Imaging device, its control method and program

Abstract

To allow easy switching of AF control to the intended setting. [Solution] The imaging device 101 includes a positioning means that acquires position information of a positioning target by wireless communication, a detection means that detects a subject using a process different from the positioning by the positioning means, and a control means that controls switching between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target and a predetermined subject detected by the detection means when the positioning target positioned by the positioning means is within the detection range of the detection means.

Description

Technical Field

[0001] The present invention relates to an imaging apparatus, a control method thereof, and a program.

Background Art

[0002] In recent years, communication systems that utilize position information for tracking and improved security via wireless communication using an extremely wide frequency band called UWB (Ultra-Wide Band) have attracted attention. An ultra-wideband signal spread over several hundred MHz or more on the frequency axis can be observed as a pulse signal on the time axis, so that position information can be specified using time information for transmitting and receiving the pulse signal. The position information is expressed as coordinates on a two-dimensional plane or a three-dimensional plane by preparing a plurality of antennas as one component of hardware and calculating the path difference of the pulse signals received by the antennas. Imaging apparatuses represented by digital cameras are equipped with AF (Auto Focus) technology that automatically focuses on a shooting subject using optical image processing. As the AF technology, an image plane phase difference AF method, a contrast AF method, and the like are generally used. Although efforts to improve AF accuracy within the angle of view by AI (Artificial Intelligence) or DL (Deep Learning) are progressing, constraints on image processing such as the inability to track a shooting subject outside the angle of view remain. As an example of utilizing something other than image processing for AF technology, a method using hand gestures in an HMD (Head Mount Display) apparatus is known. Patent Document 1 describes a method of controlling AF operation using data related to a user's hand in a scene in a physical environment that is transmitted through or projected within the FOV (Field Of View) of the HMD apparatus.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Patent Document 1 states that since the AF target is limited to the FOV that the user can observe, the user can adjust the shape of their hand while providing visual feedback to a predetermined hand gesture, and a certain degree of judgment error is acceptable. On the other hand, AF control via camera hand gestures is highly likely to misrecognize hands in shooting scenes, potentially leading to unintended AF control. Unintended AF control can impair the shooting experience of the broadcaster, especially during live video streaming, and can also diminish the immersion of viewers.

[0005] This invention has been made in view of the above-mentioned points, and aims to enable easy switching to AF control. [Means for solving the problem]

[0006] The imaging device of the present invention is characterized by comprising: positioning means for acquiring position information of a positioning target by wireless communication; detection means for detecting a subject by a process different from positioning by the positioning means; and control means for controlling the device to switch between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target and a predetermined subject detected by the detection means, when the positioning target positioned by the positioning means is within the detection range of the detection means. [Effects of the Invention]

[0007] According to the present invention, it becomes possible to easily switch to the intended AF control. [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 diagram showing the configuration of the imaging device according to the first embodiment. [Figure 3] This is a diagram illustrating the imaging range of the imaging device according to the first embodiment. [Figure 4] This is a diagram illustrating the positioning range of the imaging device according to the first embodiment. [Figure 5] This is a flowchart of the control sequence executed by the imaging device according to the first embodiment. [Figure 6] This is a flowchart of the shooting subroutine in the first embodiment. [Figure 7] This figure illustrates an example of AF control of an imaging device according to the first embodiment. [Figure 8] This is a flowchart showing the shooting subroutine in the second embodiment. [Figure 9] This figure illustrates an example of drive control for an imaging device according to a second embodiment. [Figure 10] This figure illustrates an example of AF control of an imaging device according to a second embodiment. [Modes for carrying out the invention]

[0009] Preferred embodiments of the present invention will be described below with reference to the attached drawings. <First Embodiment> Figure 1 shows the configuration of the imaging device 101 according to the first embodiment, where (a) is an overhead view of the imaging device 101 from the front and above, (b) is a perspective view of the imaging device 101 from the front, and (c) is a perspective view of the imaging device 101 from the axis of rotation. In each figure, only the configuration necessary for explanation is extracted. The imaging device 101 comprises a drive unit 102 and a body unit 103. The drive unit 102 and the body unit 103 share a rotation axis 107 that runs vertically through their center and are electrically connected by a connection part 104. The drive unit 102 comprises an optical lens 105 and an imaging unit 106 including a lens drive unit. The body unit 103 comprises a control board 108, a transmitting / receiving antenna 109a for UWB positioning, and a receiving antenna 109b.

[0010] The drive unit 102 moves (rotates) laterally on the body 103 in the direction of the arrow in Figure 1(a), that is, around the rotation axis 107. The antennas 109a and 109b are arranged adjacent to each other in the direction of rotation of the drive unit 102. The imaging unit 106 mounted on the drive unit 102 moves vertically on the body 103 in the direction of the arrow in Figure 1(b), that is, along the rotation axis 107. As a result, by aligning the optical lens 105 with the direction of the subject to be photographed during shooting, it becomes possible to track the subject in a maximum of 360 degrees horizontally and 180 degrees vertically.

[0011] The connection section 104 physically connects the drive unit 102 and the body section 103, forming a rotation mechanism that allows for variable shooting direction. The connection section 104 also includes a rotary connector for electrical connection, through which the signal wires pass. Alternatively, a through-hole may be provided instead of a rotary connector, through which the signal wires can be passed. However, if the speed is limited by the excess length of the signal wires, infinite rotation is not possible. In that case, the rotation direction can be switched left or right to achieve 360 ​​degrees horizontally.

[0012] Figure 2 shows the configuration of the imaging device 101 according to the first embodiment, where (a) is a perspective view of the body portion 103 from the rotation axis direction, and (b) is a perspective view of the imaging device 101 from the front direction. Only the components necessary for explanation are extracted in each figure. The control board 108 includes a UWB IC 201, an IC control line 202, an imaging IC 203, a lens control line 204, and an RF (Radio Frequency) line 205. In the figure, solid lines indicate the front side (surface) of the control board 108, and dashed lines indicate the back side (back) or front side (inner layer) of the control board 108, but this is not limited to this.

[0013] The UWB IC 201 transmits and receives UWB signals, and calculates the position information of the received signal source. The calculation of the position information will be described later. The imaging IC 203 receives images and videos captured by the optical lens 105 as electrical signals, and is responsible for signal processing of the received electrical signals. The UWB IC 201 and the imaging IC 203 are connected via an IC control line 202. A lens control line 204 connects the imaging IC 203 and the optical lens 105 via the connection unit 104. The RF line 205 is a wiring on or in the control board 108 that has an impedance of 50 ohms, such as a microstrip line or a coplanar line. On the other hand, it is also a wiring separated from the board that has an impedance of 50 ohms, such as a thin coaxial wire, and connects the UWB IC 201 and the transmitting / receiving antenna 109a, as well as the UWB IC 201 and the receiving antenna 109b.

[0014] Note that the mounting form of the transmitting / receiving antenna 109a and the receiving antenna 109b is not limited to a rigid FR-4 PCB (Printed Circuit Board), and may be formed of FPC (Flexible Printed Circuits) or MID (Molded Interconnect Device), and the connection form with the control board 108 is not limited. Further, instead of a patch antenna, a monopole antenna or an inverted-F antenna may be used. Further, the transmitting / receiving antenna and the receiving antenna may be interchanged.

[0015] The imaging apparatus 101 configured in this manner has a function as a positioning unit that acquires position information of a positioning target by UWB through cooperation of the UWB IC 201 and the imaging IC 203 with each unit, and a function as a detection unit that detects a subject by image processing of a captured image. Note that in Figure 1 and Figure 2, only elements that are essential for the application of the present invention are illustrated. For example, the imaging apparatus 101 includes a signal processing circuit for audio signals input from a microphone or the like, a power supply function such as a battery, data management and storage functions such as RAM (Random Access Memory) and ROM (Read Only Memory), a drive system involving operations of motors, gears and the like, and other communication circuits such as BLE (Bluetooth Low Energy), but descriptions of these components are omitted.

[0016] Figure 3 is a diagram for explaining the imaging range of the imaging apparatus 101 according to the first embodiment. The imaging range (imaging field angle) 302 of the imaging apparatus 101 is a range expanded from the optical axis 301 of the optical lens 105 by the field angle. The imaging range 302 indicates a range in which focusing is possible optically, and corresponds to the detection range referred to in the present invention. Since the field angle and focal length depend on the physical property values of the optical lens 105, if the optical lens 105 of the imaging apparatus 101 is made zoomable or replaceable, the imaging range 302 can be substantially set freely. When the optical lens 105 moves in the direction of the arrow in Figure 3, the imaging range 302 also rotates concentrically around the rotation axis 107.

[0017] Figure 4 is a diagram for explaining the positioning range of the imaging apparatus 101 according to the first embodiment. The positioning range 401 of the imaging apparatus 101 is a range of 60 degrees to the left and right (that is, 120 degrees in total) toward the aperture surface of the patch antennas, due to the configuration in which two patch antennas, namely the transmitting / receiving antenna 109a and the receiving antenna 109b, are arranged side by side. The reachable distance of the positioning range 401 depends on the set output of the UWB IC 201. In the positioning range 401, positioning on a two-dimensional plane (2D-AoA: 2 Dimension-Angle of Arrival) is performed based on TWR (Two-Way Ranging) using the round trip path between the UWB anchor and the UWB tag. The distance is obtained by TWR, the angle on the two-dimensional plane is obtained by 2D-AoA, and the coordinates (X,Y) of the UWB tag are derived from the distance and the angle.

[0018] Note that the positioning method is not limited to the above; a combination of SDS-TWR (Symmetrical Double-Sided TWR), TDoA (Time Difference of Arrival), PDoA (Phase Difference of Arrival), etc., may also be used. Furthermore, in this embodiment, the coordinates are calculated on the same plane where the transmitting / receiving antenna 109a and the receiving antenna 109b are placed. However, by providing a third antenna at a position that does not intersect this plane (for example, at the drive unit 102), it becomes possible to perform positioning on a three-dimensional plane (3D-AoA: 3-Dimensional-Angle of Arrival). 3D-AoA allows for the calculation of coordinates (X, Y, Z) in any given space.

[0019] Figure 5 is a flowchart of the control sequence executed by the imaging device 101 according to the first embodiment. In step S501, when the power to the imaging device 101 is turned ON, in step S502, the imaging device 101 automatically turns ON BLE communication. The control board 108 is equipped with a BLE wireless module (not shown) which includes a BLE IC (not shown), a BLE RF line (not shown) connected to the BLE IC, and a BLE antenna (not shown) also connected to the BLE IC. The BLE antenna (not shown) may be shared with the UWB antenna. That is, the control board 108 may be provided with an RF switch (not shown) to switch the signal path of the RF line 205, and the transmitting / receiving antenna 109a connected to the RF switch (not shown) may resonate in the BLE frequency band (2.4 GHz band) and the UWB frequency band (8 GHz band).

[0020] In step S503, the imaging device 101 performs a scan as a BLE central device, waiting for advertisement packets intermittently transmitted from BLE peripheral devices. When advertisement packets are received, the process proceeds to step S504. In this case, the peripheral device is a UWB tag. Here, since power consumption and discovery probability are inversely related in BLE connections, the advertising interval time may be dynamically changed. For example, increasing the advertising interval time increases power consumption but also increases the discovery probability. Nevertheless, since BLE consumes less power than UWB, the imaging device 101 can remain in standby mode for a long time in step S503. However, if power consumption is not a concern, such as when connected to commercial power, the BLE connection sequence (steps S502, S503) may be omitted.

[0021] In step S504, the imaging device 101 receives an advertisement packet, establishes a BLE connection, and then turns on UWB communication. In this case, the imaging device 101 is the UWB anchor. Here, the BLE wireless module (not shown) may determine that it is close to the peripheral device if the distance is within a preset threshold, and may wake up the UWB IC201. In this case, the BLE wireless module (not shown) can also hand over the address included in the advertisement packet of the BLE-connected peripheral device to the UWB IC201. Note that the relationship between peripheral and central in BLE and the relationship between anchor and tag in UWB can be reversed.

[0022] In step S505, the imaging device 101 waits for a trigger from the user to start shooting (such as pressing the shooting button), and when a trigger is received, proceeds to step S506. In step S506, the imaging device 101 performs imaging. Details of the imaging will be described later with reference to Figure 6.

[0023] In step S507, the imaging device 101 determines whether or not there is a power-off trigger. If there is no power-off trigger, the process returns to step S505. If there is a power-off trigger, the process proceeds to step S508, and the power to the imaging device 101 is turned off.

[0024] Figure 6 is a flowchart of the subroutine for capturing the flowchart in Figure 5 (step S506). In step S601, when the imaging device 101 starts taking images, in step S602, the UWB IC 201 calculates the coordinates of the UWB tag by UWB positioning.

[0025] In step S603, the imaging IC203 detects the subject by image plane phase difference detection and extracts the target to be photographed. Depending on user settings or preset settings in the imaging device 101, the target to be photographed may include a human body, animal, bicycle, car, motorcycle, train, airplane, etc.

[0026] In step S604, the imaging IC 203 obtains the coordinate information of the UWB tag from the UWB IC 201 via the IC control line 202. It then compares the positioning angle with the acquired UWB tag coordinates to the shooting field of view which constitutes the imaging range 302, and determines whether the positioning angle is less than the shooting field of view (shooting field of view > positioning angle), that is, whether the positioning target holding the UWB tag is within the shooting field of view. If shooting field of view > positioning angle, the process proceeds to step S605. If shooting field of view > positioning angle, the process proceeds to step S606.

[0027] In step S605, the imaging device 101 compares the positioning distance for the acquired coordinates with the focal length obtained from the image information to determine whether the focal length > positioning distance. If the focal length > positioning distance, the device proceeds to step S607; otherwise, the device proceeds to step S606.

[0028] In step S606, the imaging device 101 determines that the positioning target is not an AF target and selects an AF setting using image-plane phase-detection, which results in image-priority AF mode. In step S607, the imaging device 101 determines that the positioning target is an AF target and selects an AF setting based on the positioning result that results in positioning priority AF mode. In step S608, once the AF settings are complete, the imaging device 101 determines whether or not there is a user-generated trigger to end shooting. If there is no trigger to end shooting, the process returns to step S602. If there is a trigger to end shooting, the process proceeds to step S609, and the imaging device 101 ends shooting.

[0029] Figure 7 shows the AF control of the imaging device 101 according to the first embodiment, with multiple conditions superimposed. In a live stream, a use case is envisioned in which a user and subject 701 introduces an object 702 using an imaging device 101. The object 702 possesses a UWB tag and has BLE and UWB communication capabilities. In this embodiment, the object 702 corresponds to the positioning target as defined in the present invention, and the subject 701 corresponds to the predetermined subject as defined in the present invention. The BLE and UWB communication capabilities may exist as a UWB tag independent of the object 702, such as a ring, key accessory, or USB dongle. The object 702 is assigned reference numerals 702-1 to 702-4 depending on its position.

[0030] If object 702 (702-1) is included in the positioning range 401 but not in the imaging range 302, the determination in step S604 is "no". As a result, the imaging device 101 determines that object 702 is not an AF target and selects the AF setting by image plane phase difference detection (step S606). This corresponds to the subject 701 moving the hand holding object 702 out of the shooting field of view, or placing object 702 itself outside the shooting field of view, and the AF continues to track the subject 701 during shooting.

[0031] If communication becomes impossible due to some obstruction of object 702 (702-2), the determination in step S604 is also "no". As a result, the imaging device 101 determines that object 702 is not an AF target and selects the AF setting by image plane phase difference detection (step S606). This corresponds to subject 701 covering object 702 with their hand, and during shooting, the AF continues to track subject 701.

[0032] If the object 702 (702-3) is included in the positioning range 401 and the imaging range 302, and is farther away from the imaging device 101 than the subject 701, the determination is yes in step S604 and no in step S605. As a result, the imaging device 101 determines that the object 702 is not an AF target and selects the AF setting by image plane phase difference detection (step S606). This corresponds to the subject 701 moving the hand holding the object 702 further behind themselves, or placing the object 702 itself in the background, and the AF continues to track the subject 701 during shooting.

[0033] If the object 702 (702-4) is included in the positioning range 401 and the imaging range 302, and is closer to the imaging device 101 than the subject 701, the determination is yes in step S604 and yes in step S605. As a result, the imaging device 101 determines that the object 702 is an AF target and selects the AF setting based on the positioning result (step S607). This corresponds to the subject 701 bringing the hand holding the object 702 closer to themselves, or placing the object 702 itself in the foreground, and the AF continues to track the object 702 during shooting. If there are multiple objects 702, priority can be assigned by specifying their addresses in advance, or by using the median coordinate of the coordinates where multiple objects 702 are located.

[0034] As described above, the focusing method is switched based on the positional relationship between the positioning target and the designated subject. Specifically, by simply changing the position of the object 702 (702-1, 702-2, 702-3, 702-4) the subject 701 can switch between a focusing method that uses UWB positioning results (AF setting based on positioning results) and a focusing method that uses image processing results (AF setting based on image plane phase difference detection). This eliminates the need for a dedicated gesture or shooting mode for switching AF, allowing for dynamic and easy switching to the desired AF control.

[0035] <Second Embodiment> Next, a second embodiment will be described. In the following description, the same reference numerals will be used for components and processing operations as in the imaging device 101 according to the first embodiment, and their descriptions will be omitted. The description will focus on the differences from the first embodiment. Figure 8 is a flowchart of the subroutine for capturing the flowchart in Figure 5 (step S506). The main sequence for calling the subroutine is the same as in Figure 5, and its explanation is omitted. In step S801, when the imaging device 101 starts taking images, in step S802, the UWB IC 201 calculates the coordinates of the UWB tag by UWB positioning.

[0036] In step S803, the imaging device 101 determines whether the positioning angle based on the coordinates of the UWB tag calculated in step S802 falls below a predetermined threshold that defines the effective range. If the positioning angle is below the threshold, the device proceeds to step S804. If the positioning angle is above the threshold, the device returns to step S802, indicating that tracking or autofocus is not required.

[0037] In step S804, the imaging device 101 determines whether the positioning angle is equal to (or matches with) the shooting angle. If the positioning angle is equal to the shooting angle, the process proceeds to step S806. If the positioning angle is not equal to the shooting angle, the process proceeds to step S805, where the optical lens 105 is rotated according to the positioning angle and the shooting angle, and then the process proceeds to step S806. Note that while the positioning angle and the shooting angle are considered equal, it is also possible to treat them as equal if the difference between them is within a preset threshold.

[0038] In step S806, the imaging IC203 detects the subject by image plane phase difference detection and extracts the target to be photographed. In step S807, the imaging IC 203 obtains the coordinate information of the UWB tag from the UWB IC 201 via the IC control line 202.

[0039] In step S808, the imaging IC203 compares the positioning distance relative to the acquired UWB tag coordinates with the focal length obtained from the image information to determine whether the positioning distance equals the focal length. If the positioning distance does not equal the focal length, the process proceeds to step S809; if the positioning distance equals the focal length, the process proceeds to step S810. Note that while the positioning distance is assumed to equal the focal length, it may also be treated as equal if the difference between the two is within a predetermined threshold.

[0040] In step S809, the imaging device 101 selects an AF setting based on the positioning result, which results in positioning priority AF mode. In step S810, the imaging device 101 selects an AF setting using image plane phase detection, which is the image priority AF mode. In step S811, once the AF settings are complete, the imaging device 101 determines whether or not there is a user-generated trigger to end shooting. If there is no trigger to end shooting, the process returns to step S802. If there is a trigger to end shooting, the process proceeds to step S812, and the imaging device 101 ends shooting.

[0041] Figure 9 shows the drive control of the imaging device 101 according to the second embodiment, with multiple conditions superimposed. In theatrical filming, a use case is envisioned where autofocus is only activated when the subject 902, who is an actor and the subject of filming, is on stage. Subject 902 possesses a UWB tag and has BLE and UWB communication capabilities. In this embodiment, subject 902 corresponds to the positioning target as defined in this invention. Subject 902 is assigned reference numerals 902-1 and 902-2 depending on its position. The optical axis 301 and imaging range 302 are also assigned reference numerals 301-1, 301-2, 302-1, and 302-2 respectively depending on their position. The positioning range 401 has an effective range 901 by narrowing the field of view. The effective range 901 allows the user to arbitrarily set the thresholds for positioning distance and positioning angle in advance.

[0042] In Figure 9, the optical lens 105 has been rotated by α degrees from the front of the imaging device 101 by manual imaging (optical axis 301-1), and the imaging range 302 also covers the direction rotated by α degrees (imaging range 302-1).

[0043] If subject 902 (902-1) is included in the positioning range 401 but is outside the effective range 901, the determination in step S803 is "no". This corresponds to subject 902 being hidden in the wings of the stage, and another performer continues to be photographed within the imaging range 302-1.

[0044] If the positioning angle of subject 902 (902-2) is β degrees, which is inside the effective range 901, and different from the shooting angle α degrees, then the determination is yes in step S803 and no in step S804, and the optical lens 105 is rotated (step S805). Specifically, in step S805, the imaging device 101 rotates by α+β degrees, changing its orientation from optical axis 301-1 to optical axis 301-2, so that the positioning angle and the shooting angle become equal. This means that it becomes possible to track the scene in which subject 902 appears from the wings of the stage. Note that the amount of rotation of the optical lens 105 is not limited to α+β degrees, but can also be substituted by adjusting the field of view of the optical lens 105. For example, the field of view may be set wider so that multiple performers, including subject 902, fit within the field of view. These controls are performed automatically, but manual control may be interrupted.

[0045] Figure 10 shows the AF control of the imaging device 101 according to the second embodiment, with multiple conditions superimposed. Performers 903 other than the subject 902 are subjects with a low AF priority and are not positioning targets, corresponding to the predetermined subjects in this invention. Reference numeral 903-1 is assigned depending on the position of the performer 903. After the optical lens 105 rotates, the imaging device 101 updates the AF target within the imaging range 302-2.

[0046] If subject 902 (902-2) is inside the effective range 901, but the distance to performer 903, who has a lower AF priority, exceeds a threshold, the determination in step S808 is "no". As a result, the imaging device 101 selects the AF setting based on the positioning result (step S809). This corresponds to subject 902 performing independently of performer 903, and the AF continues to track subject 902 during shooting.

[0047] If subject 902 (902-2) is inside the effective range 901 and the distance to performer 903-1, who has a lower AF priority, is below the threshold, the determination in step S808 is yes. As a result, the imaging device 101 selects the AF setting by image plane phase difference detection (step S810). This corresponds to performer 903 moving and then performing together with subject 902, and during shooting, the AF continues to track subject 902, including performer 903.

[0048] As described above, the focusing method is switched based on the positional relationship between the positioning target and the designated subject. Specifically, simply by the subject 902 changing its position (902-1, 902-2), the system can switch between focusing based on UWB positioning results (AF setting based on positioning results) and focusing based on image processing results (AF setting based on image plane phase detection). This eliminates the need for a dedicated gesture or shooting mode for switching AF, allowing for dynamic and easy switching to the desired AF control.

[0049] Although the present invention has been described above along with its embodiments, these embodiments are merely examples of how the present invention can be implemented, and the technical scope of the present invention should not be interpreted as being limited by them. In other words, the present invention can be implemented in various forms without departing from its technical concept or its main features. (Other embodiments) 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.

[0050] This embodiment includes the following configurations, methods, and programs. [Configuration 1] An imaging device, A positioning means that acquires location information of a target to be positioned via wireless communication, A detection means for detecting a subject using a process different from the positioning means described above, An imaging device comprising, when the positioning target positioned by the positioning means is within the detection range of the detection means, a control means that controls switching between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target and a predetermined subject detected by the detection means. [Configuration 2] The imaging device according to Configuration 1, characterized in that the control means focuses based on the positioning result of the positioning means when the positioning target is closer than the predetermined subject, and focuses based on the detection result of the detection means when the positioning target is farther away than the predetermined subject. [Configuration 3] The aforementioned imaging device is equipped with a mechanism for varying the shooting direction. When the positioning target positioned by the positioning means is within a predetermined range, the system includes a shooting direction control means that changes the shooting direction so that the positioning target is included in the detection range. The imaging apparatus according to Configuration 1, characterized in that the control means, after changing the shooting direction by the shooting direction control means, focuses based on the positioning result of the positioning means if the distance between the positioning target and the predetermined subject exceeds a predetermined threshold, and focuses based on the detection result of the detection means if the distance does not exceed the predetermined threshold. [Structure 4] The imaging device according to configuration 3, characterized in that the shooting direction control means changes the shooting direction so that the shooting angle matches the positioning angle of the positioning target measured by the positioning means. [Composition 5] The imaging device according to any one of configurations 1 to 4, characterized in that the detection means detects a subject by image processing of the captured image. [Composition 6] The imaging device according to any one of configurations 1 to 5, characterized in that the positioning means acquires the position information of the positioning target by UWB. [method] A positioning means that acquires location information of a target to be positioned via wireless communication, A control method for an imaging device comprising a detection means for detecting a subject using a process different from positioning by the aforementioned positioning means, A control method for an imaging device, characterized by having the step of controlling the device to switch between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target measured by the positioning means and a predetermined subject detected by the detection means, when the positioning target measured by the positioning means is within the detection range of the detection means. [program] A positioning means that acquires location information of a target to be positioned via wireless communication, A program for controlling an imaging device comprising a detection means for detecting a subject using a process different from positioning by the aforementioned positioning means, A program for causing a computer to execute a process to switch between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target, which has been positioned by the positioning means, and a method of focusing based on the detection result of the detection means, when the positioning target, which has been positioned by the positioning means, is within the detection range of the detection means. [Explanation of Symbols]

[0051] 101: Imaging device, 102: Drive unit, 103: Body, 104: Connection unit, 105: Optical lens, 106: Imaging unit, 107: Rotation axis, 108: Control board, 109a: Transmitting / receiving antenna, 109b: Receiving antenna, 201: UWB IC, 202: IC control line, 203: Imaging IC, 204: Lens control line, 205: RF line

Claims

1. An imaging device, A positioning means that acquires location information of a target to be positioned via wireless communication, A detection means for detecting a subject using a process different from the positioning means described above, An imaging device comprising, when the positioning target positioned by the positioning means is within the detection range of the detection means, a control means that controls switching between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target and a predetermined subject detected by the detection means.

2. The imaging apparatus according to claim 1, characterized in that the control means focuses based on the positioning result of the positioning means when the positioning target is closer than the predetermined subject, and focuses based on the detection result of the detection means when the positioning target is farther away than the predetermined subject.

3. The aforementioned imaging device is equipped with a mechanism for varying the shooting direction. When the positioning target positioned by the positioning means is within a predetermined range, the system includes a shooting direction control means that changes the shooting direction so that the positioning target is included in the detection range. The imaging apparatus according to claim 1, characterized in that the control means, after changing the shooting direction by the shooting direction control means, focuses based on the positioning result of the positioning means if the distance between the positioning target and the predetermined subject exceeds a predetermined threshold, and focuses based on the detection result of the detection means if the distance does not exceed the predetermined threshold.

4. The imaging device according to claim 3, characterized in that the shooting direction control means changes the shooting direction so that the shooting angle matches the positioning angle of the positioning target measured by the positioning means.

5. The imaging apparatus according to any one of claims 1 to 4, characterized in that the detection means detects a subject by image processing of the captured image.

6. The imaging device according to any one of claims 1 to 4, characterized in that the positioning means acquires position information of the positioning target by UWB.

7. A positioning means that acquires location information of a target to be positioned via wireless communication, A control method for an imaging device comprising a detection means for detecting a subject using a process different from positioning by the aforementioned positioning means, A control method for an imaging device, characterized by having the step of controlling the device to switch between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target measured by the positioning means and a predetermined subject detected by the detection means, when the positioning target measured by the positioning means is within the detection range of the detection means.

8. A positioning means that acquires location information of a target to be positioned via wireless communication, A program for controlling an imaging device comprising a detection means for detecting a subject using a process different from positioning by the aforementioned positioning means, A program for causing a computer to execute a process to switch between a method of focusing based on the positioning result of the positioning means and a method of focusing based on the detection result of the detection means, based on the positional relationship between the positioning target, which has been positioned by the positioning means, and a method of focusing based on the detection result of the detection means, when the positioning target, which has been positioned by the positioning means, is within the detection range of the detection means.

Images