Camera control program and camera control method

Abstract

This camera control program causes a computer to execute a process of controlling driving of a camera by instructing the camera to operate at a panning speed determined according to a moving speed of a subject in a panning direction, if the moving speed of the subject in the panning direction is equal to or greater than a predetermined value.

Description

Camera control program and camera control method

[0001] The present invention relates to a camera control program and a camera control method.

[0002] One type of camera known is the PTZ camera, which has pan, tilt, and zoom functions. For example, when the object being photographed is moving, the object is tracked by controlling the drive of the PTZ by specifying the PTZ coordinates determined according to the position information of the object being photographed.

[0003] Japanese Patent Publication No. 2013-106175

[0004] However, when the subject is moving quickly in the panning direction, attempting to control the camera's pan by specifying pan coordinates can result in unnatural camera rotation due to repeated rotations and stops, which is an area that needs improvement.

[0005] One objective is to provide a camera control program and camera control method that can achieve smooth pan control.

[0006] A camera control program relating to one side causes the computer to perform a process that controls the camera's operation by instructing the camera to pan at a pan speed determined according to the pan speed of the object being photographed, if the pan speed of the object being photographed is greater than or equal to a predetermined value.

[0007] According to one embodiment, smooth pan control can be achieved.

[0008] FIG. 1 is a schematic diagram for explaining a configuration example of a camera control system. FIG. 2 is a schematic diagram for explaining an arrangement example of cameras. FIG. 3 is a diagram (1) showing one aspect of a problem-solving approach. FIG. 4 is a diagram (2) showing one aspect of a problem-solving approach. FIG. 5 is a block diagram showing a functional configuration example of a camera control device. FIG. 6 is a schematic diagram for explaining a method of calculating a pan angle. FIG. 7 is a schematic diagram for explaining a method of calculating a tilt angle. FIG. 8 is a schematic diagram for explaining a method of calculating a zoom position. FIG. 9 is a schematic diagram (1) for explaining a method of calculating a pan / tilt speed. FIG. 10 is a schematic diagram (2) for explaining a method of calculating a pan / tilt speed. FIG. 11 is a schematic diagram (3) for explaining a method of calculating a pan / tilt speed. FIG. 12 is a schematic diagram (4) for explaining a method of calculating a pan / tilt speed. FIG. 13 is a schematic diagram for explaining a method of correcting a pan / tilt speed. FIG. 14 is a flowchart showing the procedure of camera control processing. FIG. 15 is a schematic diagram showing an application example of camera arrangement. FIG. 16 is a diagram showing a hardware configuration example.

[0009] Hereinafter, embodiments of a camera control program and a camera control method according to the present disclosure will be described with reference to the accompanying drawings. Note that this embodiment merely shows one example or one aspect, and the structure, operation, function, nature, characteristics, method, use, etc. according to the present disclosure are not limited by the following description.

[0010] <Embodiment 1> <System Configuration> FIG. 1 is a schematic diagram for explaining a configuration example of a camera control system. FIG. 1 illustrates a camera control system SYS that provides a camera control function for causing a moving body moving on a course where a race or the like is held to be photographed by a camera 30.

[0011] As an example of a usage scene of such a camera control system SYS, the case where a racehorse 3 participating in a horse race is photographed is given, but this is merely an example. That is, the usage scenes to which the camera control system SYS is applicable are not limited to specific sports, specific courses, or specific subjects.

[0012] For example, the camera control system SYS may be applied not only to horse racing but also to other sports such as track and field, motorcycle racing, motorboat racing, car racing, and triathlon. Further, the camera control system SYS does not necessarily have to be applied to a course defined in a sport. For example, the "course" may be a course defined in training, such as hill training or a training test, or a course formed in a facility or area to be monitored.

[0013] As described above, depending on the usage scenario, the camera control system SYS can use any subject, such as a racehorse, a person, a vehicle, an aircraft, or a robot, as a shooting target.

[0014] As shown in FIG. 1, the camera control system SYS may include a positioning satellite 1, a reference station 2, a sensor 3A attached to a racehorse 3 which is an example of a moving object, a position positioning device 4, a camera control device 10, and a camera 30.

[0015] These devices may be connected via a network NW. This network NW may be realized by any communication network, regardless of whether it is wired or wireless. For example, it may be realized by a mobile phone network realized by 4G (Generation) or LTE (Long Term Evolution).

[0016] Hereinafter, as an example only, an example in which the network NW is realized as a closed network will be given, but this is merely an illustration, and the network NW may be connected to the Internet.

[0017] Positioning satellite 1 is an example of an artificial satellite that transmits radio waves used for position measurement. Reference station 2 is a device that serves as a reference position when determining the position of racehorse 3. For example, reference station 2 may be installed at a location on the racecourse where the latitude and longitude are known in advance. Sensor 3A is an example of a positioning sensor that receives satellite radio waves and performs position measurement, and corresponds to a so-called observation point. For example, sensor 3A may be attached to a predetermined location on racehorse 3, such as a saddlecloth. Thus, Figure 1 shows RTK (Real Time Kinematic) - GNSS (Global Navigation Satellite System) as an example of a positioning system that realizes the position measurement of a moving object.

[0018] The positioning device 4 is an example of an information processing device that collects and stores position information from a sensor 3A attached to a racehorse 3. The camera control device 10 is an example of an information processing device that provides a camera control function to control the PTZ of the camera 30. The camera 30 is an example of an imaging device that captures images of the racehorse 3 corresponding to the position information detected by the sensor 3A.

[0019] One aspect of this is that images captured by the camera 30 in frame units may be transmitted between the camera control device 10 and the camera 30. For example, communication from the camera control device 10 to the camera 30 may be implemented using any interface standard, such as HDMI (High-Definition Multimedia Interface). However, this is not limited to this, and it is not prohibited to implement it using any communication technology such as an intranet, the internet, or a low-power wireless communication standard for IoT (Internet of Things).

[0020] In other respects, commands for remotely controlling the camera 30 may be transmitted between the camera control device 10 and the camera 30. For example, communication from the camera control device 10 to the camera 30 may be implemented using a protocol for transmitting camera control commands, such as VISCA (Video System Control Architecture).

[0021] Furthermore, implementing the above camera control function as a SaaS (Software as a Service) application does not prevent it from being provided as a cloud service or through a web server that provides the above camera control function on-premises.

[0022] <Processing Sequence of the Entire System> In this camera control system SYS, the base station 2 constantly communicates with the positioning device 4 via a mobile phone network that provides a closed LTE service and periodically transmits various data for position correction to the positioning device 4 (S1). The positioning device 4 generates correction data based on the data transmitted from the base station 2 and distributes it to the sensor 3A via the closed LTE service (S2).

[0023] Sensor 3A receives satellite information from positioning satellite 1 (S3). Then, using the correction information distributed from positioning device 4 and the satellite information received from positioning satellite 1, sensor 3A calculates the accurate time synchronized with GPS (Global Positioning System) time and its own position information, and transmits it to positioning device 4 (S4).

[0024] The positioning device 4 receives data (time and location information) from the sensor 3A (S5), stores the received data in the main unit, displays the received data on the screen, and provides the received data to the camera control device 10 (S6). The camera control device 10 controls the PTZ of the camera 30 based on the location information provided by the positioning device 4 (S7).

[0025] The images captured frame by frame by the camera 30, whose PTZ is controlled in this manner, can be used for horse racing broadcasts, such as internet streaming or live broadcasts.

[0026] <Camera Placement Example> As an example, cameras 30 may be placed in equal numbers to the number of racehorses 3 participating in the horse race. This makes it possible to provide a series of images for each of the racehorses 3 participating in the horse race, not only from the start to the end of the race, but also from the time they enter the course until they exit.

[0027] Figure 2 is a schematic diagram illustrating an example of camera 30 placement. Figure 2 shows an example where a single camera 30 is assigned to film the entire sequence of events from the entry to the exit of the racehorse 3 onto course C. As shown in Figure 2, camera 30 may be positioned so that the racehorse 3 running on course C where the horse race is held is within the camera's shooting range. For example, the route from the start to the finish of each race should be included in the shooting range by PTZ control. In this case, different starting positions may be positioned within the camera 30's shooting range depending on the type of race, such as turf, dirt, or steeplechase, or the distance, such as turf 1400m to turf 3400m, dirt 1200m to dirt 2400m, or steeplechase 3000m to steeplechase 3300m.

[0028] Under this camera 30 configuration, remote control of pan (horizontal rotation around the Y-axis), tilt (vertical rotation around the X-axis), and optical zoom is performed by remote control commands from the camera control device 10.

[0029] This enables automatic filming of moving objects such as racehorses 3 as they move along course C. For example, the realization of automatic filming eliminates the need for personnel to film. Therefore, the location where camera 30 is installed is not restricted by the difficulty of access for photographers or the space required for photographers to film. As a result, it becomes possible to install camera 30 in locations where the camera angle is favorable or where occlusion due to competition or spectator equipment is unlikely to occur.

[0030] In this example, a PTZ camera that incorporates three elements for controlling the camera's field of view was used as an example of camera 30, but a camera capable of controlling at least one element may also be used.

[0031] <One aspect of the problem> As explained in the background technology section above, when the movement speed of the object being filmed in the panning direction is fast, attempting to control the camera's pan by specifying pan coordinates results in unnatural camera rotation due to repeated rotation and stopping, which is an area that needs improvement.

[0032] <One aspect of the problem-solving approach> Therefore, the camera control function according to this embodiment controls the pan of the camera 30 by instructing a pan speed determined according to the movement speed of the object to be photographed when the movement speed in the pan direction of the object to be photographed is greater than or equal to a predetermined value.

[0033] Figure 3 is a diagram (1) illustrating one aspect of the problem-solving approach. As shown in Figure 3, when the panning speed vp of the racehorse 3 is greater than or equal to a threshold Th, a remote control command specifying the panning speed to drive the camera 30 is transmitted from the camera control device 10 to the camera 30.

[0034] In other words, as the movement speed of the object being photographed increases, the frequency with which the relative position of the object in the captured image and the target position for photographing the object in the captured image switch between the front and back of the object's direction of movement increases. In this case, if the transmission of remote control commands specifying the pan coordinates for driving the camera 30 is repeated, as in the conventional technology described above, the direction of pan movement will switch frequently. On the other hand, in the camera control function according to this embodiment, the transmission of remote control commands specifying the pan speed for driving the camera 30 is repeated, so the pan speed for tracking the target is switched gradually.

[0035] Figure 4 shows one aspect (2) of the problem-solving approach. As shown in Figure 4, if the panning speed vp of the racehorse 3 is not greater than or equal to the threshold Th, a remote control command specifying the pan coordinates that drive the camera 30, for example, the position indicated by the pan angle, is transmitted from the camera control device 10 to the camera 30.

[0036] On the other hand, as the movement speed of the object being photographed slows down, the frequency with which the relative position of the object in the captured image and the target position for photographing the object in the captured image are swapped in front of or behind the object in the direction of movement decreases. In this case, the camera control function according to this embodiment transmits a remote control command that specifies the pan angle to drive the camera 30, so that tracking to the target racehorse 3 is performed through precise coordinate specification, and as a result, the accuracy of the shooting control to focus on the target racehorse 3 can be improved.

[0037] Therefore, the camera control function according to this embodiment makes it possible to achieve smooth pan control.

[0038] <Configuration of Camera Control Device 10> Next, the functional configuration of the camera control device 10 according to this embodiment will be described. Figure 5 is a block diagram showing an example of the functional configuration of the camera control device 10. Figure 5 schematically shows the blocks related to the camera control functions of the camera control device 10.

[0039] As shown in Figure 5, the camera control device 10 includes a communication control unit 11, a storage unit 13, and a control unit 15. Note that Figure 5 only shows a selection of the functional units related to the camera control function described above, and the camera control device 10 may also be equipped with other functional units not shown, such as an input unit and a display unit.

[0040] The communication control unit 11 has the function of controlling communication with other devices such as the camera 30. For example, the communication control unit 11 can be implemented by a network interface card. On one hand, the communication control unit 11 can receive captured images from the camera 30. On another hand, the communication control unit 11 can output commands to control the camera 30, as well as control parameters specified by those commands, to the camera 30.

[0041] The memory unit 13 has the function of storing various types of data. For example, the memory unit 13 can be implemented by internal, external, or auxiliary storage of the camera control device 10. In one embodiment, the memory unit 13 stores information such as camera parameters 13A. In addition, the memory unit 13 may store other information besides camera parameters 13A, such as captured images, a program for holding a race, and information on jockeys and racehorses participating in each race.

[0042] The control unit 15 has the function of performing overall control of the camera control device 10. For example, the control unit 15 can be implemented by a hardware processor. As shown in Figure 5, the control unit 15 has an acquisition unit 15A, a calculation unit 15B, a determination unit 15C, a camera control unit 15E, and an output control unit 15F. The control unit 15 may also be implemented by hardwired logic or the like.

[0043] The acquisition unit 15A has the function of acquiring various types of data from external devices. One aspect is that the acquisition unit 15A can acquire position information of the sensor 3A from the positioning device 4. For example, the position information can be acquired in a time series at a period corresponding to the frequency in which the sensor 3A operates, for example, 0.1 seconds. Another aspect is that the acquisition unit 15A can also acquire the pan and tilt position p1 and the zoom position z1 from the camera 30. Hereinafter, these may be referred to as "pan / tilt position p1" and "zoom position z1," respectively. Further aspects include that the acquisition unit 15A can also acquire captured images from the camera 30 on a frame-by-frame basis.

[0044] The "pan / tilt position p1" and "zoom position z1" referred to here may be expressed using the following PTZ coordinate system. For example, the pan coordinate system is expressed in the range from coordinate "-8704" corresponding to 170 degrees to the left to coordinate "8704" corresponding to 170 degrees to the right. The tilt coordinate system is expressed in the range from coordinate "-1024" corresponding to 20 degrees down to coordinate "4608" corresponding to 90 degrees up. Furthermore, the zoom coordinate system is expressed in the range from coordinate "0" corresponding to the minimum zoom out to coordinate "16384" corresponding to the maximum zoom in.

[0045] The calculation unit 15B has the function of calculating the PTZ coordinates that the camera 30 aims to capture. Hereinafter, the target pan and tilt position p2 and the target zoom position z2 that the camera 30 aims to capture may be referred to as "target pan / tilt position p2" and "target zoom position z2," respectively.

[0046] (1) Pan Angle As one aspect, the calculation unit 15B calculates the target pan angle for the camera 30. Figure 6 is a schematic diagram illustrating the method for calculating the pan angle. Figure 6 schematically shows a top view of the camera 30 as seen from directly above. Here, the camera position (x) shown in Figure 6 ０ , y ０ ) and any position in the direction corresponding to 0 degrees of pan (x １ , y １may be measured in advance as external parameters of the camera 30 and stored in the storage unit 13 as the camera parameter 13A. Such a position (x １ , y １ ) of the pan 0-degree direction is obtained by setting the camera 30 at the camera position (x ０ , y ０ ), setting the pan angle to 0 degrees, and placing the sensor 3A at the center in the left-right direction of the captured image of the camera 30, for example, at the position of the optical center, and then measuring it.

[0047] For example, as shown in FIG. 6, the direction corresponding to the pan 0 degrees of the camera 30 is defined as the vector a (x １ - x ０ , y １ - y [[ID=K18]] ０ ). Further, the vector obtained by rotating the vector a 90 degrees counterclockwise, i.e., to the left, is defined as the vector a' (y ０ - y １ , x １ - x ０ ). Further, the direction from the camera 30 to the sensor 3A is defined as the vector b (x - x ０ , y - y ０ ). At this time, the pan angle θ can be calculated by substituting the position (x, y) of the target sensor 3A into the following formula (1). Calculating the pan angle θ based on the vector a' in this way is to narrow the possibility of obtaining two types of pan angles, clockwise and counterclockwise, and eliminate the need to distinguish between clockwise and counterclockwise.

[0048]

[0049] (2) Tilt angle As another aspect, the calculation unit 15B calculates the tilt angle that the camera 30 aims to capture. FIG. 7 is a schematic diagram for explaining the method of calculating the tilt angle. FIG. 7 schematically shows a side view of the camera 30 seen from the side. Here, the altitude z ０ of the camera position shown in FIG. 7 may be measured in advance as external parameters of the camera 30 and stored in the storage unit 13 as the camera parameter 13A. Such an altitude z ０This can be measured by RTK-GNSS, or altitude information pre-set for each position on course C can be used. For example, the tilt angle θ can be calculated by substituting the position (x, y, z) of the target sensor 3A into the following equation (2).

[0050]

[0051] (3) Zoom Position As a further aspect, the calculation unit 15B calculates the zoom position that the camera 30 aims to capture. Figure 8 is a schematic diagram illustrating the method for calculating the zoom position. Figure 8 schematically shows a top view of the camera 30 as seen from directly above. Here, the range of the focal length of the camera 30 shown in Figure 8 is f ｍｉｎ ~f ｍａｘ The size c of the image sensor and the shooting range w may be measured in advance as internal parameters of the camera 30 and stored in the storage unit 13 as camera parameters 13A.

[0052] As shown in Figure 8, the position (x, y, z) of the target sensor 3A and the camera position (x ０ , y ０ , z ０ By substituting ) into equation (3) below, the distance d can be calculated. Furthermore, by substituting the distance d calculated from equation (3) below into equation (4) below, the focal length f can be calculated. At this time, the focal length f calculated in equation (4) below is the minimum focal length f ｍｉｎ If it is smaller than, the focal length f ｍｉｎ Let f be the focal length, while the maximum focal length f is ｍａｘ If it is greater than, the focal length f ｍａｘ Let this be the focal length f. Then, the zoom value is calculated by substituting the focal length f calculated in equation (4) below into equation (5) below. Note that the maximum zoom value "16384" used in equation (5) below is merely an example and may be changed arbitrarily depending on the specifications of the imaging device introduced as camera 30.

[0053]

[0054] (4) Pan-tilt speed Another aspect is that the calculation unit 15B calculates the pan-tilt speed at which the camera 30 is driven to the target pan-tilt position p2. Figure 9 is a schematic diagram (1) illustrating the method for calculating the pan-tilt speed. As shown in Figure 9, the unit vectors of the three axes with respect to the camera 30 when the camera 30 is pointed toward the sensor 3A are x ｃ , y ｃ , z ｃ Let x ｃ This corresponds to the right direction of the screen, y ｃ This corresponds to the upward direction of the screen, z ｃ This corresponds to the depth direction of the screen. ｃ is the camera position (x ０ , y ０ , z ０ By normalizing the vector from ) to the position (x, y, z) of the target sensor 3A, it can be expressed as equation (6) below. Here, the "m" used in the normalization of the scale in equation (6) below is expressed by equation (7) below. Furthermore, if z(0, 0, 1) is the unit vector in the altitude direction perpendicular to the horizontal plane, i.e., the xy plane, then x ｃ is, z ｃ The cross product of z can be normalized by the following equation (8), and y ｃ is, x ｃ and z ｃ The cross product can be calculated using the following formula (9).

[0055]

[0056] Figure 10 is a schematic diagram (2) illustrating the method for calculating the pan-tilt speed. As shown in Figure 10, the calculation unit 15B calculates the speed v(v) of the sensor 3A. ｘ ,v ｙ ,v ｚ ) From this, the apparent speed on the screen, i.e., the speed at which sensor 3A moves on the screen v ｃ (v ｃｘ ,v ｃｙ ) is calculated. Of these, the velocity v in the x-component of the screen coordinate system is calculated. ｃｘThis can be calculated by the following equation (10), and the velocity v in the y component of the screen coordinate system. ｃｙ This can be calculated using the following formula (11). Hereafter, the speed at which sensor 3A moves on the screen may be referred to as "the speed at which sensor 3A moves on the screen."

[0057]

[0058] Figures 11 and 12 are schematic diagrams (3) and (4) illustrating the method for calculating the pan-tilt speed. Figure 11 schematically shows a top view of the camera 30 as seen from directly above, while Figure 12 schematically shows a side view of the camera 30 as seen from directly beside it. As shown in Figure 11, when the distance to the sensor 3A is d in the above equation (3), the angular velocity ω in the pan direction is ｐ The difference in pan angle per unit time can be calculated using the following formula (12). Similarly, as shown in Figure 12, the angular velocity ω in the tilt direction ｔ The difference in tilt angle per unit time can be calculated using the following formula (13). As an example, the angular velocity ω in the pan direction is used. ｐ Let's give a numerical example. For example, if the distance d is 50m, then v ｃｘ If the speed is 60 km / h, the angular velocity ω in the pan direction is... ｐ This is approximately 18.4 deg / sec. Also, assuming the distance d is 650m, v ｃｘ If the speed is 60 km / h, the angular velocity ω in the pan direction is... ｐ This is approximately 1.5 deg / sec.

[0059]

[0060] (5) Correction of Pan-Tilt Speed ​​As a further aspect, the calculation unit 15B can correct the pan-tilt speed based on the difference between the pan-tilt position acquired from the camera 30 and the target pan-tilt position. That is, although the ideal is to track the sensor 3A at the same speed as the sensor 3A while maintaining the sensor 3A in the center of the screen, i.e., the optical center, this is not always possible.

[0061] Figure 13 is a schematic diagram illustrating the method for correcting pan and tilt speeds. As shown in Figure 13, if the pan position acquired from the camera 30 is θ', the difference between the target pan position θ calculated according to the explanation in section (4) above and the pan position θ' is the misalignment of the optical centers of the sensor 3A and the camera 30. For example, as shown in equation (14) below, the pan speed can also be corrected by multiplying the pan angle misalignment by a correction coefficient α. Also, as shown in equation (15) below, the tilt speed can also be corrected by multiplying the tilt angle misalignment by a correction coefficient β. However, if the direction (sign) of the angular velocity changes as a result of the correction, the angular velocity will be set to 0 in order to prevent the camera 30 from being driven in the opposite direction to the direction of travel of the racehorse 3. Naturally, the correction of pan and tilt speeds can be arbitrarily switched ON / OFF by system settings or user settings.

[0062]

[0063] The determination unit 15C has the function of determining whether to use the parameter that specifies the speed of the PTZ or the parameter that specifies the coordinates of the PTZ, which are among the control parameters that control the PTZ of the camera 30.

[0064] One aspect is that the determination unit 15C determines whether the difference between the pan-tilt position p1 acquired by the acquisition unit 15A and the target pan-tilt position p2 calculated by the calculation unit 15B is within threshold Th1. In this case, if the difference between p1 and p2 is not within threshold Th1, it can be identified that there is a high probability that the sensor 3A is not within the screen corresponding to the field of view captured by the camera 30, in other words, that the camera 30 has not captured the racehorse 3 within the screen. On the other hand, if the difference between p1 and p2 is within threshold Th1, it can be identified that there is a high probability that the sensor 3A is within the screen corresponding to the field of view captured by the camera 30, in other words, that the camera 30 has captured the racehorse 3 within the screen. In this case, the determination unit 15C determines the movement speed v of the sensor 3A on the screen calculated by the calculation unit 15B. ｃ Further determination is made as to whether the threshold Th2 or higher.

[0065] In other respects, the determination unit 15C determines whether the zoom position z1 acquired by the acquisition unit 15A and the target zoom position z2 calculated by the calculation unit 15B are different, that is, whether z1 ≠ z2.

[0066] The camera control unit 15E has the function of controlling the PTZ of the camera 30. In one aspect, the camera control unit 15E will, if the difference between the pan-tilt position p1 acquired by the acquisition unit 15A and the target pan-tilt position p2 calculated by the calculation unit 15B is not within the threshold Th1, or if the movement speed v of the sensor 3A on the screen calculated by the calculation unit 15B is not within the threshold Th1, then the camera control unit 15E will control the PTZ of the camera control unit 15E. ｃ If the value is not greater than or equal to the threshold Th2, a remote control command is transmitted to the camera 30, specifying the target pan-tilt position p2 as the PTZ control parameter. This controls the pan and tilt of the camera 30 based on the pan-tilt coordinates.

[0067] In other aspects, the camera control unit 15E checks if the difference between the pan-tilt position p1 acquired by the acquisition unit 15A and the target pan-tilt position p2 calculated by the calculation unit 15B is within threshold Th1, and the movement speed v of the sensor 3A on the screen calculated by the calculation unit 15B. ｃ If the threshold Th2 is greater than or equal to the specified value, a remote control command is transmitted to the camera 30, specifying the pan-tilt speed ω or the corrected pan-tilt speed ω' as the PTZ control parameter. At this time, if the pan-tilt speeds that can be specified by the protocol for exchanging remote control commands between the camera control device 10 and the camera 30, such as VISCA, are divided into steps, the step that most closely approximates the pan-tilt speed ω or the corrected pan-tilt speed ω' is selected. As a result, the pan and tilt drive of the camera 30 is controlled based on the pan-tilt speed.

[0068] Note that here, we are using the movement speed v of sensor 3A on the screen as just one example. ｃ An example was given where the pan-tilt drive is controlled by coordinate specification or velocity specification depending on whether the threshold Th2 is greater than or equal to the value of the sensor 3A on the screen, but the example is not limited to this. ｃThe velocity of the x component v ｃｘ The control of pan and tilt can be switched between coordinate specification and velocity specification depending on whether the threshold Th2' is greater than or equal to the threshold. In addition, the pan velocity ω of the x component ｐ , or the corrected x-component pan velocity ω ｐ The method for controlling pan and tilt may be switched depending on whether ' is greater than or equal to the threshold Th2'', either by specifying coordinates or by specifying velocity.

[0069] As a further aspect, if the zoom position z1 acquired by the acquisition unit 15A and the target zoom position z2 calculated by the calculation unit 15B are different, i.e., z1 ≠ z2, the camera control unit 15E transmits a remote control command to the camera 30 specifying the target zoom position z2 as the PTZ control parameter. As a result, the zoom drive of the camera 30 is controlled based on the zoom coordinates.

[0070] The output control unit 15F is a processing unit that performs output control of the captured images acquired by the acquisition unit 15A. In one embodiment, the output control unit 15F can output the captured images acquired by the acquisition unit 15A in frame units. For example, captured images taken in chronological order may be output as a video. Such output may be implemented in any form, such as television broadcasting, internet distribution, or live broadcasting using SNS (Social Networking Service).

[0071] <Processing Flow> Next, the processing flow of the camera control device 10 according to this embodiment will be described. Figure 14 is a flowchart showing the procedure for camera control processing. This processing can be started when the above-mentioned camera control function is activated.

[0072] As shown in Figure 14, camera parameters 13A stored in the memory unit 13 are acquired as initial settings for the camera 30 (step S101). Such initial settings may include camera position (latitude, longitude, altitude), pan 0 degree direction (latitude, longitude), focal length (maximum, minimum), image sensor size (horizontal field of view), shooting range (horizontal field of view), pan speed correction coefficient α, tilt speed correction coefficient β, etc.

[0073] Next, the acquisition unit 15A acquires the position information of the sensor 3A from the positioning device 4 (step S102). Furthermore, the acquisition unit 15A acquires the pan / tilt position p1 and the zoom position z1 from the camera 30 (step S103).

[0074] Then, the calculation unit 15B calculates the target pan-tilt position p2, the target zoom position z2, and the pan-tilt speed v based on the initial parameters acquired in step S101 and the position information of the sensor 3A acquired in step S102 (step S104). As mentioned above, it goes without saying that the pan-tilt speed v may be corrected using correction coefficients α and β.

[0075] Next, the determination unit 15C determines whether the difference between the pan-tilt position p1 obtained in step S103 and the target pan-tilt position p2 calculated in step S104 is within the threshold Th1 (step S105).

[0076] At this time, if the difference between p1 and p2 is within the threshold Th1 (step S105 Yes), the determination unit 15C determines the movement speed v of the sensor 3A on the screen calculated in step S104. ｃ It is further determined whether the threshold Th2 or higher (step S106).

[0077] Here, the movement speed v of sensor 3A on the screen. ｃ If the value is greater than or equal to the threshold Th2 (step S106 Yes), the camera control unit 15E transmits a remote control command to the camera 30 in which the pan-tilt speed ω or ω' is specified as the PTZ control parameter (step S107). As a result, the pan and tilt drive of the camera 30 is controlled based on the pan-tilt speed.

[0078] On the other hand, if the difference between p1 and p2 is not within the threshold Th1, or if the movement speed v of sensor 3A on the screen is not within the threshold Th1, ｃIf the value is not greater than or equal to the threshold Th2 (step S105No or step S106No), the camera control unit 15E transmits a remote control command to the camera 30 in which the target pan-tilt position p2 is specified as the PTZ control parameter (step S108). As a result, the pan and tilt drive of the camera 30 is controlled based on the pan-tilt coordinates.

[0079] Subsequently, the camera control unit 15E waits until the pan-tilt drive to the target pan-tilt position p2 is completed (step S109).

[0080] Furthermore, the determination unit 15C determines whether the zoom position z1 obtained in step S103 and the target zoom position z2 calculated in step S104 are different, that is, whether z1 ≠ z2 (step S110).

[0081] At this time, if the zoom position z1 and the target zoom position z2 are different, that is, z1 ≠ z2 (step S110 Yes), the camera control unit 15E transmits a remote control command to the camera 30 in which the target zoom position z2 is specified as the PTZ control parameter (step S111).

[0082] On the other hand, if the zoom position z1 and the target zoom position z2 are the same, that is, if z1 = z2 (step S110 No), the process in step S111 is skipped.

[0083] Subsequently, the control unit 15 waits until the next position information is acquired by the acquisition unit 15A (step S112), and then proceeds to the process in step S102.

[0084] <Summary of Example 1> As described above, the camera control device 10 according to this embodiment controls the pan of the camera 30 by instructing a pan speed determined according to the movement speed of the object to be photographed when the movement speed of the object to be photographed in the pan direction is greater than or equal to a predetermined value. Therefore, the camera control device 10 according to this embodiment makes it possible to achieve smooth pan control.

[0085] <Example 2> Now, although Example 1 of the present disclosure has been described, various applications are possible, and furthermore, it may be implemented in various different forms other than Example 1 described above.

[0086] <Application Examples> For example, in the above example 1, one camera 30 is assigned to film the entire sequence of events from the entry to the exit of one racehorse 3 onto course C. However, it is also possible to film horse racing broadcasts using two or more cameras 30. Figure 15 is a schematic diagram showing an application example of camera arrangement. Figure 15 shows an example in which three cameras 30A to 30C are assigned to film the entire sequence of events from the entry to the exit of one racehorse 3 onto course C. For example, in the example shown in Figure 15, camera 30A is assigned to film the area from the fourth corner of course C to the finish line. Furthermore, camera 30B is assigned to film the area from the first corner to the second corner and from the third corner to the fourth corner of course C. Furthermore, camera 30C is assigned to film the area on the backstretch from the second corner to the third corner of course C. In this case, cameras 30A and 30C can be placed along railings and other areas that are difficult for cameramen to access, making it possible to broadcast horse races with a greater sense of realism.

[0087] <Exercise of Creative Ability> The details described in Example 1 above, such as the type of race, the number of cameras 30, and the method of measuring location information, are merely examples and can be changed. Also, the flowchart described in Example 1 above can be modified in order of processing, as long as it is consistent.

[0088] <System> The processing procedures, control procedures, specific names, and information including various data and parameters shown in the above document and drawings can be changed at will unless otherwise specified. For example, one or more of the functional units of the camera control device 10, such as the acquisition unit 15A, calculation unit 15B, determination unit 15C, camera control unit 15E, and output control unit 15F, may be configured as separate devices.

[0089] Furthermore, the components of each illustrated device are functionally conceptual and do not necessarily need to be physically configured as shown. In other words, the specific forms of distribution and integration of each device are not limited to those shown. That is, all or part of them can be functionally or physically distributed and integrated in any units according to various loads and usage conditions. Note that each configuration may also be a physical configuration.

[0090] Furthermore, the processing performed by the illustrated apparatus can be implemented, in whole or in part, by a program executed by a hardware processor such as an MPU (Micro-Processing Unit) or CPU (Central Processing Unit), or by hardware using wired logic.

[0091] <Hardware> Next, an example of the hardware configuration of the information processing device described in the above embodiment will be explained. Figure 16 is a diagram showing an example of the hardware configuration. As shown in Figure 16, the camera control device 10 has a communication device 10a, a storage device 10b, a memory 10c, and a processor 10d. Note that each part shown in Figure 16 may be connected to each other by a bus or the like.

[0092] The communication device 10a is a network interface card, etc. The storage device 10b is a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). For example, the storage device 10b stores programs and databases that operate the functions shown in Figure 5.

[0093] The processor 10d reads a program that performs the same processing as the processing unit shown in Figure 5 from the storage device 10b or the like and loads it into memory 10c, thereby operating the process that performs the function described in Figure 5.

[0094] Such a process implements functions similar to those of the processing unit in the camera control device 10. For example, the processor 10d reads a program having functions similar to those of the acquisition unit 15A, calculation unit 15B, determination unit 15C, camera control unit 15E, and output control unit 15F from the storage device 10b or the like. Then, the processor 10d executes a process that performs the same processing as the acquisition unit 15A, calculation unit 15B, determination unit 15C, camera control unit 15E, and output control unit 15F.

[0095] Thus, the camera control device 10 operates as an information processing device that executes a camera control method by reading and executing a program. Furthermore, the camera control device 10 can also achieve the same functionality as in the above-described embodiment by reading the program from a recording medium using a media reader and executing the read program. Note that the program referred to in this other embodiment is not limited to being executed by the camera control device 10. For example, the functions of this disclosure can be similarly applied when another computer or server executes the program, or when they collaborate to execute the program.

[0096] The above program can be distributed via a network such as the Internet. Furthermore, the program can be recorded on any storage medium and executed by reading it from the medium by a computer. For example, the storage medium can be a hard disk, flexible disk (FD), CD-ROM, MO (Magneto-Optical disk), DVD (Digital Versatile Disc), etc.

[0097] 1 Positioning satellite 2 Reference station 3 Racehorse 3A Sensor 4 Positioning device 10 Camera control device 11 Communication control unit 13 Memory unit 13A Camera parameters 15 Control unit 15A Acquisition unit 15B Calculation unit 15C Judgment unit 15E Camera control unit 15F Output control unit 30 Camera

Claims

1. A camera control program characterized by causing a computer to execute a process that controls the operation of the camera by instructing the camera to set a pan speed determined according to the pan speed of the object being photographed, when the pan speed of the object being photographed is greater than or equal to a predetermined value.

2. The camera control program according to claim 1, characterized in that the control process includes a process of instructing the camera to pan speed when the difference between the target pan coordinates determined based on the position information of the object to be photographed and the pan coordinates obtained from the camera is within a threshold.

3. The camera control program according to claim 1, characterized in that the control process includes a process of correcting the pan speed corresponding to the movement speed of the object in the pan direction based on the difference between the target pan coordinates determined based on the position information of the object to be photographed and the pan coordinates obtained from the camera.

4. The camera control program according to claim 1, characterized in that the control process includes a process of instructing the camera to pan when the speed at which the object to be photographed moves on the screen corresponding to the angle of view captured by the camera is greater than or equal to a threshold.

5. The camera control program according to claim 1, characterized in that the control process includes a process to control the drive of the camera by instructing the camera to use the target pan coordinates determined based on the position information of the object to be photographed, when the movement speed of the object in the pan direction is not equal to or greater than a predetermined value.

6. The camera control program according to claim 1, characterized in that the object to be photographed is a racehorse running on a horse racing course.

7. A camera control method characterized in that, when the panning speed of the object to be photographed is greater than or equal to a predetermined value, the computer controls the operation of the camera by instructing the camera to set a panning speed determined according to the panning speed of the object to be photographed.

8. The camera control method according to claim 7, characterized in that the control process includes a process of instructing the camera to set the pan speed when the difference between the target pan coordinates determined based on the position information of the object to be photographed and the pan coordinates obtained from the camera is within a threshold.

9. The camera control method according to claim 7, characterized in that the control process includes a process of correcting the pan speed corresponding to the movement speed of the object in the pan direction based on the difference between the target pan coordinates determined based on the position information of the object to be photographed and the pan coordinates obtained from the camera.

10. The camera control method according to claim 7, characterized in that the control process includes a process of instructing the camera to pan when the speed at which the object to be photographed moves on a screen corresponding to the angle of view captured by the camera is greater than or equal to a threshold.

11. The camera control method according to claim 7, characterized in that the control process includes a process of controlling the drive of the camera by instructing the camera to use the target pan coordinates determined based on the position information of the object to be photographed, when the movement speed of the object to be photographed in the pan direction is not equal to or greater than a predetermined value.

12. The camera control method according to claim 7, characterized in that the object to be photographed is a racehorse running on a horse racing course.

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