Imaging device, control method, and program

Abstract

The objective is to provide an imaging device that can achieve power savings while suppressing movement of the camera head during standby mode. [Solution] The imaging device of the present invention comprises a camera head, a drive means capable of driving the camera head in the tilt direction or the pan direction, a control means for determining a current value to be applied to the drive means, and a determination means for determining the orientation of the camera head and the posture of the imaging device. When transitioning from a normal mode in which video is distributed to a standby mode in which video is not distributed, the control means determines a current value to be applied to the drive means based on the orientation of the camera head and the posture of the imaging device.

Description

Technical Field

[0001] The present invention relates to an imaging device, and particularly to an imaging device having a camera head portion whose imaging direction can be changed.

Background Art

[0002] An imaging device has been invented that can change the imaging direction by changing the orientation of the camera head portion with a pan-tilt drive unit. The pan-tilt drive unit is composed of an actuator that can be controlled by an electrical signal such as a motor, and can control the motor and change the holding torque when not driven. For example, Patent Document 1 discloses a configuration for controlling a motor in an imaging device provided with a pan-tilt drive unit and a pan-tilt control unit. With such a configuration, it is possible to achieve power saving by stopping the energization of the motor (hereinafter, the state where the motor is not energized is referred to as a non-excited state, and the state where it is energized is referred to as an excited state).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the conventional technology disclosed in the above-mentioned patent documents does not assume a standby state where video is not being distributed. Therefore, when the motor is in a non-excited state in the standby state, there is a possibility that the camera head portion may move. If the motor is excited to fix the camera head portion to suppress this, there is a risk that power consumption cannot be suppressed.

[0005] Therefore, an object of the present invention is to provide an imaging device that can achieve power saving while suppressing the camera head portion from moving in the standby state. [Means for solving the problem]

[0006] To achieve the above objective, the imaging device of the present invention comprises a camera head, a drive means capable of driving the camera head in the tilt direction or the pan direction, a control means for determining a current value to be applied to the drive means, and a determination means for determining the orientation of the camera head and the posture of the imaging device. The control means determines a current value to be applied to the drive means based on the orientation of the camera head and the posture of the imaging device when transitioning from a normal mode in which video is distributed to a standby mode in which video is not distributed. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an imaging device that can achieve power saving while suppressing movement of the camera head in the standby state. [Brief explanation of the drawing]

[0008] [Figure 1] Diagram showing the configuration of the imaging device. [Figure 2] Diagram showing pan and tilt angles with respect to the horizontal axis. [Figure 3] This diagram shows the excitation current values ​​of the pan motor according to the panning direction tilt angle with respect to the horizontal axis. [Figure 4] This diagram shows the excitation current values ​​of the tilt motor according to the tilt angle relative to the horizontal axis. [Figure 5] Diagram showing tilt angles for different camera head sections. [Figure 6] This diagram shows the excitation current values ​​of the tilt motor according to the tilt angle relative to the horizontal axis. [Figure 7] A diagram showing a flowchart of Embodiment 1. [Figure 8] A diagram showing a flowchart of Embodiment 2. [Modes for carrying out the invention]

[0009] The embodiments will be described in detail below with reference to the attached drawings. Note that the following embodiments do not limit the invention as defined in the claims. While the embodiments describe multiple features, not all of these features are essential to the invention, and the features may be combined in any way. Furthermore, in the attached drawings, identical or similar configurations are given the same reference numerals, and redundant descriptions are omitted.

[0010] <Embodiment 1> The configuration of the imaging device in Embodiment 1 of the present invention will be described below with reference to Figure 1. The camera body 100, which serves as the imaging device, supports a camera head 101 and is connected to a client device (information processing device) (not shown) via a communication unit 112, enabling mutual communication. The user can send various camera control commands to the camera body 100 via the client device. The imaging device comprises a camera head 101, an imaging engine 104, a motor control unit 106, a pan drive unit 108, a tilt drive unit 109, an acceleration sensor 110, a table storage unit 111, and a communication unit 112.

[0011] The camera head 101 consists of imaging lenses including a focus lens and a zoom lens, an image sensor, a mechanical drive system and circuitry that drives them, a gyro sensor 102, and an ID memory unit 103. The imaging lens forms an image of the subject on the image sensor, and the image sensor generates an electrical signal indicating the subject image. The camera head 101 is also replaceable.

[0012] The gyro sensor 102 is a sensor that detects the angular velocity of the camera head 101. The ID storage unit 103 stores the identification number (hereinafter referred to as ID) of the camera head 101.

[0013] The imaging engine 104 converts the electrical signals received from the camera head 101 and transmits the video via the communication unit 112. The imaging engine 104 also has a control unit 105 that controls each part.

[0014] The control unit 105 controls each unit. For example, it determines the orientation of the camera head 101, determines the orientation of the camera body 100, sets the orientation of the camera body 100, calculates the pan-tilt angles, and calculates the pan-tilt horizontal axis tilt angle. It also performs the transition to the standby mode (standby state), ID identification, and setting of the excitation current value table.

[0015] The determination of the orientation of the camera head 101 is performed based on the value obtained by integrating the angular velocity acquired from the gyro sensor 102 (angular velocity sensor) and converting the angular displacement from an arbitrary position into a movement amount.

[0016] The determination of the orientation (posture) of the camera body 100 is performed based on the acceleration acquired from the acceleration sensor 110. For example, it determines whether the camera body 100 is placed on a stand or the like, or whether the camera body 100 is attached to a wall. Alternatively, the determination of the orientation of the camera body 100 is performed based on the orientation setting of the camera body 100 set by the orientation setting of the camera body 100. The orientation setting of the camera body 100 is performed by the user via the communication unit 112 to set the orientation of the camera body 100.

[0017] The calculation of the pan-tilt angles calculates the angles in the pan direction and tilt direction of the camera head 101 from the orientation of the camera head 101 determined by the determination of the orientation of the camera head 101.

[0018] The calculation of the pan-tilt horizontal axis tilt angle calculates the tilt angles in the pan direction and tilt direction of the camera head 101 with respect to the horizontal axis from the orientation of the camera body 100 and the angles in the pan direction and tilt direction of the camera head 101 calculated by the calculation of the pan-tilt angles.

[0019] The transition to the standby mode switches between the normal mode for video distribution and the standby mode in which the subject is being imaged but video distribution is not being performed. Note that the functions defined in the normal mode and standby mode in this embodiment are not limited to the above, and for example, a normal mode in which imaging and driving operations are possible and a standby mode in which imaging is possible but no driving operation is being performed may be used.

[0020] The ID identification acquires the ID of the camera head 101 stored in the ID storage unit 103 and identifies the type of the camera head 101. The setting of the table of excitation current values adjusts the setting of the table of excitation current values stored in the table storage unit 111 according to the type of the camera head 101 identified by the ID identification.

[0021] The motor control unit 106 has a pan-tilt power supply unit 107 and controls the motors of the pan drive unit 108 and the tilt drive unit 109. The motor control unit 106 determines the excitation current applied to the motors of the pan drive unit 108 and the tilt drive unit 109 according to the tilt angles in the pan direction and the tilt direction of the camera head 101 with respect to the horizontal axis. Also, when the setting of the excitation current to the motors of the pan drive unit 108 and the tilt drive unit 109 is 0, the power supply to the pan drive unit 108 or the tilt drive unit 109 is cut off.

[0022] The pan-tilt power supply unit 107 supplies power to the pan drive unit 108 and the tilt drive unit 109. It is also possible to cut off the power supply to both or either of the pan drive unit 108 and the tilt drive unit 109.

[0023] The pan drive unit 108 has a drive motor and drives the camera head 101 in the pan direction. By supplying an excitation current when the motor stops, a holding force can be generated in the motor, and the camera head 101 can be fixed in the pan direction.

[0024] The tilt drive unit 109 has a drive motor and drives the camera head 101 in the tilt direction. By supplying an excitation current when the motor stops, a holding force can be generated in the motor, and the camera head 101 can be fixed in the tilt direction.

[0025] The acceleration sensor 110 is a sensor that detects the acceleration of the camera body 100. The table storage unit 111 stores a table of excitation current values. The communication unit 112 communicates with the outside. Mainly, it outputs video signals and exchanges control signals.

[0026] It should be noted that the imaging device in this embodiment is not limited to the configuration shown in Figure 1. For example, the imaging device may be equipped with video output terminals such as SDI or HDMI (registered trademark), as well as audio input / output units and external device input / output units. Furthermore, the communication unit 112 may be connected via wired or wireless connection. Moreover, the configuration may not be limited to one connected to a network, but may also include a configuration in which the communication unit 112 is connected to other devices via serial communication or the like.

[0027] Next, the pan-direction inclination and tilt-direction inclination angles of the camera head portion with respect to the horizontal axis of the imaging device in this embodiment will be explained using Figure 2. The horizontal axis is an axis that extends horizontally and is an axis that aligns with the table or ground.

[0028] Figure 2(a) shows the imaging device fixed at a 90° angle to the horizontal axis. More specifically, Figure 2(a) shows the imaging device mounted on a wall or the like. Figure 2(b) shows the imaging device fixed horizontally to the horizontal axis. More specifically, Figure 2(b) shows the imaging device placed on a stand or the ground. In Figure 2(a), the counterclockwise direction of the camera head 101 around the horizontal axis shown on the paper is defined as the positive direction of the pan angle, and the clockwise direction as the negative direction of the pan angle. The camera head 100 can rotate from -180° to 180° around the horizontal axis. Normally, when the imaging device is installed in a stationary position, rotating the camera head 101 horizontally is called pan rotation, but here, when the imaging device is mounted on a wall or the like, rotating the camera head 101 vertically is defined as pan rotation. The angle of rotation at that time is defined as the pan angle. In Figure 2(b), the counterclockwise direction of the camera head 101 is defined as the positive tilt angle, and the clockwise direction as the negative tilt angle, with respect to the horizontal axis indicated on the paper. The camera head 100 can rotate from -20° to 180° around the horizontal axis. Note that the imaging device in this embodiment is not limited to the configuration shown in Figure 2. For example, it may be possible to drive it endlessly 360 degrees in the pan direction. Furthermore, it may be possible to drive it over an even wider angle in the tilt direction.

[0029] Next, the excitation current values ​​of each motor corresponding to the panning and tilting angles of the camera head portion with respect to the horizontal axis of the imaging device in this embodiment will be explained using Figures 3 and 4.

[0030] Figure 3 shows the excitation current value of the motor of the pan drive unit 108 according to the pan tilt angle with respect to the horizontal axis. The vertical axis represents the excitation current value, and the horizontal axis represents the pan tilt angle with respect to the horizontal axis. In this embodiment, the excitation current value is set to the maximum when the pan angle is near 0° and near ±180°, and to the minimum (0 in this case) when the pan angle is near ±90°. If the excitation current value is set to 0 when the pan angle is near 0° (for example, the state in Figure 2(a)) or ±180°, it is conceivable that the pan angle of the camera head 101 will become -90° due to gravity. Therefore, the excitation current value is set to the maximum. On the other hand, when the pan angle is near ±45°, gravity also has an effect, but the effect of gravity is smaller than when the pan angle is 0° and ±180°. Therefore, when the pan angle is near ±45°, the excitation current value is smaller (about 1 / 2) than when the pan angle is 0° and ±180°. This allows for power savings compared to always setting the excitation current to maximum. In other words, when the camera head is oriented horizontally, the current value is set to a higher value than when the camera head is oriented vertically.

[0031] Figure 4 shows the excitation current value of the tilt drive unit 109 motor according to the tilt angle relative to the horizontal axis. The vertical axis represents the excitation current value, and the horizontal axis represents the tilt angle relative to the horizontal axis. In this embodiment, the excitation current value is set to the maximum when the tilt angle is near 0° and near 180°, and to the minimum (0 in this case) when the tilt angle is near 90°. When the tilt angle is near 0° (for example, the state in Figure 2(b)), if the excitation current value is set to 0, it is conceivable that the tilt angle of the camera head 101 will become -20° due to gravity. Therefore, the excitation current value is set to the maximum. On the other hand, when the tilt angle is near ±90°, gravity also has an effect, but the effect of gravity is smaller than when the tilt angle is 0° and ±180°. Therefore, when the tilt angle is near ±90°, the excitation current value is smaller than when the tilt angle is 0° and ±180°. This makes it possible to save power compared to when the excitation current value is always set to the maximum. In other words, when the camera head is oriented horizontally, the current value is set to be greater than the current value when the camera head is oriented vertically.

[0032] Next, the tilt angle relative to the horizontal axis and the motor excitation current value corresponding to the tilt angle when the imaging device in this embodiment is replaced with a different camera head 201 will be explained using Figures 5 and 6.

[0033] Figure 5 shows the camera body 100 when the camera head 201 is replaced. The camera head 201 consists of imaging lenses including a focus lens and a zoom lens, an image sensor, a mechanical drive system and circuitry that drives them, a gyro sensor 202, and an ID memory unit 203 (not shown). The functions of the gyro sensor 202 and ID memory unit 203 are the same as those of the gyro sensor 102 and ID memory unit 103. The imaging lens forms an image of the subject on the image sensor, and the image sensor generates an electrical signal indicating the subject image. The camera head 201 is longer than the camera head 101, and the force required to hold the camera head 201 is greater than that required for the camera head 101.

[0034] Figure 6 shows the excitation current values ​​of the motor of the tilt drive unit 109 according to the tilt angle of the camera head 201 with respect to the horizontal axis. The vertical axis represents the excitation current value, and the horizontal axis represents the tilt angle with respect to the horizontal axis. The excitation current value is maximum near 0° and near 180°, and minimum (0 in this case) near 90°. However, the range of minimum excitation current values ​​is narrower compared to Figure 4. In other words, the excitation current value is minimum only near 90° (approximately 90° ± 5°).

[0035] This is because camera head 201 is longer and heavier than camera head 101, making it more susceptible to the effects of gravity. Although not shown in the diagram, the excitation current value of the motor in the pan direction is also variable, similar to the tilt direction. Thus, the tilt angle relative to the horizontal axis and the motor excitation current value corresponding to the tilt angle change depending on the type of camera head.

[0036] Next, the operation flow of the imaging device in this embodiment will be explained with reference to Figure 7.

[0037] The flowchart in Figure 7 begins after the imaging device in this embodiment has been powered on or has returned from standby mode. This flowchart is realized by the control unit (CPU) executing a program loaded into RAM.

[0038] In step 300, the control unit 105 obtains the ID of the camera head 101 stored in the ID storage unit 103 and identifies the type of camera head 101. For example, the length of the camera head 101 is identified.

[0039] In step 301, the control unit 105 sets the table of excitation current values. Depending on the type of camera head 101 identified by ID identification, it retrieves the table of excitation current values ​​stored in the table storage unit 111.

[0040] In step 302, the control unit 105 determines the orientation of the camera body. Based on the acceleration obtained from the acceleration sensor 110, it detects the orientation of the camera body 100. For example, it determines whether it is in the state shown in Figure 2(a) or the state shown in Figure 2(b).

[0041] In step 303, the control unit 105 performs an integral calculation on the angular velocity obtained from the gyro sensor 102 to determine the angular displacement from an arbitrary position, thereby obtaining the amount of movement of the camera head 101.

[0042] In step 304, the control unit 105 determines the orientation of the camera head 101 based on the amount of movement of the camera head 101 acquired in step 303.

[0043] In step 305, the control unit 105 determines whether it has received a standby transition instruction from the communication unit 112 during normal mode. If it has received the instruction, it proceeds to step 306; otherwise, it proceeds to step 300.

[0044] In step 306, the control unit 105 calculates the pan-tilt horizontal axis inclination angle. First, the control unit 105 calculates the pan-tilt angle by calculating the pan and tilt angles of the camera head 101 from the orientation of the camera head 101. Using the orientation of the camera body 100 obtained by camera body orientation detection and the pan and tilt angles of the camera head 101, the control unit 105 calculates the pan and tilt angles of the camera head 101 relative to the horizontal axis.

[0045] In step 307, the motor control unit 106 sets the excitation current to the motors of the pan drive unit 108 and the tilt drive unit 109 based on the table of excitation current values ​​stored in the table storage unit 111. Specifically, as explained in Figures 3 and 4 above, the excitation current value is set according to the pan and tilt angle with respect to the horizontal axis. Furthermore, as explained using Figures 5 and 6, it is possible to set the optimal excitation current value even if the camera head 101 is changed.

[0046] In step 308, the motor control unit 106 determines the setting of the excitation current to the motor of the pan drive unit 108, which was set in step 307. If the set value is 0, it proceeds to step 309; otherwise, it proceeds to step 310.

[0047] In step 309, the pan-tilt power supply unit 107 cuts off the power supply to the pan drive unit 108, and the process proceeds to step 310.

[0048] In step 310, the motor control unit 106 determines the setting of the excitation current to the motor of the tilt drive unit 109, which was set in step 307. If the set value is 0, the process proceeds to step 311; otherwise, the process ends.

[0049] In step 311, the pan-tilt power supply unit 107 cuts off the power supply to the tilt drive unit 109, ending the flow.

[0050] Furthermore, in this embodiment, the amount of movement of the camera head 101 was acquired using a gyro sensor, but the amount of movement may also be acquired using an encoder.

[0051] With the above configuration, it is possible to provide an imaging device that can achieve power saving while suppressing movement of the camera heads 101 and 201 in standby mode.

[0052] <Embodiment 2> The configuration of the imaging device in Embodiment 2 of the present invention will be described below with reference to Figures 1-6 and 8. The explanation of Figures 1-6 is the same as in Embodiment 1, so the explanation will be omitted.

[0053] Next, the operation flow of the imaging device in this embodiment will be explained using Figure 8. Since the steps in Figure 8 other than step 402 are the same as those in Figure 7 explained in Embodiment 1, the explanation of steps other than step 402 will be omitted. This flowchart is realized by the control unit (CPU) executing the program loaded into RAM.

[0054] In step 402, the control unit 105 determines the orientation of the camera body 100 based on the orientation setting of the camera body 100 set by the camera body orientation setting. The camera body orientation setting is set by the user setting the current orientation of the camera body 100 via the communication unit 112.

[0055] As shown in step 402, the orientation of the camera body 100 can be set by the user without using the acceleration sensor 110.

[0056] With the above configuration, it is possible to provide an imaging device that can achieve power saving while suppressing movement of the camera head unit 101 in standby mode.

[0057] <Embodiment 3> In Embodiment 1, in step 306, the control unit 105 calculates the pan-tilt horizontal axis inclination angle and sets the excitation current according to the pan-tilt horizontal axis inclination angle. However, the excitation current may be determined based on the orientation of the camera head and the attitude of the imaging device without calculating the pan-tilt horizontal axis inclination angle.

[0058] In particular, if the orientation of the camera body 100 is not tilted relative to the horizontal axis, it is not necessary to calculate the tilt horizontal axis inclination angle. Specifically, in step 302, the orientation of the camera body 100 is determined, and if it is determined that the camera body 100 is mounted on a stand parallel to the horizontal axis, it is not necessary to calculate the tilt horizontal axis inclination angle. In this case, the process in step 306 is skipped, and in step 307, the control unit sets the excitation current according to the tilt angle, which is the orientation of the camera head.

[0059] With the above configuration, it is possible to provide an imaging device that can achieve power saving while suppressing movement of the camera head unit 101 in standby mode.

[0060] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its gist.

[0061] The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0062] This embodiment includes the following configuration.

[0063] (Composition 1) Camera head unit, The camera head portion is driven by a drive means capable of moving it in the tilt direction or the pan direction, A control means for determining the current value to be applied to the drive means, The system includes a determination means for determining the orientation of the camera head and the orientation of the imaging device, An imaging device characterized in that, when transitioning from a normal mode in which video is streamed to a standby mode in which video is not streamed, the control means determines the current value to be applied to the drive means based on the orientation of the camera head and the orientation of the imaging device.

[0064] (Configuration 2) The imaging device according to configuration 1, characterized in that when the orientation of the camera head is oriented horizontally, the current value is greater than the current value when the orientation of the camera head is oriented vertically.

[0065] (Composition 3) The imaging apparatus according to configuration 1 or configuration 2, characterized in that the determination means calculates the pan and tilt angles of the camera head from the orientation of the camera head, and calculates the pan tilt and tilt angle of the camera head with respect to the horizontal axis from the calculated orientation of the imaging apparatus and the pan and tilt angles of the camera head.

[0066] (Composition 4) The imaging apparatus according to configuration 3, characterized in that the control means determines the current value to be applied to the drive means according to the tilt angle of the camera head in the pan direction and the tilt angle with respect to the horizontal axis.

[0067] (Composition 5) The imaging apparatus according to configuration 4, further comprising a storage means that stores current values ​​applied to the driving means according to the panning and tilting angles of the camera head with respect to the horizontal axis.

[0068] (Composition 6) It has an acceleration sensor, The imaging device according to any one of configurations 1 to 5, wherein the determination means determines the orientation of the imaging device based on the value of the acceleration sensor.

[0069] (Composition 7) The imaging device according to any one of configurations 1 to 5, wherein the determination means determines the orientation of the imaging device according to a setting value set by the user.

[0070] (Composition 8) It has an angular velocity sensor, The imaging apparatus according to any one of configurations 1 to 7, characterized in that the determination means determines the orientation of the camera head based on the value of the angular velocity sensor.

[0071] (Composition 9) It has an encoder, The imaging apparatus according to any one of configurations 1 to 7, characterized in that the determination means determines the orientation of the camera head based on the value of the encoder.

[0072] (Composition 10) The aforementioned camera head is replaceable. The imaging apparatus according to any one of configurations 1 to 9, characterized in that the control unit determines the current value to be applied to the driving means according to the type of camera head. [Explanation of symbols]

[0073] 100 Camera Body 101 Camera Head 102 Gyroscope Sensor 103 ID storage section 104 Imaging Engine 105 Control Unit 106 Motor Control Unit 107 Pan / Tilt Power Supply Unit 108 Pan drive unit 109 Tilt drive unit 110 Accelerometer 111 Table Storage Unit 112 Communications Department

Claims

1. Camera head unit, The camera head portion is driven by a drive means capable of moving it in the tilt direction or the pan direction, A control means for determining the current value to be applied to the drive means, The system includes a determination means for determining the orientation of the camera head and the orientation of the imaging device, An imaging device characterized in that, when transitioning from a normal mode in which video is streamed to a standby mode in which video is not streamed, the control means determines the current value to be applied to the drive means based on the orientation of the camera head and the orientation of the imaging device.

2. The imaging apparatus according to claim 1, characterized in that when the orientation of the camera head is oriented horizontally, the current value is greater than the current value when the orientation of the camera head is oriented vertically.

3. The imaging apparatus according to claim 1, characterized in that the determination means calculates the pan and tilt angles of the camera head from the orientation of the camera head, and calculates the pan tilt and tilt angle of the camera head with respect to the horizontal axis from the calculated orientation of the imaging apparatus and the pan and tilt angles of the camera head.

4. The imaging apparatus according to claim 3, characterized in that the control means determines a current value to be applied to the drive means according to the tilt angle of the camera head in the pan direction and the tilt angle with respect to the horizontal axis.

5. The imaging apparatus according to claim 4, further comprising a storage means for storing current values ​​applied to the driving means according to the panning and tilting angles of the camera head with respect to the horizontal axis.

6. It has an acceleration sensor, The imaging device according to claim 1, characterized in that the determination means determines the orientation of the imaging device based on the value of the acceleration sensor.

7. The imaging apparatus according to claim 1, characterized in that the determination means determines the orientation of the imaging apparatus according to a setting value set by the user.

8. It has an angular velocity sensor, The imaging apparatus according to claim 1, characterized in that the determination means determines the orientation of the camera head based on the value of the angular velocity sensor.

9. It has an encoder, The imaging apparatus according to claim 1, characterized in that the determination means determines the orientation of the camera head based on the value of the encoder.

10. The aforementioned camera head is replaceable. The imaging apparatus according to claim 1, characterized in that the control unit determines the current value to be applied to the driving means according to the type of camera head.

11. A control method for an imaging device comprising a camera head and a drive means capable of driving the camera head in the tilt direction or the pan direction, The system comprises a control step for determining the current value to be applied to the driving means, and a determination step for determining the orientation of the camera head and the orientation of the imaging device. A method for controlling an imaging device, characterized in that when transitioning from a normal mode in which video is streamed to a standby mode in which video is not streamed, the control means determines a current value to be applied to the drive means based on the orientation of the camera head and the orientation of the imaging device.

12. A program that, when loaded into a computer and executed, causes the computer to function as a control means and determination means for the imaging apparatus described in any one of claims 1 to 10.

Images