Imaging device

Abstract

To provide an imaging device that can reduce vibration and operating noise regardless of the installation orientation. [Solution] An imaging device comprising an imaging means, a driving means for driving the imaging means, and a control means for controlling the driving means, wherein the control means sets an avoidance speed range for the driving means, which is a range of speeds that the driving means will avoid depending on the installation position of the imaging device or the imaging position of the imaging means.

Description

Technical Field

[0001] The present invention relates to an imaging device.

Background Art

[0002] The imaging device changes the shooting direction by a motor mounted in the camera. Conventionally, there is a problem that the driving sound becomes large due to the vibration of the motor. This is because the motor vibration resonates through the internal frame and the camera unit. In a camera used for broadcast operations and the like, since video quality, silence, and smooth pan-tilt operations are required, the driving sound and vibration generated at such resonance frequencies are problematic. As a solution method, for example, control is performed so as not to use the speed range in which the resonance frequency occurs.

[0003] In Patent Document 1, in order to suppress the driving sound and vibration generated at the resonance frequency during driving of the imaging device, a configuration is disclosed that includes a derivation means for deriving the speed and a determination means for determining whether it is within the speed range in which the resonance frequency should be avoided. And by adopting such a configuration, a method of controlling so as not to reach the speed to be avoided is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] On the other hand, imaging devices can be installed in various positions, including freestanding installation on the bottom surface, ceiling-mounted installation, and wall-mounted installation. When the installation position differs in this way, the direction of gravity of the camera unit, frame, and surrounding structures relative to the motor vibration source changes, and the center of gravity changes, causing the overall natural frequency to fluctuate and the resonance range to change. Therefore, depending on the installation position, there is a problem of increased vibration and drive.

[0006] Therefore, the object of the present invention is to provide an imaging device that can reduce vibration and driving noise regardless of the installation position. [Means for solving the problem]

[0007] To achieve the above objective, an imaging device as one aspect of the present invention is an imaging device comprising: an imaging means; a driving means for driving the imaging means; and a control means for controlling the driving means, wherein the control means sets an avoidance speed range for the driving means, which is a range of speeds that the driving means will avoid according to the installation posture of the imaging device or the imaging posture of the imaging means. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide an imaging device that can reduce vibration and driving noise regardless of the installation orientation. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view of the imaging device of Embodiment 1. [Figure 2] This is a hardware configuration diagram of the imaging device according to Embodiment 1. [Figure 3] This diagram shows the stationary installation of the imaging device according to Embodiment 1. [Figure 4] This diagram shows the installation of the imaging device according to Embodiment 1 on the side wall. [Figure 5] This figure shows the ceiling-mounted installation of the imaging device according to Embodiment 1. [Figure 6] This flowchart shows an example of the control process of the imaging device according to Embodiment 1. [Figure 7] This flowchart shows an example of the control process of the imaging device in a modified example of Embodiment 1. [Figure 8] This figure shows an imaging device according to Embodiment 2. [Figure 9] This is a flowchart showing an example of the control process of the imaging device according to Embodiment 2. [Figure 10] This figure shows an imaging device according to Embodiment 3. [Modes for carrying out the invention]

[0010] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the embodiments described below do not limit the invention as defined in the claims. While multiple features are described in the embodiments, not all of these features are essential to the invention, and the features may be combined in any way. Furthermore, in the accompanying drawings, the same or similar configurations are given the same reference numerals, and redundant descriptions are omitted.

[0011] <Embodiment 1> The imaging device 100 in Embodiment 1 will be described below with reference to Figures 1 to 7. Figure 1 is a perspective view of the imaging device 100 according to Embodiment 1. Figure 2 is a hardware configuration diagram of the imaging device 100 according to Embodiment 1.

[0012] The imaging device 100 shown in Figure 1 is applicable to cameras that pan and tilt, such as remote cameras used in live music venues and photography studios, surveillance cameras, and interchangeable-lens pan-tilt cameras. The imaging device 100 comprises a camera unit (imaging section) 1, a support unit 2, and a base unit (housing) 3. The support unit 2 is connected to the base unit 3. The support unit 2 and the base unit 3 are protected by their respective outer covers, which protect the components and parts placed inside them. The base unit 3 is a housing that can be installed on an installation surface (mounting surface), and the imaging device 100 is fixed when the base unit 3 is attached to the installation surface.

[0013] A tilt motor 5 is located inside the support unit 2. The rotation of the tilt motor 5 allows the camera unit 1 to pivot (rotate) in the tilt direction around the tilt axis L1. A pan motor 15 is located inside the base unit 3. The rotation of the pan motor 5 allows the camera unit 1 and the support unit 2 to pivot (rotate) in the pan direction around the pan axis L2.

[0014] Camera unit 1 also functions as an imaging means comprising one or more lenses (not shown) and an image sensor (not shown). The lens of camera unit 1 is equipped with a zoom function. The image sensor of camera unit 1 has, for example, a CCD or CMOS element and an A / D converter. An optical image is formed on the CCD or CMOS element via the lens in camera unit 1. The CCD or CMOS element outputs an electrical signal (analog signal) corresponding to the optical image, and the A / D converter converts this analog signal into a digital signal and outputs it as image data. The configuration of the image sensor and A / D converter constituting camera unit 1 is not particularly limited, and various conventionally known configurations can be applied. That is, any configuration that can generate and output an electrical signal (image data) from an optical image of a subject is acceptable.

[0015] The pan drive unit is composed of a mechanical drive system that performs the pan operation, a pan motor 15 as the drive source, and a motor driver and the like. The pan drive unit is controlled by the CPU 100a and the main circuit board, which will be described later. A predetermined turning speed and avoidance speed range are set from the CPU 100a to the pan drive unit. Based on the set information, the pan drive unit turns the camera unit 1 and the support unit 2 in the pan direction.

[0016] The tilt drive unit is composed of a mechanical drive system that performs the tilt operation, a tilt motor 5 as the drive source, and a motor driver and the like. The tilt drive unit is controlled by the CPU 100a and the main circuit board, which will be described later. A predetermined turning speed and avoidance speed range are set from the CPU 100a to the tilt drive unit. Based on the set information, the tilt drive unit can turn the camera unit 1 in the tilt direction. The motors of the drive sources of the pan drive unit and the tilt drive unit are, for example, stepping motors that can control the rotation speed of the motor with a pulse signal. In the present embodiment, the pan drive unit and the tilt drive unit function as drive means.

[0017] The imaging device 100 is configured to include a CPU 100a, a ROM 100b, a RAM 100c, an imaging unit 100d, and a storage device 100e, and a communication unit 100f.

[0018] The CPU (processor) 100a is a central processing unit that reads out the control program stored in the ROM (Read-Only Memory) 100b and executes various processes. The CPU 100a functions as control means for comprehensively controlling the entire imaging device 100. For example, the CPU 100a controls the operations of drive units including the pan drive unit and the tilt drive unit. Also, an avoidance speed range, which is a range for avoiding the turning speed range of the camera unit 1 during resonance, is set for the drive unit.

[0019] ROM 100b is a non-volatile memory that stores the programs (control programs) and data necessary for each embodiment and other control functions. RAM (Random Access Memory) 100c is a volatile memory and is used as the main memory, work area, and other temporary storage area of ​​the CPU 100a. The imaging unit 100d is an imaging means that constitutes the camera unit (imaging unit) 1, so a detailed explanation is omitted.

[0020] The storage device 100e stores various data and programs. The storage device 100e is a non-volatile storage device such as an HDD, flash memory, or SD card. In addition to being used as a persistent storage area for the OS, various programs, and various data, the storage device 100e is also used as a storage area for short-term data. The communication unit 100f performs communication processing with external devices such as client devices and servers via a network, either by wire or wireless connection.

[0021] The functions and processing of the imaging device 100 are realized by the CPU 100a reading a program stored in the ROM 100b or storage device 100e and executing this program. Alternatively, the CPU 100a may read a program stored in a recording medium such as an SD card instead of the ROM 100b, etc.

[0022] In this embodiment, the imaging device 100 uses one processor (CPU 100a) and one memory (ROM 100b) to perform each operation, but other configurations are also possible. For example, multiple processors, multiple RAMs, ROMs, and storage devices can work together to perform each operation in the imaging device 100. Furthermore, some operations and processes may be performed using hardware circuits. Also, the functions and processing of the imaging device 100 described later may be implemented using a processor other than the CPU. Additionally, for example, a GPU (Graphics Processing Unit) may be used instead of a CPU.

[0023] Next, referring to Figures 3 to 5, we will explain the differences in the installation orientation of the imaging device 100, as well as the changes in the center of gravity and natural frequency depending on the installation orientation. Figure 3 shows the imaging device 100 in a stationary installation (installed on the floor). Stationary installation is the primary installation orientation for the imaging device 100.

[0024] The imaging device 100 fixes the base unit 3 to the installation section (bottom surface) L3. While it is preferable to use intermediate components such as fixing attachments (not shown) for mechanical fixing, this is not limited to this method. For example, any other robust fixing method that does not involve mechanical fixing may be used instead. The internal configuration of the support unit 2 will now be described in detail.

[0025] Inside the support unit 2, a frame 4 is positioned and connected to the base unit 3 by mechanical fastening such as screws and rivets. The frame 4 is formed from molded resin material, metal sheet metal such as aluminum alloy or iron alloy, or aluminum die casting. However, it is not limited to these materials; other materials may also be used. However, it can be said that materials with higher rigidity, such as metal materials, generally have a higher natural frequency and a smaller resonance range. The tilt motor fixing part 6 and the tilt rotation part 8 are fixed to the frame 4. The tilt motor 5 is fixed to the tilt motor fixing part 6. The tilt rotation part 8 is driven by transmitting the power (driving force) generated by the driving of the tilt motor 5 to the tilt rotation part 8 via a belt (not shown) or gear (not shown), while setting the reduction ratio. The driving control of the tilt motor 5 is performed by the CPU 100a. Then, by engaging the frame 4 and the camera unit 1 at the tilt center 7 with shaft parts, the camera unit 1 can be configured to tilt and rotate. In other words, the camera unit 1 rotates (rotates vertically) around the tilt rotation axis (tilt rotation axis) with the tilt center 17 as the axis.

[0026] On the other hand, the camera unit's center of gravity G may not necessarily coincide with the center of the tilt 7. The natural frequency of the imaging device 100 is determined by the direction of gravity GA, that is, gravity acting downwards relative to the camera unit 1, around the camera unit's center of gravity G, as well as by the arrangement of components and materials, including the frame 4, camera unit 1, and other parts. This natural frequency of the imaging device 100 resonates with the motor vibration at the tilt rotation speed, that is, the motor rotation speed, resulting in significant drive noise and vibration.

[0027] Furthermore, since various installation positions for the imaging device 100 are possible other than those shown in Figure 3, these will be explained below with reference to Figures 4 and 5. Figure 4 shows the side wall mounting of the imaging device 100 according to Embodiment 1. Figure 5 shows the ceiling-mounted (installed on the ceiling) mounting of the imaging device 100 according to Embodiment 1.

[0028] As shown in Figure 4, the imaging device 100 has its base unit 3 fixed to the installation part (wall surface) L4. The pan motor 15 is fixed to the pan motor fixing part 16. The pan motor fixing part 16 is fixed to the pan rotation part 18, enabling the camera unit 1 and frame 4 to pan around the pan center 17 as an axis. That is, the camera unit 1 and frame 4 pan rotate (rotate horizontally) around the pan center 17 as an axis (pan rotation axis). The pan rotation part 18 is driven by transmitting the power (driving force) generated by the drive of the pan motor 15 to the pan rotation part 18 via a belt (not shown) or gear (not shown) while setting the reduction ratio.

[0029] On the other hand, in the case of the camera unit's center of gravity G and other components, the gravity direction GB causes the natural frequency of the imaging device 100 to fluctuate, as shown in the examples of Figures 3 and 4. Consequently, the range in which it resonates with the rotation speed (motor rotation speed, motor vibration) also fluctuates.

[0030] In Figure 5, the component and unit configuration is the same as in Figure 3, but the imaging device 100 has its base unit 3 fixed to the installation area (ceiling) L5. Also, in Figure 5, the center of gravity G of the camera unit is in the direction of gravity GC, that is, gravity acts in the opposite direction to the installation surface. Because the direction of gravity is different for the center of gravity G of the camera unit and other components, the natural frequency of the imaging device 100 changes between Figure 3 and Figure 5, and therefore the range in which it resonates with the rotation speed (motor rotation speed) also changes. In particular, the natural frequency tends to change more when the camera unit 1 is not parallel to the installation surface, that is, when it starts from a state where a tilt angle has occurred.

[0031] In these installation configurations—such as the stationary installation shown in Figure 3, the side-wall installation shown in Figure 4, the ceiling-mounted installation shown in Figure 5, or other installation positions (such as tripod installation)—the overall natural frequency fluctuates, causing the resonance range (range of resonant frequencies) to change. Therefore, when control is applied to avoid the rotational speed range during resonance, the avoidance range becomes larger. Thus, by detecting the installation position of the imaging device, a rotational speed avoidance range corresponding to the installation position can be determined. In other words, the avoidance speed range is the range that avoids the rotational (rotational) speed range of the above-mentioned drive means that resonates at the natural frequency of the imaging device corresponding to the installation position of the imaging device 100 including the base unit 1. To put it another way, the avoidance speed range is a speed range set according to the range of resonant frequencies, which have the same frequency as the natural frequency of the imaging device (linked to the range of resonant frequencies).

[0032] The imaging device 100 of Embodiment 2 has means (detection means) for detecting the direction of gravity of the camera unit 1, which includes the imaging device 100. Preferably, a gyro sensor is used as the detection means. Furthermore, the gyro sensor, which functions as the detection means, is preferably placed inside the base unit 3 (inside the housing) or attached to the frame 4 in order to facilitate detection of the direction of gravity. The CPU 100a detects the installation orientation of the base unit 3, which includes the imaging device 100, from the detection result of the detection means. The detection means may also detect the installation orientation of the base unit 3 from the direction of gravity detected using the function of the detection means. In addition, other detection means may be used as long as they can detect the direction of gravity, rather than a gyro sensor. Such means for detecting the direction of gravity may be located on an electrical circuit board on which the CPU 100a is mounted. Alternatively, it may be located inside the imaging device 100 while being electrically connected to the electrical circuit board on which the CPU 100a is mounted.

[0033] The avoidance speed range differs for each imaging device, but it is desirable to set a certain speed range based on the natural frequency of the imaging device according to each installation state. Furthermore, compared to other installation positions, such as side wall mounting, the weight influence of the camera unit 1 on the frame 4 becomes larger, and the resonance range may increase due to the decrease in natural frequency resulting from the reduction in rigidity. The method for setting the avoidance speed range based on such installation positions will be explained with reference to the flowchart shown in Figure 6. Specifically, the method for setting the avoidance speed range, which is the range in which the rotational speed range of the drive means that resonates with the natural frequency of the imaging device 100 according to the installation position of the base unit 3 is avoided, will be explained.

[0034] Figure 6 is a flowchart showing an example of the control process of the imaging device 100 according to Embodiment 1. The process (operation of the imaging device 100) shown in the flowchart of Figure 6 is realized by the CPU 100a executing a program stored in the ROM 100b, etc. In addition, the notation of each process (step) is omitted by prefixing it with S. Furthermore, in the process shown in Figure 6 below, the detection means detects the direction of gravity of the camera unit 1 when the camera unit 1 is facing forward (image side direction, subject side direction) relative to the base unit 3 and is positioned parallel to the base unit 3. The installation orientation of the base unit 3 is then determined by the detection means to determine whether the direction of gravity detected is downward, upward, or horizontal (lateral) relative to the installation surface (for example, installation parts L3, L4, L5).

[0035] In S101, the CPU 100a determines whether the power to the imaging device 100 has been turned on and whether the camera unit 1 is in a state where it can rotate. If the determination is made and the power to the imaging device 100 has been turned on and the camera unit 1 is in a state where it can rotate, the process proceeds to S102. On the other hand, if the power to the imaging device 100 has not been turned on, or if the camera unit 1 is not in a state where it can rotate, the process waits until the power to the imaging device 100 is turned on and the camera unit 1 is in a state where it can rotate.

[0036] In S102, the detection means detects the direction of gravity of the camera unit 1, and the CPU 100a acquires the detection result, which includes the information on the direction of gravity of the camera unit 1 detected by the detection means.

[0037] In S103, the CPU 100a determines from the detection result obtained in S102 whether the direction of gravity is perpendicular (vertical) to the mounting surface of the imaging device 100. If the determination shows that the direction of gravity is perpendicular to the mounting surface of the imaging device 100, the process proceeds to S103. On the other hand, if the direction of gravity is not perpendicular to the mounting surface of the imaging device 100, the process proceeds to S107. In this process, if the direction of gravity is not perpendicular to the mounting surface of the imaging device 100, it is determined that the direction of gravity is horizontal (lateral) to the said mounting surface. That is, in S103, the CPU 100a determines from the detection result obtained in S102 whether the direction of gravity is perpendicular or horizontal to the mounting surface of the imaging device 100. Here, if the process in S103 proceeds to S107, it can be determined (detected) that the base unit 3 is mounted on the side wall surface because the direction of gravity of the camera unit 1 is horizontal to the mounting surface of the imaging device 100. In other words, the CPU 100a can determine that the imaging device 1 is installed on the side wall surface by detecting the installation orientation of the imaging device 100, including the base unit 3, from the detection result of the detection means.

[0038] In S104, the CPU 100a determines from the detection result obtained in S102 whether the direction of gravity is downward relative to the camera unit 1 (towards the mounting surface relative to the camera unit 1). If the determination results in the direction of gravity being downward relative to the camera unit 1, the process proceeds to S105. On the other hand, if the direction of gravity is not downward relative to the camera unit 1, the process proceeds to S106. In this process, if the direction of gravity is not downward relative to the camera unit 1, it is determined that the direction of gravity is upward relative to the camera unit 1 (in the opposite direction relative to the camera unit 1 from the mounting surface of the imaging device 100). That is, in S104, the CPU 100a determines from the detection result obtained in S102 whether the direction of gravity is downward or upward relative to the camera unit 1. Here, in the process of S104, if the process proceeds to S105, it can be determined (detected) that the base unit 3 is in a stationary position because the direction of gravity of the camera unit 1 is in the direction of the mounting surface of the imaging device 100 relative to the camera unit 1. In other words, the CPU 100a can determine that the imaging device 1 is in a stationary installation state by detecting the installation orientation of the imaging device 100, including the base unit 3, from the detection result of the detection means. Furthermore, if the process in S104 proceeds to S106, the direction of gravity of the camera unit 1 is in the opposite direction to the installation surface of the imaging device 100 relative to the camera unit 1, so it can be determined (detected) that the base unit 3 is in a ceiling-suspended installation state. In other words, the CPU 100a can determine that the imaging device 1 is in a ceiling-suspended installation state by detecting the installation orientation of the imaging device 100, including the base unit 3, from the detection result of the detection means.

[0039] In S105, the CPU 100a sets the avoidance speed range A as the first avoidance speed range for the drive means (the speed range when the direction of gravity of the camera unit 1 is perpendicular to the installation surface, and the direction of gravity is toward the installation surface relative to the camera unit 1). In other words, based on the installation posture of the base unit 3 (stationary installation), the CPU 100a sets the avoidance speed range A as the driving range of the drive means, and then controls the drive means to drive within the set avoidance speed range A. After setting the avoidance speed range A, the process in the flowchart of Figure 6 is terminated.

[0040] In S106, the CPU 100a sets the avoidance speed range B as a second avoidance speed range for the drive means (the speed range when the direction of gravity of the camera unit 1 is perpendicular to the installation surface, and the direction of gravity is opposite to the direction of the installation surface relative to the camera unit 1). In other words, based on the installation posture of the base unit 3 (ceiling suspension installation), the CPU 100a sets the avoidance speed range B as the driving range of the drive means, and then controls the drive means to drive within the set avoidance speed range B. After setting the avoidance speed range B, the process in the flowchart of Figure 6 is terminated.

[0041] In S107, the CPU 100a sets the avoidance speed range C (the speed range when the direction of gravity of the camera unit 1 is horizontal to the installation surface) as a third avoidance speed range for the drive means. In other words, the CPU 100a sets the avoidance speed range C as the driving range of the drive means based on the installation posture of the base unit 3 (installed on the side wall), and then controls the drive means to drive within the set avoidance speed range C. After setting the avoidance speed range C, the process in the flowchart of Figure 6 is terminated.

[0042] Here, evasion speed range A (first evasion speed range), evasion speed range B (second evasion speed range), and evasion speed range C (third evasion speed range) are all different speed ranges. Furthermore, if the power is turned ON again after being turned OFF, the predetermined evasion speed ranges can be set by repeating the same process as in Figure 6. Also, if other installation positions are frequently used, the same process as in Figure 6 can be performed to set predetermined evasion speed ranges corresponding to those other installation positions.

[0043] Furthermore, in the process related to the flowchart in Figure 6, processing may be performed in either the case of pan rotation, tilt rotation, or both. That is, depending on the gravity direction information of the camera unit 1, either or both of a predetermined avoidance speed range during pan rotation and a predetermined avoidance speed range during tilt rotation may be set.

[0044] As described above, by performing the process shown in Figure 6, the CPU 100a can set an avoidance speed range for the drive means, which is the range of speeds that the drive means will avoid according to the installation orientation of the imaging device 100.

[0045] Next, a modified example of this embodiment will be described. In this modified example, the process of setting the avoidance speed range will be described with reference to Figure 7, without using detection means such as a gyro sensor to detect the direction of gravity of at least the base unit 3.

[0046] Figure 7 is a flowchart showing an example of control processing in a modified version of Embodiment 1. The processing (operation of the imaging device 100) shown in the flowchart of Figure 7 is realized by the CPU 100a executing a program stored in the ROM 100b, etc. Furthermore, each process (step) is indicated by prefixing it with S, thus omitting the notation of the process (step). In addition, explanations of the processing and points in Figure 7 that are the same as those in Figure 6 will be omitted as appropriate.

[0047] In S201, the CPU 100a determines whether the power to the imaging device 100 has been turned on and whether the camera unit 1 is in a state where it can rotate. If the determination is made and the power to the imaging device 100 has been turned on and the camera unit 1 is in a state where it can rotate, the process proceeds to S202. On the other hand, if the power to the imaging device 100 has not been turned on, or if the camera unit 1 is not in a state where it can rotate, the process waits until the power to the imaging device 100 is turned on and the camera unit 1 is in a state where it can rotate.

[0048] In S202, the CPU 100a determines whether it has detected an input setting regarding the direction of gravity for the camera unit 1 of the imaging device 100. If the CPU 100a detects an input setting regarding the direction of gravity for the camera unit 1, it proceeds to S203. On the other hand, if it has not detected an input setting regarding the direction of gravity for the camera unit 1, it waits until it detects such an input setting. The input setting regarding the direction of gravity is entered by the user via a user interface (not shown) indicating whether the direction of gravity is perpendicular or horizontal to the mounting surface of the imaging device 100 (user input). Furthermore, if perpendicular is entered, the user also inputs whether the direction of gravity is downward or upward relative to the camera unit 1. The CPU 100a detects the input setting when such user settings are performed. In other words, the user performs user settings via the user interface of the imaging device, the user interface of an information processing device etc. which is connected to the imaging device for communication, or a user interface displayed on a predetermined screen.

[0049] In S203, the CPU 100a determines whether the gravity direction was input as perpendicular to the mounting surface of the imaging device 100 based on the input settings detected in S202. If the result of the determination is that the gravity direction was input as perpendicular to the mounting surface of the imaging device 100, the process proceeds to S204. On the other hand, if the gravity direction was not input as perpendicular to the mounting surface of the imaging device 100, the process proceeds to S207. In this process, if the gravity direction is not perpendicular to the mounting surface of the imaging device 100, the gravity direction is determined to be horizontal (lateral) to the mounting surface of the imaging device 100. In other words, in S203, the CPU 100a determines whether the gravity direction is perpendicular or horizontal to the mounting surface of the imaging device 100 based on the input settings detected in S202. Here, if the process in S203 proceeds to S207, it can be determined (detected) that the base unit 3 is mounted on the side wall surface because the gravity direction of the camera unit 1 is horizontal to the mounting surface of the imaging device 100. In other words, the CPU 100a can determine that the imaging device 1 is installed on the side wall by detecting the installation orientation of the imaging device 100, including the base unit 3, from the input settings detected in S202.

[0050] In S204, the CPU 100a determines from the input settings detected in S202 whether the direction of gravity was input as downward relative to the camera unit 1 (towards the mounting surface relative to the camera unit 1). If the result of the determination is that the direction of gravity was input as downward relative to the camera unit 1, the process proceeds to S205. On the other hand, if the direction of gravity was not input as downward relative to the camera unit 1, the process proceeds to S206. Here, if the process in S204 proceeds to S205, the direction of gravity of the camera unit 1 is the direction of the mounting surface of the imaging device 100 relative to the camera unit 1, so it can be determined (detected) that the base unit 3 is in a stationary installation state. In other words, the CPU 100a can determine that the imaging device 1 is in a stationary installation state by detecting the installation orientation of the imaging device 100, including the base unit 3, from the input settings regarding the direction of gravity. Furthermore, if the process in S204 proceeds to S206, the direction of gravity of the camera unit 1 is opposite to the direction of installation of the imaging device 100 relative to the camera unit 1, so it can be determined (detected) that the base unit 3 is suspended from the ceiling. In other words, the CPU 100a can determine that the imaging device 1 is suspended from the ceiling by detecting the installation orientation of the imaging device 100, including the base unit 3, from the input setting regarding the direction of gravity.

[0051] Here, the processes in S205, S206, and S207 are the same as the processes in S105, S106, and S107 shown in Figure 6, respectively, so their explanation is omitted.

[0052] In this way, the CPU 100a can set the avoidance speed range based on the information about the gravity direction of the camera unit 1 input by the user. That is, according to the process shown in the flowchart in Figure 7, even without means to detect the gravity direction such as a gyro sensor, the avoidance speed range according to the installation orientation can be set in the same way as the process shown in Figure 6.

[0053] As described above, according to the imaging device 100 in Embodiment 1, even if the installation posture changes, an appropriate avoidance speed range can be set according to the range of resonant frequencies, which are the same frequency as the natural frequency of the imaging device corresponding to the installation posture. This makes it possible to provide an imaging device that can reduce vibrations and driving noise with respect to the resonant frequency, regardless of the installation posture of the imaging device including the base unit 3.

[0054] <Embodiment 2> The imaging device 100 according to Embodiment 2 will be described below with reference to Figures 8 and 9. Embodiment 2 shows a method for setting the avoidance speed range during tilt rotation (tilt rotation) according to the tilt angle (rotation angle) of the camera unit 1. In Embodiment 2, the same configurations and processes as in Embodiment 1 will not be explained, and the differences from Embodiment 1 will be described.

[0055] Figure 8 shows the imaging device 100 according to Embodiment 2. In Figure 8, as an example, the normal state, i.e., when the camera unit 1 is facing forward, is described as negative when tilted downwards and positive when tilted upwards. Figure 8(A) shows the state of the imaging device 100 with a tilt angle of -20°. Figure 8(B) shows the state of the imaging device 100 with a tilt angle of 0° (normal state). Figure 8(C) shows the state of the imaging device 100 with a tilt angle of 45°. Figure 8(D) shows the state of the imaging device 100 with a tilt angle of 90°. Note that the angles shown in Figure 8 are for illustrative purposes only, and similar effects will be produced with other angles in the configuration of Embodiment 2.

[0056] As shown in Figures 8(A) to 8(D), the position of the camera unit's center of gravity G changes relative to the mounting part L3 (bottom surface) and the tilt rotation part 7 as the camera unit 1 rotates around the tilt axis. As the center of gravity of the camera unit 1 moves, the natural frequency of the imaging device 100 changes, and therefore the range in which it resonates with the rotation speed (motor rotation speed) also changes. Although Figure 8 describes the installation position as a stationary installation, the same thing will happen in other installation conditions, such as side wall mounting or ceiling suspension.

[0057] As described above, the center of gravity of camera unit 1 tends to fluctuate significantly depending on the installation orientation due to a discrepancy between the tilt rotation axis and the camera unit's center of gravity G. Therefore, the resonant frequency changes depending on the installation orientation, and the speed range of vibrations and drive noises generated at the resonant frequency changes. In addition, rotating camera unit 1 in the tilt direction causes a change in the camera unit 1's orientation (imaging orientation), which also changes the center of gravity of camera unit 1 and contributes to a change in its natural frequency.

[0058] The imaging device 100 of Embodiment 2 has at least a means (detection means) for detecting the tilt angle of the camera unit 1 (detection of the imaging posture of the camera unit 1). Preferably, a gyro sensor is used as the detection means. Furthermore, it is preferable that the gyro sensor, which functions as the detection means, be placed inside the camera unit 1 (inside the imaging means) to facilitate detection of the tilt angle of the camera unit 1. However, other detection means may be used as long as they can detect the tilt angle of the camera unit 1, even if a gyro sensor is not used. For example, the tilt angle of the camera unit 1 may be calculated from the number of steps of the rotary motor of a drive unit such as a pan drive unit or a tilt drive unit. Alternatively, for example, the tilt angle of the camera unit 1 may be detected using a position detection sensor that uses a photointerrupter (PI) for detecting angular position. Such a means for detecting the tilt angle of the camera unit 1 can be controlled by electrical connection to the CPU 100a. That is, the CPU 100a detects the imaging posture of the base unit 3 from the detection result of the above detection means.

[0059] A method for setting the avoidance speed range during tilt turning (tilt rotation) in Embodiment 2 based on the tilt angle of the camera unit 1 will be described using the flowchart shown in FIG. 9. FIG. 9 is a flowchart showing an example of the control process of the imaging device 100 according to Embodiment 2. Note that the process (operation of the imaging device 100) according to the flowchart of FIG. 9 is realized by the CPU 100a executing a program stored in the ROM 100b or the like. Also, the notation of the steps (steps) is omitted by attaching S at the beginning of each step (step). Further, in the following process, the angle A is an angle smaller than the angle B. The angle B is an angle smaller than the angle C. That is, the relationship is angle A < B < C. For the angles A to C, arbitrary angles can be set respectively.

[0060] In S301, the CPU 100a determines whether the power of the imaging device 100 has been turned on and the camera unit 1 is in a state where it can turn. As a result of the determination, if the power of the imaging device 100 has been turned on and the camera unit 1 is in a state where it can turn, the process proceeds to S302. On the other hand, if the power of the imaging device 100 has not been turned on or the camera unit 1 is not in a state where it can turn, the process waits until the power of the imaging device 100 is turned on and the camera unit 1 is in a state where it can turn.

[0061] In S302, the CPU 100a detects the tilt angle X of the camera unit 1 by the detection means, and the CPU 100a acquires the detection result including the tilt angle X of the camera unit 1 detected by the detection means. Also, the CPU 100a acquires information on the imaging posture of the camera unit 1 by determining the imaging posture of the camera unit 1 from the acquired tilt angle X.

[0062] In S303, the CPU 100a determines the position of the tilt angle X of the camera unit 1 detected in S302, and determines whether the tilt angle X satisfies A ≤ X < B. As a result of the determination, if the tilt angle X satisfies A ≤ X < B (if it is in the imaging posture where A ≤ X < B), the process proceeds to S304. On the other hand, if the tilt angle X does not satisfy A ≤ X < B (if it is not in the imaging posture where A ≤ X < B), the process proceeds to S305.

[0063] In S304, the CPU 100a sets the avoidance speed range D (the speed range in the case of A ≤ X < B) as the first avoidance speed range for the driving means. In other words, the CPU 100a sets the avoidance speed range D as the driving range of the driving means based on the imaging posture of the camera unit 1, and then controls the driving means to drive within the set avoidance speed range D.

[0064] In S305, the CPU 100a determines whether the tilt angle X of the camera unit 1 detected in S302 satisfies B ≤ X < C. As a result of the determination, if the tilt angle X satisfies B ≤ X < C (if it is in the imaging posture where B ≤ X < C), the process proceeds to S306. On the other hand, if the tilt angle X does not satisfy B ≤ X < C (if it is not in the imaging posture where B ≤ X < C), the process proceeds to S307. Note that if the tilt angle X does not satisfy B ≤ X < C, the tilt angle X is determined to satisfy C ≤ X.

[0065] In S306, the CPU 100a sets the avoidance speed range E (the speed range in the case of B ≤ X < C) as the second avoidance speed range for the driving means. In other words, the CPU 100a sets the avoidance speed range E as the driving range of the driving means based on the imaging posture of the camera unit 1, and then controls the driving means to drive within the set avoidance speed range E.

[0066] In S307, the CPU 100a sets an avoidance speed range F (speed range when C ≤ X) as a third avoidance speed range for the drive means. In other words, the CPU 100a sets the avoidance speed range F as the drive range for the drive means based on the imaging orientation of the camera unit 1, and then controls the drive means to drive within the set avoidance speed range F.

[0067] In S308, the CPU 100a determines whether to terminate the process. If the determination is made to terminate the process, the process shown in the flowchart of Figure 9 is terminated. On the other hand, if the process is not terminated, the process returns to S302 and the same process is repeated. For example, the CPU 100a determines that the process should terminate if the power to the imaging device 1 is turned off.

[0068] As described above, the CPU 100a sets one of three different speed ranges, evasion speed range D, evasion speed range E, or evasion speed range F, for the drive means according to the imaging orientation of the camera unit 1. For example, if the tilt angle X of the camera unit 1 is -20° to 0°, evasion speed range D is set; if the tilt angle X is 0° to 45°, evasion speed range E is set; and if the tilt angle X is 45° to 90°, evasion speed range F is set. In this way, in Embodiment 2, an evasion speed range can be set according to the angle range of the camera unit 1. Note that evasion speed range D, evasion speed range E, and evasion speed range F are all different speed ranges.

[0069] Furthermore, if the power is turned ON again after being turned OFF, the same process as in Figure 9 above is repeated to set the predetermined avoidance speed range. Note that Figure 9 shows three patterns of avoidance speed ranges D, E, and F, but this is merely an example, and two or more avoidance speed range patterns are sufficient. In addition, there are no restrictions on the tilt angle range, and it is possible to use, for example, an imaging device that can rotate 360°.

[0070] As described above, the CPU 100a sets an avoidance speed range for the above-mentioned drive means, which is a range that avoids the rotation speed range of the imaging means that resonates, according to the imaging orientation of the camera unit 1.

[0071] As described above, with the imaging device 100 in Embodiment 2, even if the tilt angle (imaging posture) of the camera unit 1 changes, an appropriate avoidance speed range can be set according to the range of resonant frequencies, which have the same frequency as the natural frequency of the imaging device corresponding to the imaging posture. As a result, regardless of the tilt angle of the camera unit, a reduction effect on vibration and drive noise with respect to the resonant frequency can be obtained.

[0072] <Embodiment 3> The imaging device 100 according to Embodiment 3 will now be described with reference to Figure 10. Embodiment 2 showed a method for setting the avoidance speed range during tilt rotation according to the tilt angle, but Embodiment 3 shows a method for setting the avoidance speed range during pan rotation according to the tilt angle. In Embodiment 3, the same configurations and processes as in Embodiments 1 and 2 will not be explained, and the differences from Embodiments 1 and 2 will be described.

[0073] Figure 10 shows the imaging device 100 according to Embodiment 3. Figure 10(A) shows the state of the imaging device 100 with a tilt angle of 0° (normal state). Figure 10(B) shows the state of the imaging device 100 with a tilt angle of 45°. Note that the angles shown in Figure 10 are for illustrative purposes only, and similar effects will be produced with the configuration of Embodiment 3 even at other angles.

[0074] As shown in Figures 10(A) and 10(B), when the tilt angle is different and the camera pans in the pan movement direction L6, the position of the camera unit's center of gravity G changes relative to the pan rotation section 17, as also shown in Embodiment 2. As the center of gravity of the camera unit 1 moves, the natural frequency of the imaging device 100 changes, and therefore the range in which it resonates with the rotation speed (motor rotation speed) also changes.

[0075] In this embodiment, the avoidance speed range in Embodiment 3 can be set by performing the same process as shown in Figure 9 of Embodiment 2. Thus, in Embodiment 3, the avoidance speed range during panning (panning rotation) is set. That is, in Embodiment 3, the avoidance speed range during panning rotation is set according to the tilt angle of the camera unit 1.

[0076] As described above, with the imaging device 100 of Embodiment 3, even during panning, an appropriate avoidance speed range can be set according to the range of resonant frequencies, similar to Embodiment 2. As a result, even during panning, regardless of the tilt angle of the camera unit, the effect of reducing vibration and drive noise with respect to the resonant frequency can be obtained, similar to Embodiment 2.

[0077] Although preferred embodiments of the present invention have been described above with reference to examples and drawings, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of its essence.

[0078] This embodiment includes the following configuration.

[0079] (Composition 1) An imaging device, Imaging means, A driving means for driving the imaging means, The drive means includes a control means for controlling the drive means, The control means sets an avoidance speed range for the drive means, which is a range of speeds that the drive means will avoid depending on the installation orientation of the imaging device or the imaging orientation of the imaging means. An imaging device characterized by the following features.

[0080] (Configuration 2) The imaging device according to configuration 1, characterized in that the control means sets a first avoidance speed range for the driving means when the imaging device is installed in a fixed position.

[0081] (Composition 3) The imaging apparatus according to configuration 1 or 2, characterized in that the control means sets a first avoidance speed range for the driving means when the direction of gravity of the imaging means is perpendicular to the installation surface of the imaging apparatus, and the direction of gravity is toward the installation surface side with respect to the imaging means.

[0082] (Composition 4) The imaging device according to any one of configurations 1 to 3, characterized in that the control means sets a second avoidance speed range for the driving means when the imaging device is suspended from the ceiling.

[0083] (Composition 5) The imaging apparatus according to any one of configurations 1 to 4, characterized in that the control means sets a second avoidance speed range for the driving means when the direction of gravity of the imaging means is perpendicular to the installation surface of the imaging apparatus, and the direction of gravity is opposite to the direction of the imaging means from the installation surface side.

[0084] (Composition 6) The imaging device according to any one of configurations 1 to 5, characterized in that the control means sets a third avoidance speed range for the driving means when the imaging device is mounted on a wall.

[0085] (Composition 7) The imaging apparatus according to any one of configurations 1 to 6, characterized in that the control means sets a third avoidance speed range for the driving means when the direction of gravity of the imaging means is horizontal with respect to the installation surface of the imaging apparatus.

[0086] (Composition 8) The imaging device according to any one of configurations 1 to 7, characterized in that the control means determines the installation orientation of the imaging device with respect to the installation surface or the imaging orientation of the imaging means.

[0087] (Composition 9) The imaging apparatus according to any one of configurations 1 to 8, characterized in that the control means sets the avoidance speed range for the drive means based on information regarding the gravity direction of the imaging means input by the user.

[0088] (Composition 10) It is located inside the housing and has a detection means for detecting the direction of gravity of the imaging means, The imaging device according to any one of configurations 1 to 9, characterized in that the control means detects the installation orientation of the imaging device from the detection result of the detection means.

[0089] (Composition 11) The imaging means is disposed within the imaging means and has a detection means for detecting the rotation angle of the imaging means, The imaging apparatus according to any one of configurations 1 to 10, characterized in that the control means determines the imaging orientation of the imaging means from the detection result of the detection means.

[0090] (Composition 12) The imaging apparatus according to configuration 11, characterized in that the control means sets one of three different speed ranges for the drive means: a first avoidance speed range, a second avoidance speed range, and a third avoidance speed range, depending on the imaging posture of the imaging means.

[0091] (Composition 13) The imaging apparatus according to any one of configurations 1 to 12, characterized in that the control means sets at least one of the avoidance speed range when the drive means tilts and the avoidance speed range when it pans, according to the direction of gravity of the imaging means or the tilt angle of the imaging means.

[0092] (Composition 14) The system includes a detection means that detects the tilt angle of the imaging means using the number of steps of the motor provided in the driving means or a position detection sensor. The imaging apparatus according to any one of configurations 1 to 10, characterized in that the control means determines the imaging orientation of the imaging means from the detection result of the detection means.

[0093] (Composition 15) The driving means comprises a pan drive unit that moves the imaging means in the pan direction and a tilt drive unit that moves the imaging means in the tilt direction. The imaging apparatus according to any one of configurations 1 to 14, characterized in that the control means controls the pan drive unit and the tilt drive unit, respectively.

[0094] (Composition 16) The imaging device according to any one of configurations 1 to 15, characterized in that the avoidance speed range is a speed range set according to the range of resonant frequencies which have the same frequency as the natural frequency of the imaging device.

[0095] (Composition 17) The imaging device according to configuration 10 or 11, characterized in that the detection means is a gyro sensor. [Explanation of symbols]

[0096] 1 Camera Unit 2 Support Units 3 Base Unit 4 frames 5 Tilt motor 6. Tilt motor fixing part 7 Tilt center 8. Tilt rotation section 15 Pan motor 16 Pan motor fixing part 17 Center of the bread 18. Pan Rotating Section 100 Imaging device G Camera Unit Center of Gravity L1 Tilt center axis L2 Pan rotation axis L3 installation part (bottom) L4 Installation area (wall surface) L5 Installation area (ceiling)

Claims

1. An imaging device, Imaging means, A driving means for driving the imaging means, The drive means includes a control means for controlling the drive means, The control means sets an avoidance speed range for the drive means, which is a range of speeds that the drive means will avoid depending on the installation orientation of the imaging device or the imaging orientation of the imaging means. An imaging device characterized by the following features.

2. The imaging device according to claim 1, characterized in that the control means sets a first avoidance speed range with respect to the drive means when the imaging device is installed in a fixed position.

3. The imaging apparatus according to claim 1, characterized in that the control means sets a first avoidance speed range for the driving means when the direction of gravity of the imaging means is perpendicular to the installation surface of the imaging apparatus, and the direction of gravity is toward the installation surface side with respect to the imaging means.

4. The imaging device according to claim 1, characterized in that the control means sets a second avoidance speed range for the driving means when the imaging device is suspended from the ceiling.

5. The imaging apparatus according to claim 1, characterized in that the control means sets a second avoidance speed range for the driving means when the direction of gravity of the imaging means is perpendicular to the installation surface of the imaging apparatus, and the direction of gravity is opposite to the direction of the imaging means from the installation surface side.

6. The imaging device according to claim 1, characterized in that the control means sets a third avoidance speed range for the driving means when the imaging device is mounted on a wall.

7. The imaging apparatus according to claim 1, characterized in that the control means sets a third avoidance speed range for the driving means when the direction of gravity of the imaging means is horizontal with respect to the installation surface of the imaging apparatus.

8. The imaging device according to claim 1, characterized in that the control means determines the installation orientation of the imaging device with respect to the installation surface or the imaging orientation of the imaging means.

9. The imaging apparatus according to claim 1, characterized in that the control means sets the avoidance speed range for the drive means based on information regarding the gravity direction of the imaging means input by the user.

10. It is located inside the housing and has a detection means for detecting the direction of gravity of the imaging means, The imaging device according to claim 1, characterized in that the control means detects the installation orientation of the imaging device from the detection result of the detection means.

11. The imaging means is disposed within the imaging means and has a detection means for detecting the rotation angle of the imaging means, The imaging apparatus according to claim 1, characterized in that the control means determines the imaging orientation of the imaging means from the detection result of the detection means.

12. The imaging apparatus according to claim 11, characterized in that the control means sets one of three different speed ranges for the drive means: a first avoidance speed range, a second avoidance speed range, and a third avoidance speed range, depending on the imaging posture of the imaging means.

13. The imaging apparatus according to claim 1, characterized in that the control means sets at least one of the avoidance speed range when the drive means tilts and the avoidance speed range when it pans, according to the direction of gravity of the imaging means or the tilt angle of the imaging means.

14. The system includes a detection means that detects the tilt angle of the imaging means using the number of steps of the motor provided in the driving means or a position detection sensor. The imaging apparatus according to claim 1, characterized in that the control means determines the imaging orientation of the imaging means from the detection result of the detection means.

15. The driving means comprises a pan drive unit that moves the imaging means in the pan direction and a tilt drive unit that moves the imaging means in the tilt direction. The imaging apparatus according to claim 1, characterized in that the control means controls the pan drive unit and the tilt drive unit, respectively.

16. The imaging device according to claim 1, characterized in that the avoidance speed range is a speed range set according to the range of resonant frequencies which have the same frequency as the natural frequency of the imaging device.

17. The imaging device according to claim 10 or 11, characterized in that the detection means is a gyro sensor.

Images