process does not exceed the false detection threshold, the motor control unit 160 determines that the tilt mechanism position information C satisfies the predetermined condition. The false detection threshold is an example of a threshold value.

[0066] Furthermore, if the tilt mechanism position information C is not within the movable range of the pan movable unit 164 of the pan head device 100, the motor control unit 160 can determine that the pan mechanism position information C does not satisfy the predetermined condition. If the tilt mechanism position information C is within the movable range of the tilt movable unit 166 of the pan head device 100, the motor control unit 160 can determine that the pan mechanism position information C satisfies the predetermined condition.

[0067] If the motor control unit 160 determines that the tilt mechanism position information C satisfies the predetermined condition, it proceeds to step S206, and if it determines that the tilt mechanism position information C does not satisfy the predetermined condition, it proceeds to step S204.

[0068] In step S204, the motor control unit 160 controls the tilt motor unit 165 to move the position of the tilt movable unit 166.

[0069] In step S205, similarly to step S202, the motor control unit 160 acquires tilt mechanism position information C based on the mechanical position of the tilt movable unit 166 detected by the tilt mechanism position detection unit 172. Thereafter, the process proceeds to step S203.

[0070] In step S206, the motor control unit 160 sets the tilt mechanism position information C determined to satisfy the predetermined condition in step S203 as the initial value of the software position Sb for driving the tilt movable unit 166.

[0071] Incidentally, tilt motor phase detection unit 183 detects the rotor phase of tilt motor unit 165 that drives tilt movable unit 166. Motor control unit 160 updates software position Sb for driving tilt movable unit 166 based on the rotor phase detected by tilt motor phase detection unit 183. Motor control unit 160 controls the driving of tilt motor unit 165 that drives tilt movable unit 166 in response to user operation of operating device 132 so that software position Sb for driving tilt movable unit 166 reaches the tilt target position.

[0072] As described above, according to this embodiment, even if there is dust or scratches on the scale plate of the tilt mechanism position detection unit 172 when the pan head device 100 is powered on, the correct initial position can be set to the soft position Sb.

[0073] (Second embodiment) In the second embodiment, an example of operation will be described in which, in the example of operation described in the first embodiment, the pan position is moved to set the initial value of the software position Sa, and then the pan position is returned by the above-mentioned movement amount to the same pan position as at startup.

[0074] Fig. 6 is a flowchart showing a control method for the camera platform device 100 according to the second embodiment. Fig. 6 adds steps S601 and S602 to Fig. 2. Note that steps S201 to S206 in Fig. 6 are the same as steps S201 to S206 in Fig. 2 described in the first embodiment, and therefore their description will be omitted.

[0075] After step S205, the process proceeds to step S601. In step S601, the motor control unit 160 increments the number of times n the minute movement has been made. The initial value of the number of times n the movement has been made is 0. The motor control unit 160 counts the number of times n the minute movement amount α has been made. In step S601, the motor control unit 160 sets n=n+1. Thereafter, the process proceeds to step S203.

[0076] After step S206, the process proceeds to step S602. In step S602, the motor control unit 160 returns the pan position by the small movement amount (n×α). The motor control unit 160 controls the pan motor unit 163 to return the position of the pan movable unit 164 to the initial position before the movement in step S204. The motor control unit 160 calculates the return movement amount n×α from the number of times n counted in step S601 and the predetermined movement amount α. Because the movement amount is (n×α), the motor control unit 160 requests the pan driving unit 161 to move by the movement amount (n×α) in the direction opposite to the movement direction in step S204. The pan driving unit 161 outputs a drive signal to the pan motor unit 163 to rotate the pan motor unit 163. The pan movable unit 164 moves in accordance with the rotation of the pan motor unit 163 and stops when the movement of the movement amount is complete. The process then ends.

[0077] As described above, according to this embodiment, when a movement operation occurs in step S204, the pan head device 100 uses a mechanism that returns the same amount of movement, so that the pan operation can be started from the same pan position as when the power was turned on for the pan head device 100. Note that the tilt movable unit 166 can also be processed in the same manner as the pan movable unit 164 described above.

[0078] (Third embodiment) In the third embodiment, an example of operation will be described in which, in the example of operation described in the second embodiment, an error state is generated when the movement operation of step S204 is performed within a specified range and correct pan mechanism position information A cannot be obtained.

[0079] Fig. 7 is a flowchart showing a control method for the camera head device 100 according to the third embodiment. Fig. 7 adds steps S701 and S702 to Fig. 6. Note that steps S201 to S206 and S601 to S602 in Fig. 7 are the same processes as steps S201 to S206 and S601 to S602 in Fig. 6 described in the second embodiment, and therefore their description will be omitted.

[0080] After step S601, the process proceeds to step S701. In step S701, the motor control unit 160 determines the magnitude of the total amount of movement (n × α). The motor control unit 160 determines whether the total amount of movement (n × α) made in step S204 is less than a predetermined amount. For example, the predetermined amount is the amount of one period of the scale track 2-2 of the scale plate described in FIG. 4, and may be, for example, 3 degrees. Within this one period, the absolute position can be detected at small intervals, as shown by the scale track 2-1.

[0081] If the movement amount (n×α) is less than the predetermined amount, the motor control unit 160 shifts the process to step S203, and if the movement amount (n×α) is not less than the predetermined amount, the motor control unit 160 shifts the process to step S702.

[0082] In step S702, motor control unit 160 performs error processing. Motor control unit 160 notifies system control unit 116 of an error indicating that pan mechanism position information A that satisfies the predetermined conditions could not be obtained in step S203 and that the initial value of software position Sa could not be set. System control unit 116 notifies personal computer 133 of the error information via network 131. Processing then ends.

[0083] As described above, according to this embodiment, if pan mechanism position information A that satisfies predetermined conditions within a predetermined range cannot be acquired, error information is notified to inform the user that pan operation is not possible. Note that the tilt movable unit 166 can also be processed in the same manner as the pan movable unit 164 described above.

[0084] (Fourth embodiment) In the fourth embodiment, in the operational example described in the third embodiment, after the power of the pan head device 100 is turned on, pan mechanism position information is acquired at multiple pan positions, and the multiple pan mechanism position information is used to determine whether or not a specified condition is met.

[0085] Fig. 8 is a flowchart showing a control method for the camera platform device 100 according to the fourth embodiment. Fig. 8 adds steps S801 and S802 to Fig. 7. Note that steps S201 to S206, S601 to S602, and S701 to S702 in Fig. 8 are similar to steps S201 to S206, S601 to S602, and S701 to S702 in Fig. 7 described in the third embodiment, and therefore description thereof will be omitted.

[0086] After step S202, the process proceeds to step S801. In step S801, the motor control unit 160 slightly moves the pan movable unit 164. The motor control unit 160 controls the pan motor unit 163 to move the position of the pan movable unit 164. The motor control unit 160 requests the pan drive unit 161 to move by a movement amount α. The pan drive unit 161 outputs a drive signal to the pan motor unit 163 to rotate the pan motor unit 163. The pan movable unit 164 moves in accordance with the rotation of the pan motor unit 163, and stops when the movement by the movement amount α is complete. Thereafter, the process proceeds to step S802.

[0087] In step S802, the motor control unit 160 acquires pan mechanism position information B based on the mechanical position of the pan movable unit 164 detected by the pan mechanism position detection unit 171. The motor control unit 160 sends a detection start request to the pan mechanism position detection control unit 173. The pan mechanism position detection control unit 173 controls the pan mechanism position detection unit 171 so that it is in a state where it can detect positions. The motor control unit 160 acquires an electrical signal from the pan mechanism position detection unit 171 to obtain pan mechanism position information B. Then, the process proceeds to step S203.

[0088] In step S205, the motor control unit 160 acquires pan mechanism position information B based on the mechanical position of the pan movable unit 164 detected by the pan mechanism position detection unit 171, and sets the pan mechanism position information acquired before the movement in step S204 as pan mechanism position information A.

[0089] In step S203, the motor control unit 160 determines whether the acquired pan mechanism position information A and B satisfy a predetermined condition. Using the pan mechanism position information A, pan mechanism position information B, and movement amount α, the motor control unit 160 determines whether B≒A+α. If B≒A+α, the motor control unit 160 determines that the pan mechanism position information A and B for the two locations satisfy the predetermined condition, and proceeds to step S206. If B≒A+α is not true, the motor control unit 160 determines that the pan mechanism position information A and B for the two locations do not satisfy the predetermined condition, and proceeds to step S204.

[0090] If the difference between the value obtained by adding the movement amount α to the pan mechanism position information A and the pan mechanism position information B is equal to or less than the threshold value, the motor control unit 160 determines that the pan mechanism position information A and B satisfy the predetermined condition, and proceeds to step S206. If the difference between the value obtained by adding the movement amount α to the pan mechanism position information A and the pan mechanism position information B is not equal to or less than the threshold value, the motor control unit 160 determines that the pan mechanism position information A and B do not satisfy the predetermined condition, and proceeds to step S204.

[0091] In step S206, the motor control unit 160 sets the pan mechanism position information B determined to satisfy the predetermined condition in step S203 as the initial value of the software position for driving the pan movable unit 164.

[0092] Since movement has been performed in step S801, the initial value of the number of movement times n is 1. In step S602, the motor control unit 160 returns the pan position by the amount of the slight movement (n×α).

[0093] As described above, the motor control unit 160 acquires pan mechanism position information A and B for two different positions of the pan moving unit 164, and repeats acquiring the pan mechanism position information A and B for the two different positions of the pan moving unit 164 until it is determined that the pan mechanism position information A and B for the two positions satisfy a predetermined condition. The motor control unit 160 then determines whether the pan mechanism position information A and B for the two positions satisfy the predetermined condition, and if it is determined that the pan mechanism position information A and B for the two positions satisfy the predetermined condition, it proceeds to step S206. In step S206, the motor control unit 160 sets the most recent pan mechanism position information B of the two pan mechanism position information A and B as the software position for driving the pan moving unit 164.

[0094] As described above, according to this embodiment, it is possible to improve the accuracy of determining whether the pan mechanism position information satisfies a predetermined condition by adopting a mechanism for acquiring pan mechanism position information A and B from multiple locations when starting up the camera platform device 100. Note that the tilt movable unit 166 can also be processed in the same manner as the pan movable unit 164 described above.

[0095] As described above, according to the first embodiment, even if there is dust or scratches on the scale plate of the pan mechanism position detection unit 171 when the pan head device 100 is powered on, the correct soft position can be set.

[0096] Furthermore, according to the second embodiment, when the movement operation of step S204 occurs, a mechanism is used to return the same amount of movement as that of the movement operation, so that the pan operation can be started from the same position as when the pan head device 100 was powered on.

[0097] Furthermore, according to the third embodiment, if pan mechanism position information A that satisfies predetermined conditions within a predetermined range cannot be obtained, error information can be notified to inform the user that panning cannot be performed correctly.

[0098] Furthermore, according to the fourth embodiment, by adopting a mechanism for acquiring pan mechanism position information A and B from multiple locations when the pan head device 100 is started, it is possible to improve the accuracy of determining whether the pan mechanism position information satisfies specified conditions.

[0099] According to the first to fourth embodiments, the pan head device 100 determines whether the pan mechanism position information acquired based on the pan mechanism position detection unit 171 satisfies predetermined conditions, and can then set highly accurate pan mechanism position information as the initial value of the soft position. Even if the pan head device 100 is unable to acquire a correct value from the pan mechanism position detection unit 171 due to dirt or dust when the pan head device 100 is started up, the pan head device 100 searches for a position from which correct position information can be acquired, and sets this value as the initial value of the soft position. This allows a highly accurate initial value for the soft position to be set, thereby enabling accurate panning to any position within the movable range.

[0100] The processing of the above-described embodiments may be performed by providing a system or device with a storage medium on which software program code embodying each function is recorded. 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, CD-ROMs, CD-Rs, magnetic tapes, non-volatile memory cards, and ROMs may also be used.

[0101] Furthermore, the functions of the above-described embodiments are not only realized by a computer reading and executing the program code, but also include cases where an operating system (OS) running on a computer performs some or all of the actual processing based on the instructions of the program code, thereby realizing the functions of the above-described embodiments.

[0102] 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.

[0103] It should be noted that the above-described embodiments merely illustrate specific examples of implementing the present disclosure, and the technical scope of the present disclosure should not be construed as being limited by these embodiments. In other words, the present disclosure can be implemented in various forms without departing from its technical concept or main features.

[0104] The disclosure of this embodiment includes the following configuration, method, and program. (Configuration 1) A pan head device, a mechanism position detection means for detecting a mechanism position of a panning movable part or a tilting movable part; a motor phase detection means for detecting a rotor phase of a motor that drives a panning movable part or a tilting movable part; a determination means for obtaining mechanical position information based on the mechanical position of the pan movable part or tilt movable part detected by the mechanical position detection means after the power supply of the camera platform device is turned on, and determining whether the mechanical position information satisfies a predetermined condition; and motor control means for setting the mechanical position information as a software position for driving a pan movable part or a tilt movable part when the determination means determines that the mechanical position information satisfies a predetermined condition, The motor control means updates the software position for driving the pan moving part or tilt moving part based on the rotor phase detected by the motor phase detection means, and controls the driving of the motor that drives the pan moving part or tilt moving part so that the software position for driving the pan moving part or tilt moving part reaches the target position. (Configuration 2) The mechanical position detection means a pan mechanism position detection means for detecting a mechanical position of a pan movable part; a tilt mechanism position detection means for detecting a mechanical position of the tilt movable portion, The motor phase detection means a pan motor phase detection means for detecting a rotor phase of a pan motor that drives a pan movable portion; tilt motor phase detection means for detecting the rotor phase of a tilt motor that drives the tilt movable portion; The determination means a first determination means for acquiring pan mechanism position information based on the mechanical position of the pan movable part detected by the pan mechanism position detection means after the power supply of the pan head device is turned on, and determining whether or not the pan mechanism position information satisfies a predetermined condition; and a second determination means for obtaining tilt mechanism position information based on the mechanical position of the tilt movable part detected by the tilt mechanism position detection means after the power supply of the camera head device is turned on, and determining whether or not the tilt mechanism position information satisfies a predetermined condition; when the first determination means determines that the pan mechanism position information satisfies a predetermined condition, the motor control means sets the pan mechanism position information as a software position for driving a pan movable portion; When the second determination means determines that the tilt mechanism position information satisfies a predetermined condition, the motor control means sets the tilt mechanism position information as a software position for driving a tilt movable part, the motor control means updates a software position for driving the pan movable part based on the rotor phase detected by the pan motor phase detection means, and controls driving of the pan motor that drives the pan movable part so that the software position for driving the pan movable part reaches a pan target position; The pan head device described in configuration 1 is characterized in that the motor control means updates a software position for driving the tilt movable part based on the rotor phase detected by the tilt motor phase detection means, and controls the driving of the tilt motor that drives the tilt movable part so that the software position for driving the tilt movable part reaches a tilt target position. (Configuration 3) the motor control means controls the motor to move the position of the pan movable unit or the tilt movable unit when the determination means determines that the mechanical position information satisfies a predetermined condition, after the movement, the determination means acquires mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether the acquired mechanical position information satisfies a predetermined condition; The camera head device described in configuration 1 or 2 is characterized in that, when the determination means determines that the acquired mechanical position information satisfies a predetermined condition, the motor control means sets the acquired mechanical position information as a software position for driving a pan movable part or a tilt movable part. (Configuration 4) The tripod head device described in any one of configurations 1 to 3, characterized in that the motor control means determines that the specified condition is met if the amount of combined noise in the signal combination processing based on the output signal of the mechanical position detection means does not exceed a first threshold, and determines that the specified condition is not met if the amount of combined noise in the signal combination processing based on the output signal of the mechanical position detection means exceeds the first threshold. (Configuration 5) The pan head device described in any one of configurations 1 to 3, characterized in that the motor control means determines that the specified condition is met when the mechanical position information is within the movable range of the pan movable part or the tilt movable part, and determines that the specified range is not met when the mechanical position information is not within the movable range of the pan movable part or the tilt movable part. (Configuration 6) The camera platform device according to configuration 3, wherein the amount of movement exceeds the amount of backlash between the gears of the pan moving part or the tilt moving part. (Configuration 7) The pan head device described in configuration 3 or 6, characterized in that after the movement, if the determination means determines that the acquired mechanical position information satisfies a predetermined condition, the motor control means sets the acquired mechanical position information as a software position for driving the pan movable unit or the tilt movable unit, and controls the motor to return the position of the pan movable unit or the tilt movable unit to the position before the movement. (Configuration 8) The pan head device described in any one of configurations 3, 6, and 7, characterized in that the motor control means repeats controlling the movement and acquiring the mechanical position information until the determination means determines that the acquired mechanical position information satisfies a predetermined condition. (Configuration 9) 9. The pan head device according to configuration 8, wherein the motor control means notifies an error if the total amount of movement is not less than a predetermined amount. (Configuration 10) The pan head device according to configuration 9, wherein the predetermined amount is an amount equivalent to one period of the scale track of the scale plate of the mechanical position detection means. (Configuration 11) after the power supply of the camera platform device is turned on, the motor control means acquires first mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and controls the motor to move the position of the pan movable unit or the tilt movable unit; after the movement, the determination means acquires second mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether or not the first mechanical position information and the second mechanical position information satisfy a predetermined condition; The camera head device of configuration 1 or 2 is characterized in that, when the determination means determines that the first mechanical position information and the second mechanical position information satisfy predetermined conditions, the motor control means sets the second mechanical position information as a soft position for driving a pan movable part or a tilt movable part. (Configuration 12) The determination means determining that the first mechanical position information and the second mechanical position information satisfy a predetermined condition when a difference between a value obtained by adding the amount of movement to the first mechanical position information and the second mechanical position information is equal to or less than a second threshold value; A pan head device as described in configuration 11, characterized in that if the difference between the value obtained by adding the amount of movement to the first mechanical position information and the second mechanical position information is not less than a second threshold, it is determined that the first mechanical position information and the second mechanical position information satisfy a predetermined condition. (Configuration 13) the motor control means controls the motor to move a position of the pan movable unit or the tilt movable unit when the determination means determines that the first mechanical position information and the second mechanical position information do not satisfy a predetermined condition; after the movement, the determination means acquires third mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether or not the second mechanical position information and the third mechanical position information satisfy a predetermined condition; The head device of configuration 11 or 12, characterized in that when the determination means determines that the second mechanical position information and the third mechanical position information satisfy predetermined conditions, the motor control means sets the third mechanical position information as a soft position for driving a pan movable part or a tilt movable part. (Configuration 14) the determination means acquires mechanical position information of two locations where the panning or tilting movable part is in different positions, and repeats acquiring the mechanical position information of the two locations where the panning or tilting movable part is in different positions until it is determined that the mechanical position information of the two locations satisfies a predetermined condition, and determines whether the mechanical position information of the two locations satisfies a predetermined condition; The camera head device described in configuration 13 is characterized in that, when the determination means determines that the mechanical position information of the two locations satisfies a predetermined condition, the motor control means sets the most recent mechanical position information of the mechanical position information of the two locations as a software position for driving the pan movable unit or the tilt movable unit. (Configuration 15) The pan head device described in configuration 14 is characterized in that, when the determination means determines that the mechanical position information of the two locations satisfies a predetermined condition, the motor control means sets the most recent mechanical position information of the mechanical position information of the two locations as a software position for driving the pan movable unit or the tilt movable unit, and controls the motor to return the position of the pan movable unit or the tilt movable unit to the position before the movement. (Configuration 16) 16. The pan head device according to configuration 14 or 15, wherein the motor control means notifies an error when the total amount of movement exceeds a predetermined amount. (Configuration 17) 17. The pan head device according to configuration 16, wherein the predetermined amount is an amount equivalent to one period of the scale track of the scale plate of the mechanical position detection means. (Configuration 18) 18. The camera platform device according to any one of configurations 1 to 17, wherein the mechanical position detection means is an absolute position encoder that detects the absolute mechanical position of the pan movable part or the tilt movable part. (Configuration 19) 19. The camera platform device according to any one of configurations 1 to 18, wherein the motor phase detection means is a pulse encoder that detects the rotor phase of a motor that drives a panning movable part or a tilting movable part. (Method 1) a mechanism position detection means for detecting a mechanism position of a panning movable part or a tilting movable part; and a motor phase detection unit for detecting a rotor phase of a motor that drives a pan movable unit or a tilt movable unit, a step of acquiring mechanical position information based on the mechanical position of the pan movable part or tilt movable part detected by the mechanical position detection means after the power supply of the camera platform device is turned on, and determining whether or not the mechanical position information satisfies a predetermined condition; a step of setting the mechanical position information as a software position for driving a pan movable unit or a tilt movable unit when it is determined that the mechanical position information satisfies a predetermined condition; a step of updating a software position for driving the pan movable unit or the tilt movable unit based on the rotor phase detected by the motor phase detection means, and controlling the driving of the motor that drives the pan movable unit or the tilt movable unit so that the software position for driving the pan movable unit or the tilt movable unit reaches a target position; A method for controlling a pan head device, comprising: (Program 1) A program for causing a computer to function as the pan head device described in any one of configurations 1 to 19. [Explanation of symbols]

[0105] 100 pan head device, 116 system control unit, 117 storage device, 123 network I / F, 130 network equipment, 131 network, 132 operation device, 133 personal computer, 134 display device, 135 RAM, 136 CPU, 137 ROM, 138 operation unit, 140 external power supply, 150 power supply control unit, 160 motor control unit, 161 pan drive unit, 162 tilt drive unit, 163 pan motor unit, 164 pan movable unit, 165 tilt motor unit, 166 tilt movable unit, 171 pan mechanism position detection unit, 172 tilt mechanism position detection unit, 173 pan mechanism position detection control unit, 174 tilt mechanism position detection control unit, 180 pan motor phase detection control unit, 181 pan motor phase detection unit, 182 tilt motor phase detection control unit, 183 tilt motor phase detection unit

Claims

1. A pan head device, a mechanism position detection means for detecting a mechanism position of a panning movable part or a tilting movable part; a motor phase detection means for detecting a rotor phase of a motor that drives a panning movable part or a tilting movable part; a determination means for obtaining mechanical position information based on the mechanical position of the pan movable part or tilt movable part detected by the mechanical position detection means after the power supply of the camera platform device is turned on, and determining whether the mechanical position information satisfies a predetermined condition; and motor control means for setting the mechanical position information as a software position for driving a pan movable part or a tilt movable part when the determination means determines that the mechanical position information satisfies a predetermined condition, The motor control means updates the software position for driving the pan moving part or tilt moving part based on the rotor phase detected by the motor phase detection means, and controls the driving of the motor that drives the pan moving part or tilt moving part so that the software position for driving the pan moving part or tilt moving part reaches the target position.

2. The mechanical position detection means a pan mechanism position detection means for detecting a mechanical position of a pan movable part; a tilt mechanism position detection means for detecting a mechanical position of the tilt movable portion, The motor phase detection means a pan motor phase detection means for detecting a rotor phase of a pan motor that drives a pan movable portion; tilt motor phase detection means for detecting the rotor phase of a tilt motor that drives the tilt movable portion; The determination means a first determination means for acquiring pan mechanism position information based on the mechanical position of the pan movable part detected by the pan mechanism position detection means after the power supply of the pan head device is turned on, and determining whether or not the pan mechanism position information satisfies a predetermined condition; and a second determination means for obtaining tilt mechanism position information based on the mechanical position of the tilt movable part detected by the tilt mechanism position detection means after the power supply of the camera head device is turned on, and determining whether or not the tilt mechanism position information satisfies a predetermined condition; when the first determination means determines that the pan mechanism position information satisfies a predetermined condition, the motor control means sets the pan mechanism position information as a software position for driving a pan movable portion; When the second determination means determines that the tilt mechanism position information satisfies a predetermined condition, the motor control means sets the tilt mechanism position information as a software position for driving a tilt movable part, the motor control means updates a software position for driving the pan movable part based on the rotor phase detected by the pan motor phase detection means, and controls driving of the pan motor that drives the pan movable part so that the software position for driving the pan movable part reaches a pan target position; The camera head device according to claim 1, characterized in that the motor control means updates a software position for driving the tilt movable part based on the rotor phase detected by the tilt motor phase detection means, and controls the driving of the tilt motor that drives the tilt movable part so that the software position for driving the tilt movable part reaches a tilt target position.

3. the motor control means controls the motor to move the position of the pan movable unit or the tilt movable unit when the determination means determines that the mechanical position information satisfies a predetermined condition, after the movement, the determination means acquires mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether the acquired mechanical position information satisfies a predetermined condition; The camera head device of claim 1, characterized in that when the determination means determines that the acquired mechanical position information satisfies a predetermined condition, the motor control means sets the acquired mechanical position information as a software position for driving a pan movable part or a tilt movable part.

4. The camera head device of claim 1, characterized in that the motor control means determines that the specified condition is met if the amount of synthetic noise in the signal synthesis processing based on the output signal of the mechanical position detection means does not exceed a first threshold, and determines that the specified condition is not met if the amount of synthetic noise in the signal synthesis processing based on the output signal of the mechanical position detection means exceeds the first threshold.

5. The tripod head device of claim 1, characterized in that the motor control means determines that the specified condition is met when the mechanical position information is within the movable range of the pan movable part or the tilt movable part, and determines that the specified range is not met when the mechanical position information is not within the movable range of the pan movable part or the tilt movable part.

6. 4. The camera platform device according to claim 3, wherein the amount of movement exceeds the amount of backlash between the gears of the panning or tilting movable part.

7. The camera head device of claim 3, characterized in that, after the movement, if the determination means determines that the acquired mechanical position information satisfies a predetermined condition, the motor control means sets the acquired mechanical position information as a software position for driving the pan movable part or the tilt movable part, and controls the motor to return the position of the pan movable part or the tilt movable part to the position before the movement.

8. The camera head device according to claim 3, characterized in that the motor control means repeats controlling the movement and acquiring the mechanical position information until the determination means determines that the acquired mechanical position information satisfies a predetermined condition.

9. 9. The camera platform device according to claim 8, wherein said motor control means notifies an error if the total amount of movement is not less than a predetermined amount.

10. 10. The camera platform device according to claim 9, wherein the predetermined amount is an amount equivalent to one period of a scale track of a scale plate of the mechanical position detection means.

11. the motor control means, after the power supply of the camera platform device is turned on, acquires first mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and controls the motor to move the position of the pan movable unit or the tilt movable unit; after the movement, the determination means acquires second mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether or not the first mechanical position information and the second mechanical position information satisfy a predetermined condition; The camera head device of claim 1, characterized in that when the determination means determines that the first mechanical position information and the second mechanical position information satisfy predetermined conditions, the motor control means sets the second mechanical position information as a soft position for driving the pan movable part or the tilt movable part.

12. The determination means determining that the first mechanical position information and the second mechanical position information satisfy a predetermined condition when a difference between a value obtained by adding the amount of movement to the first mechanical position information and the second mechanical position information is equal to or less than a second threshold value; The camera head device of claim 11, characterized in that if the difference between the value obtained by adding the amount of movement to the first mechanical position information and the second mechanical position information is not less than a second threshold, it is determined that the first mechanical position information and the second mechanical position information satisfy a predetermined condition.

13. the motor control means controls the motor to move a position of the pan movable unit or the tilt movable unit when the determination means determines that the first mechanical position information and the second mechanical position information do not satisfy a predetermined condition; after the movement, the determination means acquires third mechanical position information based on the mechanical position of the pan movable unit or the tilt movable unit detected by the mechanical position detection means, and determines whether or not the second mechanical position information and the third mechanical position information satisfy a predetermined condition; The camera head device of claim 11, characterized in that when the determination means determines that the second mechanical position information and the third mechanical position information satisfy predetermined conditions, the motor control means sets the third mechanical position information as a soft position for driving the pan movable part or the tilt movable part.

14. the determination means acquires mechanical position information of two locations where the panning or tilting movable part is in different positions, and repeats acquiring the mechanical position information of the two locations where the panning or tilting movable part is in different positions until it is determined that the mechanical position information of the two locations satisfies a predetermined condition, and determines whether the mechanical position information of the two locations satisfies a predetermined condition; The camera head device described in claim 13, characterized in that when the judgment means determines that the mechanical position information of the two locations satisfies a predetermined condition, the motor control means sets the most recent mechanical position information of the mechanical position information of the two locations as a software position for driving the pan movable part or the tilt movable part.

15. The camera head device of claim 14, characterized in that when the determination means determines that the mechanical position information of the two locations satisfies a predetermined condition, the motor control means sets the most recent mechanical position information of the mechanical position information of the two locations as a software position for driving the pan movable unit or the tilt movable unit, and controls the motor to return the position of the pan movable unit or the tilt movable unit to the position before the movement.

16. 15. The camera platform device according to claim 14, wherein said motor control means notifies an error when the total amount of movement exceeds a predetermined amount.

17. 17. The camera platform device according to claim 16, wherein the predetermined amount is an amount equivalent to one period of a scale track of a scale plate of the mechanical position detection means.

18. 2. The camera platform device according to claim 1, wherein the mechanical position detection means is an absolute position encoder that detects the absolute mechanical position of the pan movable part or the tilt movable part.

19. 2. The camera platform device according to claim 1, wherein the motor phase detection means is a pulse encoder that detects the rotor phase of a motor that drives the panning or tilting movable portion.

20. a mechanism position detection means for detecting a mechanism position of a panning movable part or a tilting movable part; and a motor phase detection unit for detecting a rotor phase of a motor that drives a pan movable unit or a tilt movable unit, a step of acquiring mechanical position information based on the mechanical position of the pan movable part or tilt movable part detected by the mechanical position detection means after the power supply of the camera platform device is turned on, and determining whether or not the mechanical position information satisfies a predetermined condition; a step of setting the mechanical position information as a software position for driving a pan movable unit or a tilt movable unit when it is determined that the mechanical position information satisfies a predetermined condition; a step of updating a software position for driving the pan movable unit or the tilt movable unit based on the rotor phase detected by the motor phase detection means, and controlling the driving of the motor that drives the pan movable unit or the tilt movable unit so that the software position for driving the pan movable unit or the tilt movable unit reaches a target position; A method for controlling a pan head device, comprising:

21. A program for causing a computer to function as the pan head device according to any one of claims 1 to 19.

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