DEVICE, DEVICE CONTROL METHOD, AND PROGRAM

Abstract

To prevent erroneous detection of positional deviation of an imaging means when a function for correcting shaking of the imaging means is valid.SOLUTION: An imaging apparatus includes: control means for controlling to drive imaging means in a pan direction or a tilt direction; correction means for correcting shaking of the imaging means by control of the control means according to the shaking of the imaging means when a correction function is valid; and detection means for detecting a positional deviation in the pan direction or the tilt direction of the imaging means. The detection means performs different processing according to whether the correction function of the correction means is valid or invalid.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This disclosure , equipped Place , equipped The present invention relates to a control method and a program for a device. [Background technology]

[0002] Conventionally, a method is known in which, based on detected vibrations, pan and tilt vibration isolation is performed for vibrations having a frequency equal to or less than a predetermined frequency or vibrations having an amplitude equal to or greater than a predetermined amplitude (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-80837 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present disclosure is to prevent erroneous detection of positional deviation of the imaging means when a function for correcting the shaking of the imaging means is enabled. [Means for solving the problem]

[0005] The device includes a control means for controlling the driving of the imaging means in a pan direction or a tilt direction, and a correction means for correcting the shaking of the imaging means under the control of the control means in accordance with the shaking of the imaging means when a correction function is enabled. When the correction function of the correction means is disabled, A determination process is performed to determine whether the rotation position of the imaging means in the pan direction or tilt direction is a target position. If the correction function of the correction means is valid, the position error detection is performed without performing the judgment process. It has means. [Effects of the Invention]

[0006] According to the present disclosure, when the function of correcting the shaking of the imaging means is enabled, it is possible to prevent erroneous detection of positional deviation of the imaging means. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram illustrating an example of the configuration of an imaging device. [Figure 2] FIG. 1 is a diagram illustrating an example of the appearance of an imaging device. [Figure 3] FIG. [Figure 4] 10 is a flowchart showing a process of a position error detection unit. [Figure 5] 10 is a flowchart showing a process of a position error detection unit. [Figure 6] 10 is a flowchart showing a process of a position error detection unit. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments will be described in detail with reference to the drawings. Note that the configurations shown in the following embodiments are merely examples and are not limited to the configurations shown in the drawings.

[0009] (First embodiment) 1 is a block diagram showing an example of the configuration of an image capturing apparatus 100 according to the first embodiment. The image capturing apparatus 100 is connected to a client apparatus (information processing apparatus) (not shown) via a network 150 in a state in which they can communicate with each other. A user can send various commands to the image capturing apparatus 100 from the client apparatus.

[0010] The imaging device 100 has an imaging unit 101, a pan driving unit 102, a tilt driving unit 103, a shake detection unit 104, an image processing unit 105, a system control unit 109, and a communication unit 110. The image processing unit 105 has a pan and tilt control unit 106, a shake correction unit 107, and a position error detection unit 108. The imaging device 100 has a mechanism that can rotate in the pan direction (horizontal direction) and the tilt direction (vertical direction), and the imaging direction and imaging angle of view can be freely changed by user operation.

[0011] The imaging unit 101 has imaging lenses including a focus lens and a zoom lens, an imaging element, and a mechanical drive system and circuitry for driving them, and captures an image of a subject and converts the image into an electrical signal.

[0012] The pan drive unit 102 has a mechanical drive system that moves the shooting direction of the imaging unit 101 in the pan direction, a drive motor, a motor driver, an encoder that detects the position, and the like, and is controlled by the pan and tilt control unit 106. The detailed configuration will be described later using FIG. 2(a).

[0013] The tilt drive unit 103 has a mechanical drive system that moves the shooting direction of the imaging unit 101 in the tilt direction, a drive motor, a motor driver, an encoder that detects the position, and the like, and is controlled by the pan and tilt control unit 106. The detailed configuration will be described later using FIG. 2(b).

[0014] The shake detection unit 104 has an angular velocity sensor such as a gyro sensor and various filters for noise removal, and detects the angular velocities of the imaging unit 101 in the yaw and pitch directions. The angular velocity sensors are installed on the imaging unit 101 to detect the yaw and pitch directions of the imaging unit 101. The angular velocity sensors may include one angular velocity sensor for detecting the yaw direction and one angular velocity sensor for detecting the pitch direction, or one angular velocity sensor capable of simultaneous two-axis or three-axis detection. Alternatively, an angular velocity sensor and an acceleration sensor may be combined into one sensor capable of six-axis detection. The shake correction unit 107 acquires the angular velocity information detected by the shake detection unit 104 and performs image shake correction for the imaging unit 101.

[0015] The image processing unit 105 performs image processing such as noise removal and gamma correction on the electrical signals converted by the imaging unit 101 to generate image data and transmits the image data to the system control unit 109. The image processing unit 105 also processes commands received from the system control unit 109. For example, when the image processing unit 105 receives an instruction to change the zoom position or the focus position from the system control unit 109, it drives the focus lens or zoom lens of the imaging unit 101 to the received positions. When the image processing unit 105 receives an instruction to adjust the image quality from the system control unit 109, it adjusts the image quality. The image processing unit 105 has a pan and tilt control unit 106, a shake correction unit 107, and a position error detection unit 108.

[0016] The pan and tilt control unit 106 processes commands related to pan and tilt control received from the system control unit 109, and based on the instructions of the commands, controls the drive amount, speed, acceleration / deceleration of the pan drive unit 102 and the tilt drive unit 103, and performs initialization operations, etc.

[0017] The shake correction unit 107 converts the angular velocity information obtained from the shake detection unit 104 into angle information, and drives the pan driver 102 and the tilt driver 103 based on the converted angle information, thereby correcting shake in the imaging unit 101. The shake correction in this embodiment is pan and tilt vibration isolation using the pan driver 102 and the tilt driver 103, but is not limited to this. The shake correction may be performed in combination with an electronic shake correction unit that corrects the amount of shake by shifting the pixels of the imaging sensor, or an optical shake correction unit that performs correction by moving the lenses of a correction optical system included in the imaging unit 101.

[0018] The position error detection unit 108 detects errors when the pan driver 102 and tilt driver 103 are moved by an external force, such as a hand, rather than by a motor, or when they cannot be driven to the desired position due to an obstacle or other reason. The position error detection unit 108 detects errors by comparing the number of motor pulses it manages with an encoder value that can obtain the actual position of the driver. For example, the position error detection unit 108 determines a position error when the difference between the number of motor pulses and the encoder value is equal to or greater than a first threshold and the state where the value is equal to or greater than the first threshold has continued for a time period equal to or greater than a second threshold. If a position error is determined, the image processing unit 105 blinks an LED (not shown) to indicate that a position error has occurred and does not accept drive commands for the pan driver 102 and tilt driver 103. In this embodiment, the pan driver 102 and tilt driver 103 do not accept drive commands, but this is not a limitation. Even after determining that a position error has occurred, the image processing unit 105 may continue to receive the drive command as is, or may be configured to initialize the pan drive unit 102 and the tilt drive unit 103. In this embodiment, the position error detection unit 108 has a first threshold and a second threshold, but may have only one threshold, or another threshold may be added.

[0019] The system control unit 109 controls the entire imaging device 100. The system control unit 109 distributes generated image data to a client device (not shown) via the communication unit 110. The system control unit 109 also analyzes camera control commands transmitted from the communication unit 110 and transmits commands related to the image processing unit 105 to the image processing unit 105. For example, when the system control unit 109 receives a standby state command, it instructs the image processing unit 105 to enter the standby state, and when it receives a command to return from standby, it instructs the image processing unit 105 to return.

[0020] The communication unit 110 receives a camera control command transmitted from a client device and transmits it to the system control unit 109. The communication unit 110 also transmits a response to the camera control command to the client device (not shown).

[0021] It should be noted that the imaging device 100 in this embodiment is not limited to the configuration shown in Fig. 1. For example, the imaging device 100 may be provided with a video output terminal such as an SDI (Serial Digital Interface), an audio input / output unit, or an external device input / output unit. The communication unit 110 may be connected via a wired or wireless connection. The imaging device 100 may not be connected to the network 150, but may be connected to another device via serial communication or the like.

[0022] 2(a) and (b) are diagrams showing an example of the appearance of the imaging device 100 according to this embodiment. Fig. 2(a) is a diagram showing the imaging device 100 as seen from above. Fig. 2(b) is a diagram showing the imaging device 100 as seen from the side. The imaging device 100 has a bottom case 201, a turntable 202, a camera head support 203, and a camera head 204.

[0023] 2(a) and (b), the operation of the pan and tilt movable unit will be described, with the vertical axis defined as the vertical axis and the axis perpendicular to the vertical axis defined as the horizontal axis. In FIG. 2(a), the clockwise direction around the vertical axis perpendicular to the paper surface is defined as the positive direction of the pan angle, and the counterclockwise direction is defined as the negative direction of the pan angle. In FIG. 2(b), the clockwise direction around the axis perpendicular to the paper surface is defined as the positive direction of the tilt angle, and the counterclockwise direction is defined as the negative direction of the tilt angle.

[0024] The pan driving unit 102 has a bottom case 201 and a turntable 202. The turntable 202 rotates horizontally around a vertical axis. The pan driving unit 102 of this embodiment can rotate in the pan direction from -170 degrees to +170 degrees.

[0025] Tilt driving unit 103 has a camera head support 203 and a camera head 204 mounted on a turntable 202. Camera head 204 rotates vertically around a horizontal axis. Tilt driving unit 103 of this embodiment can rotate in the tilt direction from -30 degrees to 100 degrees.

[0026] In this way, the imaging device 100 of this embodiment can change the imaging direction and capture images over a wide range by rotating the camera head 204 horizontally and vertically. Note that the imaging device 100 of this embodiment is not limited to the configuration shown in Figures 2(a) and 2(b). For example, the imaging device 100 may be configured to be able to pan 360 degrees endlessly and tilt 180 degrees.

[0027] 3(a) and (b) are diagrams showing how the imaging device 100 performs stabilization control using the tilt driver 103. FIG. 3(a) is a diagram showing a state in which the PT (pan and tilt) stabilization function is off. FIG. 3(b) is a diagram showing a state in which the PT stabilization function is on. In this embodiment, the imaging device 100 performs stabilization control in the tilt direction, and therefore performs stabilization control using the tilt driver 103, but this is not limiting. To perform stabilization control in the pan direction, the imaging device 100 may perform stabilization control using the pan driver 102, or may perform stabilization control in both the pan and tilt axes.

[0028] 3(a) and 3(b) show the imaging device 100 mounted on a stand or the like, with the stand swinging ±15° in the tilt direction. For example, if the imaging device 100 is mounted on a boat, the boat will sway significantly due to waves, causing the stand to sway significantly as well. The camera head 204 is positioned at 0° in the horizontal direction to capture images of the boat's surroundings. However, with the PT vibration isolation function turned off in FIG. 3(a), the imaging device 100 will not be able to capture the image at the 0° position that the user desires due to the boat's rocking, and will capture images that are blurred in the shooting direction from -15° to 15°, making the images very difficult to view.

[0029] Therefore, when the PT vibration reduction function is turned on, the imaging device 100 controls the tilt driver 103 within a range of -15° to 15° so as to correct the shake according to the output result from the shake correction unit 107. As a result, the imaging device 100 can always capture an image at 0° in the horizontal direction, as shown in FIG. 3(b). In this way, because the driving ranges of the pan driver 102 and the tilt driver 103 are wide, the PT vibration reduction can correct even large shakes, and it is possible to provide the user with images with little shake even when the imaging device is installed on something that rocks a lot, such as a ship.

[0030] Fig. 4 is a flowchart showing an example of processing by the position error detection unit 108 according to this embodiment. The position error detection unit 108 periodically (for example, 60 Hz) performs the processing of Fig. 4. A control method for the imaging device 100 will now be described.

[0031] In step S401, the position error detection unit 108 starts the sequence of FIG. 4. In step S402, the position error detection unit 108 acquires the status of whether the PT vibration damping function is on or off. In this embodiment, the user can set the PT vibration damping function to on or off. The position error detection unit 108 acquires the setting value of the PT vibration damping function to acquire the status of the PT vibration damping function. If the PT vibration damping function is off, the position error detection unit 108 proceeds to step S403, and if the PT vibration damping function is on, the position error detection unit 108 proceeds to step S406.

[0032] In step S403, the position error detection unit 108 sets a threshold. In this embodiment, the position error detection unit 108 sets a first threshold and a second threshold. The first threshold is a position threshold for comparing the difference between the number of motor pulses and the encoder value. The second threshold is a time threshold for comparing whether a difference equal to or greater than the first threshold has continued for a predetermined period of time. In this embodiment, the position error detection unit 108 sets the first threshold to 3 degrees and the second threshold to 2 seconds. With these values ​​set, for example, if the pan drive unit 102 or tilt drive unit is rotated by hand or the like by 3 degrees or more, the position error detection unit 108 determines a position error after 2 seconds. Then, the process proceeds to step S404.

[0033] In step S404, the position error detection unit 108 determines whether a position error has been detected using the first threshold and the second threshold. For example, the position error detection unit 108 determines that a position error has been detected if the difference between the number of motor pulses and the encoder value is greater than the first threshold and this state continues for a time period equal to or greater than the second threshold. If the position error detection unit 108 determines that a position error has been detected, the process proceeds to step S405. If the position error detection unit 108 determines that a position error has not been detected, the process proceeds to step S406.

[0034] In step S405, the position error detection unit 108 performs processing when a position error is detected. In this embodiment, the position error detection unit 108 blinks an LED to notify the user that a position error has occurred. Furthermore, if a position error occurs, the position of the drive unit under management will be misaligned with the actual position of the drive unit, making it impossible to drive to an accurate position. Therefore, in this case, the image processing unit 105 will not execute any commands other than initialization processing commands to the pan drive unit 102 or tilt drive unit 103. Thereafter, the processing proceeds to step S406.

[0035] In step S406, the position error detection unit 108 ends the sequence of FIG.

[0036] As described above, according to the first embodiment, the position error detection unit 108 performs position error detection processing when the PT vibration reduction function is off, and does not perform position error detection processing when the PT vibration reduction function is on. By not performing position error detection processing when the PT vibration reduction function is on, the position error detection unit 108 can prevent erroneous detection by the position error detection unit 108 when the PT vibration reduction function is on.

[0037] As described above, the pan and tilt control unit 106 performs control to drive the imaging unit 101 in the pan direction or tilt direction. When the correction function is enabled (on), the shake correction unit 107 corrects the shaking of the imaging unit 101 under the control of the pan and tilt control unit 106 in accordance with the shaking of the imaging unit 101. The correction function is a PT vibration reduction function. The shaking of the imaging unit 101 is a blur of the imaging unit 101.

[0038] The position error detection unit 108 detects a positional deviation in the pan direction or tilt direction of the imaging unit 101. The positional deviation is, for example, a position error. The position error detection unit 108 detects a positional deviation between the position of the imaging unit 101 in the pan direction or tilt direction controlled by the pan and tilt control unit 106 and the actual position of the imaging unit 101 in the pan direction or tilt direction.

[0039] The position error detection unit 108 obtains the difference between the position of the imaging unit 101 in the pan direction or tilt direction controlled by the pan and tilt control unit 106 and the actual position of the imaging unit 101 in the pan direction or tilt direction. Then, the position error detection unit 108 detects a position error when the state in which the difference is equal to or greater than a first threshold value has elapsed for a time equal to or greater than a second threshold value.

[0040] The position error detection unit 108 performs different processing depending on whether the correction function of the shake correction unit 107 is enabled (on) or disabled (off). Specifically, the position error detection unit 108 detects positional deviation when the correction function of the shake correction unit 107 is disabled, and does not detect positional deviation when the correction function of the shake correction unit 107 is enabled.

[0041] In step S405, if the position error detection unit 108 detects a position error, it notifies the user of the position error by, for example, blinking an LED.

[0042] According to this embodiment, the position error detection unit 108 can prevent erroneous detection of a position error when the PT vibration reduction function is on.

[0043] (Second embodiment) FIG. 5 is a flowchart showing an example of processing by the position error detection unit 108 according to the second embodiment. In FIG. 5, steps S401 and S406 are deleted from FIG. 4, and steps S501 to S503 are added. The following describes how this embodiment differs from the first embodiment. In the first embodiment, the position error detection unit 108 does not perform position error detection when the PT vibration compensation function is on. In the second embodiment, the position error detection unit 108 performs position error detection even when the PT vibration compensation function is on.

[0044] In step S501, the position error detection unit 108 starts the sequence of Fig. 5. In step S402, if the PT vibration reduction function is off, the process proceeds to step S403, and if the PT vibration reduction function is on, the process proceeds to step S502.

[0045] In step S403, the position error detection unit 108 sets the first threshold and the second threshold when the PT vibration reduction function is off, similar to FIG. 4. For example, the position error detection unit 108 sets the first threshold to 3 degrees and the second threshold to 2 seconds. Then, the process proceeds to step S404.

[0046] In step S502, the position error detection unit 108 sets the first threshold and the second threshold when the PT vibration damping function is on. For example, the position error detection unit 108 sets the first threshold to 15 degrees and the second threshold to 2 seconds. Then, the process proceeds to step S404.

[0047] The first threshold (15 degrees) when the PT vibration damping function is on is greater than the first threshold (3 degrees) when the PT vibration damping function is off. This is because, when the PT vibration damping function is on, the shake correction unit 107 drives the pan driver 102 or the tilt driver 103 to correct shake, but it is possible that the shake cannot be completely corrected and some uncorrected shake remains. For example, if there is a ±20-degree shake, and 80% of that is correctable, the remaining 20% ​​cannot be corrected, and some shake remains. 20% of ±20 degrees is ±4 degrees, so a maximum of 8 degrees of shake remains uncorrected. In this case, the first threshold (3 degrees) set in step S403 would result in an error being determined even though the camera was not moved by a hand or the like. Therefore, the first threshold (15 degrees) when the PT vibration damping function is on is greater than the first threshold (3 degrees) when the PT vibration damping function is off, taking into account cases where some shake cannot be corrected and some shake remains.

[0048] In step S404, if the position error detection unit 108 determines that a position error has been detected, the process proceeds to step S405, and if it determines that a position error has not been detected, the process proceeds to step S503.

[0049] In step S405, the position error detection unit 108 performs the process when a position error is detected, similar to that in FIG. 4, and the process proceeds to step S503.

[0050] In step S503, the position error detection unit 108 ends the sequence of FIG.

[0051] As described above, according to the second embodiment, the position error detection unit 108 sets different first thresholds depending on whether the PT vibration reduction function is on or off. This enables the position error detection unit 108 to enable position error detection even when the PT vibration reduction function is on, while preventing erroneous detection.

[0052] Although the position error detection unit 108 sets only the first threshold differently depending on whether the PT vibration reduction function is on or off, it may set both the first threshold and the second threshold differently.

[0053] As described above, the position error detection unit 108 changes the first threshold value or the second threshold value depending on whether the PT vibration damping function is on or off. The first threshold value (15 degrees) when the PT vibration damping function is on is greater than the first threshold value (3 degrees) when the PT vibration damping function is off.

[0054] According to this embodiment, when the PT vibration reduction function is on, the position error detection unit 108 can prevent erroneous detection of a position error while detecting a position error.

[0055] (Third embodiment) FIG. 6 is a flowchart showing an example of processing by the position error detection unit 108 according to the third embodiment. In FIG. 6, steps S401 and S406 are deleted from FIG. 4, and steps S601 to S605 are added. The following describes how this embodiment differs from the first and second embodiments. In the second embodiment, the position error detection unit 108 sets different first threshold values ​​depending on whether the PT vibration compensation function is on or off. In the third embodiment, the position error detection unit 108 also changes the first threshold value depending on the magnitude of the amplitude of the shake when the PT vibration compensation function is on.

[0056] In step S601, the position error detection unit 108 starts the sequence of Fig. 6. In step S402, if the PT vibration reduction function is off, the process proceeds to step S403, and if the PT vibration reduction function is on, the process proceeds to step S602.

[0057] In step S403, the position error detection unit 108 sets the first threshold and the second threshold when the PT vibration reduction function is off, similar to FIG. 4. For example, the position error detection unit 108 sets the first threshold to 3 degrees and the second threshold to 2 seconds. Then, the process proceeds to step S404.

[0058] In step S602, the position error detection unit 108 obtains the current amplitude of shake from the angular velocity information detected by the shake detection unit 104, and determines whether the absolute value of the current amplitude of shake is 10 degrees or greater. If the absolute value of the current amplitude of shake is 10 degrees or greater, the position error detection unit 108 proceeds to step S603, and if the absolute value of the current amplitude of shake is less than 10 degrees, the position error detection unit 108 proceeds to step S604.

[0059] The position error detection unit 108 can acquire the amplitude of the shake from the gyro of the shake detection unit 104, but is not limited to this. The position error detection unit 108 may also acquire the amplitude of the shake from the value of the encoder of the pan drive unit 102 or the tilt drive unit 103 when the PT vibration reduction function is on.

[0060] In step S603, the position error detection unit 108 sets the first threshold and the second threshold when the PT vibration reduction function is on and the absolute value of the amplitude of the shake is 10 degrees or more. For example, the position error detection unit 108 sets the first threshold to 15 degrees and the second threshold to 2 seconds. Then, the process proceeds to step S404.

[0061] In step S604, the position error detection unit 108 sets the first threshold and the second threshold when the PT vibration reduction function is on and the absolute value of the amplitude of the shake is less than 10 degrees. For example, the position error detection unit 108 sets the first threshold to 10 degrees and the second threshold to 2 seconds. Then, the process proceeds to step S404.

[0062] In step S404, if the position error detection unit 108 determines that a position error has been detected, the process proceeds to step S405, and if it determines that a position error has not been detected, the process proceeds to step S605.

[0063] In step S405, the position error detection unit 108 performs the process when a position error is detected, similar to that in FIG. 4, and the process proceeds to step S605.

[0064] In step S605, the position error detection unit 108 ends the sequence of FIG.

[0065] As described above, according to the third embodiment, when the PT vibration reduction function is on, the position error detection unit 108 changes the first threshold value in accordance with the amplitude of the shake. This allows the position error detection unit 108 to prevent erroneous detection of a position error and to more accurately detect a position error even when the camera is moved by hand or the like.

[0066] Although the position error detection unit 108 sets the first and second thresholds according to the amplitude of the shake, this is not limiting. The position error detection unit 108 may also set the first and second thresholds according to the frequency of the shake. Generally, the higher the frequency of the shake, the more likely it is that the shake will not be fully corrected and some shake will remain. Therefore, the position error detection unit 108 can set the first threshold to a larger value, for example, the higher the frequency of the shake.

[0067] As described above, when the PT vibration reduction function is on, the position error detection unit 108 changes the first threshold value according to the amplitude of the shaking of the imaging unit 101. The larger the amplitude of the shaking of the imaging unit 101, the larger the first threshold value.

[0068] Furthermore, when the PT vibration reduction function is on, the position error detection unit 108 may change the first threshold value according to the frequency of the shaking of the image capturing unit 101. The higher the frequency of the shaking of the image capturing unit 101, the larger the first threshold value.

[0069] According to this embodiment, when the PT vibration reduction function is on, the position error detection unit 108 can accurately detect position errors and prevent erroneous detection of position errors.

[0070] (Other embodiments) The present disclosure can also be realized by a process in which a program that realizes one or more functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0071] Although the embodiments have been described above, the present disclosure is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist thereof. [Explanation of symbols]

[0072] 100 imaging device, 101 imaging unit, 102 pan drive unit, 103 tilt drive unit, 104 shake detection unit, 105 image processing unit, 106 pan and tilt control unit, 107 shake correction unit, 108 position error detection unit, 109 system control unit, 110 communication unit

Claims

1. a control means for controlling the imaging means to drive the imaging means in a pan direction or a tilt direction; a correction means for correcting the shaking of the imaging means under the control of the control means in response to the shaking of the imaging means when the correction function is enabled; a position error detection means for performing a determination process to determine whether the rotation position of the imaging means in the pan direction or tilt direction is a target position when the correction function of the correction means is invalid, and not performing the determination process when the correction function of the correction means is valid; An apparatus comprising:

2. A control means for controlling the driving of the imaging means in a pan direction or a tilt direction; a correction means for correcting the shaking of the imaging means under the control of the control means in response to the shaking of the imaging means when the correction function is enabled; a position error detection means for changing a first threshold value depending on whether the correction function of the correction means is enabled or disabled, and determining that the position of the imaging means in the pan direction or tilt direction controlled by the control means is not a target position when a difference between the position of the imaging means in the pan direction or tilt direction controlled by the control means is equal to or greater than the first threshold value; The apparatus according to claim 1, wherein the first threshold value when the correction function of the correction means is enabled is greater than the first threshold value when the correction function of the correction means is disabled.

3. the position error detection means changes the first threshold value in accordance with the amplitude of vibration of the imaging means when the correction function of the correction means is enabled; 3. The apparatus according to claim 2, wherein the first threshold value increases as the amplitude of the shaking of the imaging means increases.

4. the position error detection means changes the first threshold value in accordance with a frequency of vibration of the imaging means when the correction function of the correction means is enabled; 3. The apparatus according to claim 2, wherein the first threshold value increases as the frequency of the vibration of the imaging means increases.

5. The device described in claim 1, characterized in that the determination process is a determination process based on the difference between the pan direction or tilt direction position of the imaging means controlled by the control means and the actual pan direction or tilt direction position of the imaging means.

6. The device described in any one of claims 1 to 4, characterized in that the position error detection means determines that the imaging means is not at the desired position when the difference between the pan or tilt direction position of the imaging means controlled by the control means and the actual pan or tilt direction position of the imaging means remains greater than or equal to a first threshold value for a period of time greater than or equal to a second threshold value.

7. 7. The apparatus according to claim 6, wherein said position error detection means changes said first threshold value and said second threshold value depending on whether the correction function of said correction means is enabled or disabled.

8. The device according to any one of claims 1 to 7, wherein the position error detection means notifies the user that a position error has occurred when it is determined that the position is not the target position.

9. a control step of performing control to drive the imaging means in a pan direction or a tilt direction; a correcting step of correcting the shaking of the imaging means by the control of the control step in accordance with the shaking of the imaging means when the correction function is enabled; a position error detection step in which, if the correction function of the correction step is invalid, a determination process is performed to determine whether the rotation position of the imaging means in the pan direction or tilt direction is a target position, and, if the correction function of the correction step is valid, the determination process is not performed; A method for controlling an apparatus, comprising:

10. A program for causing a computer to function as the device according to any one of claims 1 to 8.

Images