Control device, photographing control system, control method, and control program

Abstract

This control device for controlling a photographing system capable of rotating at a first rotation angle about an axis in a first direction different from a photographing direction and a second rotation angle about an axis in a second direction different from the photographing direction includes: a display unit having a display screen for displaying a video of a first subject position in a photographing target area photographed by the photographing system in the photographing direction; an input unit for receiving an input of an operation direction which is a plane direction of the display screen; and a control unit for controlling the rotation at the first rotation angle and the second rotation angle so that the photographing direction is oriented toward a second subject position that has moved in the operation direction input from the photographing system through the input unit.

Description

Control device, photography control system, control method, and control program Incorporation by Reference

[0001] This application claims priority from Japanese Patent Application No. 2024-64855, filed on April 12, 2024, the contents of which are incorporated herein by reference.

[0002] The present invention relates to a control device, a photography control system, a control method, and a control program.

[0003] There is a camera platform control device that controls a camera platform that rotates an imaging device in pan and tilt directions.

[0004] Japanese Patent Application Laid-Open No. 2007-114503

[0005] The control device of the first disclosed technology is a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and has: a display unit having a display screen that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that rotates and controls the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position that has moved from the imaging system in the operation direction input by the input unit.

[0006] The control device of the second disclosed technology is a control device that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction, and has an input unit that accepts input of an operation direction, and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction toward a destination moved from the rotation mechanism in the operation direction input by the input unit.

[0007] The control device of the third disclosed technology is a control device that controls an imaging system that includes an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction, and has an input unit that accepts an instruction to change the imaging direction from a first direction to a second direction, and a control unit that generates a signal to control rotation by the drive unit based on the instruction input by the input unit, and the control unit converts the second direction into a direction within the imaging surface before generating the signal.

[0008] The control device of the fourth disclosed technology is a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and has: a display unit having a display screen that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input unit that accepts input of an operation direction; and a control unit that, when the input unit accepts input of the operation direction, controls the rotation of the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

[0009] The control device of the fifth disclosed technology is a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and has: a display unit having a display screen that displays an image of a subject within a target imaging area captured by the imaging system in the imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

[0010] The control device of the sixth disclosed technology is a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and includes: a display unit having a display screen that displays an image of a first subject position within a first imaging target area that is imaged by the imaging system in the first imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input unit, and displays an image of the second subject position within the second imaging target area on the display screen.

[0011] The seventh disclosed technology provides a photography control system that includes a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction, and a control device that controls the photography system. The control device includes a display unit having a display screen that displays an image of a first subject position within a photography target area photographed by the photography system in the photography direction, an input unit that accepts input of an operation direction that is the face direction of the display screen, and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the photography direction becomes the direction toward a second subject position that has moved from the photography system in the operation direction input by the input unit.

[0012] The photography control system of the eighth disclosed technology is a photography control system having a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction, and a control device that controls the rotation mechanism, wherein the control device has an input unit that accepts input of an operation direction, and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction toward a destination moved from the rotation mechanism in the operation direction input by the input unit.

[0013] The photography control system of the ninth disclosed technology is a photography control system having a photography system including a photography unit having an imaging surface and a drive unit that rotates the photography unit to change the photography direction, and a control unit that controls the photography system, wherein the control unit has an input unit that accepts an instruction to change the photography direction from a first direction to a second direction, and a control unit that generates a signal to control rotation by the drive unit based on the instruction input by the input unit, and the control unit converts the second direction to a direction within the photography surface before generating the signal.

[0014] The photography control system of the 10th disclosed technology is a photography control system having a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction, and a control device that controls the photography system, wherein the control device has a display unit having a display screen that displays an image of a first subject position within a photography target area photographed by the photography system in the photography direction, an input unit that accepts input of an operation direction, and a control unit that, when the input unit accepts input of the operation direction, controls the rotation of the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is photographed.

[0015] The photography control system of the 11th disclosed technology is a photography control system having a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction, and a control device that controls the photography system, wherein the control device has a display unit having a display screen that displays an image of a subject within a photography target area photographed by the photography system in the photography direction, an input unit that accepts input of an operation direction that is the face direction of the display screen, and a control unit that rotates and controls the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

[0016] The photography control system of the 12th disclosed technology is a photography control system having a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction, and a control device that controls the photography system, wherein the control device has a display unit having a display screen that displays an image of a first subject position within a first photography target area photographed by the photography system in a first photography direction, an input unit that accepts input of an operation direction that is the face direction of the display screen, and a control unit that controls the rotation of the first rotation angle and the second rotation angle to change the first photography target area to a second photography target area in the operation direction input from the photography system by the input unit, and displays an image of the second subject position within the second photography target area on the display screen.

[0017] The control method of the 13th disclosed technology is a control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and the control device executes a display process that displays an image of a first subject position within an imaging target area that is imaged by the imaging system in the imaging direction, an input process that accepts input of an operation direction that is the face direction of a display screen for the image, and a control process that rotates and controls the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position that has moved from the imaging system in the operation direction input by the input process.

[0018] The control method of the 14th disclosed technology is a control method executed by a control device that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction, and the control device executes an input process that accepts input of an operation direction, and a control process that rotates and controls the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction toward a destination moved from the rotation mechanism in the operation direction input by the input process.

[0019] The control method of the 15th disclosed technology is a control method executed by a control device that controls an imaging system including an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction, and the control device executes an input process that receives an instruction to change the imaging direction from a first direction to a second direction, and a control process that converts the second direction into a direction within the imaging surface and then generates a signal to control rotation by the drive unit based on the instruction input by the input process.

[0020] The control method of the 16th disclosed technology is a control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and the control device executes a display process that displays on a display screen an image of a first subject position within an imaging target area that is imaged by the imaging system in the imaging direction, an input process that accepts input of an operation direction, and a control process that, when the input of the operation direction is accepted by the input process, rotates and controls the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

[0021] The control method of the 17th disclosed technology is a control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and the control device executes a display process that displays on a display screen an image of a subject within a target imaging area that is imaged by the imaging system in the imaging direction, an input process that accepts input of an operation direction that is the face direction of the display screen, and a control process that rotates and controls the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

[0022] The control method of the 18th disclosed technology is a control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, and executes the following control processes: a display process that displays an image of a first subject position within a first imaging target area, which is imaged by the imaging system in the first imaging direction, on a display screen; an input process that accepts input of an operation direction, which is the face direction of the display screen; and a control process that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input process, and displays an image of the second subject position within the second imaging target area on the display screen.

[0023] The control program of the 19th disclosed technology causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following: a display process that displays an image of a first subject position within an imaging target area that is imaged by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen of the image; and a control process that rotates and controls the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position that has moved from the imaging system in the operation direction input by the input process.

[0024] The control program of the 20th disclosed technology causes a processor that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction to execute an input process that accepts input of an operation direction, and a control process that rotates and controls the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction toward a destination moved from the rotation mechanism in the operation direction input by the input process.

[0025] The control program of the 21st disclosed technology causes a processor that controls an imaging system including an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction to execute an input process that accepts an instruction to change the imaging direction from a first direction to a second direction, and a control process that generates a signal for controlling rotation by the drive unit based on the instruction input by the input process after converting the second direction into a direction within the imaging surface.

[0026] The control program of the 22nd disclosed technology causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following: a display process that displays on a display screen an image of a first subject position within an imaging target area that is imaged by the imaging system in the imaging direction; an input process that accepts input of an operation direction; and a control process that, when the input of the operation direction is accepted by the input process, rotates and controls the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

[0027] The control program of the 23rd disclosed technology causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following processes: a display process that displays on a display screen an image of a subject within a target imaging area that is imaged by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen; and a control process that rotates and controls the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

[0028] The control program of the 24th disclosed technology causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute a display process that displays an image of a first subject position within a first imaging target area, which is imaged by the imaging system in the first imaging direction, on a display screen; an input process that accepts input of an operation direction, which is the face direction of the display screen; and a control process that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input process, and displays an image of the second subject position within the second imaging target area on the display screen.

[0029] FIG. 1 is an explanatory diagram showing an example of a shooting site. FIG. 2 is an explanatory diagram showing an example of the system configuration of a shooting control system. FIG. 3 is an explanatory diagram showing an example of the configuration of a shooting system. FIG. 4 is a block diagram showing an example of the hardware configuration of a control device. FIG. 5 is an explanatory diagram showing display screen example 1. FIG. 6 is an enlarged view of field display data. FIG. 7 is an explanatory diagram showing intuitive operation example 1. FIG. 8 is an explanatory diagram showing intuitive operation example 2. FIG. 9 is an explanatory diagram showing display screen example 1 in intuitive operation example 1. FIG. 10 is an explanatory diagram showing display screen example 2 in intuitive operation example 2. FIG. 11 is a plan view of a field in operation control example 1 of the shooting system. FIG. 12 is a flowchart showing operation processing procedure example 1 (first half) of the shooting system. FIG. 13 is an explanatory diagram showing an example of calculating distances D1(1) to D4(1). FIG. 14 is a flowchart showing operation processing procedure example 1 (second half) of the shooting system. FIG. 15 is a diagram showing example 1 of specifying the placement position of the shooting system. FIG. 16 is a plan view of a field in operation control example 2 of the shooting system. Fig. 17 is a flowchart showing an example 2 (first half) of the operation processing procedure of the photography system. Fig. 18 is a diagram showing an example 2 of specifying the placement position of the photography system.

[0030] <Fig. 1 Filming Location> Fig. 1 is an explanatory diagram showing an example of a filming location. In the example of Fig. 1, the filming location is a soccer stadium 100. The filming location is not limited to the soccer stadium 100, but may be a stadium for other sports. Furthermore, the filming location is not limited to outdoors, but may also be indoors. Furthermore, the filming location is not limited to a stadium, but may also be an event venue, an entertainment facility such as an amusement park, or an urban area, as long as it is a location where filming is possible.

[0031] The stadium 100 has a field 101 and spectator seats 102. The field 101 is surrounded by the spectator seats 102. A pitch 103 is provided on the field 101. The pitch 103 is formed by touchlines 1102, goal lines 1103, and corners C1 to C4. The touchlines 1102 and the goal lines 1103 intersect at right angles.

[0032] Filming systems 110-1 to 110-8 are installed in the spectator seats 102. When there is no need to distinguish between the filming systems 110-1 to 110-8, they will be referred to as filming systems 110. Multiple filming systems 110 (eight in this example) are installed to surround the field 101. The filming system 110 is composed of a panoramic head 111 and a filming device 112. The panoramic head 111 has a rotation mechanism that can rotate around each of three mutually perpendicular axes. The panoramic head 111 holds the filming device 112. The panoramic head 111 controls the attitude of the filming device 112 by the rotation mechanism. The panoramic head 111 may be connected to the filming device 112 so that they can communicate with each other.

[0033] The camera 112 captures an image of a subject. The camera 112 is held by the camera platform 111, and captures images in a position held by the rotation mechanism of the camera platform 111. In this example, the camera 112 is mainly directed toward the field 101 and captures images of a soccer match. The camera system 110 may be provided above the field 101.

[0034] <Fig. 2 Imaging Control System> Fig. 2 is an explanatory diagram showing an example of the system configuration of an imaging control system. The imaging control system 200 has an imaging system 110 and a control device 201. The imaging system 110 and the control device 201 are communicably connected via a network 202 such as the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0035] The control device 201 may be connected only to the camera platform 111, or may be connected to both the camera platform 111 and the image capturing device 112. When the control device 201 is connected only to the camera platform 111, a control signal from the control device 201 that controls the image capturing device 112 is transmitted from the camera platform 111 to the image capturing device 112.

[0036] The control device 201 includes a keyboard 211 , a mouse 212 , a controller 213 , and a display 214 .

[0037] The controller 213 is communicably connected to the control device 201 via wire or wirelessly. The controller 213 includes a left joystick 231L, a right joystick 231R, a trigger button 232, and a cross key 233.

[0038] The left joystick 231L and the right joystick 231R can be tilted radially from an upright position and, when tilted, can be moved in a circumferential direction of a circle centered on the upright position. The left joystick 231L is an operation unit for rotating the rotation mechanism of the camera platform 111 in a pan direction p and a tilt direction t. The right joystick 231R is an operation unit for rotating the rotation mechanism of the camera platform 111 in a roll direction r.

[0039] The trigger button 232 is a release button for capturing a still image with the image capturing device 112. The cross key 233 is an operation unit for adjusting the focal length of the image capturing device 112 to the telephoto side or the wide angle side.

[0040] The control device 201 transmits control signals corresponding to inputs from the keyboard 211, mouse 212, and controller 213 to the imaging system 110 via the network 202. The imaging device 112 transmits captured video data to the control device 201 via the network 202. The display 214 displays the video data from the imaging device 112.

[0041] 3 is an explanatory diagram showing an example of the configuration of the photography system 110. The camera platform 111 has a control unit 300, a pan rotation mechanism 310, a tilt rotation mechanism 320, and a roll rotation mechanism 330.

[0042] The control unit 300 has a processor 301, a storage device 302, a drive circuit 303, a communication interface (communication IF) 304, and a bus 305. The processor 301, the storage device 302, the drive circuit 303, and the communication IF 304 are connected by the bus 305.

[0043] The processor 301 controls the control unit 300. The storage device 302 serves as a working area for the processor 301. The storage device 302 is a non-transitory or temporary recording medium that stores various programs and data. Examples of the storage device 302 include a read-only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), and a flash memory.

[0044] The drive circuit 303 controls the rotation of the pan rotation mechanism 310 , the tilt rotation mechanism 320 , and the roll rotation mechanism 330 based on control signals from the processor 301 .

[0045] The communication IF 304 receives data from the control device 201 via the network 202 and transmits the data to the control device 201. Furthermore, if the communication IF 304 is connected to the image capturing device 112, the communication IF 304 receives data from the image capturing device 112 and transmits the data to the image capturing device 112.

[0046] The communication IF 304 may also receive signals from GPS satellites. In this case, the control unit 300 may measure the position of the image capture system 110 and obtain the altitude of the measured position from a server (not shown) that provides map data in the storage device 302 or on the network 202. The control unit 300 may also obtain the altitude from an altimeter that uses a barometric pressure sensor to detect the air pressure at the location where the image capture system 110 is installed and convert the detected air pressure into altitude.

[0047] The control unit 300 may be implemented in the control device 201 instead of in the camera platform 111 .

[0048] Next, the pan rotation mechanism 310, tilt rotation mechanism 320, and roll rotation mechanism 330 will be described. The pan rotation mechanism 310 is a mechanism that rotates the image capture device 112 in a pan direction p about the z axis. The tilt rotation mechanism 320 is a mechanism that rotates the image capture device 112 in a tilt direction t about the y axis. The roll rotation mechanism 330 is a mechanism that rotates the image capture device 112 in a roll direction r about the x axis.

[0049] The x-axis, y-axis, and z-axis are perpendicular to each other. The direction in which the end (arrowhead) of each of the x-axis, y-axis, and z-axis points is the positive direction, and the direction in which the start (arrowhead) of each axis points is the negative direction.

[0050] For ease of explanation, the imaging system 110 is assumed to be installed so that the xy plane defined by the x-axis and y-axis is parallel to the ground surface (field 101) and the z-axis is perpendicular to the ground surface (field 101). The pan angle p and tilt angle t in this state are assumed to be pan angle p = 0 degrees and tilt angle t = 0 degrees. The pan angle p, tilt angle t, and roll angle r are assumed to rotate counterclockwise around the x-axis, y-axis, and z-axis, respectively, as positive rotation directions, and clockwise as negative rotation directions.

[0051] The pan rotation mechanism 310 holds the tilt rotation mechanism 320 rotatably in a pan direction p. The tilt rotation mechanism 320 holds the roll rotation mechanism 330 rotatably in a tilt direction t. The roll rotation mechanism 330 holds the image capture device 112 rotatably in a roll direction r. When the pan angle p=0 and the tilt angle t=0, the y-axis becomes the optical axis of the image capture device 112. The coordinate system 340 defines orthogonal x-, y-, and z-axes, as well as the pan direction p, tilt direction t, and roll direction r.

[0052] In this embodiment, there are two types of operation methods for rotating the pan direction p by the pan rotation mechanism 310 and rotating the tilt direction t by the tilt rotation mechanism 320. One is a normal operation and the other is an intuitive operation. The control device 201 can select either the normal operation or the intuitive operation.

[0053] In normal operation, for example, tilting the left joystick 231L in the left-right direction 351 of the pan rotation mechanism 310 corresponds to an operation of rotating the camera platform 111 in the pan direction p. In addition, in normal operation, for example, tilting the left joystick 231L in the up-down direction 352 of the tilt rotation mechanism 320 corresponds to an operation of rotating the camera platform 111 in the tilt direction t.

[0054] Rotation in the pan direction p by the pan rotation mechanism 310 and rotation in the tilt direction t by the tilt rotation mechanism 320 in the case of intuitive operation will be described later. Note that in both normal operation and intuitive operation, for example, movement of the roll rotation mechanism 330 in the circumferential direction 353 while tilting the right joystick 231R corresponds to an operation of rotating the camera platform 111 in the roll direction r.

[0055] The camera platform 111 may be configured not to include the roll rotation mechanism 330. In this case, the roll rotation mechanism 330 simply serves as a holder that holds the image capturing device 112.

[0056] Furthermore, although the photographing system 110 is configured by holding the photographing device 112 on the camera platform 111, the photographing system 110 may be configured such that the camera platform 111 and the photographing device 112 are integrated. The photographing system 110 may also be a drone. In the case of a drone, the pan rotation mechanism 310, tilt rotation mechanism 320, and roll rotation mechanism 330 are realized by rotating the drone itself in the pan direction r, tilt direction t, and roll direction r.

[0057] <FIG. 4: Example of the configuration of the control device 201> FIG. 4 is a block diagram showing an example of the configuration of the control device 201.

[0058] [Hardware Configuration] The control device 201 has, as its hardware configuration, a processor 401, a storage device 402, an input device 403, an output device 404, a communication IF 405, and a bus 406. The processor 401, the storage device 402, the input device 403, the output device 404, and the communication IF 405 are connected via the bus 406. The processor 401 controls the control device 201. The storage device 402 serves as a working area for the processor 401. The storage device 402 is a non-transitory or temporary recording medium that stores various programs and data. Examples of the storage device 402 include a ROM, a RAM, a HDD, and a flash memory.

[0059] The input device 403 inputs data. Examples of the input device 403 include the keyboard 211, mouse 212, controller 213, touch panel, numeric keypad, scanner, microphone, and sensor. The output device 304 outputs data. Examples of the output device 304 include the display 214, printer, and speaker. The communication IF 305 connects to the network 202 and transmits and receives data to and from the imaging system 110.

[0060] [Functional Configuration] The control device 201 controls the imaging system 110, which is rotatable at a first rotation angle (e.g., pan angle p) around an axis in a first direction (e.g., pan direction p) different from the imaging direction of the imaging device 112, and at a second rotation angle (e.g., tilt angle t) around an axis in a second direction (e.g., tilt direction t) different from the imaging direction. The control device 201 has, as its functional configuration, a display unit 411, an input unit 412, and a control unit 413. Specifically, the display unit 411, the input unit 412, and the control unit 413 are realized, for example, by causing the processor 401 to execute a program stored in the storage device 402.

[0061] The display unit 411 has a display screen (e.g., display screen 500) that displays an image of a first subject position (e.g., current position CP) within a target area (e.g., pitch 103) photographed by the photographing system 110 in the photographing direction.

[0062] The input unit 412 receives input of an operation direction, which is the surface direction of a display screen (for example, the display screen 500 ), by operating the input device 403 .

[0063] The control unit 413 controls the rotation of the first rotation angle (e.g., pan angle p) and the second rotation angle (e.g., tilt direction t) so that the shooting direction is the direction from the shooting system 110 to a second subject position (e.g., target position DP) moved in the operation direction input by the input unit 412 from a first subject position (e.g., current position CP).

[0064] <Fig. 5: Display Screen Example 1> Fig. 5 is an explanatory diagram showing display screen example 1. A display screen 500 is displayed on the display 214. The display screen 500 has a first display area 501, a second display area 502, and a third display area 503. The first display area 501 is a display screen that displays video data captured by a selected image capture device 112. The second display area 502 is a display screen that displays thumbnails of video data captured by each of the multiple image capture devices 112.

[0065] The third display area 503 is a display area that can be operated by the input device 403. Specifically, for example, the third display area 503 displays field display data 530. The field display data 530 is display data that shows the field 101. The field display data 530 has a placement marker 531, a camera icon 532, and a subject position icon 533.

[0066] The placement marker 531 indicates a possible placement position of the photography system 110. The camera icon 532 is an icon indicating that the photography systems 110-4 and 110-8 are placed at positions corresponding to the placement markers 531-4 and 531-8. The subject position icon 533 is an icon indicating the subject position being photographed by the photography system 110 corresponding to the camera icon 532.

[0067] The arrow connecting the camera icon 532 and the subject position icon 533 indicates the shooting direction from the shooting system 110. The subject position icon 533 can be moved on the field display data 530 by operating the input device 403, and the arrow follows the movement of the subject position icon 533.

[0068] 3, the normal operation button 541 is a user interface for setting the pan rotation mechanism 310 and the tilt rotation mechanism 320 to normal operation. The intuitive operation button 542 is a user interface for setting the pan rotation mechanism 310 and the tilt rotation mechanism 320 to intuitive operation. The intuitive operation is an operation for moving the subject position in the screen direction of the first display area 501. The hatched intuitive operation button 542 indicates that intuitive operation has been selected by pressing it.

[0069] The zoom slider 543 is a slider for changing the focal length of the zoom lens of the image capturing device 112 between the telephoto end and the wide-angle end.

[0070] The joystick 544 is a user interface that allows a user to virtually operate the left joystick 231L. The roll slider 545 is a user interface that allows a user to virtually operate the movement of the right joystick 231R in the circumferential direction 353.

[0071] The release button 546 is a user interface for pressing down to capture a still image with the camera 112. The camera 112 to be operated may be the camera 112 of the camera system 110 selected by the camera icon 532, or may be the camera 112 of another camera system 110 not selected by the camera icon 532. It is assumed that which camera 112 to be operated is set in advance.

[0072] <Fig. 6 Field Display Data 530> Fig. 6 is an enlarged view of the field display data 530. Position markers 531-1 to 531-8 indicate possible positions for placing the image capture system 110. When there is no need to distinguish between the position markers 531-1 to 531-8, they are referred to as position marker 531. The position of the position marker 531 is set so that it is easy for the user to understand, and in reality, as shown in Fig. 1, the image capture system 110 corresponding to the position marker 531 is placed in the spectator seats 102.

[0073] The camera icons 532-4 and 532-8 are icons indicating that the imaging systems 110-4 and 110-8 are placed at positions corresponding to the placement markers 531-4 and 531-8. The camera icons 532-4 and 532-8 are displayed by clicking the corresponding placement markers 531-4 and 531-8.

[0074] Although not shown, when the placement markers 531-1 to 531-3 and 531-5 to 531-7 are clicked, the camera icons 532 corresponding to the imaging systems 110-1 to 110-3 and 110-5 to 110-7 are displayed, similar to the camera icons 532-4 and 532-8.

[0075] It is assumed that the displayed camera icons 532-4, 532-8 and the imaging systems 110-4, 110-8 are associated with each other by prior settings. Therefore, when a camera icon 532-4, 532-8 is selected by pressing it, the video data captured by the corresponding imaging system 110-4, 110-8 is displayed in the first display area 501. The hatched camera icon 532-8 indicates that the imaging system 110-8 was selected by pressing it.

[0076] <Intuitive Operation> Next, intuitive operation will be described in detail. In intuitive operation, there are cases where the roll rotation mechanism 330 is not used and cases where the roll rotation mechanism 330 is used. Cases where the roll rotation mechanism 330 is not used include cases where the operation of the roll rotation mechanism 330 is set to not be used, or where the camera platform 111 does not have a roll rotation mechanism 330. The case where the roll rotation mechanism 330 is not used will be described with reference to FIG. 7, and the case where the roll rotation mechanism 330 is used will be described with reference to FIG. 8.

[0077] 7 and 8 show an example in which the left joystick 231L and the right joystick 231R are operated, but the same applies to the case in which the joystick 544 and the roll slider 545 are operated.

[0078] [Fig. 7 Intuitive Operation Example 1] Fig. 7 is an explanatory diagram showing intuitive operation example 1. Point A indicates the current subject position (hereinafter referred to as the current position), and points B and C indicate target subject positions (hereinafter referred to as the target positions). Circle 741 is a circle whose center is the z axis of the image capturing device 112 and passes through point A. Circle 742 is a circle whose center is the z axis of the image capturing device 112 and passes through point B. Circle 743 is a circle whose center is the z axis of the image capturing device 112 and passes through point C. Circles 741 to 743 are concentric circles whose center is the z axis.

[0079] Video data 701 shows a subject 710 (player 711 and field 101) at point A photographed by the camera 112. The direction in which the camera 112 faces toward point A is the photographing direction Sa. Video data 702 shows a subject 720 (player 711, soccer ball 712, and field 101) at point B photographed by the camera 112. The direction in which the camera 112 faces toward point B is the photographing direction Sb. Video data 703 shows a subject 720 (player 713 and field 101) at point C photographed by the camera 112.

[0080] The direction in which the image capturing device 112 faces point C is the image capturing direction Sc. The image capturing directions Sa, Sb, and Sc are the optical axis directions of the image capturing device 112. The movement direction from point A to point B and point C is defined as Ma.

[0081] (Movement from Point A to Point B) Now, suppose that while the camera device 112 is facing the shooting direction Sa and photographing point A, the player 711 runs left on the field 101, i.e., in the movement direction Ma, and reaches point B. At this time, to photograph point A to point B, the camera head 111 rotates the camera device 112 in the pan direction p (positive) by a pan angle pab, and also rotates the camera device 112 in the tilt direction t (negative) by a tilt angle tb. As a result, the shooting direction Sb of the camera device 112 faces point B, and the camera device 112 can photograph the subject 720 as the player 711 runs from point A to point B.

[0082] In this case, by intuitive operation, the user simply tilts the left joystick 231L to the left, which causes the camera platform 111 to rotate the image capturing device 112 in the pan direction p (positive) by the pan angle pab and in the tilt direction t (negative) by the tilt angle tb. When the user confirms that the subject 720 is displayed in the first display area 501, the user returns the left joystick 231L to its original upright position. This causes the camera platform 111 to stop rotating in the pan direction p (positive) and the tilt direction t (negative).

[0083] In the case of normal operation, if the user simply tilts the left joystick 231L to the left, the camera platform 111 only rotates the image capturing device 112 in the pan direction p (positive) by the pan angle pab, but does not rotate in the tilt direction t (negative). In other words, if the user operates the left joystick 231L by tilting it left and upward in combination, the camera platform 111 will rotate the image capturing device 112 in the pan direction p (positive) by the pan angle pab and also rotate the image capturing device 112 in the tilt direction t (negative) by the tilt angle tb.

[0084] (Movement from Point A to Point C) Here, when the image capture device 112 is facing the image capture direction Sa to capture point A, if the user wants to point the image capture device 112 in the image capture direction Sc to capture the subject 730, the user simply presses the left joystick 231L more firmly than when it was at point B and tilts it to the left, causing the camera platform 111 to rotate the image capture device 112 in the pan direction p (positive) by a pan angle pac and in the tilt direction t (negative) by a tilt angle tc. When the user confirms that the subject 730 is displayed in the first display area 501, they return the left joystick 231L to its original upright position. This causes the camera platform 111 to stop rotating in the pan direction p (positive) and the tilt direction t (negative).

[0085] Alternatively, the user may continue to tilt the left joystick 231L to the left with the same amount of depression as when photographing point B. In this case, the user returns the left joystick 231L to its original upright position after confirming that the photographing device 112 is facing the photographing direction Sc to photograph the subject 730 and that the subject 730 is displayed in the first display area 501. This causes the camera platform 111 to stop rotating in the pan direction p (positive) and the tilt direction t (negative).

[0086] (Intuitive operation after moving to point B or point C) When an intuitive operation is performed while the image capturing device 112 is capturing an image of point B, the image capturing device 112 is not rotated in the roll direction r. Therefore, when the left joystick 231L is tilted upward, the subject position moves from point B in the upper right direction 725U, and the subject 720 moves out of the composition and out of the frame in the lower left direction 725D. Similarly, when the left joystick 231L is tilted downward, the subject position moves from point B in the lower left direction 725D, and the subject 720 moves out of the composition and out of the frame in the upper right direction 725U.

[0087] Similarly, when the left joystick 231L is tilted to the left, the subject position moves from point B in an upper left direction 725L, and the subject 720 moves out of the composition and out of the frame in a lower right direction 725R. Similarly, when the left joystick 231L is tilted to the right, the subject position moves from point B in a lower right direction 725R, and the subject 720 moves out of the composition and out of the frame in an upper left direction 725L.

[0088] The same is true for point C; when an intuitive operation is performed while the image capturing device 112 is capturing an image of point C, the image is not rotated in the roll direction r. Therefore, when the left joystick 231L is tilted upward, the subject position moves from point C in the upper right direction 735U, and the subject 730 moves out of the composition and out of the frame in the lower left direction 735D. Similarly, when the left joystick 231L is tilted downward, the subject position moves from point C in the lower left direction 735D, and the subject 720 moves out of the composition and out of the frame in the upper right direction 735U.

[0089] Similarly, when the left joystick 231L is tilted to the left, the subject position moves from point C in an upper left direction 735L, and the subject 730 moves out of the composition and out of the frame in a lower right direction 735R. Similarly, when the left joystick 231L is tilted to the right, the subject position moves from point C in a lower right direction 735R, and the subject 730 moves out of the composition and out of the frame in an upper left direction 735L.

[0090] [Fig. 8 Intuitive Operation Example 2] Fig. 8 is an explanatory diagram showing intuitive operation example 2. Fig. 8 is an example in which rotation in the roll direction r is performed when moving from point A to point B and point C in Fig. 7. Specifically, for example, the control device 201 controls the camera platform 111 to rotate in the roll direction r (negative) at a roll angle rb that is the same rotation amount as the pan angle pab from point A to point B. The roll angle rb does not have to be the same rotation amount as the pan angle pab, and may have a difference from the pan angle pab within an allowable range. This causes the operation direction from point B to match or approximate the operation direction from point A.

[0091] As a result, after the roll rotation, tilting the left joystick 231L upward moves the subject position upward 825U from point B, and the subject 720 moves out of the composition and out of the frame downward 825D. Similarly, tilting the left joystick 231L downward moves the subject position downward 825D from point B, and the subject 720 moves out of the composition and out of the frame upward 825U.

[0092] Similarly, when the left joystick 231L is tilted to the left, the subject position moves from point B in the left direction 825L, and the subject 720 moves out of the composition and out of the frame to the right direction 825R. Similarly, when the left joystick 231L is tilted to the right, the subject position moves from point B in the right direction 825R, and the subject 720 moves out of the composition and out of the frame to the left direction 825L.

[0093] Similarly, for point C, the control device 201 controls the camera platform 111 to rotate in the roll direction r (negative) at a roll angle rc that is the same rotation amount as the pan angle pab from point A to point C. The roll angle rc does not have to be the same rotation amount as the pan angle pac, and may differ from the pan angle pac within an allowable range. This makes the operation direction from point C coincident with or approximate the operation direction from point A.

[0094] As a result, after the roll rotation, tilting the left joystick 231L upward moves the subject position upward 825U from point C, and the subject 720 moves out of the composition and out of the frame downward 825D. Similarly, tilting the left joystick 231L downward moves the subject position downward 825D from point C, and the subject 720 moves out of the composition and out of the frame upward 825U.

[0095] Similarly, when the left joystick 231L is tilted to the left, the subject position moves from point C in the left direction 825L, and the subject 720 moves out of the composition and out of the frame to the right direction 825R. Similarly, when the left joystick 231L is tilted to the right, the subject position moves from point C in the right direction 825R, and the subject 720 moves out of the composition and out of the frame to the left direction 825L.

[0096] [Fig. 9: Display Screen Example 1 in Intuitive Operation Example 1] Fig. 9 is an explanatory diagram showing display screen example 1 in intuitive operation example 1. Specifically, Fig. 9 shows display screen 500 showing the shooting state of point B after movement from point A to point B shown in Fig. 7. In Fig. 7, there is no rotation in the roll direction r, so arrows 725U, 725D, 725L, and 725R indicating the operation direction of left joystick 231L are displayed as shown in Fig. 7.

[0097] [Fig. 10 Display Screen Example 2 in Intuitive Operation Example 2] Fig. 10 is an explanatory diagram showing Display Screen Example 2 in Intuitive Operation Example 2. Specifically, for example, Fig. 9 shows a display screen 500 showing the shooting state of point B after movement from point A to point B shown in Fig. 8. In Fig. 8, there is rotation in the roll direction r, so as shown in Fig. 9, arrows 725U, 725D, 725L, and 725R indicating the operation direction of left joystick 231L are not displayed.

[0098] <Fig. 11 Operation Control Example 1 of the Photography System 110> Next, an operation control example 1 of the photography system 110 will be described. Here, a case will be described in which the height H of the photography system 110 is unknown and the photography system 110 is not on the pitch 103 or the space above it. As long as the photography system 110 is placed on the pitch 103 or the space above it, it may be on the field 101 or the space above it, or on the spectator stands 102 or the space above it.

[0099] 11 is a plan view of field 101 in operation control example 1 of imaging system 110. The x-axis of coordinate system 340 is parallel to pitch line 104, and the y-axis is parallel to end line 105. Furthermore, pitch line length V, which is the length of pitch line 104, and end line length W, which is the length of end line 105, are stored as known values ​​in storage device 402 of control device 201.

[0100] When viewed from the z direction, the intersection point C5 is where the y axis of the camera platform 111 in the imaging system 110 intersects perpendicularly with the front pitch line 104. Note that the y axis and the intersection point C5 do not need to be strictly perpendicular, and the accuracy is guaranteed in step S1209, which will be described later.

[0101] <FIG. 12 Example 1 (first half) of operation processing procedure of the imaging system 110> FIG. 12 is a flowchart showing example 1 (first half) of operation processing procedure of the imaging system 110.

[0102] (Step S1201) The control device 201 points the imaging system 110 toward each of the corners C1 to C4 and the intersections C5 and C6, and measures pan angles p(C1) to p(C6) from the origin O when the imaging system 110 is pointed toward each of the corners C1 to C4 and the intersection C5, and tilt angles t(C1) to t(C4) from the origin O when the imaging system 110 is pointed toward each of the corners C1 to C4.

[0103] p(C1)=θ1 p(C2)=θ2 p(C3)=θ3 p(C4)=θ4 p(C5)=θ5 t(C1)=φ1 t(C2)=φ2 t(C3)=φ3 t(C4)=φ4

[0104] (Step S1202) If the pan angle θ5 of intersection C5 is not 0, the y-axis of the camera platform 111 and the optical axis of the image capture device 112 are misaligned. Therefore, the control device 201 corrects the pan angles p(C1) to p(C4) of corners C1 to C4 with the pan angle p(C5). Specifically, for example, the control device 201 subtracts the pan angle p(C5) from the pan angles p(C1) to p(C4) of corners C1 to C4. The corrected pan angles p[C1] to p[C4] of corners C1 to C4 are as follows:

[0105] p[C1]=θ1-θ5 p[C2]=θ2+θ5 p[C3]=θ3+θ5 p[C4]=θ4-θ5

[0106] (Step S1203) The control device 201 calculates the distances D1(1) to D4(1) from the imaging system 110 to the corners C1 to C4 when the height H of the imaging system 110 is a unit height (for example, 1 m).

[0107] [Figure 13: Example of Calculation of Distances D1(1) to D4(1)] Figure 13 is an explanatory diagram showing an example of calculation of distances D1(1) to D4(1). As shown in Figure 13, distances D1(1) to D4(1) are calculated as follows.

[0108] D1(1)=cotφ1 D2(1)=cotφ2 D3(1)=cotφ3 D4(1)=cotφ4

[0109] 12, the control device 201 calculates the coordinate values ​​C1(1) to C4(1) of the corners C1 to C4 when the height H of the imaging system 110 is the unit height. The x-coordinate values ​​C1(1)x to C4(1)x of the coordinate values ​​C1(1) to C4(1) are calculated as follows:

[0110] C1(1)x=D1(1)×sin(p[C1]) C2(1)x=D2(1)×sin(p[C2]) C3(1)x=D3(1)×sin(p[C3]) C4(1)x=D4(1)×sin(p[C4])

[0111] The y coordinate values ​​C1(1)y to C4(1)y of the coordinate values ​​C1(1) to C4(1) are calculated as follows.

[0112] C1(1)y=D1(1)×cos(p[C1]) C2(1)y=D2(1)×cos(p[C2]) C3(1)y=D3(1)×cos(p[C3]) C4(1)y=D4(1)×cos(p[C4])

[0113] (Step S1205) The control device 201 calculates the unit pitch line length V(1) and the unit end line length W(1) when the height H of the imaging system 110 is the unit height. The unit pitch line length V(1) is calculated as follows.

[0114] V(1)={|C1(1)x|+|C2(1)x|+|C3(1)x|+|C4(1)x|} / 2

[0115] The unit end line length W(1) is calculated as follows.

[0116] W(1)={|C4(1)y|-|C1(1)y|+|C3(1)y|-|C2(1)y|} / 2

[0117] (Step S1206) The control device 201 calculates at least one of the first coefficient α and the second coefficient β. The first coefficient α indicates the ratio of the pitch line length V to the unit pitch line length V(1). The second coefficient β indicates the ratio of the end line length W to the end line length W(1). The first coefficient α and the second coefficient β are calculated as follows:

[0118] α=V / V(1) β=W / W(1)

[0119] (Step S1207) The control device 201 calculates the height H of the imaging system 110 based on at least one of the first coefficient α and the second coefficient β. When only the first coefficient α is used, the control device 201 calculates the first coefficient α as the height H of the imaging system 110. When only the second coefficient β is used, the control device 201 calculates the second coefficient β as the height H of the imaging system 110.

[0120] When the first coefficient α and the second coefficient β are used, the control device 201 calculates a statistical value based on the first coefficient α and the second coefficient β as the height H of the imaging system 110. The statistical value based on the first coefficient α and the second coefficient β is, for example, the maximum value, minimum value, and average value of the first coefficient α and the second coefficient β.

[0121] (Step S1208) The control device 201 calculates the coordinate values ​​of the corners C1 to C4. The x-coordinate values ​​C1x to C4x of the corners C1 to C4 are calculated as follows.

[0122] C1x=C1(1)x×α C2x=C2(1)x×α C3x=C3(1)x×α C4x=C4(1)x×α

[0123] The y coordinate values ​​C1y to C4y of the corners C1 to C4 are calculated as follows.

[0124] C1y=C1(1)y×β C2y=C2(1)y×β C3y=C3(1)y×β C4y=C4(1)y×β

[0125] (Step S1209) The control device 201 calculates the pitch line length V12 between the corners C1 and C2, the end line length W23 between the corners C2 and C3, the pitch line length V34 between the corners C3 and C4, and the end line length W41 between the corners C4 and C1. The pitch line length V12, the end line length W23, the pitch line length V34, and the end line length W41 are calculated as follows.

[0126] V12=|C1x|+|C2x| W23=|C3y|-|C2y| V34=|C3x|+|C4x| W41=|C4y|-|C1y|

[0127] Control device 201 calculates pitch line accuracy AV and end line accuracy AW. Pitch line accuracy AV and end line accuracy AW indicate the measurement accuracy of pan angles P(C1) to p(C6) and tilt angles t(C1) to t(C4) at corners C1 to C4. Pitch line accuracy AV and end line accuracy AW are calculated as follows:

[0128] AV=|V12-V34| AW=|W23-W41|

[0129] If at least one of the pitch line accuracy AV and the end line accuracy AW is equal to or greater than a predetermined threshold value (for example, 5 m), the control device 201 indicates that the imaging system 110 does not meet the required accuracy and displays a warning on the display 214. In this case, the user is prompted to start over from step S1201 or to redo the setup of the camera platform 111, or to continue the operation with the low accuracy.

[0130] If neither the pitch line accuracy AV nor the end line accuracy AW is equal to or greater than a predetermined threshold (for example, 5 m), the imaging system 110 determines that the required accuracy is satisfied, and proceeds to step S1401 in FIG.

[0131] <FIG. 14: Example 1 (Second Half) of Operation Processing Procedure of the Imaging System 110> FIG. 14 is a flowchart showing example 1 (second half) of operation processing procedure of the imaging system 110.

[0132] (Step S1401) The control device 201 waits for an operation input from the input device 403 (step S: No). The operation input from the input device 403 is a tilt input of the left joystick 231L, a tilt input of the joystick 544, or a movement input of the subject position icon 533. If an operation input from the input device 403 has been received (step S1401: Yes), the process proceeds to step S1402.

[0133] (Step S1402) The control device 201 calculates the target position DP=(xdp, ydp, −H) through the operation of the input device 403, and proceeds to step S1403.

[0134] [Operation Input via Left Joystick 231L or Joystick 544] In the case of operation input via the left joystick 231L (similarly for the joystick 544), the control device 201 detects the tilt direction and the amount of depression. The amount of depression is the strength of depression of the left joystick 231L in the tilt direction. The strength of depression is detected, for example, by a pressure sensor in the controller 213 and transmitted to the control device 201 as the amount of depression.

[0135] The control device 201 determines the tilt direction of the left joystick 231L as the movement direction Mcd from the current position CP to the target position DP. For example, in the examples of Figures 7 and 8, when point A is the current position CP and point B is the target position DP, the movement direction Ma is the movement direction Mcd.

[0136] The control device 201 calculates the movement distance MDcd from the current position CP to the target position DP based on the amount of depression of the left joystick 231L. Since the movement distance MDcd is proportional to the amount of depression, the greater the amount of depression, the longer the movement distance MDcd. In the examples of Figures 7 and 8, the length of the line segments AB and AC is the movement distance MDcd.

[0137] The control device 201 calculates the coordinate values ​​(xdp, ydp, -H) of the target position DP on the xy plane (field 101) based on the coordinate values ​​(xcp, ycp) of the current position CP, the movement direction Mcd, and the movement distance MDcd.

[0138] [Operation Input via Subject Position Icon 533] In the case of operation input via the subject position icon 533, the control device 201 specifies, as the movement direction Mcd, the direction from the current position CP to the target position DP of the subject position icon 533. Then, the process proceeds to step S1303.

[0139] The control device 201 calculates the coordinate values ​​(xcp, ycp) of the target position DP that will be reached when the subject position icon 533 is moved from the current position CP in the movement direction Mcd.

[0140] (Step S1403) The control device 201 calculates the distance Ddp from the imaging system 110 (origin O) to the target position DP. The distance Ddp is calculated as follows.

[0141] Ddp=√{(Fdp)2+H2}...(1)

[0142] In this example, a unit height (for example, 1 m) is substituted for the height H. If the height H is a known value, the control device 201 does not execute step S1207, but substitutes the height H into the above formula (1) to calculate the distance Ddp.

[0143] Since the distance Fdp is the distance from the point Q to the target position DP, the distance Fdp is calculated as follows.

[0144] Fdp=√{(xdp)2+(ydp)2}

[0145] To simplify the calculation, the control device 201 calculates the x-coordinate value xdp(1) and the y-coordinate value ydp(1) at the unit height by dividing the x-coordinate value xdp and the y-coordinate value ydp of the target position DP by the first coefficient α and the second coefficient β, respectively. Then, the control device 201 calculates the distance Ddp(1) at the unit height using the x-coordinate value xdp(1) and the y-coordinate value ydp(1) at the unit height.

[0146] Ddp(1)=√{(xdp(1))2+(ydp(1))2}

[0147] At unit height, the distance Fdp(1) at unit height can be regarded as the distance Ddp(1).

[0148] (Step S1404) The control device 201 calculates the pan angle θdp and tilt angle φdp relative to the target position DP as rotation control amounts. The pan angle θdp and tilt angle φdp are calculated by the following equations.

[0149] θdp=arctan {xdp / (Ddp×ydp)}+θ5 φdp=arctan(H / Ddp)

[0150] However, when Ddp(1) is used, it is calculated as follows.

[0151] θdp=arctan {xdp(1) / (Ddp(1)×ydp(1))}+θ5 φdp=arctan(1 / Ddp(1))

[0152] (Step S1405) The control device 201 calculates the rotation control amount (θcd, φcd) using the following formula.

[0153] θcd=θdp-θcp φcd=φdp-φcp

[0154] θcp is the pan angle p of the pan head 111 relative to the current position CP, and φcp is the tilt angle t of the pan head 111 relative to the current position CP, and is acquired from the pan head 111.

[0155] (Step S1406) The control device 201 controls the rotation of the camera platform 111 using the rotation control amount (θcd, φcd). Specifically, for example, the control device 201 rotates the camera platform 111 by the pan angle θcd and the tilt angle φcd. As a result, the optical axis of the image capture device 112 is directed toward the target position DP, and the subjects 720 and 730 are captured as shown in FIG. 7. Then, the process proceeds to step S1407.

[0156] (Step S1407) If the camera platform 111 is rotatable in the roll direction r, the control device 201 controls the camera platform 111 to rotate in the roll direction r at a roll angle ψcd that has the same rotation control amount as the pan angle θcd. As a result, the optical axis of the image capturing device 112 is directed toward the target position DP, and the subjects 720 and 730 are captured as shown in FIG.

[0157] Furthermore, since the coordinate values ​​(xdp, ydp, -H) of the target position DP are identified, the control device 201 moves the subject position icon 533 of the field display data 530 from the current position CP to the target position DP. As a result, the position of the subject at the target position DP displayed in the first display area 501 is associated with the position of the subject position icon 533, allowing the user to grasp, from a bird's-eye view, where on the field 101 the target position DP is located.

[0158] The current position CP shown in Figure 11 is an arbitrary point within the field 101, but if the coordinate value of the arbitrary point within the field 101 is unknown, the control device 201 sets the current position CP to a known point such as corners C1 to C4 and sets an arbitrary unknown point within the field 101 as the target position DP, thereby calculating the coordinate value of the arbitrary point within the field 101.

[0159] 15 is a diagram showing Example 1 of identifying the placement position of the photography system 110. The placement position of the photography system 110 is identified by a combination of positive or negative signs of the pan angles p[C1] to p[C4] of the corners C1 to C4, provided that the absolute value of each of the pan angles p[C1] to p[C4] is 90 degrees or less.

[0160] The control device 201 can identify the location of the imaging system 110 by calculating the pan angles p[C1] to p[C4] of the corners C1 to C4 in step S1502 for each of the multiple imaging systems 110. In the example of Fig. 15, the control device 201 identifies that the imaging system 110 is located between C1 and C2.

[0161] In this way, even if the height H of the imaging system 110 is unknown, the control device 201 can calculate the height H of the imaging system 110, and the user can intuitively operate the camera platform 111.

[0162] 16 Operation Control Example 2 of the Photography System 110 A description will be given of operation control example 2 of the photography system 110. Here, a case will be described in which the height H of the photography system 110 is unknown and the photography system 110 is located at the pitch 103 and above it.

[0163] 16 is a plan view of the field 101 in operation control example 2 of the imaging system 110. Unlike in FIG. 11, the imaging system 110 is located at the pitch 103 and above it, and therefore, in the positive direction of the y axis of the camera platform 111 in the imaging system 110, the intersection point C5 where the y axis intersects with the pitch line 104 at right angles as viewed from the z direction is taken as the intersection point. Note that the y axis and intersection point C5 do not need to be strictly orthogonal, and the accuracy is guaranteed in step S1710, which will be described later.

[0164] <FIG. 17 Example 2 (first half) of operation processing procedure of the imaging system 110> FIG. 17 is a flowchart showing example 2 (first half) of operation processing procedure of the imaging system 110.

[0165] (Step S1701) The control device 201 points the imaging system 110 toward each of the corners C1 to C4 and the intersection C5, and measures pan angles p(C1) to p(C5) from the origin O when the imaging system 110 is pointed toward each of the corners C1 to C4 and the intersection C5, and tilt angles t(C1) to t(C4) from the origin O when the imaging system 110 is pointed toward each of the corners C1 to C4.

[0166] p(C1)=θ1 p(C2)=θ2 p(C3)=θ3 p(C4)=θ4 p(C5)=θ5 t(C1)=φ1 t(C2)=φ2 t(C3)=φ3 t(C4)=φ4

[0167] (Step S1702) If the pan angle θ5 of intersection C5 is not 0, the y-axis of the camera platform 111 and the optical axis of the image capture device 112 are misaligned. Therefore, the control device 201 corrects the pan angles p(C1) to p(C4) of corners C1 to C4 with the pan angle p(C5). Specifically, for example, the control device 201 subtracts the pan angle p(C5) from the pan angles p(C1) to p(C4) of corners C1 to C4. The corrected pan angles p[C1] to p[C4] of corners C1 to C4 are as follows:

[0168] p[C1]=θ1-θ5 p[C2]=θ2-θ5 p[C3]=θ3-θ5 p[C4]=θ4-θ5

[0169] (Step S1703) The control device 201 calculates the distances D1(1) to D4(1) from the image capturing system 110 to the corners C1 to C4, using the height H of the control device 201 as a unit height (for example, 1 m).

[0170] D1(1)=cot(t(C1)) D2(1)=cot(t(C2)) D3(1)=cot(t(C3)) D4(1)=cot(t(C4))

[0171] (Step S1704) The control device 201 calculates the angle ψ1 between the imaging system 110 and the x-axis when the imaging system 110 is facing corner C1, the angle ψ2 between the imaging system 110 and the x-axis when the imaging system 110 is facing corner C2, the angle ψ3 between the imaging system 110 and the x-axis when the imaging system 110 is facing corner C3, and the angle ψ4 between the imaging system 110 and the x-axis when the imaging system 110 is facing corner C4.

[0172] ψ1=-p[C1]-90 ψ2=p[C2]-90 ψ3=-p[C3]+90 ψ4=p[C4]+90

[0173] (Step S1705) The control device 201 calculates a unit pitch line length V(1) per unit height using the distances D1(1) and D2(1) according to the following formula (2).

[0174] V(1)=D1(1)×cosψ1+D2(1)×cosψ2...(2)

[0175] Furthermore, the control device 201 calculates the unit pitch line length V(1)B at the unit height using the distances D3(1) and D4(1) according to the following formula (3).

[0176] V(1)=D3(1)×cosψ1+D4(1)×cosψ2...(3)

[0177] The control device 201 calculates the unit end line length W(1) per unit height using the distances D1(1) and D4(1) according to the following equation (4).

[0178] W(1)=D1(1)×sinψ1+D4(1)×sinψ4...(4)

[0179] Furthermore, the control device 201 calculates the unit end line length W(1) per unit height using the distances D2(1) and D3(1) according to the following formula (5).

[0180] W(1)=D2(1)×sinψ2+D3(1)×sinψ3...(5)

[0181] (Step S1706) The control device 201 calculates at least one of the first coefficient α and the second coefficient β. The first coefficient α indicates the ratio of the pitch line length V to the unit pitch line length V(1). The second coefficient β indicates the ratio of the end line length W to the end line length W(1). The first coefficient α and the second coefficient β are calculated as follows:

[0182] α=V / V(1) β=W / W(1)

[0183] The unit pitch line length V(1) used in calculating the first coefficient α may be either one of the two unit pitch line lengths V(1) in the above formulas (2) and (3), or may be the average value of the two unit pitch line lengths V(1) in the above formulas (2) and (3). The unit end line length W(1) used in calculating the second coefficient β may be either one of the two unit end line lengths W(1) in the above formulas (4) and (5), or may be the average value of the two unit end line lengths W(1) in the above formulas (4) and (5).

[0184] (Step S1707) As in step S1207, the control device 201 calculates the height H of the imaging system 110 based on at least one of the first coefficient α and the second coefficient β.

[0185] (Step S1708) The control device 201 calculates the coordinate values ​​C1(1) to C4(1) of the corners C1 to C4 when the height H of the imaging system 110 is the unit height. The x-coordinate values ​​C1(1)x to C4(1)x of the coordinate values ​​C1(1) to C4(1) are calculated as follows:

[0186] C1(1)x=-D1(1)×cosψ1 C2(1)x=D2(1)×cosψ2 C3(1)x=D3(1)×cosψ3 C4(1)x=-D4(1)×cosψ4

[0187] The y coordinate values ​​C1(1)y to C4(1)y of the coordinate values ​​C1(1) to C4(1) are calculated as follows.

[0188] C1(1)y=-D1(1)×sinψ1 C2(1)y=-D2(1)×sinψ2 C3(1)y=D3(1)×sinψ3 C4(1)y=D4(1)×sinψ4

[0189] (Step S1709) The control device 201 calculates the coordinate values ​​of the corners C1 to C4 in the same manner as in step S1208. The x-coordinate values ​​C1x to C4x of the corners C1 to C4 are calculated as follows.

[0190] C1x=C1(1)x×α C2x=C2(1)x×α C3x=C3(1)x×α C4x=C4(1)x×α

[0191] The y coordinate values ​​C1y to C4y of the corners C1 to C4 are calculated as follows.

[0192] C1y=C1(1)y×β C2y=C2(1)y×β C3y=C3(1)y×β C4y=C4(1)y×β

[0193] (Step S1710) As in step S1209, the control device 201 calculates the pitch line length V12 between the corners C1 and C2, the end line length W23 between the corners C2 and C3, the pitch line length V34 between the corners C3 and C4, and the end line length W41 between the corners C4 and C1. The pitch line length V12, the end line length W23, the pitch line length V34, and the end line length W41 are calculated as follows.

[0194] V12=|C1x|+|C2x| W23=|C3y|+|C2y| V34=|C3x|+|C4x| W41=|C4y|+|C1y|

[0195] The control device 201 calculates the pitch line accuracy AV and the end line accuracy AW as follows.

[0196] AV=|V12-V34| AW=|W23-W41|

[0197] If at least one of the pitch line accuracy AV and the end line accuracy AW is equal to or greater than a predetermined threshold value (for example, 5 m), the control device 201 indicates that the imaging system 110 does not satisfy the required accuracy and displays a warning on the display 214. In this case, the process is repeated again from step S1801.

[0198] If neither the pitch line accuracy AV nor the end line accuracy AW is equal to or greater than a predetermined threshold (for example, 5 m), the imaging system 110 is deemed to satisfy the required accuracy, and the control device 201 executes steps S1401 to S1407 in FIG.

[0199] If the height H is a known value, the control device 201 does not execute step S1707, but substitutes the height H into the above formula (1) to calculate the distance Ddp (step S1403).

[0200] 18 is a diagram showing Example 2 of identifying the placement position of the image capture system 110. The orientation of the image capture system 110 is identified by a combination of positive or negative signs of the pan angles p[C1] to p[C4] of the corners C1 to C4, provided that the absolute value of each of the pan angles p[C1] to p[C4] is 90 degrees or less.

[0201] The control device 201 can determine the position of each of the multiple image capture systems 110 by calculating the pan angles p[C1] to p[C4] of the corners C1 to C4 in step S1702 for each of the multiple image capture systems 110. In the example of Fig. 18, the control device 201 determines that the image capture system 110 is facing between C3 and C4.

[0202] In this way, even if the height H of the imaging system 110 is unknown, the control device 201 can calculate the height H of the imaging system 110, and the user can intuitively operate the camera platform 111.

[0203] In this way, the user intuitively operates left joystick 231L, joystick 544, or subject position icon 533 so that the subject position moves in the direction of the display screen of first display area 501, and thereby the direction of operation of left joystick 231L, joystick 544, or subject position icon 533 becomes the same as the direction of movement of the subject position in the direction of the display screen of first display area 501. This improves operability for the user, enables the user to intuitively change the composition of image capturing device 112, and makes it easier to track the subject.

[0204] If the photography system 110 is a drone, it can move after measuring the corners C1 to C4, and therefore when it flies hovering after moving, the control device 201 can correct the coordinate values ​​of the origin O and the height H according to the amount and direction of movement. As a result, operation control of the photography system 110 is executed at the origin O and height H after movement.

[0205] <Modification> Next, a modification of the above-described imaging control system 200 will be described.

[0206] [Variation 1] Fig. 6 shows that the imaging system 110-8 has been selected by the camera icon 532-8, and Figs. 7 to 18 have described the operation control of this selected imaging system 110-8. However, other imaging systems 110 that are not selected (in the example of Fig. 6, imaging system 110-4) are also controlled in accordance with the operation control of imaging system 110-8. That is, the other imaging systems 110 are controlled to face the target position DP in the same way as imaging system 110-8. This allows multiple imaging systems 110 to track and photograph the same subject.

[0207] [Variation 2] When controlling the operation of the photographing system 110 to change the subject position from the current position CP to the target position DP, the control device 201 may perform automatic zoom control by the photographing device 112. Specifically, at the target position DP, the control device 201 detects human subjects by skeletal detection from the composition of the target position DP and counts the number of detected people. Then, the control device 201 controls the photographing device 112 to change the magnification (zoom ratio) to the wide side.

[0208] In the composition after moving to the wide side, the control device 201 again counts the number of people in the subject using bone structure detection technology.

[0209] If the number of people counted after moving the zoom lens to the wide side is equal to or greater than the number of people before the movement, the control device 201 repeats the movement control of the imaging device 112 to change the magnification to the wide side and the counting of the number of people in the subject using skeletal detection technology.

[0210] If the number of people counted before and after changing the magnification to the wide side decreases, the control device 201 controls the image capturing device 112 to return the magnification to the magnification before the magnification change.

[0211] By performing automatic zoom control in this manner, even if the user loses sight of the subject he or she wants to photograph when changing from the current position CP to the target position DP with high-speed operation, the photographing device 112 can automatically set the composition to suit the target position DP.

[0212] Although the control device 201 detects a human subject from the composition of the target position DP using skeletal structure detection technology, the control device 201 may also detect a human subject using facial recognition. The control device 201 may also control the zoom of the image capturing device 112 according to the size of the detected subject. Specifically, for example, the control device 201 controls the zoom so that a rectangle surrounding the detected subject fits within the composition of the image capturing device 112.

[0213] In addition, the control device 201 may use the detected skeleton and posture information of a person in the subject scene to control the roll angle r so that there is no tilt of the skeleton on the screen when it is determined that there is little movement and the person is standing vertically to the ground, so that the person in the subject scene is photographed vertically in the captured image.

[0214] [Variation 3] The above-described embodiment has been described with reference to a soccer stadium 100. In the case of the soccer stadium 100, there is a rectangular pitch 103, so if the camera platform 111 is installed along the pitch line 104 of the pitch 103, it is easy for the control device 201 to set the intersection point C5.

[0215] In contrast, when the camera system 110 is installed behind the backstop on the grounds of a baseball stadium or at corners C1 to C4 of a soccer stadium, for example, if the camera system 110 is installed behind the backstop of a baseball stadium, the intersection of home plate and the extension of the first base line or home plate and the third base line can be set as C5, and the corners of the infield diamond can be measured as C1 to C4, respectively, to calculate the coordinate values ​​of any point within the field.

[0216] [Modification 4] In the above example, the left joystick 231L is used to operate the camera platform 111, but the right joystick 231R or the cross key 233 may also be used to operate the camera platform 111 if the operation direction can be input.

[0217] [Variation 5] The function of the control device 201 to control the operation of the photographing system 110 may be implemented in the controller 213. [Variation 6] If the photographing system 110 has a rangefinder, it may measure the distances to the corners C1 to C4 and the distance Dcp to the current position CP and send them to the control device 201. This simplifies the calculation processing in the control device 201.

[0218] The present invention is not limited to the above-described contents, and may be implemented by any combination thereof. Furthermore, other embodiments conceivable within the scope of the technical concept of the present invention are also included in the scope of the present invention.

[0219] 110 Photography system, 111 Platform, 112 Photography device, 200 Photography control system, 201 Control device, 300 Control unit, 310 Pan rotation mechanism, 320 Tilt rotation mechanism, 330 Roll rotation mechanism, 411 Display unit, 412 Input unit, 413 Control unit

Claims

1. A control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, the control device having: a display unit having a display screen that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position that has moved from the imaging system in the operation direction input by the input unit.

2. A control device according to claim 1, wherein the control unit controls the rotation of the first rotation angle and the second rotation angle so that the shooting direction is a direction from the shooting system to the second subject position moved in the operation direction by the strength of the input from the input unit from the first subject position.

3. A control device according to claim 1 or 2, wherein the display unit displays information indicating the operation direction from the second subject position based on the amount of rotation control of the first rotation angle by the control unit.

4. A control device according to claim 1 or 2, wherein the photographing system is rotatable about an axis of the photographing direction, and the control unit controls the rotation of the photographing system about the axis of the photographing direction based on the amount of rotation control of the first rotation angle by the control unit so that the operation direction from the second subject position coincides with or is close to the operation direction from the first subject position.

5. A control device according to claim 4, wherein the imaging system is rotatable around an axis of the imaging direction, and the control unit detects skeletal information of a person from the image of the second subject position, and controls the rotation of the imaging system around the axis of the imaging direction based on the rotation control amount of the first rotation angle and the detected skeletal information of the person so that the operation direction from the second subject position coincides with or is close to the operation direction from the first subject position.

6. A control device according to any one of claims 1 to 5, wherein the input unit receives input of the operation direction from a joystick or a cross key.

7. A control device according to any one of claims 1 to 5, wherein the display screen displays a display area of ​​an area to be photographed by the photography system and an icon indicating the subject position on the display area, and the input unit accepts input to move the icon from the first subject position to the second subject position on the display area.

8. A control device according to any one of claims 1 to 6, wherein the display screen displays a display area of ​​an area to be photographed by the photographing system and an icon indicating the subject position on the display area, and when the input unit receives input of the operation direction, the display unit changes the display position of the icon from the first subject position to the second subject position on the display area.

9. A control device according to any one of claims 1 to 8, wherein the control unit detects a human subject in the image at the second subject position, and controls the imaging system to change the zoom ratio based on information about the detected person.

10. A control device according to any one of claims 1 to 9, wherein the control unit calculates a rotation control amount for the first rotation angle based on the second subject position and the distance from the imaging system to the second subject position, and calculates a rotation control amount for the second rotation angle based on the height of the imaging system and the distance from the imaging system to the second subject position.

11. A control device according to claim 10, wherein the imaging system has an altimeter, and the control unit acquires the height of the imaging system from the imaging system.

12. A control device as described in claim 10, wherein the control unit determines the coordinate values ​​of the rectangle when the height of the imaging system is taken as a unit height based on the first rotation angle and the second rotation angle for each vertex of the rectangle within the imaging target area when the vertex is photographed by the imaging system, calculates the side length of the rectangle at the unit height, and calculates the height of the imaging system based on the actual side length of the rectangle and the side length of the rectangle at the unit height.

13. A control device according to claim 12, wherein the control unit determines the measurement accuracy of the first rotation angle and the second rotation angle for each vertex based on the actual side length of the rectangle within the imaging area and the side length of the rectangle at the unit height.

14. A control device according to any one of claims 1 to 13, wherein the input unit accepts selection of one of a plurality of said imaging systems arranged at different positions, and the control unit controls the rotation of the first rotation angle and the second rotation angle of the specific imaging system selected by the input unit from among the plurality of said imaging systems.

15. A control device according to claim 14, wherein the control unit controls the rotation of the first rotation angle and the second rotation angle in other imaging systems not selected by the input unit among the plurality of imaging systems, in accordance with the rotation control of the first rotation angle and the second rotation angle in the specific imaging system.

16. A control device that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction, the control device having: an input unit that accepts input of an operation direction; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction of movement from the rotation mechanism to a destination in the operation direction input by the input unit.

17. A control device for controlling an imaging system comprising an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction, the control device comprising: an input unit that receives an instruction to change the imaging direction from a first direction to a second direction; and a control unit that generates a signal to control rotation by the drive unit based on the instruction input by the input unit, wherein the control unit converts the second direction into a direction within the imaging surface before generating the signal.

18. A control device for controlling an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, the control device comprising: a display unit having a display screen that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input unit that accepts input of an operation direction; and a control unit that, when the input unit accepts input of the operation direction, controls the first rotation angle and the second rotation angle to rotate in a direction in which a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

19. A control device for controlling an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and at a second rotation angle around an axis in a second direction different from the imaging direction, the control device comprising: a display unit having a display screen that displays an image of a subject within an imaging target area photographed by the imaging system in the imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

20. A control device for controlling an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, the control device comprising: a display unit having a display screen that displays an image of a first subject position within a first imaging target area captured by the imaging system in the first imaging direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input unit, and displays an image of the second subject position within the second imaging target area on the display screen.

21. A photography control system having a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction, and a control device that controls the photography system, wherein the control device has: a display unit having a display screen that displays an image of a first subject position within a photography target area photographed by the photography system in the photography direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the photography direction becomes the direction toward a second subject position moved from the photography system in the operation direction input by the input unit.

22. A photography control system having a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and at a second rotation angle around an axis in a second direction different from the predetermined direction, and a control device that controls the rotation mechanism, wherein the control device has: an input unit that accepts input of an operation direction; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction of movement from the rotation mechanism in the operation direction input by the input unit.

23. A photography control system comprising a photography system including a photography unit having an imaging surface and a drive unit that rotates the photography unit to change the photography direction, and a control unit that controls the photography system, wherein the control unit has: an input unit that receives an instruction to change the photography direction from a first direction to a second direction; and a control unit that generates a signal to control rotation by the drive unit based on the instruction input by the input unit, and the control unit converts the second direction into a direction within the photography surface before generating the signal.

24. A photography control system comprising: a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction; and a control device that controls the photography system, wherein the control device comprises: a display unit having a display screen that displays an image of a first subject position within a photography target area photographed by the photography system in the photography direction; an input unit that accepts input of an operation direction; and a control unit that, when the input unit accepts input of the operation direction, controls the first rotation angle and the second rotation angle to rotate in a direction in which a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

25. A photography control system comprising: a photography system that can rotate at a first rotation angle around an axis in a first direction different from the photography direction and at a second rotation angle around an axis in the first direction different from the photography direction; and a control device that controls the photography system, wherein the control device comprises: a display unit having a display screen that displays an image of a subject within a photography target area photographed by the photography system in the photography direction; an input unit that accepts input of an operation direction that is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

26. A photography control system comprising: a photography system rotatable at a first rotation angle around an axis in a first direction different from the photography direction and a second rotation angle around an axis in the first direction different from the photography direction; and a control device for controlling the photography system, wherein the control device comprises: a display unit having a display screen for displaying an image of a first subject position within a first photography target area photographed by the photography system in a first photography direction; an input unit for receiving input of an operation direction which is the face direction of the display screen; and a control unit that controls the rotation of the first rotation angle and the second rotation angle to change the first photography target area to a second photography target area in the operation direction input from the photography system by the input unit, and displays an image of the second subject position within the second photography target area on the display screen.

27. A photography control system according to any one of claims 21 and 23 to 26, wherein the photography system is placed within the photography target area or above the photography target area.

28. A photography control system according to any one of claims 21 and 23 to 26, wherein the photography system is placed in an area outside the photography target area or in the air above the area outside the photography target area.

29. The photography control system according to any one of claims 21 and 23 to 28, wherein the photography system is a drone.

30. A control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, wherein the control device executes: a display process that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen of the image; and a control process that rotates and controls the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position moved from the imaging system in the operation direction input by the input process.

31. A control method executed by a control device that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction, wherein the control device executes: an input process that accepts input of an operation direction; and a control process that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction of a destination moved from the rotation mechanism in the operation direction input by the input process.

32. A control method executed by a control device that controls an imaging system comprising an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction, wherein the control device executes: an input process that receives an instruction to change the imaging direction from a first direction to a second direction; and a control process that generates a signal for controlling rotation by the drive unit based on the instruction input by the input process after converting the second direction into a direction within the imaging surface.

33. A control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, wherein the control device executes: a display process that displays on a display screen an image of a first subject position within an imaging target area imaged by the imaging system in the imaging direction; an input process that accepts input of an operation direction; and a control process that, when the input of the operation direction is accepted by the input process, rotates and controls the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

34. A control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, wherein the control device executes: a display process that displays on a display screen an image of a subject within a target imaging area captured by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen; and a control process that rotates and controls the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

35. A control method executed by a control device that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction, the control method executing the following: a display process that displays an image of a first subject position within a first imaging target area, captured by the imaging system in the first imaging direction, on a display screen; an input process that accepts input of an operation direction, which is the face direction of the display screen; and a control process that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input process, and displays an image of a second subject position within the second imaging target area on the display screen.

36. A control program that causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following: a display process that displays an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen of the image; and a control process that rotates and controls the first rotation angle and the second rotation angle so that the imaging direction becomes the direction toward a second subject position that has moved from the imaging system in the operation direction input by the input process.

37. A control program that causes a processor that controls a rotation mechanism that can rotate at a first rotation angle around an axis in a first direction different from a predetermined direction and a second rotation angle around an axis in a second direction different from the predetermined direction to execute the following control program: an input process that accepts input of an operation direction; and a control process that controls the rotation of the first rotation angle and the second rotation angle so that the predetermined direction becomes the direction of movement from the rotation mechanism in the operation direction input by the input process.

38. A control program that causes a processor that controls an imaging system that includes an imaging unit having an imaging surface and a drive unit that rotates the imaging unit to change the imaging direction to execute the following steps: an input process that receives an instruction to change the imaging direction from a first direction to a second direction; and a control process that generates a signal to control rotation by the drive unit based on the instruction input by the input process after converting the second direction into a direction within the imaging surface.

39. A control program that causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following: a display process that displays on a display screen an image of a first subject position within an imaging target area captured by the imaging system in the imaging direction; an input process that accepts input of an operation direction; and a control process that, when input of the operation direction is accepted by the input process, rotates and controls the first rotation angle and the second rotation angle so that a second subject in the operation direction relative to the displayed first subject on the display screen is imaged.

40. A control program that causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following: a display process that displays on a display screen an image of a subject within a target area that is imaged by the imaging system in the imaging direction; an input process that accepts input of an operation direction that is the face direction of the display screen; and a control process that controls the rotation of the first rotation angle and the second rotation angle so that the subject displayed on the display screen moves in the direction opposite to the operation direction.

41. A control program that causes a processor that controls an imaging system that can rotate at a first rotation angle around an axis in a first direction different from the imaging direction and a second rotation angle around an axis in a second direction different from the imaging direction to execute the following control program: a display process that displays an image of a first subject position within a first imaging target area, captured by the imaging system in the first imaging direction, on a display screen; an input process that accepts input of an operation direction, which is the face direction of the display screen; and a control process that controls the rotation of the first rotation angle and the second rotation angle to change the first imaging target area to a second imaging target area in the operation direction input from the imaging system by the input process, and displays an image of a second subject position within the second imaging target area on the display screen.

Images