Control apparatus, control method, and storage medium

Abstract

To control the driving speed of pan or tilt driving to a preset position according to a driving instruction.SOLUTION: An imaging apparatus includes a driving unit configured to perform pan or tilt driving for changing an imaging direction of an imaging unit, a storage unit configured to store a target position of the pan or tilt driving by the driving unit and a first driving speed in association with each other, a reception unit configured to receive a driving instruction of the pan or tilt driving to the target position by the driving unit, and a determination unit configured to determine the first driving speed or a second driving speed different from the first driving speed as a driving speed of the pan or tilt driving in accordance with the driving instruction received by the reception unit. A control unit configured to control the driving unit to perform pan or tilt driving to the target position at the driving speed determined by the determination unit.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, a program, and a storage medium. [Background technology]

[0002] BACKGROUND ART Conventionally, a technique has been known in which, in a preset function, driving speeds are stored together with pan / tilt positions (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-96588 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to control the drive speed to the preset position in accordance with the state of the camera. [Means for solving the problem]

[0005] A control device according to one aspect of the present invention is characterized by having: a drive unit that performs pan or tilt drive to change the imaging direction of an imaging unit; a memory unit that stores a target position of pan or tilt drive by the drive unit in association with a first drive speed; a reception unit that receives a drive instruction for pan or tilt drive to the target position by the drive unit; a determination unit that determines the first drive speed or a second drive speed different from the first drive speed as the drive speed for pan or tilt drive in accordance with the drive instruction received by the reception unit; and a control unit that controls the drive unit so that the drive unit pans or tilts to the target position at the drive speed determined by the determination unit. [Effects of the Invention]

[0006] The driving speed of the pan or tilt drive to the preset position can be controlled in accordance with the drive command. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of the appearance of an imaging device. [Figure 2] FIG. 1 is a configuration diagram showing an example of an imaging system. [Figure 3] FIG. 1 is a diagram showing an example of the configuration of an imaging apparatus. [Figure 4] 5 is a flowchart showing an example of processing when the imaging device according to the first embodiment is turned on. [Figure 5] 6 is a flowchart showing an example of a preset execution process according to the first embodiment. [Figure 6] 10 is a flowchart showing an example of processing at the time of initializing the pan / tilt position in the second embodiment. [Figure 7] 10 is a flowchart showing an example of processing at the time of returning from standby mode in the third embodiment. [Figure 8] 13 is a flowchart showing an example of processing during trace reproduction in the fourth embodiment. [Figure 9] 13 is a flowchart showing an example of processing when preparing for trace replay in the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] (First embodiment) Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0009] FIG. 1 is a diagram showing a network camera according to an embodiment of the present invention.

[0010] The pan drive mechanism 1001 can change the imaging area of ​​the network camera 1000 in the pan direction, and can rotate from -170 degrees to 170 degrees.

[0011] The tilt drive mechanism 1002 can change the imaging area of ​​the network camera 1000 in the tilt direction, and can rotate from -30 degrees horizontally to +90 degrees upward.

[0012] The zoom mechanism 1003 changes the angle of view of the network camera 1000 .

[0013] FIG. 2 is a system configuration diagram including a network camera 1000. 2000 is a client device, which represents an external device in the present invention. The network camera 1000 and client device 2000 are connected via a network 3000 so that they can communicate with each other. The client device 2000 controls the network camera 1000, such as controlling the angle of view and image quality, or controlling switching between standby states. The standby state here refers to a state in which the power supply to the camera is temporarily reduced, limiting video distribution and camera control. The network camera 1000 sends responses to these commands to the client device 2000.

[0014] The configuration and function of each part of the camera 1000 will be described with reference to FIG.

[0015] The image capturing unit 1011 captures an image of a subject and converts it into an electrical signal.

[0016] The image processing unit 1012 performs predetermined image processing and compression encoding on the signals captured and photoelectrically converted by the imaging unit 1011 to generate image data. Note that the image data generated is not limited to one, and multiple image data sets with different resolutions and video qualities may be generated simultaneously. The generated image data is also transmitted to the system control unit 1019.

[0017] The lens driving unit 1013 is composed of a driving system for the focus lens and the zoom lens, and its operation is controlled by the lens control unit 1014 .

[0018] The lens control unit 1014 controls the lens driving unit 1013 based on instructions transmitted from the system control unit 1019. The lens control unit 1014 also transmits focus movement information and zoom movement information to the system control unit 1019.

[0019] The pan driving unit 1015 is made up of a mechanical driving system and a driving motor that performs panning to change the imaging direction of the imaging unit 1011. The operation is controlled by a pan / tilt control unit 1017.

[0020] The tilt driving unit 1016 is composed of a mechanical driving system and a driving motor that performs tilting operation to change the imaging direction of the imaging unit 1011. The operation is controlled by a pan / tilt control unit 1017.

[0021] The pan / tilt control unit 1017 controls the pan driving unit 1015 and the tilt driving unit 1016 based on instructions transmitted from the system control unit 1019 .

[0022] The storage unit 1018 stores preset information, image data, various setting commands, etc. The preset information is information that associates the target position and drive speed of pan or tilt drive. It also stores operation information recorded by the trace function and the playback start position of the trace record.

[0023] The system control unit 1019 analyzes the transmitted camera control command and performs processing according to the command. For example, it instructs the image processing unit 1012 to adjust image quality, the lens control unit 1014 to control zoom and focus, and the pan / tilt control unit 1017 to perform pan / tilt operations. It also acquires image data generated by the image processing unit 1012 and transmits it to the communication unit 1020. It also controls the startup process of the device according to this embodiment, pan / tilt initialization process, transition to and return from standby mode, and trace function.

[0024] The trace function here refers to a function that stores in the storage unit 1018 the pan, tilt, zoom, and focus controls and image quality controls performed by the user within a certain period of time. The trace record stored in the storage unit 1018 can be played back at any timing to reproduce the pan, tilt, zoom, and focus controls and image quality controls performed by the user. In the trace function, in addition to the control information performed by the user within a certain period of time, the playback start position for playing back the trace record is stored in the storage unit 1018. Then, when an instruction is given to move to the playback start position during playback of the trace record, the playback start position stored in the storage unit 1018 is moved to and the trace record is played back.

[0025] The communication unit 1020 transmits image data transmitted from the system control unit 1019 to the client device 2000. It also receives various setting commands and camera control commands transmitted from the client device 2000 and transmits them to the system control unit 1019. It also transmits responses of the camera 1000 to commands transmitted from the client device 2000 to the client device 2000.

[0026] However, the configuration of the camera 1000 is not limited to this.

[0027] Next, a description will be given of the configuration and functions of each part of the client device 2000. The client device 2000 may be a general-purpose computer such as a personal computer, or a mobile terminal such as a tablet.

[0028] The display unit 2001 uses a display device such as a liquid crystal projector or a liquid crystal monitor, and displays images acquired from the camera 1000 and a graphic user interface (hereinafter referred to as GUI) for controlling the camera.

[0029] The input unit 2002 uses a keyboard, a mouse, a pointing device such as a touch panel, and the like, and the user of the client device operates the GUI via the input unit 2002 .

[0030] The communication unit 2004 transmits various setting commands and camera control commands transmitted from the system control unit 2003 to the camera 1000. The communication unit 2004 also transmits image data transmitted from the camera 1000 and responses of the camera 1000 to commands transmitted from the client device 2000 to the system control unit 2003.

[0031] The system control unit 2003 generates various setting commands and camera control commands in response to GUI operations by the user and transmits them to the camera 1000 via the communication unit 2004. The system control unit 2003 also receives responses from the camera 1000 to the various setting commands and camera control commands that it has transmitted via the communication unit 2004. The system control unit 2003 also displays image data received from the camera 1000 via the communication unit 2004 on the display unit 2001.

[0032] In this way, the client device 2000 can perform various camera controls of the camera 1000 via the network 3000.

[0033] This embodiment is characterized in that the camera 1000 determines the drive speed for preset control in the process when the power is turned on.

[0034] FIG. 4 is a flowchart showing an example of the startup process when the camera 1000 according to this embodiment is turned on.

[0035] In step S4001, the system control unit 1019 starts the kernel of the camera 1000, and the process proceeds to step S4002.

[0036] In step S4002, the system control unit 1019 activates the imaging functions of the camera 1000, and the process proceeds to step S4003.

[0037] In step S4003, the system control unit 1019 activates the camera control function of the camera 1000, and the process proceeds to step S4004.

[0038] In step S4004, the system control unit 1019 initializes the pan / tilt position of the camera 1000, and the process proceeds to step S4005.

[0039] In step S4005, the system control unit 1019 (reception unit) determines whether a preset control to be executed at startup has been specified (whether there is a drive instruction for preset drive). If it is determined that a preset control to be executed has been specified (there is a drive instruction), the process proceeds to step S4006. If it is determined that a preset control to be executed has not been specified, the process proceeds to step S4007.

[0040] In step S4006, the system control unit 1019 executes preset control, and the process proceeds to step S4007. Details of the preset control will be described with reference to FIG.

[0041] In step S4007, the system control unit 1019 starts video distribution and ends the startup process of the camera 1000.

[0042] FIG. 5 is a diagram showing the process flow of "preset execution" in step S4006 of FIG.

[0043] In step S5001, the system control unit 1019 determines whether to change the drive speed for the preset movement. At this time, the camera status is acquired, and if the camera status includes an initialization operation, such as during startup, when returning from standby, or during pan / tilt initialization, the system control unit 1019 may determine that the drive speed for the preset movement should be changed. If it is determined that the drive speed for the preset movement should be changed, the process proceeds to step S5002. If it is determined that the drive speed for the preset movement should not be changed, the process proceeds to S5005.

[0044] In step S5002, the system control unit 1019 (determination unit) determines the drive speed for the preset movement, and proceeds to step S5004. The preset movement speed is determined, for example, so as to move at a speed (second drive speed, for example, the maximum speed at which the pan drive unit 1015 or tilt drive unit 1016 can drive) that is greater than the movement speed (first drive speed) registered in the preset. Note that the speed may also be determined dynamically depending on the camera state when the preset is executed.

[0045] In step S5003, the system control unit 1019 performs preset movement at the speed determined in step S5002, and the process proceeds to step S5004.

[0046] In step S5004, the system control unit 1019 reflects other information registered in the presets, such as iris, gain, and white balance, in the camera 1000, and ends the process.

[0047] In step S5005, the system control unit 1019 executes preset movement at the speed registered in the preset, and the process proceeds to step S5004.

[0048] Although it is determined in step S5001 whether or not to change the drive speed of the preset movement depending on the state of the camera, the method of determination is not limited to this.

[0049] For example, when a preset movement is instructed, it may be determined whether to perform the preset movement at the specified speed or at a speed previously registered for that preset, depending on whether a specific drive speed is specified. If a specific drive speed is specified along with the instruction for preset movement, the preset movement is performed at the specific drive speed, taking priority over the drive speed previously registered for each preset position. This is, for example, a situation in which the user specifies a drive speed each time an instruction for drive to a preset position is given, but is not limited to this.

[0050] When preset control is executed as an internal function of the camera, the drive speed may be determined to be changed and set to the drive speed set for each function. When preset control is executed externally to the camera (for example, by a user issuing a preset control instruction via a web app), the drive speed may be set to the drive speed registered in the preset.

[0051] Also, it may be determined whether to perform the preset movement at the maximum speed or at the drive speed registered in the preset, depending on the time required to complete the preset movement. For example, if the time required to move from the current position to the target position is equal to or greater than a threshold, the robot is driven at the maximum speed, and if the time is less than the threshold, the robot is driven at the drive speed registered in the preset.

[0052] As described above, according to this embodiment, the camera 1000 determines the drive speed of the preset function depending on the camera state. As a result, even if the same preset is specified for preset control by the startup process when the power is turned on and for preset control by the user, the preset control can be used at a speed that depends on the camera state.

[0053] (Second embodiment) In this embodiment, the camera 1000 changes the speed of preset control during processing at the time of pan / tilt initialization.

[0054] Note that the same configuration and content as those described in the first embodiment will not be described again.

[0055] The processing flow when the camera 1000 initializes the pan / tilt will be described with reference to FIG.

[0056] In step S6001, the system control unit 1019 instructs the pan / tilt control unit 1017 to initialize the pan / tilt position, and the process proceeds to step S6002.

[0057] In step S6002, the system control unit 1019 checks whether a preset has been specified as the position after pan / tilt initialization. If a preset has been specified as a result of the check, the process proceeds to step S6003. If a preset has not been specified, the process proceeds to step S6004.

[0058] In step S6003, the system control unit 1019 executes preset control and ends the pan / tilt initialization process of the camera 1000. See FIG. 5 for details of the preset control.

[0059] In step S6004, the system control unit 1019 moves the camera 1000 to its default position, and the pan / tilt initialization process ends.

[0060] FIG. 5 has been explained in the first embodiment, so the explanation will be omitted.

[0061] As described above, according to this embodiment, the camera 1000 determines the drive speed of the preset function in accordance with the camera state. As a result, even if the same preset is specified for the preset control after pan / tilt initialization and for the preset control by the user, the preset control can be selectively used at a speed in accordance with the camera state.

[0062] (Third embodiment) In this embodiment, the speed of the preset control is changed in the process when the camera 1000 returns from standby mode.

[0063] Note that the same configuration and content as those described in the first embodiment will not be described again.

[0064] FIG. 7 is a flowchart showing an example of processing when the imaging device of this embodiment returns from a standby state.

[0065] In step S7001, the system control unit 1019 restores the image capture function, and the process proceeds to step S7002.

[0066] In step S7002, the system control unit 1019 restores functions related to camera control, and the process proceeds to step S7003.

[0067] In step S7003, the system control unit 1019 initializes pan and tilt, and the process proceeds to step S7004.

[0068] In step S7004, the system control unit 1019 checks whether a preset has been specified as the position after the standby recovery process. If a preset has been specified, the process proceeds to step S7005. If a preset has not been specified, the process proceeds to step S7006.

[0069] In step S7005, the system control unit 1019 executes preset control, and the process proceeds to step S7006. For details of the preset control, see FIG.

[0070] In step S7006, the system control unit 1019 resumes distribution of the video captured by the camera 1000, and the standby recovery process ends.

[0071] FIG. 5 has been explained in the first embodiment, so the explanation will be omitted.

[0072] As described above, according to this embodiment, the camera 1000 determines the drive speed of the preset function depending on the camera state. As a result, even if the same preset is specified for the preset control after returning from standby and for the preset control by the user, the preset control can be used at a speed that depends on the camera state.

[0073] (Fourth embodiment) This embodiment is characterized in that the camera 1000 changes the speed of the preset control during processing during trace playback.

[0074] This embodiment is another embodiment of the camera 1000 of embodiment 1. In this embodiment, the same configuration and content as those described in embodiment 1 will not be described.

[0075] The processing flow when the camera 1000 changes the speed of preset control during processing during trace playback will be described with reference to FIGS. 8, 9, and 5. FIG.

[0076] FIG. 8 is a flowchart showing an example of a process in which the imaging device according to this embodiment prepares for trace reproduction.

[0077] In step S8001, the system control unit 1019 performs playback preparation processing, such as moving to the playback start position and controlling image quality at the start, in order to play back the trace recording. Details of the playback preparation processing will be described with reference to Fig. 9. Once preparation for playing back the trace recording is complete, the process proceeds to step S8002.

[0078] In step S8002, the system control unit 1019 plays back the trace record, and then the process ends.

[0079] FIG. 9 is a flowchart showing an example of processing for preparing to play back a trace record in the imaging device of this embodiment.

[0080] In step S9001, the system control unit 1019 acquires the playback start position of the trace record from the storage unit 1018, and the process proceeds to S9002.

[0081] In step S9002, the system control unit 1019 executes preset control specified at the playback start position, and then ends the process. For details of the preset control, see FIG.

[0082] As described above, in this embodiment, the camera 1000 determines the drive speed of the preset function in accordance with the camera state. As a result, even if the same preset is specified for the preset control specified at the playback start position of the trace recording and for the preset control by the user, the preset control can be used at a speed that corresponds to the camera state.

[0083] (Other embodiments) Although the embodiments have been described above, the present invention is not limited to these embodiments and various modifications and changes are possible within the scope of the gist thereof.

[0084] The functions of the above-described embodiments can also be realized by the following configuration. That is, the functions can be achieved by distributing program code for performing the processes of the above-described embodiments to a system or device and having the computer (or CPU or MPU) of the system or device execute the program code. In this case, the program code itself read from a storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code also realizes the functions of the above-described embodiments. [Explanation of symbols]

[0085] 1000 Network Cameras 1001 Pan drive mechanism 1002 Tilt drive mechanism 1003 Zoom drive mechanism 1011 Imaging unit 1012 Image processing unit 1013 Lens drive unit 1014 Lens control unit 1015 Pan drive unit 1016 Tilt drive unit 1017 Pan / Tilt Drive Unit 1018 Storage section 1019 System control unit 1020 Communications Department 2000 client devices 2001 Display section 2002 Input section 2003 System Control Unit 2004 Communications Department 3000 Network

Claims

1. a driving unit that performs pan or tilt driving to change the imaging direction of the imaging unit; a storage unit that stores a target position of the pan or tilt drive by the drive unit and a first drive speed in association with each other; a reception unit that receives a drive instruction for panning or tilting the camera to the target position by the drive unit; a determination unit that determines the first drive speed or a second drive speed different from the first drive speed as a drive speed for pan or tilt drive in accordance with the drive instruction received by the reception unit; a control unit that controls the driving unit so that the driving unit performs pan or tilt driving to the target position at the driving speed determined by the determination unit; A control device comprising:

2. 2. The control device according to claim 1, The control device is characterized in that the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction received by the reception unit at the time of startup of the imaging unit.

3. 3. The control device according to claim 1 or 2, The control device is characterized in that the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction received by the reception unit when the imaging unit returns from standby.

4. The control device according to any one of claims 1 to 3, The control device is characterized in that the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction received by the reception unit at the time of initialization of pan or tilt drive of the imaging unit.

5. The control device according to any one of claims 1 to 4, The control device, wherein the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction received by the reception unit during trace playback.

6. The control device according to any one of claims 1 to 5, The control device is characterized in that the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction that includes the second drive speed, and determines the first drive speed as the drive speed for pan or tilt drive when the drive instruction is a drive instruction that does not include the second drive speed.

7. 7. The control device according to claim 1, The control device is characterized in that the determination unit determines the second drive speed as the drive speed for pan or tilt drive when the time required to pan or tilt to the target position specified by the drive instruction is equal to or greater than a threshold.

8. The control device according to any one of claims 1 to 7, The control device is characterized in that the second driving speed is higher than the first driving speed.

9. 9. The control device according to claim 8, The control device is characterized in that the second drive speed is the maximum speed at which the drive unit can be driven.

10. A control method for controlling pan or tilt drive to change the imaging direction of an imaging unit, storing a target position of the pan or tilt drive by the drive unit and a first drive speed in association with each other; receiving a drive instruction for panning or tilting the camera to the target position by the drive unit; determining the first drive speed or a second drive speed different from the first drive speed as a drive speed for pan or tilt drive in accordance with the received drive instruction; controlling the driving unit so that the driving unit performs pan or tilt driving to the target position at the determined driving speed; A control method comprising:

11. 11. The control method according to claim 10, A control method comprising determining the second drive speed as a drive speed for pan or tilt drive when the drive instruction is a drive instruction received at the time of startup of the imaging unit.

12. 12. The control method according to claim 10 or 11, A control method characterized by determining the second drive speed as the drive speed for pan or tilt drive when the time required to pan or tilt to the target position specified by the drive instruction is equal to or greater than a threshold.

13. 13. The control device according to claim 10, The control device is characterized in that the second driving speed is higher than the first driving speed.

14. program A program for causing a computer to execute a control method for controlling pan or tilt drive to change an imaging direction of an imaging unit, the control method comprising: storing a target position of the pan or tilt drive by the drive unit and a first drive speed in association with each other; receiving a drive instruction for panning or tilting the camera to the target position by the drive unit; determining the first drive speed or a second drive speed different from the first drive speed as a drive speed for pan or tilt drive in accordance with the received drive instruction; controlling the driving unit so that the driving unit performs pan or tilt driving to the target position at the determined driving speed; A program characterized by:

15. A computer-readable storage medium storing the program according to claim 14.

Images