Imaging device and control method thereof

Abstract

In an imaging device that controls the rotation of an imaging means having multiple imaging units, the timing of image processing is controlled to provide an easy-to-view image. [Solution] The imaging device 100 includes an imaging unit 1 and is capable of controlling the rotation of the imaging unit 1. The sensor unit 21 detects the angle and direction of rotation of the imaging unit 1. The imaging unit 1 has a first camera unit 11 having a first field of view and a second camera unit 12 having a second field of view. The first image processing unit 51 performs image inversion processing in the up, down, left, and right directions on the image from the first camera unit 11. The second image processing unit 52 performs image inversion processing in the up, down, left, and right directions on the image from the second camera unit 12. The control unit 50 controls the timing of the processing of the first image processing unit 51 and the processing of the second image processing unit 52 to differ according to the value of the detection information from the sensor unit 21.

Description

Technical Field

[0001] The present invention relates to a technique for controlling the timing of image processing in an imaging device that rotatably holds a plurality of imaging units.

Background Art

[0002] An imaging device capable of attitude control and angle-of-view control can perform operations such as tracking an object and imaging at a preset position. For example, in an imaging device capable of rotating the imaging unit, there is a technique of inverting an image in the vertical and horizontal directions at a predetermined rotation angle according to the angle of the installation surface of the imaging device.

[0003] Patent Document 1 discloses a technique for setting a tilt angle when inverting an imaging image corresponding to the inclination of the installation surface. Even when a surveillance camera is installed in an inclined posture, an inversion tilt angle for inverting and displaying the imaging image according to the inclination angle can be arbitrarily set from a plurality of angles. It is possible to eliminate the inconvenience that the image is inverted when it is not the timing when the displayed surveillance image should be inverted, or that the image is not inverted when it should be inverted.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the conventional technology, in an imaging device that performs rotation control of an imaging means having a plurality of imaging units, when performing vertical and horizontal inversion processing of an image according to the rotation angle, if the images of imaging units with different angles of view are switched simultaneously, the distribution image as the output video may be difficult to view. The objective of the present invention is to provide an image that is easy to view by controlling the timing of image processing in an imaging device that controls the rotation of an imaging means having multiple imaging units. [Means for solving the problem]

[0006] An embodiment of the present invention is an imaging device for controlling the rotation of an imaging means having a plurality of imaging units, comprising: a first image processing means for processing a first image acquired by a first imaging unit having a first field of view; a second image processing means for processing a second image acquired by a second imaging unit having a second field of view; a rotation means for rotating the imaging means; a detection means for detecting the rotation of the imaging means by the rotation means; and a control means for controlling the timing of the image processing performed by the first image processing means and the image processing performed by the second image processing means to differ based on the angle and direction of rotation of the imaging means acquired from the detection means. [Effects of the Invention]

[0007] According to the present invention, in an imaging device that controls the rotation of imaging means having multiple imaging units, an easy-to-view image can be provided by controlling the timing of image processing. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing the configuration of the imaging device according to the first embodiment. [Figure 2] This is a schematic diagram showing an example of an captured image. [Figure 3] This diagram illustrates the image inversion process based on the rotation position. [Figure 4] This is a flowchart explaining the process when the first angle is detected. [Figure 5] This is a flowchart explaining the process when a second angle is detected. [Figure 6] This is a flowchart explaining the process to be handled when a third angle is detected. [Figure 7]This is a flowchart explaining the process to be handled when a fourth angle is detected. [Figure 8] This is a configuration diagram of the imaging device according to the second embodiment. [Modes for carrying out the invention]

[0009] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments show an example of an imaging device capable of controlling the rotation of the imaging means in the panning and tilting directions.

[0010] [First Embodiment] The imaging device according to this embodiment will be described with reference to Figures 1 to 7. Figure 1 is a schematic diagram showing the configuration of the imaging device 100. Figure 1(A) is a side view of the imaging device 100, and Figure 1(B) is a front view of the imaging device 100. The imaging device 100 includes an imaging unit 1, a tilt rotation unit 2, a pan rotation unit 3, and a base unit 4. Figure 1(A) schematically shows with arrows that the imaging unit 1 is driven to rotate relative to the mounting surface 41 by the tilt rotation unit 2. Figure 1(B) schematically shows with arrows that the imaging unit 1 is driven to rotate by the pan rotation unit 3.

[0011] The imaging unit 1 has a first camera section 11 and a second camera section 12. The first camera section 11 functions as a first imaging section having a first field of view. The second camera section 12 functions as a second imaging section having a second field of view. The second field of view is wider than the first field of view. The first camera section 11 has a zoom function that allows the field of view to be changed by moving the lens inside it. In this example, the imaging unit 1 has two imaging sections, but the imaging unit 1 may have three or more camera sections that function as imaging sections.

[0012] The tilt rotation unit 2 is a rotation means that rotates the imaging unit 1 around a predetermined axis. The pan rotation unit 3 is a rotation means that rotates both the imaging unit 1 and the tilt rotation unit 2 around a predetermined axis. The base unit 4 is a base that holds the pan rotation unit 3.

[0013] Both the tilt rotation unit 2 and the pan rotation unit 3 have motors, belts, gears, etc. (not shown) arranged inside to drive the rotation. Furthermore, a sensor unit 21 is provided as a rotation detection means to detect the position and direction of rotation. For example, if the tilt rotation unit 2 and the pan rotation unit 3 are equipped with stepping motors, the motors and drive control board arranged inside can acquire detection information for the position and direction of rotation. Since the tilting mechanism and panning mechanism are well known, a detailed explanation of them will be omitted.

[0014] The base unit 4 has a circuit board 5 inside. The circuit board 5 is equipped with a control unit and an image processing unit that performs image processing and outputs image data. For example, the control unit 50 is equipped with a CPU (Central Processing Unit) and performs various controls by executing a predetermined program. The image processing unit comprises a first image processing unit 51 and a second image processing unit 52. The first image processing unit 51 processes the image captured by the camera unit 11 according to the position and rotation direction detection values ​​acquired by the sensor unit 21. The second image processing unit 52 processes the image captured by the camera unit 12 according to the position and rotation direction detection values ​​acquired by the sensor unit 21.

[0015] Figure 2 is a schematic diagram illustrating images captured by camera units 11 and 12 when the tilt rotation unit 2 is driven. Images 621 to 625 are images taken by camera unit 12. Images 611 to 615 and images 614f and 615f are images taken by camera unit 11. The time series direction for the images is from right to left.

[0016] FIG. 3 is a diagram for explaining that image inversion processing in the vertical, horizontal, and left - right directions is performed according to the rotation position by the tilt rotation unit 2. In FIG. 3, a subject 8 which is an imaging target is shown above the imaging device 100. The imaging unit 1 in which the camera unit 11 and the camera unit 12 are arranged is driven in accordance with the imaging target 8 by rotating by the tilt rotation unit 2 with respect to the installation surface 41 of the base unit 4. The imaging optical axis of the camera unit 11 and the imaging optical axis of the camera unit 12 are parallel. For the imaging target 8, the rotation direction when the imaging unit 1 moves in the direction of arrow 71 in FIG. 3 is defined as the "forward rotation direction", and the rotation direction when moving in the direction of arrow 72 which is opposite to arrow 71 is defined as the "reverse rotation direction". The imaging state in which the imaging direction of the imaging unit 1 is parallel to the installation surface 41 is taken as the reference state, and the directions corresponding to the angles 7a, 7b, 7c, 7d during rotation by the tilt rotation unit 2 are schematically shown by dotted lines.

[0017] When the imaging direction of the imaging unit 1 is changed by the tilt rotation unit 2, there is a possibility that an inappropriate output image may result depending on the angle of rotation. Specifically, it is an imaging state where the imaging direction is directly above (angle is 90 degrees) the installation surface of the imaging device 100, or an imaging state where the angle is greater than that. Alternatively, when the imaging device 100 is installed by hanging from the ceiling, it is an imaging state where the imaging direction is directly below (angle is - 90 degrees) the installation surface of the imaging device 100, or an imaging state where the angle is less than that. When imaging is performed in the direction corresponding to such an angle of rotation, the output image is difficult to view, so a flip operation is performed. In the flip operation, image processing for inverting the captured image in the vertical, horizontal, and left - right directions is executed.

[0018] The flip operation for the captured image of the camera unit 11 is implemented by the vertical and horizontal image inversion processing performed by the first image processing unit 51 on the substrate 5. Also, the flip operation for the captured image of the camera unit 12 is implemented by the vertical and horizontal image inversion processing by the second image processing unit 52 on the substrate 5. FIG. 2 shows the images 614f, 615f respectively obtained by the flip operation for the captured images 614, 615 of the camera unit 11.

[0019] In this embodiment, it is assumed that the captured image of the camera unit 11 is mainly used as the output image among the captured images of the camera unit 11 and the captured image of the camera unit 12. In this case, when the first image processing unit 51 performs a flip operation on the captured image of the camera unit 11, there is a possibility that the viewer may feel discomfort. For example, it is the case where the captured image 614 in FIG. 2 is changed to the image 614f.

[0020] Therefore, before the first image processing unit 51 performs the image inversion processing by the flip operation on the captured image of the camera unit 11, the process of switching to the captured image of the camera unit 12 is executed. In FIG. 2, the image is switched from the captured image 613 to the captured image 624. Next, before the second image processing unit 52 performs the image inversion processing by the flip operation on the captured image of the camera unit 12, the process of switching to the captured image of the camera unit 11 is executed. In FIG. 2, the image is switched from the captured image 624 to the captured image 615f. By switching the output image at an appropriate timing between the camera unit 11 and the camera unit 12, the discomfort of the viewer with respect to the output image can be reduced. Also, when the first image processing unit 51 or the second image processing unit 52 is performing the image inversion processing during the production of the image content, since the image of the side where the image inversion processing is not performed can be appropriately output, a more presentable image can be supplied.

[0021] Referring to FIGS. 4 to 7, specific control will be described. FIGS. 4 to 7 are flowcharts for explaining image processing according to the rotation angle by the tilt rotation unit 2, and show examples of processing corresponding to the cases where the angles 7a, 7b, 7c, 7d (see FIG. 3) are respectively detected. The values of these angles correspond to thresholds for determining whether to execute the image inversion processing and the image switching processing. The processing shown in FIGS. 4 to 7 is realized by the control unit 50 of the imaging device 100 executing a program.

[0022] The imaging unit 1 acquires an image of the subject, and the sensor unit 21 detects the angle and direction of rotation of the imaging unit 1 by the tilt rotation unit 2. The control unit 50 of the imaging device 100 determines which image to output from among the images captured by the camera unit 11 and the images captured by the camera unit 12, according to the angle and direction of rotation detected by the sensor unit 21. At that time, the first image processing unit 51 or the second image processing unit 52 performs image inversion processing.

[0023] Figure 4 is a flowchart illustrating the process when the first angle 7a is detected by the sensor unit 21. In S101, the sensor unit 21 detects the angle 7a with respect to the installation surface 41. In Figure 3, the direction corresponding to angle 7a is tilted to the left of the direction perpendicular to the installation surface 41. The detection information from the sensor unit 21 is output to the control unit 50.

[0024] Regarding the detection of rotation, Figure 3 distinguishes between when the imaging unit 1 rotates in the direction of arrow 71 (forward rotation) and when the imaging unit 1 rotates in the direction of arrow 72 (reverse rotation, i.e., rotation in a direction other than forward rotation). In S102, the control unit 50 determines whether or not the rotation is in the forward direction. If it is determined to be a forward rotation, the process proceeds to S104; if it is determined not to be a forward rotation, the process proceeds to S103.

[0025] In S103, the process of continuing to output the current output image is executed. This output image is an image obtained from the currently selected camera unit after predetermined image processing has been performed.

[0026] In S104, the control unit 50 determines whether or not an image of the camera unit 11 in the correct position is being output. An image of the camera unit 11 in the correct position is an image that has not been inverted by the first image processing unit 51. If it is determined that an image of the camera unit 11 in the correct position is being output, the process proceeds to S105. On the other hand, if it is determined that an image of the camera unit 11 in the correct position is not being output, the process proceeds to S103. In other words, if the rotation is in the forward direction and an image of the camera unit 11 in the correct position is not being output, the current output image continues to be output.

[0027] In S105, the control unit 50 performs a switching process to set the image from the camera unit 12 as the output image (Figure 2:624). In the next step, S106, the first image processing unit 51 performs an image inversion process in the up, down, left, and right directions on the image captured by the camera unit 11.

[0028] Figure 5 is a flowchart illustrating the process when the sensor unit 21 detects a second angle 7b. In S201, the sensor unit 21 detects the angle 7b with respect to the installation surface 41. In Figure 3, the direction corresponding to angle 7b is tilted to the left compared to the direction corresponding to angle 7a. The detection information from the sensor unit 21 is output to the control unit 50. In S202, the control unit 50 determines whether the rotation is in the forward direction (Figure 3: arrow 71), and in S204, it determines whether the image of the camera unit 12 in the correct position is being output.

[0029] If it is determined in S202 that the rotation is not in the forward direction, the process proceeds to S203. Also, if it is determined in S202 that the rotation is in the forward direction, and it is determined in S204 that an image of the camera unit 12 in the correct position has not been output, the process proceeds to S203. In S203, the process of continuing to output the current output image is executed.

[0030] If it is determined in S202 that the rotation is in the forward direction, and in S204 that the image of the camera unit 12 in the correct position is being output, the process proceeds to S205. In S205, the control unit 50 executes a process to switch to outputting the image from the camera unit 11 (Figure 2:615f). In the next step, S206, the second image processing unit 52 performs an image inversion process on the image from the camera unit 12.

[0031] Figure 6 is a flowchart illustrating the process when a third angle 7c is detected by the sensor unit 21. In S101, the sensor unit 21 detects the angle 7c with respect to the installation surface 41. The detection information from the sensor unit 21 is output to the control unit 50. In S302, the control unit 50 determines whether the rotation is in the forward direction (Figure 3: arrow 71), and in S304, it determines whether the inverted image from the camera unit 11 is being output.

[0032] If it is determined in S302 that the rotation is in the forward direction, the process proceeds to S303. If it is determined in S302 that the rotation is not in the forward direction, and it is determined in S304 that the inverted image from the camera unit 11 is not being output, the process proceeds to S303. In S303, the process of continuing to output the current output image is executed.

[0033] If it is determined in S302 that the rotation is not in the forward direction, and if it is determined in S304 that the inverted image of the camera unit 11 is being output, the process proceeds to S305. In S305, the control unit 50 executes a process to switch to outputting the image from the camera unit 12. In the next step, S306, the first image processing unit 51 performs image processing on the image from the camera unit 11 to ensure it is in the correct orientation.

[0034] Figure 7 is a flowchart illustrating the process when the fourth angle 7d is detected by the sensor unit 21. In S401, the sensor unit 21 detects the angle 7d with respect to the installation surface 41. In Figure 3, the direction corresponding to angle 7d is tilted to the right compared to the direction corresponding to angle 7c. The detection information from the sensor unit 21 is output to the control unit 50. In S402, the control unit 50 determines whether the rotation is in the forward direction (Figure 3: arrow 71), and in S404, it determines whether the inverted image from the camera unit 12 is output.

[0035] If it is determined in S402 that the rotation is in the forward direction, the process proceeds to S403. If it is determined in S402 that the rotation is not in the forward direction, and it is determined in S404 that the inverted image from the camera unit 12 is not being output, the process proceeds to S403. In S403, the process of continuing to output the current output image is executed.

[0036] If it is determined in S402 that the rotation is not in the forward direction, and if it is determined in S404 that the inverted image of the camera unit 12 is being output, the process proceeds to S405. In S405, the control unit 50 executes a process to switch to outputting the image from the camera unit 11. In the next step, S406, the second image processing unit 52 performs image processing on the image from the camera unit 12 to ensure it is in the correct orientation.

[0037] Multiple rotation angles 7a, 7b, 7c, and 7d can be set, and the user can specify or select the setting value. This allows the user to arbitrarily choose the timing of the image switch depending on the subject being captured. Furthermore, the user can set the rotation angle when the image automatically switches, taking into account the angle of the mounting surface, etc.

[0038] Here, we consider the case where the flip operation by the first image processing unit 51 and the second image processing unit 52 is performed simultaneously. When the same image processing is performed at the same time during the distribution of captured images or editing of captured content, there is a possibility that images that are difficult for viewers to see will be provided. Specifically, suppose the imaging unit 1 rotates in the direction of arrow 71 shown in Figure 3, the image is flipped vertically and horizontally, and then immediately reverses in the direction of arrow 72. In this case, if it immediately switches back to the image in the correct position, the output of the flipped image and the image in the correct position will be frequently repeated, making the image difficult for viewers to see. Therefore, in this embodiment, a difference is created between the angle 7a for switching the image of the camera unit 11 when it rotates in the forward direction and the angle 7b for switching the image of the camera unit 11 when it rotates in a direction other than the forward direction. The operational characteristics based on this difference in angle are called hysteresis characteristics.

[0039] In Figure 3, the angular range of a predetermined hysteresis characteristic in which the image of the camera unit 11 switches when it rotates is defined as angular range 73. Angular range 73 corresponds to the angular range corresponding to the difference between angle 7a and angle 7c. Similarly, the angular range of a predetermined hysteresis characteristic in which the image of the camera unit 12 switches when it rotates is defined as angular range 74. Angular range 74 corresponds to the angular range corresponding to the difference between angle 7b and angle 7d. The imaging device 100 has setting means that allows for arbitrary setting of angular range 73, angular range 74, or both, and it is possible to set multiple setting values. Regarding the relative magnitudes of angular range 73 and angular range 74, it is desirable to set them so that "size of angular range 73 < size of angular range 74". Angular range 73 is encompassed within angular range 74. The hysteresis characteristic suppresses frequent switching of the output image, providing viewers with a more easily viewable image.

[0040] Furthermore, in this embodiment, by primarily using the image from the camera unit 11 as the output image, it is possible to provide a realistic image with telephoto and zoom capabilities, and to provide the image from the camera unit 11 over a wider range of rotation angles.

[0041] According to this embodiment, in an imaging device that arranges two or more imaging units in an imaging unit and controls the rotation of the imaging unit, when performing image inversion processing in a predetermined direction (for example, up, down, left, or right direction), it is possible to provide an image that is easy for the viewer to see.

[0042] [Second Example] Referring to Figures 2 to 8, the configuration of the imaging device 200 according to the second embodiment will be described. In this embodiment, details of matters similar to those in the first embodiment will be omitted by reusing previously used reference numerals, etc.

[0043] Figure 8 is a schematic diagram of the imaging device 200. Figure 8(A) is a side view of the imaging device 200, and Figure 8(B) is a front view of the imaging device 200. The imaging unit 10 has a first camera section 101 and a second camera section 102. The first camera section 101 functions as a first imaging section having a first field of view. The second camera section 102 functions as a second imaging section having a second field of view. The field of view of the first camera section 101 is wider than the field of view of the second camera section 102. The second camera section 102 has a zoom function that allows the field of view to be changed by moving the lens inside it.

[0044] The imaging device 200 performs imaging on the subject (hereinafter also referred to as the "tracking subject") which is the imaging target 8. The imaging device 200 has a function (hereinafter referred to as the "tracking function") that detects changes in the image acquired by imaging and keeps the tracking subject within the field of view to continue imaging. A tracking processing unit 53 is located on the circuit board 5 in the base unit 4. The tracking processing unit 53 detects the image of the tracking subject based on the output image of the first camera unit 101 and the output image of the second camera unit 102, and performs tracking processing in a known manner.

[0045] The first and second camera units (101, 102) output their respective captured images to the tracking processing unit 53. In the tracking function, by using the wide-angle captured image acquired by the first camera unit 101, it is possible to suppress the tracking subject from moving out of the field of view.

[0046] Furthermore, the sensor unit 21 detects the position (rotation angle) and direction of rotation, and when the image from the second camera unit 102 is inverted in the up, down, left, and right directions during a flip operation, there is a possibility that the tracked subject may not be detected. Therefore, in this embodiment, in order to continue detecting the tracked subject, the control unit 50 performs a process of switching between the image captured by the first camera unit 101 and the image captured by the second camera unit 102 according to the position and direction of rotation detected by the sensor unit 21. For example, the image used to detect the tracked subject switches from the image captured by the first camera unit 101 to the image captured by the second camera unit 102. The timing of the image switching is the same as in the first embodiment, so the explanation is omitted.

[0047] In this embodiment, the timing of switching between image processing for vertical / horizontal inversion and image processing for the image sent to the tracking processing unit 53 can be controlled. Therefore, the occurrence of a lost state where the tracked subject is lost can be suppressed, and the performance of automatic tracking control for the tracked subject can be improved.

[0048] [Modified Embodiment] In the above embodiment, the rotational control of the imaging unit by the tilt rotation unit 2 was described, but it is not limited to tilting operations, and can be similarly applied to the rotational control of the imaging unit by the pan rotation unit 3. Furthermore, tilting and panning operations may be performed by simultaneously driving the pan rotation unit 3 together with the tilt rotation unit 2. In this case, the sensor unit 21 can detect not only the position and direction of rotation related to the tilt rotation unit 2, but also the position and direction of rotation related to the pan rotation unit 3. The control unit 50 performs rotational control of the imaging unit and image processing of the captured image based on the detection information from the sensor unit 21. In the modified embodiment, it is possible to apply not only to image inversion processing in a predetermined direction, but also to image cropping, rotation, enlargement or reduction, geometric deformation processing, etc. The switching process of the processed output image is performed at the same timing as in the above embodiment.

[0049] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of its gist.

[0050] Embodiments of this disclosure include the following configurations and methods. [Configuration 1] An imaging device that controls the rotation of imaging means having multiple imaging units, A first image processing means for processing a first image acquired by a first imaging unit having a first field of view, A second image processing means for processing a second image acquired by a second imaging unit having a second field of view, A rotating means for rotating the imaging means, A detection means for detecting the rotation of the imaging means by the rotation means, The system includes a control means that controls the timing of the image processing performed by the first image processing means and the image processing performed by the second image processing means to differ based on the rotation angle and direction of the imaging means obtained from the detection means. An imaging device characterized by the following features. [Configuration 2] The first and second image processing means each perform image inversion processing on the first and second images in a predetermined direction. The control means performs control to switch between outputting the first or second image and the image inverted. The imaging apparatus according to configuration 1, characterized by the features described above. [Configuration 3] The first angle for switching images when the imaging means is rotated in a first direction is different from the second angle for switching images when the imaging means is rotated in a second direction opposite to the first direction after being rotated in the first direction. The imaging apparatus according to configuration 2, characterized in that... [Structure 4] The third angle for switching images when the imaging means is rotated in the second direction is different from the fourth angle for switching images when the imaging means is rotated in the first direction after being rotated in the second direction. The imaging apparatus according to configuration 3, characterized by the features described above. [Composition 5] In the control of the first and second image processing means performed by the control means, the imaging means has a hysteresis characteristic based on the difference between the first angle and the second angle or the difference between the third angle and the fourth angle, depending on the rotation direction of the imaging means, and the first angular range when the first image is switched and the second angular range when the second image is switched are different. The imaging apparatus according to configuration 4, characterized by the features described above. [Composition 6] The size of the first angular range is smaller than the size of the second angular range. The imaging apparatus according to configuration 5, characterized in that it is a device. [Composition 7] The first angular range is the range corresponding to the difference between the first angle and the third angle. The second angular range is the range corresponding to the difference between the second angle and the fourth angle. The first angular range is included in the second angular range. The imaging apparatus according to configuration 6, characterized by the features described above. [Structure 8] The system has setting means for setting a plurality of setting values ​​relating to the first or second angle range. An imaging device according to any one of configurations 5 to 7, characterized by the above. [Composition 9] The second field of view is wider than the first field of view. An imaging device according to any one of configurations 1 to 8. [Configuration 10] The system includes tracking processing means that acquires output images from the first and second imaging units and performs subject tracking processing. An imaging device according to any one of configurations 1 to 9, characterized by the above. [method] A control method performed in an imaging device that controls the rotation of imaging means having multiple imaging units, A step of rotating the imaging means by a rotating means, The process involves the detection means detecting the rotation of the imaging means by the rotation means, A first image processing means processes a first image acquired by a first imaging unit having a first field of view, A second image is acquired by a second imaging unit having a second field of view, and a second image processing means processes the second image. The control means includes a control step of acquiring detection information from the detection means and controlling the first and second image processing means, In the control step, the control means performs control to differentiate the timing of the image processing performed by the first image processing means and the image processing performed by the second image processing means based on the rotation angle and direction of the imaging means obtained from the detection means. A control method for an imaging device, characterized by the following: [Explanation of symbols]

[0051] 11,12,101,102 Imaging Unit 50 Control Unit 51,52 Image Processing Unit 53 Tracking Processing Unit 100,200 imaging devices

Claims

1. An imaging device that controls the rotation of imaging means having multiple imaging units, A first image processing means for processing a first image acquired by a first imaging unit having a first field of view, A second image processing means for processing a second image acquired by a second imaging unit having a second field of view, A rotating means for rotating the imaging means, A detection means for detecting the rotation of the imaging means by the rotation means, The system includes a control means that controls the timing of the image processing performed by the first image processing means and the image processing performed by the second image processing means to differ based on the rotation angle and direction of the imaging means obtained from the detection means. An imaging device characterized by the following features.

2. The first and second image processing means each perform image inversion processing on the first and second images in a predetermined direction. The control means performs control to switch between outputting the first or second image and the image inverted. The imaging apparatus according to feature 1.

3. The first angle for switching images when the imaging means is rotated in a first direction is different from the second angle for switching images when the imaging means is rotated in a second direction opposite to the first direction after being rotated in the first direction. The imaging device according to feature 2.

4. The third angle for switching images when the imaging means is rotated in the second direction and the fourth angle for switching images when the imaging means is rotated in the first direction after being rotated in the second direction are different. The imaging device according to feature 3.

5. In the control of the first and second image processing means performed by the control means, the image processing means has a hysteresis characteristic based on the difference between the first angle and the second angle or the difference between the third angle and the fourth angle, depending on the rotation direction of the imaging means, and the first angular range when the first image is switched and the second angular range when the second image is switched are different. The imaging apparatus according to feature 4.

6. The size of the first angular range is smaller than the size of the second angular range. The imaging apparatus according to feature 5.

7. The first angular range is the range corresponding to the difference between the first angle and the third angle. The second angular range is the range corresponding to the difference between the second angle and the fourth angle. The first angular range is included in the second angular range. The imaging device according to feature 6.

8. The system has setting means for setting a plurality of setting values ​​relating to the first or second angle range. The imaging apparatus according to any one of claims 5 to 7.

9. The second angle of view is wider than the first angle of view. The imaging apparatus according to feature 1.

10. The system includes tracking processing means that acquires output images from the first and second imaging units and performs subject tracking processing. The imaging apparatus according to feature 1.

11. A control method performed in an imaging device that controls the rotation of imaging means having multiple imaging units, A step of rotating the imaging means by a rotating means, The process involves the detection means detecting the rotation of the imaging means by the rotation means, A first image processing means processes a first image acquired by a first imaging unit having a first field of view, A second image is acquired by a second imaging unit having a second field of view, and a second image processing means processes the second image. The control means includes a control step in which the control means acquires detection information from the detection means and controls the first and second image processing means, In the control step, the control means controls the timing of the image processing performed by the first image processing means and the image processing performed by the second image processing means to differ based on the rotation angle and direction of the imaging means obtained from the detection means. A control method for an imaging device, characterized by the following:

Images