JP2006295641A - Panhead integrated imaging apparatus, controller and imaging system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the occurrence of displacement in an installation mode of a network camera apparatus and the operating directions intended in the case of a direct operation and in the case of a remote operation via communication. <P>SOLUTION: This panhead integrated imaging apparatus is provided with an installation angle measurement means for measuring an installation angle of the apparatus body, an imaging light axis drive means for driving an imaging light axis of an image pickup means for generating the image data by imaging an object in the horizontal direction or in the perpendicular direction, a direct control signal receiving means attached to the apparatus body and for receiving a signal for directly controlling the imaging light axis, an indirect control signal receiving means for receiving a control signal for indirectly controlling the imaging light axis and transmitted via a network, a drive mode decision means for determining a drive mode based on a measurement result of the installation angle measurement means and whether the control signal of the imaging light axis is the direct control signal or the indirect control signal and a drive control means for controlling drive of the imaging light axis drive means based on decision of the drive mode decision means. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a pan / tilt head-integrated image pickup apparatus, a control apparatus, and an image pickup system, and more particularly to a technique suitably used for remotely controlling an image pickup direction of an image pickup means.

  In recent years, network camera devices that distribute video information (still images, moving images) to remote terminals via a network have become widespread. The network camera device is usually configured to be remotely operable from a remote operation terminal via a browser or the like.

  In the above conventional operation method, the operation direction designation key on the browser screen is operated to instruct the camera pan (horizontal direction) / tilt (vertical direction) and the frame of the video on the browser screen is designated. There are various operation methods such as a method of changing the orientation of the camera so that the designated point is located at the center (see, for example, Patent Document 1).

JP-A-8-237533

  However, in the above example, an operator who operates the camera from a remote location via a browser has no means of knowing how the network camera device is attached. For example, when the network camera device is installed on a vertical wall, there is a problem that the image actually moves in the vertical direction even if the pan operation is attempted in the horizontal direction while viewing the image.

  To solve this problem, it is possible to preset the operation change according to the installation position of the network camera device at the time of installation, but it is not easy to change the installation and the camera is operated from the front in order to take a selfie. There is a problem that a deviation occurs in an intended operation direction between the case where the operation is performed and the case where the operation is performed from a remote place (in this case, the operator views the image from the back of the camera).

  In view of the above-described problems, an object of the present invention is to prevent a deviation from occurring in an intended operation direction when an imaging apparatus is operated.

  The pan / tilt head-integrated imaging apparatus of the present invention is a pan / tilt head-integrated image capturing apparatus having an image capturing unit that captures an image of a subject and generates image data. Driving means for driving the direction; first receiving means for receiving a control signal for controlling the imaging direction of the imaging means; second receiving means for receiving a control signal for controlling the imaging direction of the imaging means; Based on the measurement result of the measuring unit and whether the control signal of the imaging direction is received by the first receiving unit or the second receiving unit, the imaging direction by the driving unit with respect to the received control signal is determined. And changing means for changing.

  According to another aspect of the present invention, there is provided a control device for remotely controlling an image pickup apparatus having a drive means for driving an image pickup direction and a measurement means for measuring an installation angle of the image pickup apparatus, and indicating means for instructing the drive direction by the drive means. And a receiving means for receiving the installation state of the imaging apparatus transmitted from the imaging apparatus, and a driving direction by the driving means instructed by the instruction means is changed according to the installation state received by the receiving means. And changing means.

The control method of the present invention is a control method for changing the imaging direction of an imaging apparatus having an imaging means for imaging a subject and generating image data, a determination step for determining an installation angle of the imaging apparatus body, A moving step for moving the imaging direction of the imaging unit, and a determination step for determining whether a control signal for controlling the imaging direction of the imaging unit is received by the first receiving unit or the second receiving part. And a changing step of changing the moving direction of the imaging direction with respect to the received control signal in accordance with the determination in the determination step and the determination in the determination step.
Another feature of the control method of the present invention is a control method for remotely controlling an image pickup apparatus having a moving means for moving the image pickup direction and a determination means for determining an installation angle of the image pickup apparatus. An instruction step for instructing a moving direction by the moving means; and a reception step for receiving the installation state of the imaging device transmitted from the imaging device. And a changing step of changing the moving direction of the photographing direction instructed by the user according to the received installation state.

  A computer program according to the present invention is a program for causing a computer to execute a control method for changing an imaging direction of an imaging apparatus having an imaging unit that images a subject and generates image data, and for determining an installation angle of the imaging apparatus body. Determining step, a moving step for moving the imaging direction of the imaging means, and whether a control signal for controlling the imaging direction of the imaging means is received by the first receiving unit or the second receiving part. The computer executes a control method having a determination step for determining, a determination step in the determination step, and a change step of changing the moving direction of the imaging direction with respect to the received control signal in accordance with the determination in the determination step It is characterized by making it.

  A computer-readable recording medium according to the present invention records the computer program described above.

  ADVANTAGE OF THE INVENTION According to this invention, it can prevent that the shift | offset | difference arises in the operation direction intended when operating an imaging device with the installation form of an imaging device, and can improve the convenience and operativity.

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS.
In FIG. 1, reference numeral 101 denotes a control unit for controlling the entire pan / tilt head-integrated image pickup apparatus, and reference numeral 102 denotes a camera image pickup system. Reference numeral 103 denotes an image processing unit that performs processing such as rotation processing, resolution conversion, and aspect ratio conversion of image data acquired from the imaging system 102. Reference numeral 104 denotes a horizontal (pan) direction drive unit (pan motor), and 105 denotes a vertical (tilt) direction drive unit (tilt motor).

  Reference numeral 106 denotes a first up / down determination unit installed in the vertical direction of the pan / tilt head integrated imaging apparatus, and 107 denotes a second up / down determination unit installed in the horizontal direction with a 90 ° shift from the first up / down determination unit 106. Is a first remote control light receiving element disposed on the front side of the apparatus, 109 is a second remote control light receiving element disposed on the back side of the apparatus, and 110 is a communication unit such as wireless or wired.

Hereinafter, the operation of the pan / tilt head-integrated imaging apparatus of the present embodiment configured as described above will be described.
As shown in the flowchart of FIG. 6, first, the pan / tilt head-integrated imaging apparatus of the present embodiment is waiting for an operation instruction (step S601). The operation here refers to an operation for designating the orientation of the imaging system 102.

  In this state, the image data captured from the imaging system 102 is monitored by a browser or the like via communication from a remote location in the image processing unit 103 based on the signals of the first vertical determination unit 106 and the second vertical determination unit 107. When it is done, it is rotated and distributed so that it is upright.

  When there is an operation input in step 601, the installation status of the apparatus is determined from the signals of the first vertical determination unit 106 and the second vertical determination unit 107 arranged at right angles to each other (step S602). Then, an operation input process is performed based on the determination result (step S603).

  As shown in the front view of FIG. 2, the up / down determination units 106 and 107 are arranged in the vertical and horizontal directions with respect to the pan / tilt head integrated imaging device, and are defined as gravity sensor 1 and gravity sensor 2, respectively. Then, four ways of FIG. 5 are represented by the way of installation. In addition, FIG. 5 shows each installation form from the imaging device front.

The following four installation forms (a) to (d) are provided in FIG.
(B) Horizontal installation on the floor: Gravity sensor 1 outputs an upward signal and gravity sensor 2 has no output.
(B) Horizontal installation on the ceiling surface: Gravity sensor 1 outputs a downward signal, and gravity sensor 2 has no output.
(C) Vertical installation on the right wall: gravity sensor 2 outputs an upward signal, gravity sensor 1 has no output.
(D) Vertical installation on the left wall: Gravity sensor 2 outputs a downward signal, and gravity sensor 1 has no output.
Note that, as shown in FIG. 2, the gravity sensor 2 determines whether the gravity sensor 2 is up or down from the front of the apparatus.

The moving (rotating) operation of the imaging system is performed by changing the operation instruction inside the pan / tilt head-integrated imaging apparatus according to the above four modes.
As shown in the flowchart of FIG. 7, the operation input is determined according to the following procedure.
The control unit 101 determines whether the operation instruction is a direct operation from the first light receiving element 108 or the second light receiving element 109 or a remote operation through the communication unit 110 (step S701).
If the result of the determination in step S701 is a direct operation, it is determined whether it is due to the front light receiving element 108 or the rear light receiving element 109 (step S702).

  If the result of determination in step S702 is an input from the front, the received operation instruction is converted into a direction corresponding to the installation status (step S704), and the drive system corresponding to the above, that is, the horizontal direction drive unit 104, Alternatively, the vertical driving unit 105 is driven (step S705).

  Further, in the case of remote operation through communication in the determination in step S701, and in the case of the input from the back as a result of the determination in step S702, the horizontal driving (panning operation) after conversion is different from step S704. The operation instruction is converted so as to be in the opposite direction (step S703), and the horizontal direction driving unit 104 and the vertical direction driving unit 105 corresponding to the above are driven (step S705).

  Details of the conversion of operation instructions corresponding to each installation form will be described below. In addition, as shown in the top view and the side view of FIG. 2, the rotation direction is pan-CW in the left direction in the horizontal direction, pan-CCW in the clockwise direction in the horizontal direction, tilt-CW in the vertical direction plus elevation angle, and tilt in the vertical direction minus elevation angle. -Define as CCW.

An example of an operation instruction key on the remote controller or an instruction key on the browser is shown in FIG.
In FIG. 3, 301 is defined as a tilt-CW key, 302 is defined as a tilt-CCW key, 303 is defined as a pan-CCW key, and 304 is defined as a pan-CW key. When the operation keys 301 to 304 are operated, the actual movement of the pan / tilt head-integrated imaging apparatus is as follows.

FIG. 4 shows a list of key assignments.
(Mode1) In case of remote control operation from the front with floor / horizontal installation,
Pan-CW key 304: Pan-CW, Pan-CCW key 303: Pan-CCW, Tilt-CW key 301: Tilt-CW, Tilt-CCW key 302: Tilt-CCW.

(Mode 2) In the case of floor-level / horizontal remote control operation from the back side or operation from a browser via communication, Pan-CW key 304: Pan-CCW, Pan-CCW key 303: Pan-CW, Tilt-CW key 301: Tilt-CW, Tilt-CCW key 302: Tilt-CCW are assigned.

  (Mode 3) Pan-CW key 304: Pan-CCW, Pan-CCW key 303: Pan-CW, Tilt-CW key 301: Tilt-CCW, Tilt in the case of remote control operation from the front with ceiling / horizontal installation -CCW key 302: Assigned as tilt-CW.

(Mode 4) In the case of a remote control operation from the back in a ceiling surface / horizontal installation, or an operation from a browser through communication, Pan-CW key 304: Pan-CW, Pan-CCW key 303: Pan-CCW, Tilt-CW key 301: Tilt-CCW, Tilt-CCW key 302: Tilt-CW are assigned.

(Mode 5) Pan-CW key 304: Tilt-CW, Pan-CCW key 303: Tilt-CCW, Tilt-CW key 301: Pan-CCW, Tilt for right wall / vertical installation and remote control operation from the front -CCW key 302: assigned as pan-CW.

(Mode 6) Pan-CW key 304: Tilt-CCW, Pan-CCW key 303: Tilt-CW, in the case of a remote control operation from the back in the right wall / vertical installation, or an operation from a browser via communication Tilt-CW key 301: Pan-CCW, Tilt-CCW key 302: Pan-CW are assigned.

(Mode 7) In the case of remote control operation from the front in the left wall / vertical installation, pan-CW key 304: tilt-CCW, pan-CCW key 303: tilt-CW, tilt-CW key 301: pan-CW, tilt -CCW key 302: assigned as pan-CCW.

  (Mode 8) In the case of a remote control operation from the back in the left wall / vertical installation or an operation from a browser via communication, pan-CW key 304: tilt-CW, pan-CCW key 303: tilt-CCW, Tilt-CW key 301: Pan-CW, Tilt-CCW key 302: Pan-CCW are assigned.

  As described above, in this embodiment, the rotation direction of the motor and the horizontal / vertical rotation axis are changed in accordance with the installation forms 1 to 4 of the pan / tilt head-integrated imaging device and the position of the operator. Therefore, it is possible to prevent the deviation in the operation direction intended by the operator.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 2, 5, and 8 to 10. FIG.
8, 101 to 110 are the same as those in FIG. 1 in the first embodiment, and 801 is a short-range wireless unit such as Bluetooth capable of bidirectional communication and image data distribution. The operation of the pan / tilt head-integrated imaging apparatus of the present embodiment will be described below with reference to the flowchart of FIG.

  First, the pan / tilt head-integrated image pickup apparatus is waiting for a short-range wireless incoming call (step S901). In this state, the image data captured from the imaging system 102 is monitored by a browser or the like via communication from a remote place in the image processing unit 103 based on the signals of the first vertical determination unit 106 and the second vertical determination unit 107. Is rotated and distributed via the communication unit 110 so as to be upright.

  If the short-range wireless communication unit 801 receives an incoming call while waiting for an incoming call in step S901, the process proceeds to step S902, and signals from the first vertical determination unit 106 and the second vertical determination unit 107 arranged at right angles to each other. Determine the installation status of the equipment.

  Thereafter, the process proceeds to step S903, and the installation status data shown in FIG. 5 is sent to the counterpart apparatus together with the image data similar to the distribution image. On the remote control device side using short-range wireless, the received image data is displayed and the key assignment of the operation unit is changed according to the installation status data of the imaging device.

FIG. 10 shows an example of operation keys.
In FIG. 10, reference numerals 301 to 304 are keys representing the operation direction as in FIG. 3 in the first embodiment, and 1001 is a key for switching the operation mode. The operation mode in the above is a key for designating whether to operate from the front or the back of the imaging apparatus, and the operation key assignment is changed by changing this operation mode.

  In the present embodiment, the operation key assignments when operating from the front of the imaging device are Modes 1, 3, 5, and 7 shown in FIG. 4 in the first embodiment, and when operating from the back of the imaging device, Mode 2 4, 6, and 8.

  The remote control device converts the pressed operation key into the changed key data and transmits it to the imaging device. In the above embodiment, the operation key is changed on the remote control device side. However, the operation mode is instructed from the remote control device side, and the operation conversion is performed on the imaging device side as in the first embodiment. It is also possible to perform.

(Another embodiment according to the present invention)
Each step of the above-described pan / tilt head-integrated imaging device, the respective units constituting the remote control device, and the control method of the pan / tilt head-integrated imaging device in the embodiment of the present invention described above is a program stored in a RAM or ROM of a computer. Can be realized by operating. This program and a computer-readable storage medium storing the program are included in the present invention.

  Further, the present invention can be implemented as, for example, a system, apparatus, method, program, or recording medium, and can be applied to a system composed of a plurality of devices. Moreover, you may apply to the apparatus which consists of one apparatus.

  In the present invention, a software program (in the embodiment, a program corresponding to the flowcharts shown in FIGS. 6, 7, and 9) that realizes the functions of the above-described embodiments is directly or directly stored in the system or apparatus. This includes a case where the program is supplied from a remote location and is also achieved by the computer of the system or apparatus reading and executing the supplied program code.

  Accordingly, since the functions of the present invention are implemented by computer, the program code installed in the computer also implements the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

  In that case, as long as it has the function of a program, it may be in the form of an object code, a program executed by an interpreter, script data supplied to the OS, or the like.

  As a recording medium for supplying the program, for example, floppy (registered trademark) disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, CD-RW, magnetic tape, nonvolatile memory card ROM, DVD (DVD-ROM, DVD-R) and the like.

  As another program supply method, a client computer browser is used to connect to an Internet homepage, and the computer program itself of the present invention or a compressed file including an automatic installation function is downloaded from the homepage to a recording medium such as a hard disk. Can also be supplied.

  It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from a different homepage. That is, a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention on a computer is also included in the present invention.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. It is also possible to execute the encrypted program by using the key information and install the program on a computer.

  In addition to the functions of the above-described embodiments being realized by the computer executing the read program, the OS running on the computer based on the instructions of the program is used for the actual processing. The functions of the above-described embodiment can also be realized by performing some or all of the processes.

  Furthermore, after the program read from the recording medium is written in a memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer, the function expansion board or The CPU or the like provided in the function expansion unit performs part or all of the actual processing, and the functions of the above-described embodiments are realized by the processing.

1 is a block diagram illustrating a configuration example of a pan / tilt head-integrated imaging apparatus according to a first embodiment of this invention. FIG. It is a figure which shows the 1st Embodiment of this invention and demonstrates the definition of the sensor of a pan head integrated imaging device, and the definition of a rotation direction. It is a figure which shows the 1st Embodiment of this invention and shows an example of the operation part of a remote control apparatus. It is a figure which shows the 1st Embodiment of this invention and shows the example of operation key allocation corresponding to the installation state of a pan head integrated imaging device. It is a figure which shows the 1st Embodiment of this invention and demonstrates the example of a definition of the installation state of a pan head integrated imaging device. 3 is a flowchart illustrating an operation procedure of the pan / tilt head-integrated imaging apparatus according to the first embodiment of this invention. 3 is a flowchart illustrating an operation procedure of the pan / tilt head-integrated imaging apparatus according to the first embodiment of this invention. FIG. 6 is a block diagram illustrating a configuration example of a pan / tilt head-integrated imaging apparatus according to a second embodiment of this invention. 7 is a flowchart illustrating an operation procedure of the pan / tilt head integrated imaging device according to the second embodiment of this invention. It is a figure which shows the 2nd Embodiment of this invention and shows an example of the operation part of a remote control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Control part 102 Imaging system 103 Image processing part 104 The drive part (pan motor) of a horizontal (pan) direction
105 Vertical (tilt) direction drive (tilt motor)
106 First up / down determination unit 107 installed in the vertical direction of the apparatus 107 Second up / down determination unit 108 installed in the horizontal direction of the apparatus First remote control light receiving element 109 arranged on the front side of the apparatus arranged on the back side of the apparatus Second remote control light receiving element 110 Communication unit 301 to 304 Remote operation device operation key 801 Short-range wireless communication unit 1001 Remote operation device operation mode switching key

Claims (12)

In the pan / tilt head-integrated image pickup apparatus having an image pickup unit that picks up an image of a subject and generates image data,
Measuring means for measuring the installation angle of the apparatus body;
Driving means for driving the imaging direction of the imaging means;
First receiving means for receiving a control signal for controlling the imaging direction of the imaging means;
Second receiving means for receiving a control signal for controlling the imaging direction of the imaging means;
Based on the measurement result of the measuring unit and whether the control signal of the imaging direction is received by the first receiving unit or the second receiving unit, the imaging direction by the driving unit with respect to the received control signal is determined. A pan / tilt head-integrated image pickup apparatus comprising: a changing means for changing. The first receiving means is means for receiving the control signal from a device that directly communicates with the pan / tilt head-integrated imaging device,
2. The pan / tilt head-integrated imaging according to claim 1, wherein the second receiving unit is a unit that receives the control signal from a device that communicates with the pan / tilt head-integrated imaging device via a network. apparatus.   2. The first receiving means is provided on a first surface of the pan / tilt head-integrated imaging apparatus, and the second receiving means is provided on a surface different from the first surface. The pan-head integrated imaging apparatus described in 1.   3. The camera platform according to claim 1, wherein two sensors that output signals corresponding to the vertical direction of gravity are attached as the measuring means along the horizontal direction and the vertical direction of the apparatus. Body type imaging device. In a control device for remotely controlling an image pickup apparatus having a drive means for driving the image pickup direction and a measurement means for measuring an installation angle of the image pickup apparatus,
Instruction means for instructing a driving direction by the driving means;
Receiving means for receiving the installation state of the imaging device transmitted from the imaging device;
And a changing unit that changes a driving direction of the driving unit that is instructed by the instructing unit according to the installation state received by the receiving unit.   The change means picks up an image in a second direction different from the first direction when an operation for moving the image pickup direction to the first direction is performed by the instruction means according to the received installation state. The control device according to claim 5, wherein a control signal for moving a direction is transmitted. The instructing means has a plurality of operation keys,
The control device according to claim 5, wherein the changing unit changes a moving direction of an imaging direction assigned to the operation key according to the received installation state.   The imaging system which has a pan head integrated imaging device of any one of the said Claims 1-4, and the control apparatus of any one of the said Claims 5-7. In a control method for changing an imaging direction of an imaging apparatus having an imaging means for imaging a subject and generating image data,
A discriminating step for discriminating the installation angle of the imaging device body;
A moving step for moving the imaging direction of the imaging means;
A determination step for determining whether a control signal for controlling the imaging direction of the imaging means is received by the first receiving unit or the second receiving part;
A control method comprising: a change step of changing a moving direction of the imaging direction with respect to a received control signal according to the determination in the determination step and the determination in the determination step. In a control method for remotely controlling an imaging apparatus having a moving means for moving an imaging direction and a determination means for determining an installation angle of the imaging apparatus,
An instruction step for instructing a moving direction by the moving means;
A receiving step for receiving the installation state of the imaging device transmitted from the imaging device;
The instructing step includes a changing step of changing the moving direction of the photographing direction instructed by the user according to the installation state received in the receiving step. In a program for causing a computer to execute a control method of changing an imaging direction of an imaging apparatus having an imaging unit that images a subject and generates image data.
A discriminating step for discriminating the installation angle of the imaging device body;
A moving step for moving the imaging direction of the imaging means;
A determination step for determining whether a control signal for controlling the imaging direction of the imaging means is received by the first receiving unit or the second receiving part;
Causing a computer to execute a control method comprising: a change step of changing a moving direction of the imaging direction with respect to a received control signal according to the determination in the determination step and the determination in the determination step A featured computer program.   A computer-readable recording medium having recorded thereon the computer program according to claim 11.

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