Control device, control method, and program

Abstract

To reduce capture of a video image that causes a sense of incompatibility in a shot function.SOLUTION: Information on a target imaging range which is an imaging range of imaging means defined as an achievement target and information on a movement time which is a time until achieving the target imaging range from a present imaging range are acquired, a route from the present imaging range to the target imaging range is determined, and at least any one of a panning value and a tilting value of the imaging means is controlled in accordance with the determined route, thereby controlling the imaging range. It is determined whether or not the imaging range of the imaging means is controllable within the movement time along a first route in which the tilting value does not exceed a predetermined value and in a case where it is determined that the imaging range is controllable within the movement time along the first route, the first route is determined as the route from the present imaging range to the target imaging range.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a method for controlling an imaging device. [Background technology]

[0002] In surveillance systems and video distribution systems, imaging devices equipped with a pan-tilt (PT) mechanism that rotates a camera head that can be remotely controlled via a network or dedicated line are available. Such imaging devices are equipped with a pan mechanism that rotates the imaging direction horizontally relative to the surface on which the imaging device is installed, and a tilt mechanism that rotates the imaging direction vertically relative to the surface. Furthermore, pan-tilt-zoom (PTZ) imaging devices with optical zoom can freely change the imaging range and can capture images while tracking a moving subject.

[0003] Furthermore, there is a function called a shot function that uses an imaging device capable of controlling such an imaging range to move the imaging range determined by the current PTZ position to an imaging range determined by a predetermined target PTZ position in a specified movement time. Patent Document 1 discloses a technique for aligning the timing of starting and stopping the drive of each PTZ mechanism in a shot function that moves the PTZ position from the current position to a predetermined destination position by specifying the movement time.

[0004] Furthermore, in the case of imaging devices with a tilt mechanism with a wider driving range, when the tilt mechanism is driven beyond the vertical plane, the image may appear inverted at the upper limit. Therefore, some imaging devices have an auto-flip function that rotates the captured image 180 degrees before outputting it when the tilt mechanism is driven beyond the vertical plane. Patent Document 2 discloses a method of flipping the image vertically and horizontally when the tilt angle is equal to or greater than a predetermined angle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-325710 [Patent Document 2] Japanese Patent Application Laid-Open No. 2006-86713 Summary of the Invention [Problem to be solved by the invention]

[0006] When the shooting range is controlled so that the target shooting range is reached via the shortest route using the shot function as in Patent Document 1, the tilt mechanism may go beyond the vertical plane. In this case, it is expected that the auto-flip function will be applied as in Patent Document 2, but in this case, the image will suddenly rotate 180 degrees while the shooting direction is moving, resulting in an unnatural image.

[0007] Therefore, the present invention aims to reduce the occurrence of images that cause discomfort when using the shot function. [Means for solving the problem]

[0008] In order to solve the above problems, for example, a control device according to the present invention has the following configuration. Photo an acquisition means for acquiring information on a target imaging range, which is an imaging range of the imaging means, and information on a travel time, which is a time required for the imaging means to travel from the current imaging range to the target imaging range; a determination means for determining a route from the current imaging range to the target imaging range; and a control means for controlling the imaging range of the imaging means by controlling at least one of a pan value and a tilt value of the imaging means according to the route determined by the determination means. an output means for rotating the image captured by the imaging means in a predetermined direction and outputting the image when the tilt value of the imaging means exceeds a vertical tilt value; and the determining means determines whether the tilt value is The vertical tilt value and if it is determined that the imaging range of the imaging means is controllable over the first route during the travel time, the first route is determined as the route from the current imaging range to the target imaging range. [Effects of the Invention]

[0009] According to the present invention, it is possible to reduce the occurrence of images that cause discomfort when using the shot function. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 illustrates an example of a system configuration. [Figure 2] FIG. 1 is a diagram illustrating an example of an external view of an imaging device. [Figure 3] FIG. 2 is a diagram illustrating functional blocks of the imaging device. [Figure 4] 10 is a flowchart showing the flow of processing of an auto-flip function. [Figure 5] FIG. 10 is a diagram illustrating a process for determining a route. [Figure 6] FIG. 10 is a diagram illustrating a process for determining a route. [Figure 7] 10 is a flowchart showing the flow of a process for determining a route. [Figure 8] FIG. 10 is a diagram for explaining a process for calculating the shortest travel time. [Figure 9] 10 is a flowchart showing a process flow for setting a drive speed. [Figure 10] FIG. 10 is a diagram for explaining a process for setting a drive speed. [Figure 11] FIG. 10 is a diagram showing an example of a UI screen in a shot function. [Figure 12] FIG. 10 is a diagram showing an example of a UI screen in an auto-flip function. [Figure 13] FIG. 2 is a diagram illustrating the hardware configuration of each device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the configurations shown in the following embodiments are merely examples and are not limited to the configurations shown in the drawings.

[0012] (Embodiment 1) 1 is a diagram showing the system configuration of this embodiment. The system of this embodiment includes an imaging device 100, an information processing device 200, a display 400, and a network 300.

[0013] The imaging device 100 and the information processing device 200 are connected to each other via a network 300. The network 300 is realized by a plurality of routers, switches, cables, etc. that comply with a communication standard such as ETHERNET (registered trademark).

[0014] The network 300 may be realized by the Internet, a wired local area network (LAN), a wireless LAN, a wide area network (WAN), or the like.

[0015] The imaging device 100 is a device that captures an image and functions as an imaging unit capable of controlling the imaging range. The imaging device 100 transmits image data of the captured image, information on the date and time the image was captured, identification information for identifying the imaging device 100, and information on the imaging range of the imaging device 100 to an external device such as an information processing device 200 via a network 300. The information processing device 200 is, for example, a client device such as a personal computer on which a program for implementing the processing functions described below is installed. Note that although the system according to this embodiment uses one imaging device 100, multiple imaging devices 100 may also be used. That is, multiple imaging devices 100 may be connected to the information processing device 200 via the network 300. In this case, the information processing device 200 determines which of the multiple imaging devices 100 captured the transmitted image, for example, using identification information associated with the transmitted image.

[0016] The display 400 is configured with an LCD (Liquid Crystal Display) or the like, and displays images captured by the imaging device 100. The display 400 is connected to the information processing device 200 via a display cable that complies with a communication standard such as HDMI (High Definition Multimedia Interface) (registered trademark). The display 400 and the information processing device 200 may be provided in a single housing.

[0017] Next, an imaging device 100 according to this embodiment will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is an example of an external view of the imaging device 100 according to this embodiment. Fig. 3 is an example of functional blocks of the imaging device 100 according to this embodiment. Among the functional blocks of the imaging device 100 shown in Fig. 3, the functions of the image processing unit 112, system control unit 113, pan / tilt / zoom control unit 114, storage unit 115, communication unit 116, etc. are realized as follows. That is, they are realized by a CPU (Central Processing Unit) 1300 of the imaging device 100 executing a computer program stored in a ROM (Read Only Memory) 1320 of the imaging device 100, which will be described later with reference to Fig. 10.

[0018] The direction in which the optical axis of the lens 101 faces is the imaging direction of the imaging device 100, and a light beam that passes through the lens 101 forms an image on an imaging element of an imaging unit 111 of the imaging device 100. In addition, the lens driving unit 102 is configured with a drive system that drives the lens 101 and changes the focal length of the lens 101. The lens driving unit 102 is controlled by a pan / tilt / zoom control unit 114.

[0019] The pan driving unit 103 is composed of a mechanical driving system that performs panning operations and a motor that is a driving source, and drives to control rotational driving for rotating the imaging direction of the imaging device 100 in a pan direction 105. The pan driving unit 103 is also controlled by a pan / tilt / zoom control unit 114.

[0020] The tilt driving unit 104 is composed of a mechanism driving a tilt operation and a motor as a driving source, and drives to control rotational driving for rotating the imaging direction of the imaging device 100 in a tilt direction 106. The tilt driving unit 104 is controlled by a pan / tilt / zoom control unit 114.

[0021] The imaging unit 111 is configured with an imaging element (not shown), such as a CCD (charge coupled device) sensor or a CMOS (complementary metal oxide semiconductor) sensor. The imaging unit 111 photoelectrically converts the subject image formed through the lens 101 to generate an electrical signal. The image processing unit 112 performs image processing such as converting the electrical signal photoelectrically converted by the imaging unit 111 into a digital signal and compression encoding, thereby generating image data.

[0022] The pan-tilt-zoom control unit 114 controls the pan, tilt, and zoom of the imaging device 100 by controlling the pan driving unit 103, the tilt driving unit 104, and the lens driving unit 102 based on instructions transmitted from the system control unit 113.

[0023] The storage unit 115 stores (holds), for example, information indicating an imaging range. The storage unit 115 also stores information on shot positions, which will be described later. The communication unit 116 communicates with the information processing device 200 via an I / F 1340, which will be described later with reference to FIG. 13 . For example, the communication unit 116 transmits image data of an image captured by the imaging device 100 to the information processing device 200 via the network 300. The communication unit 116 also transmits information on the current PTZ position as information indicating the current imaging range of the imaging device 100. The communication unit 116 also receives control commands, which are commands for controlling the imaging device 100, transmitted from the information processing device 200, and transmits the control commands to the system control unit 113.

[0024] The system control unit 113 controls the entire imaging device 100 in accordance with processing executed by a CPU 1300, which will be described later with reference to Fig. 13, and performs the following processing, for example. That is, the system control unit 113 analyzes a control command for controlling the imaging device 100 transmitted from the information processing device 200, and performs processing according to the control command. The system control unit 113 also instructs the pan-tilt-zoom control unit 114 to perform a pan-tilt-zoom operation. When transmitting image data generated by the image processing unit 112 to the information processing device 200, the system control unit 113 also adds information about the imaging time when the image data was captured to the image data.

[0025] The imaging range in this embodiment is determined by the pan value, tilt value, and zoom value (in other words, the PTZ position) of the imaging device 100. The pan value is the angle of the imaging direction (optical axis) in a pan direction 105 of the imaging device 100, when the midpoint between the two drive ends of the pan driver 103 is set to 0°, as shown in FIG. 2. As shown in FIG. 2, the pan value in this embodiment can take a value in the range of −180° to +180°. The tilt value is the angle of the imaging direction (optical axis) in a tilt direction 106 of the imaging device 100, when the imaging direction of the imaging device 100 is set to 0° in a direction parallel to the installation surface of the imaging device 100. As shown in FIG. 2, the tilt value in this embodiment can take a value in the range of −40° to +220°. The zoom value of the imaging device 100 when an image is captured by the imaging device 100 is calculated from the focal length of the lens 101.

[0026] The auto-flip function of the imaging device 101 will now be described with reference to FIG. 4. The imaging device 100 of this embodiment is capable of controlling the imaging direction so that it exceeds the vertical direction (+90° shown in FIG. 2) relative to the installation surface of the imaging device 100. In the following description, the predetermined tilt value when the imaging direction of the imaging device 100 is oriented in the vertical direction is referred to as the vertical tilt value (+90° shown in FIG. 2). If the imaging device 100 is tilted beyond the vertical tilt value, the captured image will appear upside down. To prevent this from happening, the auto-flip function is executed, and once the tilt value of the imaging device 100 exceeds the vertical tilt value, the imaging device 100 rotates the captured image by 180° and outputs it. In this embodiment, the vertical tilt value is set to +90°, and the auto-flip function is executed when the vertical tilt value exceeds +90°; however, another predetermined value may be used as the vertical tilt value. By executing the process of FIG. 4, the image capturing apparatus 100 of this embodiment performs an auto-flip function when the vertical tilt value is exceeded.

[0027] In S401, when the imaging device 100 acquires a control command for executing the shot function, the pan / tilt / zoom control unit 114 starts controlling the imaging range by controlling at least one of the pan value, tilt value, and zoom value. Note that the following description assumes a case in which a control command for controlling the imaging range to information on a target imaging range, which is an imaging range to be reached (information on the PTZ position in the target imaging range), is transmitted from the information processing device 200 to the imaging device 100. Here, in S401, the imaging device 100 acquires the control command including information on the target imaging range, and the pan / tilt / zoom control unit 114 starts processing for controlling the imaging range so as to reach the target imaging range.

[0028] In S402, the system control unit 113 acquires information on the current imaging range of the imaging device 100 (in other words, information on the current PTZ position).

[0029] In S403, the system control unit 113 determines whether the currently acquired tilt value exceeds the vertical tilt value (90° in this embodiment) relative to the tilt value at the start of the shot function. For example, if the tilt value at the start of the shot function was 0° and the currently acquired tilt value is 95°, it is determined that the vertical tilt value is exceeded. If it is determined that the tilt value exceeds the vertical tilt value (Yes in S403), the process proceeds to S404, and if it is determined that the tilt value does not exceed the vertical tilt value (No in S403), the process proceeds to S406.

[0030] In S404, the system control unit 113 determines whether the auto-flip function is enabled or disabled. Whether the auto-flip function is enabled or disabled can be set in advance via a UI (described later) in the information processing device 200, and the setting information (information indicating whether the function is enabled or disabled) is stored in the storage unit 115 of the imaging device 100. If it is determined that the auto-flip function is enabled (Yes in S404), the process proceeds to S405, and if it is determined that the auto-flip function is disabled (No in S404), the process proceeds to S406.

[0031] In S405, the system control unit 113 rotates the captured image by 180° and outputs it to the outside, thereby preventing the image from appearing upside down even if the tilt value exceeds 90°.

[0032] In S406, the system control unit 113 determines whether the current imaging range has reached the target imaging range. If it is determined that the current imaging range has reached the target imaging range (Yes in S406), the process proceeds to S407. If it is determined that the current imaging range has not reached the target imaging range (No in S406), the process proceeds to S402. In S407, the pan / tilt / zoom control unit 114 ends control of the imaging range. As described above, the imaging device 100 in this embodiment rotates the captured image by 180° and outputs it after the tilt value exceeds the vertical tilt value, thereby preventing the displayed image from appearing upside down. Specifically, in the example shown in FIG. 2, when the initial tilt value is controlled within the range of −40° to +90°, the imaging device 100 outputs the captured image as is without rotating it. On the other hand, after the tilt value exceeds the vertical tilt value of +90° in the process of reaching the target imaging range (i.e., while being controlled between +90° and +220°), imaging device 100 rotates the captured image by 180° and outputs the image to information processing device 200. In this way, it is possible to prevent the image displayed on information processing device 200 from appearing upside down.

[0033] The shot function of the imaging device 101 in this embodiment will now be described with reference to FIGS. 5 and 6. FIG. 5 shows an example of a scene in which video is captured by the imaging device 100. In FIG. 5(a), one person in the upper left is being captured, and in FIG. 5(b), two people in the lower right are being captured. In this case, the angle of view in FIG. 5(a) is a pan value of −30°, a tilt value of 40°, and a zoom value of 20°. In the following description, the pan value, tilt value, and zoom position (PTZ position) will be represented as (−30, 40, 20). This PTZ position is given identification information called “Position 1” and is stored in the imaging device 101 as information on a shot position that is a candidate for the target imaging range of the shot function. In the case of FIG. 5B, the PTZ position in the imaging range of the imaging device 100 is (140, 50, 30), and this PTZ position is assigned identification information called "Position 2" as information on a shot position that is a candidate for a target imaging range of the shot function and is stored in the imaging device 100. At this time, in the state of the imaging device 100 shown in FIG. 5A (state of the imaging range of Position 1), the information processing device 200 accepts the following user operation via a UI screen displayed by the information processing device 200. That is, the information processing device 200 accepts a user operation to specify a movement time (or shot time) to the target imaging range corresponding to Position 2 and to execute the shot function from the current imaging range to the target imaging range corresponding to Position 2. At this time, the information processing device 200 transmits to the imaging device 100 a control command for executing the shot function that includes Position 2 and the specified movement time, and the imaging device 100 executes the following process in response to receiving the control command. That is, the imaging device 100 reads out the PTZ position associated with Position 2 stored in the storage unit 115 from the identification information of Position 2 included in the control command, and determines a path for controlling the imaging range to the PTZ position in the specified movement time. Then, the imaging device 100 calculates the drive speeds of the pan drive unit 103, the tilt drive unit 104, and the lens drive unit 102 for controlling the imaging range along the determined path in the specified movement time, and controls each drive unit according to the calculated drive speeds.In this embodiment, the shot function for controlling the imaging range to the target imaging range within a specified movement time executes the following process: The pan driving unit 103, tilt driving unit 104, and lens driving unit 102 start driving simultaneously, and the driving of each driving unit is stopped simultaneously when the imaging range is reached.

[0034] FIG. 6 illustrates the paths used to drive a shot from Position 1 to Position 2. The first path, from Position 1 to Position 2, has a wider pan value drive range. Since the movement is from Position 1 (-30, 40, 20) to Position 1 (140, 50, 30), the total movement distance is (170, 10, 10). On the other hand, the second path is a path that drives the tilt beyond the lead tilt value. The destination on this path is (-40, 130, 30), which is technically different from the PTZ position of Position 2. However, since the imaging device 100 is shooting in the same direction, it can be used as a substitute for Position 2. For clarity, the destination on Path 2 will be referred to as Position 2' hereinafter. The movement distance on the second path is (-10, 90, 10), which allows for a shorter distance than the first path. Note that the first path does not exceed the vertical tilt value (+90°) during the drive to Position 2, but the second path exceeds the vertical tilt value during the drive to Position 2', necessitating the execution of the auto-flip function. As described above, if the auto-flip function is executed during execution of the shot function, the moving image will be rotated 180° along the way, which may result in an unnatural image during movement. Therefore, it is desirable to avoid the occurrence of auto-flip as much as possible when executing the shot function. Therefore, in this embodiment, when executing the shot function to move from the current imaging range to the target imaging range within a movement time specified by the user, the imaging device 100 performs the following process. That is, the imaging device 100 determines whether the imaging range can be controlled using the first path, in which the tilt value does not exceed the vertical tilt value, within the movement time specified by the user in the shot function. If it is determined that control is possible, the imaging device 100 executes the shot function according to the determined first path.

[0035] Next, a method for executing the shot function so as to avoid execution of the auto-flip function as much as possible in this embodiment will be described with reference to Figures 7 and 8. The processing flow shown in Figure 7 is executed by the imaging device 100. The processing flow shown in Figure 7 is also executed by the functional blocks shown in Figure 3, which are realized by the CPU 1300 of the imaging device 100 executing a computer program stored in the ROM 1320 of the imaging device 100, for example.

[0036] First, in S701, the control unit 113 acquires a control command for executing the shot function transmitted from the information processing device 200. The control command includes information on the target imaging range and information on the movement time Ts for executing the shot function. For example, the information on the target imaging range includes information on the PTZ position of position 2 (140, 50, 30), and the information on the movement time Ts includes information on 5 (s).

[0037] Next, in S702, the system control unit 113 determines a first route from the current imaging range to the target imaging range based on the control command acquired in S701 that does not exceed the vertical tilt value. In the examples of Figures 5 and 6, assume that the current imaging range is Position 1 and the target imaging range is Position 2. The system control unit 113 determines, as the first route, a route that sequentially changes each of the pan value, tilt value, and zoom value in the shortest time from the PTZ position (-30, 40, 20) corresponding to Position 1 to the PTZ position (140, 50, 30) corresponding to Position 2.

[0038] Next, in S703, the system control unit 113 determines a second route from the current imaging range to the target imaging range based on the control command acquired in S701, which route exceeds the vertical tilt value. In the examples of Figures 5 and 6, the system control unit 113 determines as the second route the route that sequentially changes each of the pan value, tilt value, and zoom value in the shortest way from the PTZ position (-30, 40, 20) corresponding to the current imaging range Position 1 to the target imaging range Position 2' (-40, 130, 30). In this case, the tilt value changes from +40° to +130°, which exceeds the vertical tilt value of +90°, and therefore the auto-flip function must be executed on the second route.

[0039] Next, in S704, the system control unit 113 calculates the shortest travel time for each of the first route and the second route determined in S702 and S703. The shortest travel time calculated for the first route is defined as Ta, and the shortest travel time calculated for the second route is defined as Tb. The method for calculating the shortest travel time here will be described later with reference to FIG. 8.

[0040] Next, in S705, the system control unit 113 compares the shortest travel time Ta calculated for the first route with the travel time Ts included in the control command transmitted from the information processing device 200. If Ta is equal to or less than Ts (Yes in S705), the process proceeds to S706. Then, in S706, the system control unit 113 determines the first route as the route of the shot function and sets the travel time of the shot function to Ts. On the other hand, if Ta is greater than Ts (No in S705), the process proceeds to S707.

[0041] In S707, the system control unit 113 compares the shortest travel time Tb calculated for the second route with the travel time Ts included in the control command transmitted from the information processing device 200. If Tb is equal to or less than Ts (Yes in S707), the process proceeds to S708. Then, in S708, the system control unit 113 determines the second route as the route for the shot function and sets the travel time for the shot function to Ts. On the other hand, if Tb is greater than Ts (No in S707), the process proceeds to S709.

[0042] In S709, the system control unit 113 compares the shortest travel time Ta for the first route with the shortest travel time Tb for the second route. If Ta is equal to or less than Tb (Yes in S709), the process proceeds to S710. Then, in S710, the system control unit 113 determines the first route as the route for the shot function and sets the travel time for the shot function to Ta. On the other hand, if Ta is greater than Tb (No in S709), the process proceeds to S711, where the system control unit 113 determines the second route as the route for the shot function and sets the travel time for the shot function to Tb. The branching in S709 is intended to adopt the route with the shorter required time as the route for the shot function if neither the first route nor the second route meets the specified travel time Ts, but is not limited thereto. That is, if the branch at S709 is not provided and the result at S707 is No, the system control unit 113 may uniformly determine the first route as the route in the shot function and determine the travel time in the shot function as Ta.

[0043] Next, in S712, the system control unit 113 calculates the drive speed for controlling the pan value / tilt value / zoom value in accordance with the determined path and the set movement time in the shot function. Note that the calculation process for calculating the drive speed will be described later with reference to FIG. 9.

[0044] Next, in S713, the system control unit 113 executes a process of controlling the imaging range along the path determined in the shot function in accordance with the drive speed calculated in S712. Note that the process in S713 is the process described with reference to FIG.

[0045] Here, a method for calculating the shortest movement times Ta and Tb in S704 shown in Fig. 7 will be described with reference to Fig. 8. Fig. 8 is a graph showing acceleration / deceleration control of the PTZ of the imaging device 100, with the horizontal axis representing elapsed time T and the vertical axis representing drive speed V.

[0046] First, let us consider the case where the drive speed reaches the maximum drive speed Vmax with reference to FIG. 8(a). At this time, the drive time can be divided into an acceleration time Ta1, a constant velocity time Tc1, and a deceleration time Td1. In other words, if the total drive time is T1, then T1 is T1=T a1 +T c1 +T d1 (1) During acceleration time Ta1, acceleration occurs at a constant reference acceleration a, and during deceleration time Td1, deceleration occurs at a constant reference deceleration d. During constant velocity time Tc1, constant velocity drive occurs at velocity V1, where V1 is the maximum drive velocity Vmax of the imaging device 101. At this time, if the total movement distance during total drive time T1 is L1, L1 can be expressed as follows:

number

[0047] Here, since the acceleration time Ta1 and deceleration time Td1 are constant acceleration drives,

number

[0048] Substituting equation (3) into equation (2), we get

number

[0049] By solving this for Tc1, Tc1 is expressed as follows:

number

[0050] By substituting the formulas (3) and (5) into the formula (1), it can be seen that the total drive time T1 can be calculated as follows:

number

[0051] In the case of the shot function, the total travel distance L1 corresponds to the travel distance in the shot path, so T1 at this time is the shortest shot time. However, this is a calculation method when the drive speed can be fully accelerated to Vmax, and if the travel distance is short, the drive speed may not be able to fully accelerate to Vmax. In that case, a separate consideration is required to determine how to calculate the shortest drive time.

[0052] FIG. 8(b) is a graph showing acceleration / deceleration processing when the drive speed cannot be fully accelerated to the maximum speed Vmax during shot drive.

[0053] If the total drive time at this time is T2, T2 can be expressed as follows: T2=T a2 +T d2 (7)

[0054] Where Ta2 is the acceleration time and Td2 is the deceleration time. If the maximum speed is V2, then

number

[0055] Here, if the total travel distance is L2, L2 can be expressed as follows:

number

[0056] Solving this for V2, since V2, L2, a, and d are all positive,

number

[0057] By substituting the formulas (8) and (10) into the formula (7), the drive time T2 can be calculated as follows:

number

[0058] Whether to use equation (6) or equation (11) to find the shortest drive time depends on whether acceleration to the maximum drive speed Vmax is possible. If the travel distance is L, being able to accelerate to the maximum drive speed Vmax can be said to be equivalent to the following inequality being true, using equation (10):

number

[0059] In summary, if the shortest drive time in a certain shot path is Tmin, Tmin can be calculated using the following formula using the movement distance L in the shot, the reference acceleration a, the reference deceleration d, and the maximum drive speed Vmax.

number

[0060] The above calculation is applied to each of pan, tilt, and zoom, and the longest of the shortest drive times for each can be determined as the shortest shot time.

[0061] Next, the process of calculating the drive speed in S712 shown in Fig. 7 will be described with reference to Fig. 9 and Fig. 10. The process of the flow shown in Fig. 9 is a process of calculating the drive speed, and the graph shown in Fig. 10 is a graph showing acceleration / deceleration control of the PTZ in the shot function. The process of the flow shown in Fig. 9 is executed by the imaging device 100. Furthermore, the process of the flow shown in Fig. 9 is executed by the functional blocks shown in Fig. 3 which are realized by the CPU 1300 of the imaging device 100 executing a computer program stored in the ROM 1320 of the imaging device 100, for example.

[0062] In the flow shown in FIG. 9, steps S901 to S906 form a loop L091, and the processes of S901 to S906 are executed for each of panning, tilting, and zooming.

[0063] In S901, the system control unit 113 calculates the movement speed from the movement distance in the shot function and the movement time set in the processing of S705 to S711. The calculation method here will be described with reference to the graph shown in Fig. 10. In the graph shown in Fig. 10, the horizontal axis represents elapsed time T, and the vertical axis represents drive speed V.

[0064] The total drive time T3 is divided into acceleration time Ta3, constant velocity time Tc3, and deceleration time Td3. During the acceleration time Ta3, acceleration occurs at a reference acceleration a, and during the constant velocity time Tc3, constant velocity drive occurs at a speed V3. During the deceleration time Td3, deceleration occurs at a reference deceleration d. Therefore, the total drive time T3 is T3=T a3 +T c3 +T d3 (14) Also, if the travel distance is L3,

number

[0065] Since the acceleration time Ta3 and deceleration time Td3 are both constant acceleration drives,

number

[0066] Substituting this into equation (15), we get

number

[0067] Furthermore, from equation (14),

number

[0068] Therefore, by substituting into equation (17) and rearranging, we obtain the following quadratic equation for V3.

number

[0069] Solving this, we get the following solution:

number

[0070] However, since Tc3 is positive, the valid solution from equation (18) is

number

[0071] In addition, for V3 to have a real solution, the following inequality must hold:

number

[0072] This holds true from equation (13) if the determined movement time T3 is equal to or greater than the shortest drive time Tmin for the movement distance L3. If equation (22) does not hold, the maximum drive speed Vmax is used as the drive speed.

[0073] In S902, the system control unit 113 determines whether the drive speed calculated in S901 exceeds the maximum value. If it exceeds the maximum value (Yes in S902), in S903 the system control unit 113 sets the drive speed for the shot function to the maximum value. If it does not exceed the maximum value (No in S902), the system control unit 113 proceeds to S904. In S904, the system control unit 113 determines whether the drive speed calculated in S901 is below the minimum value. If it is below the minimum value (Yes in S904), in S905 the system control unit 113 sets the drive speed to the minimum value. On the other hand, if it is equal to or greater than the minimum value (No in S904), in S906 the system control unit 113 sets the speed calculated in S901 as the drive speed. By performing the above processes in S901 to S906 for pan, tilt, and zoom, the drive speed of each drive unit can be set.

[0074] Next, UI screens for controlling the shot function and auto-flip function in this embodiment will be described with reference to Figures 11 and 12. Figure 11 shows a shot function UI screen when the auto-flip function is enabled, Figure 12 shows a UI screen for switching between enabling and disabling the auto-flip function, and Figure 11(b) shows a shot function UI screen when the auto-flip function is disabled. Each of these UI screens is displayed on the display 400 by the information processing device 200. Control instructions based on user operations performed via these UI screens are transmitted as control commands from the information processing device 200 to the imaging device 100 via the network 300. The imaging device 100 then receives the control commands via the communication unit 116 and performs various controls in accordance with the received control commands.

[0075] The UI screen of the shot function will now be described with reference to FIG. 11. The information processing device 200 displays a UI screen 1100 shown in FIG. 11(a) on the display 400, and the user performs various operations on the UI screen 1100 using a mouse cursor 1111. The information processing device 200 can generate control commands for controlling the imaging device 100 in response to user operations and transmit the control commands to the imaging device 100. A video window 1101 on the UI screen 1100 displays video captured by the imaging device 100 and live-streamed, allowing the user to check the imaging range of the imaging device 100 in real time. A shot position list 1102 displays a list of identification information (e.g., Position 1, Position 2, etc.) that identifies each target imaging range registered in the imaging device 100. The user can select a desired shot position from the shot position list 1102 and specify the selected shot position as a target imaging range to be reached when executing the shot function. An add button 1103 is used to add a new shot position. When the user selects identification information (e.g., Position 3) with no registered PTZ position from the shot position list 1102 and presses the Add button 1103, the current imaging range of the imaging device 100 can be registered as a new shot position. The Delete button 1104 is a button for deleting a shot position. The user can delete the shot position information by selecting any identification information from the shot position list 1102 and pressing the Delete button 1104. The Shot Position Information Form 1105 is a form for displaying and setting shot position information. When a shot position is selected from the shot position list 1102, a setting form for specifying information such as the pan value, tilt value, and zoom value indicating the corresponding shot position, as well as the movement time, is displayed. The slider bar 1106 is used to specify the movement time of the shot function, and the user can specify the movement time by operating this slider bar. The user can also fine-tune the movement time using the time adjustment button 1107.The recommended movement time 1108 is a line on the slider bar 1106 that visually displays the recommended movement time for the imaging device 100 to perform the shot function without triggering the auto-flip function. The recommended movement time can be calculated using the algorithm described with reference to FIG. 8. In this example, the recommended shot time is 3.7 seconds. Pressing the execute button 1109 starts the shot function for the currently selected shot position using the movement time specified by the slider bar 1106. The warning message 1110 is displayed when a movement time shorter than the recommended movement time is specified by the slider bar 1106. This message indicates that if the shot function is performed using the currently specified movement time, the image may be flipped during movement due to auto-flip. This message is not displayed if the slider bar 1106 specifies a time longer than the recommended shot time. In this example, the recommended shot time is 3.7 seconds, and the shot time is specified as 3.0 seconds, so the warning message 1110 is displayed.

[0076] Next, a modified example of the shot function UI screen will be described with reference to FIG. 11(b). Here, a description of the functional configuration similar to that of the UI screen 1100 shown in FIG. 11(a) will be omitted, and the following will focus on the different functional configuration. The difference with the UI screen 1100 shown in FIG. 11(a) is the range of shot times that can be specified using the time slider bar 1106. In FIG. 11(a), the recommended shot time (3.7 seconds in this example) is indicated by the recommended travel time 1108, and it is possible to specify a time shorter than the recommended travel time using the slider bar 1106. However, in FIG. 11(b), 3.7 seconds is not the recommended travel time but the shortest selectable travel time for the shot function, and it is not possible to specify a time shorter than this. The UI screen shown in FIG. 11(b) may be displayed, for example, when the auto-flip function is disabled, thereby preventing the adoption of a route that requires the auto-flip function to be executed.

[0077] A UI screen 1200 shown in FIG. 12 is a setting screen for switching between enabling and disabling auto flip, and is displayed on the display 400 by the information processing device 200. As with the UI screen 1100 shown in FIG. 11, a user operation is performed using the mouse pointer 1111. The UI screen 1200 shown in FIG. 12 includes a pull-down menu 1201 for switching between enabling and disabling auto flip, and an apply button 1202. The information processing device 200 displays the UI screen 1200 on the display 400, and the user selects whether to enable or disable auto flip from the pull-down menu 1201 using the mouse cursor 1111. The apply button 1202 is a button for applying the setting of enabling / disabling auto flip. The user can transmit the setting of enabling / disabling auto flip to the imaging device 100 by selecting a desired auto flip setting from the pull-down menu 1201 and pressing the apply button 1201. The imaging device 100 executes, for example, the determination process of S404 shown in FIG. 4 in accordance with the transmitted setting of whether the auto-flip is enabled or disabled.

[0078] As described above, the imaging device 100 of this embodiment determines a first route from the current imaging range to the target imaging range, in which the tilt value does not exceed a predetermined value (vertical tilt value). The imaging device 100 then determines whether the imaging range can be controlled using the first route within a travel time specified by the user. If it is determined that the imaging range can be controlled using the first route within the travel time specified, the imaging device 100 controls the imaging range using the first route within the travel time. Unlike control that simply selects the shortest route and executes the shot function without considering whether the vertical tilt value is exceeded, the control of this embodiment makes it easier to select the first route, which does not require the auto-flip function. As a result, this embodiment can reduce the likelihood of an image being rotated 180 degrees by the auto-flip function during control of the imaging range in the shot function, creating an unnatural image.

[0079] (Other embodiments) Next, the hardware configuration of the imaging device 100 for realizing each function of the above-described embodiment will be described with reference to Fig. 13. Note that, although the hardware configuration of the imaging device 100 will be described in the following explanation, it is assumed that the information processing device 200 is also realized by a similar hardware configuration.

[0080] The imaging device 100 in this embodiment includes a CPU 1300 , a RAM 1310 , a ROM 1320 , an HDD 1330 , and an I / F 1340 .

[0081] The CPU 1300 is a central processing unit that controls the imaging device 100. The RAM 1310 temporarily stores computer programs executed by the CPU 1300. The RAM 1310 also provides a work area used when the CPU 1300 executes processing. The RAM 1310 also functions as, for example, a frame memory or a buffer memory.

[0082] The ROM 1320 stores programs and the like that are used by the CPU 1300 to control the control device 110. The HDD 1330 is a storage device that records image data and the like.

[0083] The I / F 1310 communicates with external devices via the network 300 in accordance with TCP / IP, HTTP, or the like.

[0084] Although the above-described embodiments have been described with reference to examples in which the CPU 1300 executes the processing, at least a portion of the processing by the CPU 1300 may be performed by dedicated hardware. For example, the processing of displaying a GUI (Graphical User Interface) or image data on the display 400 may be performed by a GPU (Graphics Processing Unit). Furthermore, the processing of reading program code from the ROM 1320 and loading it into the RAM 1310 may be performed by a DMA (Direct Memory Access) that functions as a transfer device.

[0085] The present invention can also be realized by a process in which one or more processors read and execute a program that realizes one or more functions of the above-described embodiments. The program may be supplied to a system or device having a processor via a network or a storage medium. The present invention can also be realized by a circuit (e.g., an ASIC) that realizes one or more functions of the above-described embodiments. Each unit of the imaging device 100 may be realized by hardware shown in FIG. 13, or by software.

[0086] Note that one or more functions of the imaging device 100 according to the above-described embodiment may be implemented in another device. For example, one or more functions of the imaging device 100 according to the above-described embodiment may be implemented in an information processing device 200.

[0087] Although the present invention has been described above with reference to the embodiments, the above embodiments merely illustrate specific examples of how the present invention can be implemented, and the technical scope of the present invention should not be construed as being limited by these embodiments. In other words, the present invention can be implemented in various forms without departing from the technical concept or main features of the present invention. For example, combinations of the embodiments are also included in the disclosure of this specification. [Explanation of symbols]

[0088] 100 Imaging device 200 Information processing device 300 Network 400 displays 113 System Control Unit 114 Pan-tilt-zoom control unit

Claims

1. an acquisition means for acquiring information on a target imaging range, which is an imaging range of the imaging means to be reached, and information on a travel time, which is a time required for the imaging means to travel from the current imaging range to the target imaging range; a determining means for determining a route from the current imaging range to the target imaging range; a control means for controlling an imaging range of the imaging means by controlling at least one of a pan value and a tilt value of the imaging means according to the path determined by the determination means; an output means for rotating the image captured by the imaging means in a predetermined direction and outputting the image when the tilt value of the imaging means exceeds a vertical tilt value; and the determining means determines whether the imaging range of the imaging means can be controlled during the movement time along a first route in which the tilt value does not exceed the vertical tilt value, and if it is determined that the imaging range of the imaging means can be controlled during the movement time along the first route, determines the first route as the route from the current imaging range to the target imaging range.

2. 2. The control device according to claim 1, wherein, when the determination means determines that the imaging range is controllable on the first route during the travel time and determines the first route as the route from the current imaging range to the target imaging range, the control means controls the imaging range to the target imaging range on the first route during the travel time.

3. 3. The control device according to claim 1, wherein, when it is determined that the imaging range cannot be controlled during the travel time on the first route, the determiner determines whether the imaging range can be controlled during the travel time on a second route in which the tilt value exceeds the vertical tilt value, and when it is determined that the imaging range can be controlled during the travel time on the second route, the determiner determines the second route as the route from the current imaging range to the target imaging range.

4. When it is determined that the second route is not controllable within the travel time, the determination means determines the first route as a route from the current imaging range to the target imaging range, 4. The control device according to claim 3, wherein the control means controls the imaging range to the target imaging range on the first route even if the movement time is exceeded.

5. 5. The control device according to claim 1, wherein the target imaging range and the movement time are specified by a user via a UI displayed on a display unit.

6. 6. The control device according to claim 1, further comprising the imaging means.

7. an acquisition step of acquiring information on a target imaging range, which is an imaging range of the imaging means to be reached, and information on a travel time, which is a time required for the imaging means to travel from the current imaging range to the target imaging range; a determining step of determining a route from the current imaging range to the target imaging range; a control step of controlling an imaging range of the imaging means by controlling at least one of a pan value and a tilt value of the imaging means according to the path determined in the determination step; an output step of rotating the image captured by the imaging means in a predetermined direction and outputting the image when the tilt value of the imaging means exceeds a vertical tilt value; and a control method comprising: determining, in the determining step, whether the imaging range of the imaging means can be controlled during the movement time along a first route in which the tilt value does not exceed the vertical tilt value; and, if it is determined that the imaging range of the imaging means can be controlled during the movement time along the first route, determining the first route as the route from the current imaging range to the target imaging range.

8. An acquisition step of acquiring information on a target imaging range, which is an imaging range of an imaging means to be reached, and information on a travel time, which is a time required for the imaging means to travel from a current imaging range to the target imaging range; a determining step of determining a route from the current imaging range to the target imaging range; a control step of controlling an imaging range of the imaging means by controlling at least one of a pan value and a tilt value of the imaging means according to the path determined in the determination step; an output step of rotating the image captured by the imaging means in a predetermined direction and outputting the image when the tilt value of the imaging means exceeds a vertical tilt value; and In the determining step, it is determined whether the imaging range of the imaging means can be controlled during the movement time along a first route along which the tilt value does not exceed the vertical tilt value, and if it is determined that the imaging range can be controlled during the movement time along the first route, the first route is determined as the route from the current imaging range to the target imaging range. A program for causing a computer to execute a control method.

Images