Imaging device, imaging control system provided with same, and imaging control program

Abstract

An imaging device (10) receives a position designation signal from a PC (40) and performs position control, the imaging device comprising a lens drive control unit (13), a pan head control unit (17), a Ready determination unit (27), and a communication control unit (20). The lens drive control unit (13) and the pan head control unit (17) perform position control on the imaging device (10). The Ready determination unit (27) generates a Ready signal for performing synchronization processing with the PC (40). The communication control unit (20) communicates with the PC (40). When the communication control unit (20) transmits the Ready signal to the PC (40) at predetermined intervals and receives the position designation signal from the PC (40) as a response thereto, the lens drive control unit (13) and the pan head control unit (17) perform position control on the imaging device (10) on the basis of the position designation signal.

Description

Imaging device, imaging control system including same, and imaging control program

[0001] The present disclosure relates to an imaging device that controls, for example, a shooting direction and zoom / focus, an imaging control system including the imaging device, and an imaging control program.

[0002] In recent years, remote cameras that take pictures while changing the shooting direction or position by remote control have been used in, for example, photography studios, conference halls, event venues, sports facilities, etc. For example, Patent Document 1 discloses an image display device that, when displaying a camera's image signal and character or image information superimposed on it, transmits a camera position control signal in synchronization with a vertical synchronization signal included in the camera's image signal, stores the number of times this position control signal is transmitted in an internal memory of the control device as a criterion for an operation sequence, and performs time prediction in the control device based on the memory contents, so that when the position from the camera reaches a predetermined angle, predetermined character or image information is superimposed and displayed.

[0003] Japanese Patent Application Laid-Open No. 2000-184249

[0004] However, the above-mentioned conventional image display device has the following problem. That is, in the image display device described in the above publication, a camera position control signal is transmitted in synchronization with a vertical synchronization signal included in the camera's image capture signal. However, in this type of camera position control, the position control signal is transmitted unilaterally from the controller, and there is a risk that high-precision control cannot be performed due to signal delays, etc.

[0005] When remotely controlling the shooting direction or zoom / focus position of a camera mounted on a camera platform, IP (Internet Protocol) communication or serial communication specifications such as RS-422 are generally used. For example, when using an internet line in increasingly widespread IP communication, communication delays and fluctuations are large, and even if you try to control the shooting direction, zoom, or focus position of a camera at a fixed cycle (time interval), fluctuations in the time interval occur.

[0006] Typically, camera position control, such as shooting direction, zoom, and focus, is controlled at a cycle close to the video cycle (16 ms to 20 ms). Therefore, when high-speed, asynchronous position control close to the video cycle is performed from an external controller, timings at which data cannot be transferred may occur, resulting in discontinuous position control. In particular, when compositing camera images with an augmented reality (AR) / virtual reality (VR) virtual space, accurate position control of the imaging device is required for each frame.

[0007] An object of the present disclosure is to provide an imaging device that receives a position designation signal from a controller to perform position control, and an imaging control system and imaging control program that can prevent discontinuous position control from occurring in the imaging device that performs position control by receiving a position designation signal from a controller. The imaging device according to the present disclosure receives a position designation signal from a controller to perform position control, and includes a position control unit, a ready signal generation unit, and a communication unit. The position control unit controls the position of the imaging device. The ready signal generation unit generates a ready signal that performs synchronization processing with the controller. The communication unit communicates with the controller. The communication unit transmits a ready signal to the controller at a predetermined interval, and upon receiving a position designation signal from the controller in response, the position control unit controls the position of the imaging device based on the position designation signal. (Effects of the Invention) According to the imaging device according to the present disclosure, the imaging device receives a position designation signal from the controller in response to the ready signal transmitted from the imaging device to perform position control, thereby preventing discontinuous position control from occurring.

[0008] 1 is a conceptual diagram illustrating a configuration of an imaging control system according to an embodiment of the present disclosure. FIG. 2 is an external view illustrating the configuration of the imaging device and position control of the imaging device. FIG. 3 is a control block diagram illustrating the configuration of an imaging device included in the imaging control system of FIG. 1. FIG. 4 is a control block diagram illustrating transmission and reception of signals when performing position control between the imaging device and a PC in the imaging control system of FIG. 1. FIG. 5 is a diagram illustrating an example of a Ready signal and status information transmitted from the imaging device of FIG. 1 to a PC, and an example of a format of a synchronous preset command transmitted from the PC to the imaging device. FIG. 6 is a diagram illustrating an example of a pan / tilt target position transmitted from a PC to the imaging device of FIG. 2. FIG. 7 is a diagram illustrating an example of a status (synchronization status, end deceleration processing status, speed and acceleration information, and constraint violation) contained in a Ready packet transmitted from the imaging device of FIG. 2 to a PC. FIG. 8 is a diagram illustrating an example of a status (target position after synchronization time has elapsed) contained in a Ready packet transmitted from the imaging device of FIG. 2 to a PC. FIG. 9 is a timing chart of position control performed between the imaging device of FIG. 2 and a PC. FIG. 10 is a timing chart illustrating an example of synchronization determination processing in the imaging device of FIG. 2. FIG. 11 is a timing chart illustrating an example of asynchronous determination processing in the imaging device of FIG. 2. A flowchart showing the flow of processing of an imaging control method implemented in the imaging control system of Fig. 1. A flowchart showing the flow of synchronization timing generation processing implemented in the imaging device of the imaging control system of Fig. 1. A flowchart showing the flow of stop processing implemented in the imaging device of the imaging control system of Fig. 1. A flowchart showing the flow of end deceleration processing implemented in the imaging device of the imaging control system of Fig. 1. A flowchart showing the flow of acceleration / speed constraint violation determination and notification processing implemented in the imaging device of the imaging control system of Fig. 1.

[0009] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the applicant provides the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and is not intended to limit the subject matter described in the claims.

[0010] 1 to 15, an imaging device 10 according to an embodiment of the present disclosure and an imaging control system 50 including the same will be described below. (1) Imaging Control System 50 An imaging control system 50 according to this embodiment is a system that is installed in, for example, a photography studio, a conference hall, an event venue, a sports facility, etc., and includes imaging devices 10 that perform various types of photography, and includes a plurality of imaging devices 10 and a PC (Personal Computer) (controller) 40 connected to the plurality of imaging devices 10 via a network line 100, as shown in FIG.

[0011] As shown in Fig. 2, the imaging device 10 captures images while switching the shooting direction between the PAN direction and the TILT direction by controlling a pan head drive unit 15 and a tilt head drive unit 16 using a pan head control unit 17 (see Fig. 3) described later. The imaging device 10 also incorporates multiple optical lenses (including a zoom lens L1 and a focus lens L2 (see Fig. 3)), and captures images by changing the shooting range and focus position by controlling a lens drive unit 12 using a lens drive control unit 13 to change the relative positions of the optical lenses.

[0012] The detailed configuration of the imaging device 10 will be described later. In this embodiment, the position control of the imaging device 10 includes the control of changing the shooting direction by the camera platform control unit 17 and the control of changing the relative position of the optical lens built into the imaging device 10 by the lens drive control unit 13. As shown in Fig. 1, the PC (controller) 40 controls the imaging devices 10 while performing IP (Internet Protocol) communication with the multiple imaging devices 10.

[0013] The communication process between the imaging device 10 and the controller 40 will be described in detail later. (2) Overall Configuration of the Imaging Device 10 As shown in Fig. 3, the imaging device 10 according to this embodiment includes an imaging element 11, a lens driving unit 12, a lens driving control unit (position control unit) 13, an image processing unit 14, a pan head PAN driving unit (shooting direction switching unit) 15, a pan head TILT driving unit (shooting direction switching unit) 16, a pan head control unit (position control unit, shooting direction control unit) 17, a post-synchronization time position calculation unit 18, a current position acquisition unit 19, a communication control unit (communication unit) 20, a transmission command processing unit 21, and a reception command processing unit 22. The control unit 20 includes a code processing unit 22, a position indication timing detection unit 23, a timer setting unit 24, a timer 25, a synchronous / asynchronous determination unit (synchronization determination unit) 26, a Ready determination unit (Ready signal generation unit) 27, a status generation unit 28, a speed calculation unit 29, a speed limit processing unit 30, an acceleration calculation unit 31, an acceleration limit processing unit 32, a stop instruction unit 33, a deceleration processing unit 34, an end deceleration determination unit 35, an end deceleration processing unit 36, and a speed profile calculation unit 37.

[0014] The image sensor 11 converts incident light passing through multiple optical lenses, including a zoom lens L1 and a focus lens L2, into signals to generate digital image data of a subject. As shown in FIG. 3 , the lens driver 12 changes the relative positions of the multiple optical lenses, including the zoom lens L1 and the focus lens L2. The lens driver control unit (position control unit) 13 controls the lens driver 12 to adjust the positions of the optical lenses, including the zoom lens L1 and the focus lens L2, in response to a position designation signal received from the PC 40, for example.

[0015] The lens drive control unit 13 also performs end deceleration processing to prevent collisions between components at the ends of the drive ranges of the zoom lens L1 and the focus lens L2. The end deceleration processing is performed based on information about the current positions of the zoom lens L1 and the focus lens L2 acquired from the current position acquisition unit 19. The image processing unit 14 performs desired image processing on the digital image data converted by the image sensor 11.

[0016] 2, the camera platform PAN drive unit (shooting direction switching unit) 15 is driven in a PAN direction that swings the shooting range of the imaging device left and right toward the subject, thereby switching the shooting direction of the imaging device 10. The camera platform TILT drive unit (shooting direction switching unit) 16 is driven in a TILT direction that swings the shooting range of the imaging device up and down toward the subject, thereby switching the shooting direction of the imaging device 10.

[0017] The camera platform control unit (position control unit, shooting direction control unit) 17 controls at least one of the camera platform PAN drive unit 15 and the camera platform TILT drive unit 16 in response to a position designation signal received from, for example, the PC 40. Here, the lens drive control unit 13 and the camera platform control unit 17, which control the position of the imaging device 10, perform position control at a period (for example, 5 to 20 msec) equal to or less than the frame period (16.8 msec in the case of NTSC (National Television Standards Committee) 60 Hz) when capturing video.

[0018] This allows accurate position control of the imaging device 10 for each frame, for example, when combining an AR (Augmented Reality) / VR (Virtual Reality) virtual space with an image captured by the imaging device 10. The camera platform control unit 17 also performs end deceleration processing to prevent collisions between components at the ends of the driving range of the camera platform that switches the imaging direction. The end deceleration processing is performed based on information about the current position of the camera platform acquired from the current position acquisition unit 19.

[0019] The post-synchronization time position calculation unit 18 calculates the position of the imaging device 10 (shooting direction (PAN / TILT direction), zoom and focus lens positions, etc.) after a predetermined synchronization time has elapsed in the synchronization process between the PC 40 and the imaging device 10, which will be described later. Then, as shown in FIG. 3 , the post-synchronization time position calculation unit 18 transmits the calculated results to the lens drive control unit 13, the camera platform control unit 17, and the status generation unit 28.

[0020] 3, the current position acquisition unit 19 is connected to the lens drive control unit 13 and the camera head control unit 17, and acquires the current imaging position (shooting direction (PAN / TILT direction), zoom, focus lens position, etc.) of the imaging device 10. The current position acquisition unit 19 then transmits the acquired information on the current position of the imaging device 10 to the post-synchronization time position calculation unit 18, the deceleration processing unit 34, the end deceleration determination unit 35, and the end deceleration processing unit 36.

[0021] The communication control unit (communication unit) 20 transmits and receives various signals to and from the PC 40 via IP (Internet Protocol) or serial communication. For example, the communication control unit 20 transmits information on acceleration constraints and speed constraints for position control along with a ready signal to the PC 40. As shown in FIG. 3 , the transmission command processing unit 21 is connected to a ready determination unit 27 and a status generation unit 28, determines a command to be transmitted to the PC 40, and transmits the command to the communication control unit 20.

[0022] 3, the received command processing unit 22 receives various commands from the PC 40 via the communication control unit 20, performs necessary processing, and, depending on the content of the command, transmits the command to at least one of the position instruction timing detection unit 23, the speed calculation unit 29, and the stop instruction unit 33. Specifically, depending on the content of the command received from the PC 40, the received command processing unit 22 transmits the instruction position to the speed calculation unit 29 or transmits a stop instruction to the stop instruction unit 33.

[0023] 3, the position instruction timing detection unit 23 detects a position instruction and timing for the imaging device 10 from the command received from the received command processing unit 22, and transmits them to the synchronization / asynchronous determination unit 26 and the timer setting unit 24. As shown in FIG. 3, the timer setting unit 24 sets a desired synchronization time in the timer 25 based on the information detected by the position instruction timing detection unit 23. After synchronization determination is made, the timer setting unit 24 clears the timer time of the timer 25.

[0024] 3, the timer 25 counts the synchronization time set in the timer setting unit 24 and transmits it to the synchronization / asynchronous determination unit 26. The synchronization / asynchronous determination unit (synchronization determination unit) 26 determines whether the time at which the next position designation signal, received from the timer 25, is detected is within a predetermined period (synchronization time+fluctuation allowable time (threshold)), and determines whether the imaging device 10 and the PC 40 are synchronized. Then, the synchronization / asynchronous determination unit 26 transmits the synchronization / asynchronous determination result to the status generation unit 28, and transmits a determination completion notification to the Ready determination unit 27, as shown in FIG.

[0025] 3, the Ready determination unit (Ready signal generation unit) 27 receives a determination completion notification from the synchronous / asynchronous determination unit 26, and transmits a Ready signal to be sent to the PC 40 to the transmission command processing unit 21. As shown in FIG. 3, the status generation unit 28 receives a synchronous / asynchronous determination result from the synchronous / asynchronous determination unit 26, and transmits synchronous / asynchronous status information to the transmission command processing unit 21. In addition, the status generation unit 28 receives information on preset speed constraints, acceleration constraints, and end deceleration constraints, if any, and transmits this information to the transmission command processing unit 21 as status information.

[0026] If the results of speed and acceleration calculations based on the indicated position received from the communication control unit (communication unit) 20 indicate a violation of the acceleration and speed constraints, the speed or acceleration is set to a preset maximum value as an upper limit, and the speed and acceleration are transmitted to the post-synchronization time position calculation unit 18. The post-synchronization time position calculation unit 18 transmits the current position acquired by the current position acquisition unit 19 and the position after the synchronization time has elapsed, calculated from the speed and acceleration, as status information to the transmission command processing unit 21 via the status generation unit 28.

[0027] 3, the speed calculation unit 29 receives the designated position from the received command processing unit 22 and the position instruction and timing information from the position instruction timing detection unit 23, and calculates the speed for moving to the designated position. Specifically, when switching the shooting direction, the camera head control unit 17 controls the camera head PAN drive unit 15 and the camera head TILT drive unit 16 so as to move to the designated position. On the other hand, when switching the zoom or focus position, the lens drive control unit 13 controls the lens drive unit 12 so as to achieve the designated lens position.

[0028] The speed limit processing unit 30 receives the moving speed from the speed calculation unit 29, refers to information regarding preset speed constraints, checks whether there are any speed constraints and whether the speed constraints are violated, and transmits the confirmation result to the position calculation unit 18 after the synchronization time has elapsed, as well as to the status generation unit 28. As shown in Fig. 3, the acceleration calculation unit 31 receives the indicated position received from the received command processing unit 22 and the position instruction and timing information received from the position instruction timing detection unit 23 via the speed calculation unit 29, and calculates the acceleration for moving to the indicated position.

[0029] 3, the acceleration limit processing unit 32 receives the movement acceleration from the acceleration calculation unit 31, refers to information related to the preset acceleration constraints, checks whether the acceleration constraints are violated, and transmits the check result (whether or not the acceleration constraints are violated) to the position calculation unit 18 after the synchronization time has elapsed, as well as to the status generation unit 28. As shown in FIG. 3, upon receiving a stop instruction signal from the received command processing unit 22, the stop instruction unit 33 transmits a stop instruction signal for the imaging device 10 to the deceleration processing unit 34.

[0030] As shown in FIG. 3 , when the deceleration processing unit 34 receives a stop instruction signal from the stop instruction unit 33, it acquires current position information of each unit that controls the position of the imaging device 10 from the current position acquisition unit 19, performs deceleration processing to stop the drive of each unit that controls the position of the imaging device 10 (lens drive control unit 13, tripod PAN drive unit 15, and tripod TILT drive unit 16), and transmits a deceleration processing signal to the speed profile calculation unit 37.

[0031] 3, the end deceleration determination unit 35 determines whether the image capture device 10 is being driven near the end of the driving range and whether end deceleration processing is necessary, based on information about the current position of the position control of the image capture device 10 acquired from the current position acquisition unit 19. The end deceleration determination unit 35 then transmits the determination result to the end deceleration processing unit 36 ​​and the status generation unit 28. As shown in FIG. 3, if end deceleration processing is necessary, the end deceleration processing unit 36 ​​transmits the result of the end deceleration processing to the speed profile calculation unit 37 based on information about the current position of the position control of the image capture device 10 acquired from the current position acquisition unit 19 and the determination result of the end deceleration determination unit 35.

[0032] 3, the speed profile calculation unit 37 receives the processing results from the deceleration processing unit 34 and the end deceleration processing unit 36, and calculates the speed profiles of the units (lens drive control unit 13, camera head PAN drive unit 15, and camera head TILT drive unit 16) that perform position control of the imaging device 10. Then, the speed profile calculation unit 37 transmits the calculated results to the position calculation unit 18 after the synchronization time has elapsed.

[0033] In the imaging device 10 of this embodiment, the imaging device 10 acts as a master in the synchronous preset mode, using a synchronous time previously set by the user via the PC 40, and transmits a Ready signal and a status signal to the PC 40 via the network line 100, as shown in Fig. 4. In the synchronous preset mode, in which the synchronous time for synchronizing the imaging device 10 and the PC 40 is set, the command transmitted from the PC 40 to the imaging device 10 includes information regarding the command type, command length, and data, as shown in Fig. 5.

[0034] The synchronous preset mode may be executed, for example, every time the imaging device 10 is powered on or an initialization process is performed, or whenever the user wants to change the settings. In the synchronous preset mode, the imaging device 10 operates using UDP (User Datagram Protocol) commands. The synchronous preset mode is set using CGI (Common Gateway Interface) commands.

[0035] When the PC 40 receives the Ready signal, the user immediately transmits a position designation signal for controlling the position of the imaging device 10 to the imaging device 10 via the network line 100. At this time, the command transmitted from the PC 40 to the imaging device 10 includes, for example, a position designation signal indicating a target position for panning / tilting, as shown in FIG.

[0036] This allows the imaging device 10 to receive a position designation signal in a state synchronized with the PC 40, which immediately responded to the Ready signal transmitted from the imaging device 10, and to perform position control of the lens driver 12, the camera head PAN driver 15, and the camera head TILT driver 16. As a result, the imaging device 10 performs position control based on the position designation signal received from the synchronized PC 40, preventing discontinuous position control from occurring.

[0037] After the determination in the synchronous / asynchronous determination unit 26, the status information generated in the status generation unit 28 includes the command type, command length, and data (status, pan speed, pan acceleration, tilt speed, tilt acceleration, etc.) as shown in Fig. 7. Furthermore, the status generation unit 28 receives output signals from the speed limit processing unit 30, the acceleration limit processing unit 32, and the end deceleration determination unit 35, and generates status information including the target position in the pan direction, the target position in the tilt direction, and information regarding the operation of the end deceleration processing, as shown in Fig. 8. This status information is transmitted from the communication control unit 20 to the PC 40 via the transmission command processing unit 21.

[0038] <Position control when network delay occurs> In the imaging device 10 of this embodiment, for the synchronization time C that the user has set in advance in the imaging device 10 via the PC 40, a predetermined fluctuation tolerance time D (for example, ±15% of the synchronization time C) is set as a threshold when making a synchronization determination, taking into account the network delay in IP communication.

[0039] 9, the imaging device 10 transmits a Ready signal to the PC 40 at a time interval of synchronization time C+fluctuation time D set by the PC 40 in the imaging device 10. Note that Fig. 9 describes a case where position designation signals are transmitted from the PC 40 to the imaging device 10 in the following order: no position is designated, the position of position A is designated, the position of position B is designated, and the position of position C is designated.

[0040] 9 , the user receives a Ready signal and a status signal from the imaging device 10 via the PC 40 at a cycle of (synchronization time C+fluctuation allowable time D) set in the imaging device 10. After receiving the Ready signal generated as the master timing of the imaging device 10, the user immediately transmits a position designation signal to the imaging device 10.

[0041] When the imaging device 10 receives a position designation signal from the PC 40 within a predetermined period (synchronization time (C) ± fluctuation allowable time (D: C ± 15%)), it immediately responds (designates position A → B → C) each time it receives a Ready signal, thereby generating synchronization timing for receiving the next instruction. If there is no response instruction from the PC 40 within the predetermined period (synchronization time (C) + fluctuation time (D: C ± 15%)), the imaging device 10 transmits a Ready response and an asynchronous status to the PC 40. Furthermore, by performing position control so that the next section has the same acceleration as the previous section, the imaging device 10 can perform continuous positioning control for the next asynchronous section by referring to the control in the previous section.

[0042] Here, a Ready signal is sent from the imaging device 10 to the PC 40 at a predetermined cycle (synchronization time C + fluctuation allowance time D), and in response to the second Ready signal, if the user sends a position designation signal (position A) to the imaging device 10 via the PC 40, the synchronization / asynchronous determination unit 26 determines that the imaging device 10 is in a synchronized state if the signal is received within the range of the predetermined cycle (synchronization time C + fluctuation allowance time D).

[0043] On the other hand, if a network delay exceeding the allowable fluctuation time D occurs, the imaging device 10 cannot receive a position designation signal from the PC 40 within a predetermined period (synchronization time C + allowable fluctuation time D), and the synchronization / asynchronous determination unit 26 determines that the imaging device 10 is in an asynchronous state. Furthermore, in the imaging device 10, the synchronization / asynchronous determination unit 26 compares the current synchronization time Dn with the synchronization time C, and if the absolute value of the difference is smaller than the predefined synchronization adjustment time (T), no synchronization time adjustment is performed. On the other hand, if the current synchronization time Dn is compared with the synchronization time C and the difference is greater than the synchronization adjustment time T, the synchronization / asynchronous determination unit 26 subtracts the synchronization adjustment time T from the synchronization time at each synchronization interval to adjust the synchronization time.

[0044] 10A and 10B , examples of synchronization determination and asynchronous determination by the synchronization / asynchronous determination unit 26 in the imaging device 10 of this embodiment will be described below. As shown in Fig. 10A , the synchronization / asynchronous determination unit 26 receives a position (A) designation signal that is output from the PC 40 that has received a Ready signal from the imaging device 10 and input to the imaging device 10, and the lens driver 12, the camera head pan driver 15, and the camera head tilt driver 16 each start moving to their target positions.

[0045] If the next position (B) designation signal is received from PC 40 within the total time of synchronization time C and allowable fluctuation time D previously set in the preset mode, it is determined to be synchronized. On the other hand, as shown in Fig. 10B, if the next position (B) designation signal is received from PC 40 after a predetermined period (the total time of synchronization time C and allowable fluctuation time D) previously set in the preset mode has elapsed, the synchronization / asynchronous determination unit 26 determines it to be asynchronous.

[0046] <Processing of Imaging Control Method> The processing flow of the imaging control method in the imaging control system 50 of this embodiment will be described below with reference to Fig. 11. That is, Fig. 11 shows the flow of basic operations in the imaging control system 50, including communication processing between the imaging device 10 and the PC 40, synchronous / asynchronous determination, and target position calculation processing after the synchronous time has elapsed.

[0047] First, in step S11, the communication control unit 20 performs IP or serial communication processing with the imaging device 10 as the master so as to transmit a Ready signal and a status signal to the PC 40 each time the synchronization time set in the preset mode elapses. Next, in step S12, the communication control unit 20 of the imaging device 10 receives a position designation signal sent by the user via the PC 40 in response to the Ready signal sent in step S11, and the received command processing unit 22 processes the command including the received position designation signal.

[0048] Next, in step S13, the synchronization / asynchronous determination unit 26 acquires from the timer 25 the timer time set in the timer setting unit 24 in accordance with the position instruction and timing detected in the position instruction timing detection unit 23, based on the content of the command processed in the received command processing unit 22. Next, in step S14, the synchronization / asynchronous determination unit 26 determines whether the timer time acquired in step S13 has not yet reached a predetermined period (synchronization time (C)+fluctuation allowable time (D)).

[0049] Here, if the timer time has not yet reached the predetermined period (synchronization time (C) + fluctuation allowable time (D)), the process proceeds to step S15, and if not, the process proceeds to step S16. Next, in step S15, since it was determined in step S14 that the timer time has not yet reached the predetermined period (synchronization time (C) + fluctuation allowable time (D)), the synchronization / asynchronous determination unit 26 determines whether or not the position detection instruction timing detection unit 23 has detected a position detection instruction timing.

[0050] If the position detection instruction timing is detected, the process proceeds to step S17, and if not, the process returns to step S11. On the other hand, in step S16, since it was determined in step S14 that the timer time has elapsed the predetermined period (synchronization time (C)+fluctuation allowable time (D)), the speed profile calculation unit 37 calculates the speed and acceleration for the next section so that the acceleration will be the same as that for the section before the determination that there is no instruction.

[0051] Next, in step S17, since it was determined in step S15 that a position detection instruction timing including the next position designation signal was detected, the synchronization / asynchronous determination unit 26 determines whether the detected timer time is less than a predetermined period (synchronization time - allowed fluctuation time). If the timer time is less than the predetermined period (synchronization time - allowed fluctuation time), the process proceeds to step S18, and if the timer time is not less than the predetermined period (synchronization time - allowed fluctuation time), the process proceeds to step S19.

[0052] Next, in step S18, since it was determined in step S17 that the timer time is less than the predetermined period (synchronization time - allowed fluctuation time), the synchronization / asynchronous determination unit 26 calculates a synchronization adjustment time. Meanwhile, in step S19, since it was determined in step S17 that the timer time is not less than the predetermined period (synchronization time - allowed fluctuation time), the synchronization / asynchronous determination unit 26 determines that the state is asynchronous, and the communication control unit 20 transmits the Ready signal and status notification processed in the transmission command processing unit 21 to the PC 40.

[0053] Next, in step S20, the synchronous / asynchronous determination unit 26 determines that the state is synchronous, and the communication control unit 20 transmits a Ready signal and a status notification to the PC 40 in accordance with the synchronization adjustment time calculated in step S18. Next, in step S21, the synchronous / asynchronous determination unit 26 stores the timer value determined to be in the synchronous state as the current synchronization time (Dn) in a memory (not shown).

[0054] Next, in step S22, since the synchronous / asynchronous determination unit 26 has made a determination, the timer setting unit 24 clears the timer time. Next, in step S23, the speed calculation unit 29 calculates the speed and the acceleration calculation unit 31 calculates the acceleration based on the content of the command processed by the received command processing unit 22. Next, in step S24, the post-synchronization time position calculation unit 18 calculates the position after the synchronous time has elapsed based on the calculation results of the speed calculation unit 29 and the acceleration calculation unit 31, the processing contents of the speed limit processing unit 30 and the acceleration limit processing unit 32, and the calculation result of the speed profile calculation unit 37.

[0055] Next, in step S25, the lens drive control unit 13 instructs the lens drive unit 12 to determine a position based on the calculation result in the post-synchronization time position calculation unit 18. Then, the camera head control unit 17 instructs the camera head PAN drive unit 15 and / or the camera head TILT drive unit 16 to determine a position based on the calculation result in the post-synchronization time position calculation unit 18. Next, in step S26, it is determined whether or not to end the operation of the imaging device 10.

[0056] If the operation is to be ended, the processing ends as is, and if the operation is not to be ended, the processing returns to step S11 and the processing from step S11 onwards is repeated. <Synchronization Timing Generation Processing> The flow of the synchronization timing generation processing included in the imaging control method in the imaging control system 50 of this embodiment will be described below with reference to Figure 12.

[0057] 12, in step S31, a variable a related to the process is initialized. Next, in step S32, the synchronous / asynchronous determination unit 26 calculates the synchronous time error (E) after the synchronous adjustment. The synchronous time error (E) is calculated as (current synchronous time (Dn) - synchronous time (C) - a x synchronous adjustment time (T)).

[0058] Next, in step S33, it is determined whether the absolute value of the synchronization time error (E) is smaller than the synchronization adjustment time (T), and if the above relational expression is satisfied, it is determined that the synchronization time is appropriate and the process proceeds to step S34, but if it is not satisfied, it is determined that the synchronization time error (E) is larger than the synchronization adjustment time (T) and synchronization adjustment is possible, and the process proceeds to step S36. On the other hand, in step S36, the sign of the synchronization time error (E) is determined, and if the sign is positive, the process proceeds to step S37, and if the sign is negative, the process proceeds to step S38.

[0059] Next, in step S37, since it was determined in step S36 that the sign of the synchronization time error (E) was positive, the synchronization time is adjusted by the synchronization adjustment time (T) by adding 1 to the variable a. On the other hand, in step S38, since it was determined in step S36 that the sign of the synchronization time error (E) was negative, the synchronization time is adjusted by the synchronization adjustment time (T) by subtracting 1 from the variable a.

[0060] Next, in step S34, the variable a is used to set the total synchronization adjustment time as the synchronization adjustment time (T) x a. The synchronization adjustment time set in step S34 is then used to adjust the timing at which the synchronization / asynchronous determination unit 26 transmits the REDY signal by T x a in the next interval. This makes it possible to suppress the effects of delays and fluctuations in subsequent synchronization times due to communication delays, etc. It is determined whether (previous synchronization time (Dn) - current synchronization time (C)) = 0.

[0061] If the above relational expression is satisfied, the process proceeds to step S32, and if not, the process proceeds to step S33. Next, in step S32, since it was determined in step S31 that (previous synchronization time (Dn) - current synchronization time (C)) = 0, it is determined that there is no delay from the previous synchronization time, and a = 0 and synchronization adjustment time = 0 are set, and the process ends.

[0062] Next, in step S33, since it was determined in step S31 that (previous synchronization time (Dn) - current synchronization time (C)) = 0 is not true, a = a + 1 is set and the process proceeds to step S34. Next, in step S34, it is determined whether or not (previous synchronization time (Dn) - current synchronization time (C)) > 0.

[0063] If the above inequality expression is satisfied, the process proceeds to step S35, and if not, the process proceeds to step S36. Next, in step S35, since the value of (previous synchronization time (Dn) - current synchronization time (C)) was a positive value in step S34, in order to adjust for the difference in that the current synchronization time (C) is shorter than the previous synchronization time, the synchronization adjustment time is set to -T x a, and the process ends.

[0064] On the other hand, in step S36, since the value of (previous synchronization time (Dn) - current synchronization time (C)) was a negative value in step S34, in order to adjust for the difference that the current synchronization time (C) is longer than the previous synchronization time, the synchronization adjustment time is set to be T x a, and the process is terminated.The synchronization adjustment time set in steps S35 and S36 is then used in the next interval as the fluctuation allowable time D - synchronization adjustment time ((-T x a) or (T x a)), and the influence of delays and fluctuations in the subsequent synchronization time due to communication delays, etc. is suppressed.

[0065] <Stop Processing> The flow of the stop processing of the imaging device 10 included in the imaging control method in the imaging control system 50 of this embodiment will be described below with reference to Fig. 13. That is, as shown in Fig. 13, in step S41, the communication control unit 20 performs IP or serial communication processing with the PC 40.

[0066] Next, in step S42, the received command processing unit 22 performs received command processing on the received command received from the PC 40 via the communication control unit 20. Next, in step S43, the received command processing unit 22 determines whether or not a stop instruction timing is detected from the received command. If a stop instruction timing is detected, the process proceeds to step S44; if not, the process returns to step S41.

[0067] Next, in step S44, since it is determined in step S43 that the stop instruction timing has been detected, the deceleration processing unit 34 acquires the current position from the current position acquisition unit 19 and the stop target value from the stop instruction unit 33. Next, in step S45, the speed profile calculation unit 37 calculates the speed and acceleration for stopping at the target stop position.

[0068] Next, in step S46, the post-synchronization time position calculation unit 18 calculates the positions of the lens and the camera head after the synchronization time has elapsed based on the calculation result in the speed profile calculation unit 37. Next, in step S47, based on the calculation result in the post-synchronization time position calculation unit 18, the lens drive control unit 13 instructs the lens drive unit 12, and the camera head control unit 17 instructs the camera head PAN drive unit 15 and the camera head TILT drive unit 16, respectively.

[0069] Next, in step S48, the deceleration processing unit 34 determines whether the lens driving unit 12, the camera head PAN driving unit 15, and the camera head TILT driving unit 16 have stopped. If it is determined that they have stopped, the processing ends. If it is determined that they have not stopped, the processing returns to step S45 and the subsequent processing is repeated until they have stopped. <End deceleration processing> The flow of the end deceleration processing of the imaging device 10 included in the imaging control method in the imaging control system 50 of this embodiment will be described below with reference to Figure 14.

[0070] 14, in step S51, when the end deceleration determination unit 35 determines that end deceleration has occurred, the end deceleration processing unit 36 ​​acquires the current position and the stop target value from the current position acquisition unit 19. Next, in step S52, the end deceleration processing unit 36 ​​calculates the deceleration distance at maximum acceleration. Next, in step S53, the end deceleration processing unit 36 ​​determines whether the condition (remaining distance within the stroke<deceleration distance at maximum acceleration) is satisfied.

[0071] If it is determined that the condition (remaining distance within the stroke<deceleration distance at maximum acceleration) is satisfied, the process proceeds to step S54, and if it is determined that the condition is not satisfied, the process returns to step S51. Next, in step S54, since it was determined in step S53 that the condition (remaining distance within the stroke<deceleration distance at maximum acceleration) is satisfied, the status generation unit 28 generates a status notification of the end deceleration process and transmits it from the communication control unit 20 to the PC 40 via the transmission command processing unit 21.

[0072] Next, in step S55, the velocity profile calculation unit 37 calculates the velocity of deceleration at the maximum acceleration. Next, in step S56, the post-synchronization time position calculation unit 18 calculates the position after the synchronization time has elapsed. Next, in step S57, based on the calculation result of the post-synchronization time position calculation unit 18, the lens drive control unit 13 instructs the lens drive unit 12, and the camera head control unit 17 instructs the camera head PAN drive unit 15 and the camera head TILT drive unit 16, respectively.

[0073] Next, in step S58, it is determined whether or not stopping has been completed. If stopping has been completed, the process ends. If stopping has not been completed, the process returns to step S55 and the subsequent processes are repeated until stopping is completed. <Determination and Notification Process of Violation of Acceleration and Speed ​​Constraints> The flow of the determination and notification process of violation of acceleration and speed constraints of the imaging device 10 included in the imaging control method in the imaging control system 50 of this embodiment will be described below with reference to FIG. 15.

[0074] 15, in step S61, the communication control unit 20 performs IP or serial communication processing with the PC 40. Next, in step S62, the received command processing unit 22 performs received command processing on the received command received from the PC 40 via the communication control unit 20. Next, in step S63, the received command processing unit 22 determines whether or not a position detection instruction timing has been detected from the received command.

[0075] If it is determined that the position detection instruction timing has been detected, the process proceeds to step S64, and if it is determined that the position detection instruction timing has not been detected, the process returns to step S61. Next, in step S64, since it was determined in step S63 that the position detection instruction timing has been detected, the speed calculation unit 29 calculates the speed based on the instruction position output from the received command processing unit 22, and the acceleration calculation unit 31 calculates the acceleration.

[0076] Next, in step S65, the acceleration limit processing unit 32 determines whether the acceleration calculated in step S64 is equal to or less than the maximum acceleration (limit value) previously set in the image capture device 10. If it is determined that the acceleration is equal to or less than the maximum acceleration, the process proceeds to step S66, and if it is determined that the acceleration exceeds the maximum acceleration, the process proceeds to step S67.

[0077] Next, in step S66, since it was determined in step S65 that the calculated acceleration was equal to or less than the preset maximum acceleration (limit value), or the speed was recalculated in step S69, the speed limit processing unit 30 determines whether the speed calculated in step S64 or step S69 is equal to or less than the maximum speed (limit value) preset in the imaging device 10.

[0078] If it is determined that the calculated acceleration is equal to or less than the maximum speed, the process proceeds to step S72, and if it is determined that the calculated acceleration exceeds the maximum speed, the process proceeds to step S70. On the other hand, in step S67, since it was determined that the calculated acceleration exceeded the maximum acceleration in step S65, the status generation unit 28 generates a maximum acceleration constraint violation status, and transmits it from the communication control unit 20 to the PC 40 via the transmission command processing unit 21 to notify the user.

[0079] Next, in step S68, the acceleration limiting processing unit 32 imposes a limit so that the robot is driven at a preset maximum acceleration. Next, in step S69, after the synchronization time has elapsed, the position calculation unit 18 recalculates the speed using the limited acceleration. Meanwhile, in step S70, since it was determined in step S66 that the calculated speed exceeded the maximum speed, the status generating unit 28 generates a maximum speed constraint violation status and transmits it from the communication control unit 20 to the PC 40 via the transmission command processing unit 21 to notify the user.

[0080] Next, in step S71, the speed limiting unit 30 applies a limit so that the motor is driven at a preset maximum speed. Next, in step S72, since it is determined in step S66 that the speed is below the maximum speed or the maximum speed has been applied as a limit in step S71, the post-synchronization time position calculating unit 18 calculates the position after the synchronization time has elapsed and ends the process.

[0081] <Major Features> Normally, even if a controller such as the PC 40 transmits position control instructions to the imaging device 10 main body at regular time intervals, the position instructions are accepted and moved at a processing interval on the imaging device side that differs from the instruction time interval of the controller, which may result in discontinuous operation in response to instructions from the controller.

[0082] The imaging device 10 of this embodiment is a device that receives a position designation signal from a PC 40 and performs position control, and includes a lens drive control unit 13, a camera head control unit 17, a ready determination unit 27, and a communication control unit 20. The lens drive control unit 13 and the camera head control unit 17 perform position control of the imaging device 10. The ready determination unit 27 generates a ready signal that performs synchronization processing with the PC 40. The communication control unit 20 communicates with the PC 40. The communication control unit 20 transmits a ready signal to the PC 40 at a predetermined cycle, and upon receiving a position designation signal from the PC 40 in response, the lens drive control unit 13 and the camera head control unit 17 perform position control of the imaging device 10 based on the position designation signal.

[0083] That is, in the imaging device 10 of this embodiment, the PC 40 (user) sets (defines) the synchronization time in the imaging device 10, and a Ready signal is output from the imaging device 10 at intervals of, for example, a predetermined period (synchronization time (C)±fluctuation allowable time (D)). In response to this, the user receives the Ready signal generated as the imaging device master timing via the PC 40, and then immediately transmits a position designation signal so that the imaging device 10 is positioned in the desired shooting range.

[0084] This prevents discontinuous position control from occurring because the imaging device 10 performs position control by receiving a position designation signal from the PC 40 in response to a Ready signal transmitted from the imaging device 10. Therefore, the imaging device 10 can operate without losing continuity in response to the position designation signal transmitted from the PC 40.

[0085] Furthermore, the imaging device 10 of this embodiment is an apparatus that receives a position designation signal from a PC 40 and performs position control while capturing images, and includes a lens drive control unit 13, a camera head control unit 17, a ready determination unit 27, a communication control unit 20, and a synchronization / asynchronous determination unit 26. The lens drive control unit 13 and the camera head control unit 17 control the position of the imaging device 10. The ready determination unit 27 generates a ready signal that performs synchronization processing with the PC 40. The communication control unit 20 communicates with the PC 40 and transmits a ready signal to the PC 40 at a predetermined cycle (synchronization time + fluctuation allowance time), and receives a position designation signal from the PC 40 in response within the predetermined time. The synchronization / asynchronous determination unit 26 determines synchronization if the time interval at which the communication control unit 20 receives a position designation signal from the PC 40 is within the predetermined cycle, and determines asynchronous if the time interval exceeds the predetermined cycle. When the synchronization / non-synchronization determining unit 26 determines that synchronization is occurring, the period is set as a reference value, and when there is a difference between the period and the synchronization time of the next section, a predetermined synchronization adjustment time is set and the period is adjusted.

[0086] As a result, for example, if a response instruction is received from PC 40 within a predetermined period (synchronization time (C) + fluctuation time (D: C±15%)) and the synchronization / asynchronous determination unit 26 determines that synchronization is occurring, and the synchronization time of the next section is measured based on that period, and the result shows a synchronization error of more than a predetermined synchronization adjustment time (T) with respect to the predetermined synchronization time (C), then the predetermined synchronization adjustment time (T) is set and the period (synchronization time + fluctuation allowable time) is adjusted, thereby making it possible to suppress timing discrepancies caused by communication delays, fluctuations, etc.

[0087] [Other Embodiments] While one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the spirit and scope of the disclosure. (A) In the above embodiment, examples of the imaging device 10 and the imaging control method that realize the present disclosure have been described. However, the present disclosure is not limited to this.

[0088] For example, the present disclosure may be realized as an imaging control program that causes a computer to execute the imaging control method for the imaging device described above. This imaging control program is stored in a memory (storage unit) installed in the imaging device, and a CPU reads the imaging control program stored in the memory and causes the hardware to execute each step. More specifically, the CPU reads the imaging control program and executes each step described above, thereby achieving the same effect as described above.

[0089] The present disclosure may also be realized as a recording medium storing an imaging control program. (B) In the above embodiment, an example has been described in which communication between the imaging device 10 and the controller 40 is performed via IP or serial communication. However, the present disclosure is not limited to this.

[0090] For example, the imaging device and the controller may communicate via other serial communication such as RS-422 (Recommended Standard 422). (C) In the above embodiment, an example has been described in which the position control of the imaging device 10 is performed by the lens drive control unit 13 to change the relative positions of multiple optical lenses including the zoom lens L1 and the focus lens L2, and by the camera platform control unit 17 to switch the shooting direction (PAN / TILT). However, the present disclosure is not limited to this.

[0091] For example, the position control may be configured to perform either lens drive control or shooting direction switching control, or may be configured to perform position control in combination with other controls. (D) In ​​the above embodiment, an example of an imaging control system 50 in which a PC 40 serving as a controller controls the positions of multiple imaging devices 10 has been described. However, the present disclosure is not limited to this.

[0092] For example, the imaging control system may have a one-to-one relationship between the controller and the imaging device. (E) In the above embodiment, an example has been described in which the PC 40 is used as the controller that controls the operation of the imaging device 10. However, the present disclosure is not limited to this.

[0093] For example, a dedicated controller having a stick-shaped operation unit for controlling each drive unit of the imaging device may be used as the controller for controlling the operation of the imaging device. (F) In the above embodiment, an example was given in which the position control was performed using lens drive control and camera platform (PAN / TILT) control. However, the present invention is not limited to this.

[0094] For example, the drive control of an iris (aperture) mounted on an imaging device or the drive control of an ND (Neutral Density) filter may be the subject of position control. (G) In the above embodiment, an example was given in which a predetermined fluctuation allowable time D (for example, ±15% of the synchronization time C) was set as the threshold value for synchronization determination. However, the present invention is not limited to this.

[0095] For example, the threshold value set for determining synchronization is not limited to ±15% of the synchronization time, but may be a value set independently of the synchronization time, or may be a value less than 15% or more than 15% of the synchronization time.

[0096] (Technology 1) An imaging device according to Technology 1 is an imaging device that receives a position designation signal from a controller and captures images while performing position control, and includes: a position control unit that controls the position of the imaging device; a ready signal generation unit that generates a ready signal that performs synchronization processing with the controller; and a communication unit that communicates with the controller, wherein the communication unit transmits the ready signal to the controller at a predetermined cycle, and when a position designation signal is received from the controller within a predetermined time in response, the position control unit controls the position of the imaging device based on the position designation signal.

[0097] (Technology 2) An imaging device according to Technology 2 is an imaging device that receives a position designation signal from a controller and performs position control to capture images, and includes: a position control unit that controls the position of the imaging device; a ready signal generation unit that generates a ready signal to perform synchronization processing with the controller; a communication unit that communicates with the controller and transmits the ready signal to the controller at a predetermined cycle and receives a position designation signal from the controller within a predetermined time in response; and a synchronization determination unit that determines synchronization if the time interval at which the communication unit receives the position designation signal from the controller is within the predetermined cycle, and determines asynchronous if it exceeds the predetermined cycle; when the synchronization determination unit determines synchronization, the cycle is set as a reference value, and when the result of measuring the synchronization time of the next section shows a synchronization error of equal to or greater than a predetermined synchronization adjustment time with respect to the predetermined synchronization time, the predetermined synchronization adjustment time is set and the cycle is adjusted.

[0098] (Technology 3) The imaging device according to Technology 3 is the imaging device according to Technology 2, wherein when the synchronization determination unit determines that the imaging device is out of sync, the position control unit controls the position of the imaging device at the same speed or acceleration as in the previous section.

[0099] (Technology 4) An imaging device according to Technology 4 is the imaging device according to Technology 1 or 2, further comprising: a lens; and a lens driving unit that drives the lens in the optical axis direction to adjust zoom and / or focus, and the position control unit includes a lens driving control unit that controls the lens driving unit.

[0100] (Technology 5) An imaging device according to Technology 5 is an imaging device according to any one of Technology 1 to Technology 4, further comprising an imaging direction switching unit that changes the imaging direction, and the position control unit includes an imaging direction control unit that controls the imaging direction switching unit.

[0101] (Technology 6) The imaging device according to Technology 6 is the imaging device according to any one of Technology 1 to 5, further comprising a synchronization determination unit that determines synchronization when the time interval at which the communication unit receives the position designation signal from the controller is within a predetermined cycle plus a predetermined threshold, and determines asynchronous when the time interval exceeds the predetermined cycle plus a predetermined threshold.

[0102] (Technology 7) An imaging device according to Technology 7 is the imaging device according to any one of Technology 1 to 6, wherein the communication unit transmits status information of a synchronization state to the controller together with the Ready signal. (Technology 8) An imaging device according to Technology 8 is the imaging device according to any one of Technology 1 to 7, wherein the position control unit performs end deceleration processing at an end of an imaging range of the imaging device, and the communication unit transmits the status of the end deceleration processing to the controller together with the Ready signal.

[0103] (Technology 9) An imaging device according to Technology 9 is the imaging device according to any one of Technology 1 to 8, wherein the communication unit transmits information on acceleration constraints and speed constraints of the position control to the controller together with the Ready signal. (Technology 10) An imaging device according to Technology 10 is the imaging device according to any one of Technology 1 to 9, wherein the position control unit performs deceleration processing when an error in speed instruction due to a control error occurs upon receiving the position designation signal from the controller.

[0104] (Technology 11) An imaging device according to Technology 11 is the imaging device according to any one of Technology 1 to 10, wherein the communication unit communicates with the controller via IP communication. (Technology 12) An imaging device according to Technology 12 is the imaging device according to any one of Technology 1 to 11, wherein the position control unit performs the position control at a period equal to or shorter than a frame period when capturing video.

[0105] (Technology 13) An imaging device according to Technology 13 is the imaging device according to any one of Technology 1 to Technology 12, and has a synchronization preset mode in which a synchronization time for synchronizing with the controller is set. (Technology 14) An imaging device according to Technology 14 is the imaging device according to Technology 13, and the synchronization preset mode operates with a UDP (User Datagram Protocol) command.

[0106] (Technology 15) An imaging device according to Technology 15 is the imaging device according to Technology 13, wherein the setting of the synchronous preset mode is performed using a CGI (Common Gateway Interface) command. (Technology 16) An imaging device according to Technology 16 includes: an imaging device according to any one of Technology 1 to Technology 15; and a controller that controls the imaging device.

[0107] The imaging device of the present disclosure receives a position designation signal from the controller in response to a Ready signal transmitted from the imaging device, and the imaging device performs position control, thereby achieving the effect of preventing discontinuous position control from occurring, and therefore can be widely applied to, for example, camera systems that are remotely operated in photography studios, conference halls, sports facilities, etc.

[0108] REFERENCE SIGNS LIST 10 Imaging device 11 Imaging element 12 Lens driving unit 13 Lens driving control unit (position control unit) 14 Image processing unit 15 Pan head PAN driving unit (shooting direction switching unit) 16 Pan head TILT driving unit (shooting direction switching unit) 17 Pan head control unit (position control unit, shooting direction control unit) 18 Post-synchronization time position calculation unit 19 Current position acquisition unit 20 Communication control unit (communication unit) 21 Transmission command processing unit 22 Received command processing unit 23 Position instruction timing detection unit 24 Timer setting unit 25 Timer 26 Synchronous / asynchronous determination unit (synchronization determination unit) 27 Ready determination unit (Ready signal generation unit) 28 Status generation unit 29 Speed ​​calculation unit 30 Speed ​​limit processing unit 31 Acceleration calculation unit 32 Acceleration limit processing unit 33 Stop instruction unit 34 Deceleration processing unit 35 End deceleration determination unit 36 End deceleration processing unit 37 Speed ​​profile calculation unit 40 PC (controller) 50 Imaging control system 100 Network line L1 Zoom lens L2 Focus lens

Claims

1. An imaging device that receives a position designation signal from a controller and captures images while performing position control, comprising: a position control unit that controls the position of the imaging device; a ready signal generation unit that generates a ready signal for synchronizing with the controller; and a communication unit that communicates with the controller, wherein the communication unit transmits the ready signal to the controller at a predetermined cycle, and when a position designation signal is received from the controller within a predetermined time in response, the position control unit controls the position of the imaging device based on the position designation signal.

2. An imaging device that captures images while performing position control by receiving a position designation signal from a controller, comprising: a position control unit that controls the position of the imaging device; a ready signal generation unit that generates a ready signal for performing synchronization processing with the controller; a communication unit that communicates with the controller and transmits the ready signal to the controller at a predetermined cycle and receives a position designation signal from the controller within a predetermined time in response; and a synchronization determination unit that determines that the communication unit is synchronized if the time interval at which the communication unit receives the position designation signal from the controller is within the predetermined cycle, and determines that the communication unit is not synchronized if it exceeds the predetermined cycle; when the synchronization determination unit determines that the communication unit is synchronized, the cycle is set as a reference value, and when the result of measuring the synchronization time of the next section shows a synchronization error of more than a predetermined synchronization adjustment time compared to the predetermined synchronization time, the predetermined synchronization adjustment time is set and the cycle is adjusted.

3. The imaging device according to claim 2, wherein, when the synchronization determination unit determines that the imaging device is out of sync, the position control unit controls the position of the imaging device at the same speed or acceleration as in the previous section.

4. An imaging device as described in claim 1 or 2, further comprising: a lens; and a lens driving unit that drives the lens in an optical axis direction to adjust zoom and / or focus, wherein the position control unit includes a lens driving control unit that controls the lens driving unit.

5. An imaging device as described in claim 1 or 2, further comprising an imaging direction switching unit that changes the imaging direction, wherein the position control unit includes an imaging direction control unit that controls the imaging direction switching unit.

6. The imaging device according to claim 1 or 2, further comprising a synchronization determination unit which determines synchronization when the time interval at which the communication unit receives the position designation signal from the controller is within a predetermined period plus a predetermined threshold, and determines asynchronous when the time interval exceeds the predetermined period plus a predetermined threshold.

7. The imaging device according to claim 1 or 2, wherein the communication section transmits status information of a synchronization state together with the Ready signal to the controller.

8. The imaging device according to claim 1 or 2, wherein the position control unit performs end deceleration processing at the end of the imaging range of the imaging device, and the communication unit transmits the state of the end deceleration processing to the controller together with the Ready signal.

9. The imaging device according to claim 1 or 2, wherein the communication unit transmits information on acceleration constraints and speed constraints of the position control to the controller together with the Ready signal.

10. The imaging device according to claim 1 or 2, wherein the position control section performs deceleration processing if an error in speed instruction due to a control error occurs when the position designation signal is received from the controller.

11. The imaging device according to claim 1 or 2, wherein the communication unit communicates with the controller by IP communication.

12. The imaging device according to claim 1 or 2, wherein the position control section performs the position control at a period equal to or shorter than a frame period when capturing an image.

13. The imaging device according to claim 1 or 2, further comprising a synchronization preset mode in which a synchronization time for synchronizing with the controller is set.

14. The imaging device according to claim 13, wherein the synchronous preset mode operates with User Datagram Protocol (UDP) commands.

15. The imaging device according to claim 13, wherein the synchronous preset mode is set using a CGI (Common Gateway Interface) command.

16. An imaging control system comprising: an imaging device according to claim 1 or 2; and a controller for controlling the imaging device.

17. An imaging control program for an imaging device that receives a position designation signal from a controller and performs position control, wherein the imaging device comprises a position control unit that performs position control, a ready signal generation unit that generates a ready signal for synchronizing with the controller, and a communication unit that communicates with the controller, the imaging control program causing a computer to execute an imaging control method comprising the steps of: the communication unit transmitting the ready signal generated by the ready signal generation unit to the controller at a predetermined cycle; the communication unit receiving a position designation signal from the controller in response thereto; and the position control unit controlling the position of the imaging device based on the position designation signal.

18. An imaging control program for an imaging device that receives a position designation signal from a controller and performs position control, the imaging device comprising: a position control unit that performs position control; a ready signal generation unit that generates a ready signal for performing synchronization processing with the controller; a communication unit that communicates with the controller; and a synchronization determination unit that determines synchronization when a time interval at which the communication unit receives the position designation signal from the controller is within a predetermined cycle plus a predetermined threshold, and determines asynchronous when the time interval exceeds the predetermined cycle plus a predetermined threshold, the imaging control program comprising: a step of the communication unit transmitting the ready signal to the controller at a predetermined cycle; a step of receiving a position designation signal of the imaging device from the controller in response to the ready signal; and a step of the synchronization determination unit determining synchronization when a time interval at which the communication unit receives the position designation signal from the controller is within a time obtained by adding up a predetermined synchronization time and a predetermined threshold. the synchronization determination unit sets the synchronization time as a reference value, and when a result of measuring the synchronization time of the next section indicates a synchronization error of equal to or greater than a predetermined synchronization adjustment time with respect to the predetermined synchronization time, sets the predetermined synchronization adjustment time and adjusts the synchronization time.

Images