JP2011155461A - Imaging device, and method and program for controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To report an illegal change of an imaging range when the illegal change is performed, in a turning type imaging device. <P>SOLUTION: In a monitoring camera unit, during automatic panning operation, if the value of an angular velocity detected during constant-velocity control becomes larger than the value of an angular velocity anticipated in the automatic panning operation by a threshold or more or becomes smaller than it by a threshold or more, abnormality is reported. That is to say, when normal constant-velocity movement of a lens barrel is hindered by applying force to the lens barrel from the outside during constant-velocity control or inhibiting smooth movement by a trouble of a mechanism moving the lens barrel, the difference between the angular velocities is determined to increase in step S60, and abnormality is reported in a step S120. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an imaging apparatus, and more particularly, to a swivel imaging apparatus, a control method thereof, and a control program.

  Conventionally, various techniques for using an image output by an imaging apparatus for monitoring have been used. In addition, in such an imaging apparatus, it is not necessary to place a supervisor at the place where the camera of the imaging apparatus is installed, and therefore countermeasures against unauthorized changes in the imaging range due to force applied to the camera, etc. May be required.

  In this regard, Patent Document 1 (Japanese Patent Laid-Open No. 2000-285328) discloses a technique using a gyro sensor. Specifically, a technique is disclosed in which a gyro sensor is attached to the body of a camera with a fixed imaging range, and when the output value of the gyro sensor changes, it is detected that the imaging range has been illegally changed. ing.

JP 2000-285328 A

  By the way, in recent years, in order to make the imaging range wider, there is a technique for monitoring by rotating the lens barrel of the imaging device or by rotating the lens barrel and photographing at a plurality of positions for a certain period of time. It's being used.

  If an attempt is made to apply the conventional technique related to the above countermeasure to an imaging apparatus according to such a technique, the output value of the gyro sensor is due to the original turning operation of the imaging apparatus or due to an illegal change in the imaging range. Sometimes, it was difficult to distinguish. Therefore, even if the conventional technique is applied as it is to the swivel type imaging device, an unauthorized change in the imaging range cannot be detected.

  The present invention has been conceived in view of such circumstances, and an object of the present invention is to be able to notify that when there is an unauthorized change in the imaging range in the imaging apparatus.

  An imaging apparatus according to the present invention includes an imaging unit that images a subject, a movement control unit that controls a movement mode of the imaging unit, a detection unit that detects a movement mode of the imaging unit, and a movement mode detected by the detection unit. And a notifying unit for notifying abnormality when the movement mode to be detected when the imaging unit is moved according to the movement control by the movement control unit is different.

  In the imaging apparatus of the present invention, the detection unit detects the amount of movement of the imaging unit as the movement mode of the imaging unit, and the notification unit controls the amount of movement detected by the detection unit and movement control by the movement control unit. Accordingly, it is preferable to notify the abnormality when the difference from the amount of movement by which the imaging unit should be moved exceeds a predetermined threshold.

  In the imaging apparatus of the present invention, it is preferable that the detection unit detects the angular velocity of the imaging unit as the amount of movement.

  In the imaging device of the present invention, the movement control unit intermittently moves the imaging unit between a plurality of fixed states, and the notification unit causes the movement control unit to move the imaging unit from the first fixed state to the second fixed state. During the period of movement to change to the fixed state, it is preferable to notify the abnormality when the angular velocity detected by the detection unit is lower than a specific value.

  In the imaging device of the present invention, the notification unit detects the angular velocity detected by the detection unit during a period in which the movement control unit moves the imaging unit to change from the first fixed state to the second fixed state. It is preferable to determine whether or not the rotation direction is different from the rotation direction based on the control by the movement control unit, and to notify the abnormality when it is determined that the rotation direction is different.

  An image pickup apparatus control method according to the present invention is an image pickup apparatus control method including an image pickup unit that picks up an image of a subject, the step of controlling the movement mode of the image pickup unit, and the step of detecting the movement mode of the image pickup unit. And the step of comparing the detected movement mode and the movement mode to be detected when the imaging unit is moved according to the control of the movement mode, and the detected movement mode and the movement mode to be detected are different A step of notifying abnormality in the case.

  A control program according to the present invention is a control program that is executed by an imaging apparatus including an imaging unit that captures an image of a subject. The computer controls the movement mode of the imaging unit and detects the movement mode of the imaging unit. Comparing the detected movement mode, the detected movement mode with the movement mode to be detected when the imaging unit is moved according to the control of the movement mode, and the detected movement mode and the movement mode to be detected. And a step of notifying abnormality when the values are different.

  According to the present invention, in the swivel type imaging device, when there is an unauthorized change in the imaging range due to an external force being applied, this can be reported as an abnormality.

It is a block diagram of a 1st embodiment of an imaging device of the present invention. It is the top view which looked at FIG. 1 from the arrow A direction in FIG. It is the side view which looked at FIG. 1 from the arrow B direction in FIG. It is a figure for demonstrating the operation aspect with respect to the joystick of FIG. It is a flowchart of the abnormality alerting | reporting process performed in the central control part of the monitoring camera unit of FIG. It is a block diagram of 2nd Embodiment of the imaging device of this invention. 7 is a flowchart of abnormality notification processing executed in the imaging apparatus of FIG. 6. It is a figure for demonstrating calculation of the motion vector in the abnormality alerting | reporting process of FIG. It is a figure for demonstrating calculation of the motion vector in the abnormality alerting | reporting process of FIG.

  Embodiments of the present invention will be described below with reference to the drawings. In each figure, elements having the same function are denoted by the same reference numerals, and description thereof will not be repeated.

[First Embodiment]
(1. Overall configuration)
FIG. 1 is a block diagram showing a surveillance camera unit 1 which is a first embodiment of an imaging apparatus of the present invention. FIG. 2 is a plan view of FIG. 1 viewed from the direction of arrow A. FIG. FIG. 3 is a side view of FIG. 1 viewed from the direction of arrow B.

  With reference to FIGS. 1 to 3, the surveillance camera unit 1 has a panning mechanism for turning a lens barrel 3 having a lens and a CCD (Charge-Coupled Device) element in the horizontal direction so that it can be monitored over a wide range, It is equipped with a tilt mechanism that pivots vertically.

  In the monitoring camera unit 1, the optical image of the subject is taken into the CCD element via the lens and output from the lens barrel 3 to the video signal processing circuit 40 as a video signal. Hereinafter, capturing an optical image of a subject into a CCD element is defined as imaging. In this embodiment, the main subject existing in the subject is set as the monitoring target 6.

  In FIG. 1, the lens barrel 3 is supported by a lower end portion of an arm 30 so as to be rotatable in a tilt direction, and is rotated by a tilt motor 31. The upper end of the arm 30 is supported by a rotating plate 32 that rotates 360 degrees in a horizontal plane. The rotating plate 32 is attached to a pedestal 34 fixed to the ceiling via a slip mechanism 33. A pan motor 35 is fixed to the base 34. When the pan gear 36 connected to the pan motor 35 meshes with the rotating plate 32, the rotating plate 32 rotates in the pan direction.

  The lens barrel 3 is connected to a camera control unit 21 that controls a zoom operation and the like. The tilt motor 31 is connected to a tilt motor control unit 22 that controls the rotation speed and acceleration of the motor 31. The pan motor 35 is connected to a pan motor control unit 23 that controls the rotation speed and acceleration of the motor 35.

  The camera control unit 21, the tilt motor control unit 22, and the pan motor control unit 23 are connected to the central control unit 2 that is a microcomputer. The central control unit 2 is connected to a controller 5 having operation keys 51 and a joystick 50. The video signal output from the lens barrel 3 is image-processed by the video signal processing circuit 40 and displayed on the display 4 as an image.

  Note that the surveillance camera unit 1 further includes a recording device (not shown), performs compression processing on the video signal output from the lens barrel 3, and continuously records the compressed video data in the recording device. good.

  A supervisor who is a user of the controller 5 operates the operation keys 51 and the joystick 50 to send a signal to the central control unit 2. The central control unit 2 analyzes the content of the signal, controls the camera control unit 21, the tilt motor control unit 22, and the pan motor control unit 23, and starts photographing.

  The video signal output from the lens barrel 3 is displayed as an image on the display 4 image after the noise is removed by the video signal processing circuit 40. The monitor operates the operation keys 51 and the joystick 50 while viewing the image on the display 4. The pan motor 35 and the tilt motor 31 are rotated to direct the lens barrel 3 toward the monitoring target 6 which is a person, for example. Further, if necessary, the camera control unit 21 is controlled to obtain a zoom image of the monitoring target 6.

  As shown in FIG. 4, the joystick 50 can take the postures indicated by the tilt positions K1, K2, and K3 in several steps from the standing posture. As the tilt angle from the standing posture is larger, the speeds of the pan motor 35 and the tilt motor 31 are faster. For example, in FIG. 4, when the joystick 50 is at the position K3, the pan motor 35 and the tilt motor 31 are fastest. When the joystick 50 is kept in the tilted position, the pan motor 35 and the tilt motor 31 rotate at a constant speed. When the joystick 50 is tilted from K1 to K3, the pan motor 35 and the tilt motor 31 rotate faster with increased acceleration. To do. Conversely, when returning from K3 toward K1, the motor 31 and the motor 35 decelerate. Note that the inclination of the joystick 50 in three stages is an example, and is not limited to this.

  The surveillance camera unit 1 is attached to a ceiling or the like, for example. Therefore, as shown by the solid line in FIG. 3, the lens barrel 3 can turn in the 90 ° tilt direction in both the left and right directions with reference to a position facing the ceiling (hereinafter referred to as “directly below position”). Assuming that the lens barrel 3 is tilted leftward from the position immediately below, the lens barrel 3 captures an optical image of the subject at a position where the lower left end C of the lens barrel 3 is on the top. However, when the lens barrel 3 is rotated clockwise by the rotation of the tilt motor 31 and tilted to the right from the directly below position, the lens barrel 3 is positioned at the position where the lower left end C of the lens barrel 3 is down. Capture optical images.

  When the lens barrel 3 turns clockwise and reaches a position directly below, the lens barrel 3 is temporarily stopped at the position just below, and the pan motor 35 is rotated to rotate the lens barrel 3 180 degrees in the horizontal plane. May be. Thereafter, the tilt motor 31 is rotated to turn the lens barrel 3 to the right from the position immediately below. In some cases, the lens barrel 3 is temporarily stopped at the position immediately below, and the video signal output from the lens barrel 3 is electrically processed to form an upper and lower image. The central control unit 2 can recognize from the detection output of a position sensor (not shown) that the lens barrel 3 has reached the position immediately below.

  Angular velocity sensors 11 and 12 are disposed in the lens barrel 3. The angular velocity sensor 11 and the angular velocity sensor 12 are configured by, for example, a gyro sensor, and are also used for detecting blur in image blur correction in the monitoring camera unit 1. The angular velocity sensor 11 detects an angular velocity in a rotation direction (rotation direction α in FIG. 1) around the axis along the vertical direction. The angular velocity sensor 12 detects the angular velocity in the rotational direction around the axis along the horizontal direction (rotational direction β in FIG. 1). The rotation direction α is the rotation direction of the turning in the pan direction. The rotation direction β is the rotation direction of the turning in the tilt direction.

  In the monitoring camera unit 1, image blur correction is performed by moving the lens using the angular velocity information output from the angular velocity sensors 11 and 12. Note that during an auto pan operation and an auto sequence operation, which will be described later, such an image blur correction function is stopped, and the angular velocity sensors 11 and 12 are used for abnormality notification processing.

  The central control unit 2 executes a program recorded in the storage device 2A (or a program recorded on a recording medium that can be attached to and detached from the main body of the monitoring camera unit 1). Control the overall operation.

(2. Auto mode operation)
The surveillance camera unit 1 can execute an auto mode operation in which the imaging range is changed by automatically turning the lens barrel 3. The auto mode operation includes an auto pan operation that changes the imaging range at a constant speed along a predetermined path, and a sequence operation that changes the imaging range between a plurality of positions at regular intervals. Hereinafter, processing contents executed in the monitoring camera unit 1 when each operation is realized will be described.

(2-1. Auto pan operation)
In the present embodiment, as an example of the auto pan operation, the case where the lens barrel 3 moves between two predetermined positions at a constant speed will be described.

  In the surveillance camera unit 1, the pan and tilt angles of the lens barrel 3 corresponding to the two positions are recorded in advance in the storage device 2A, for example. Information about the two positions may be registered in advance, or information input from the user via the operation key 51 or the like may be registered in the storage device 2A.

  In the surveillance camera unit 1, the speed at which the camera is moved at a constant speed is also recorded in the storage device 2A. The speed may be registered in advance or may be recorded by the user through the operation key 51 or the like.

  When receiving the execution instruction for the auto pan operation, the central control unit 2 calculates the shortest path connecting the two positions by executing the program recorded in the storage device 2A. Then, the central control unit 2 drives the pan motor 35 and / or the tilt motor 31 by appropriately outputting instructions to the pan motor control unit 23 and / or the tilt motor control unit 23, and moves the lens barrel 3 along the path. Turn. Thereby, for example, the lens barrel 3 moves at a constant speed from one of the two positions to the other position, stops at the other position for a predetermined time, and moves from the other position to the one position at a constant speed. It moves repeatedly, stops at a certain position for a predetermined time, and moves from one position to the other at a constant speed. During this time, the video signal processing circuit 40 continuously receives the video signal output from the lens barrel 3 and processes the signal, whereby an image based on the video signal is displayed on the display 4.

  In the above description, in the auto pan operation, the operation in which the lens barrel 3 moves between two points has been described. However, the number of positions in the auto pan operation is not limited to this, and between three or more points, etc. You may comprise so that it may move at high speed. In this case, the central control unit 2 calculates a path connecting the positions in the shortest order, and moves the lens barrel 3 along the path.

(2-2. Sequence operation)
In the present embodiment, as an example of the sequence operation, an operation when the lens barrel 3 moves between a plurality of positions in a predetermined order will be described.

  In the surveillance camera unit 1, the panning and tilting angles of the lens barrel 3 corresponding to a plurality of positions and the order for moving the plurality of positions in which the lens barrel 3 moves are recorded in advance in, for example, the storage device 2A. ing. Information about a plurality of positions may be registered in advance, or information input from the user via the operation key 51, the joystick 50, or the like may be registered in the storage device 2A.

  Upon receiving the sequence operation execution instruction, the central control unit 2 reads the information about the first position among the plurality of positions from the storage device 2A by executing the program recorded in the storage device 2A. The lens barrel 3 is positioned at the first position.

  In the monitoring camera unit 1, the central control unit 2 moves the lens barrel 3 by driving the pan motor 35 and / or the tilt motor 31 by appropriately outputting instructions to the pan motor control unit 23 and / or the tilt motor control unit 33. Let

  In the sequence operation, the central control unit 2 positions the lens barrel 3 at the first position and then stops the lens barrel 3 at the position. Thereafter, the central control unit 2 moves the lens barrel 3 to the second position at a relatively high speed and stops it for a certain time. Thereafter, the central control unit 2 moves the lens barrel 3 to the third position at a relatively high speed and stops it for a certain time. Thus, the central control unit 2 moves the plurality of positions in order so that the lens barrel 3 is stationary for a certain period of time at each of the plurality of positions. And if it moves to the last position, it will move from the 1st position again in order.

  In the sequence operation, the video signal processing circuit 40 receives the video signal output from the lens barrel 3 and processes the signal, whereby an image based on the video signal is displayed on the display 4. The video signal processing circuit 40 processes the video signal output from the lens barrel 3 continuously or only when the lens barrel 3 is in a stationary state.

(3. Anomaly notification process)
In the monitoring camera unit 1, the central control unit 2 executes the abnormality notification process in parallel with the process for the auto mode operation. The monitoring camera unit 1 can notify the fact that the movement control with respect to the lens barrel 3 is hindered by an abnormal force or a malfunction of the mechanism or the like by the abnormality notification processing. Hereinafter, the content of the abnormality notification process will be described with reference to FIG. 5 which is a flowchart of the process. The central control unit 2 starts the abnormality notification process when an instruction to execute the abnormality notification process is input or when the auto mode operation is started.

  Referring to FIG. 5, first, central control unit 2 acquires the type of auto mode operation in step S10, and advances the process to step S20. The type refers to “auto pan operation”, “sequence operation”, and the like.

  In step S20, the central control unit 2 determines whether or not the type acquired in step S10 is an auto pan operation, and if so, the process goes to step S30. If it is determined that the operation is an operation), the process proceeds to step S70.

  In step S30, the central control unit 2 acquires motor control information at that time. The motor control information acquired in step S30 is information representing a mode of drive control for the pan motor 35 and the tilt motor 31. For example, control for moving the lens barrel 3 at a constant speed between positions in the auto pan operation described above. It is information on whether the control is in progress or the control to be stopped. Thereafter, the central control unit 2 advances the processing to step S40.

  In step S40, the central control unit 2 determines whether or not the motor control information acquired in step S30 is for moving the lens barrel 3 at a constant speed (constant speed control). If it is determined that this is not the case, the process returns to step S30.

  In step S50, the central control unit 2 acquires the detection outputs (gyro sensor information) of the angular velocity sensors 11 and 12, and advances the process to step S60. In the present embodiment, the detection outputs of the angular velocity sensors 11 and 12 correspond to the amount of movement of the lens barrel 3 per unit time.

  In step S60, the central control unit 2 determines that the difference between the angular velocity value that is the detection output of the angular velocity sensor 11 and / or the angular velocity sensor 12 acquired in step S50 and the assumed angular velocity value (assumed value) is the storage device 2A. In step S120, the process proceeds to step S120 if it is determined to be greater than or equal to the threshold, and the process returns to step S30 if determined to be less than the threshold.

  It is assumed that the threshold is registered in the storage device 2A. The assumed angular velocity value is an angular velocity value corresponding to the movement of the lens barrel 3 by constant velocity control. The central control unit 2 calculates the value of the angular velocity corresponding to the movement of the lens barrel 3 by the constant speed control based on the calculated speed and the speed of the constant speed movement registered in the storage device 2A regarding the auto pan control. . In the present embodiment, the value of the angular velocity corresponding to the movement of the lens barrel 3 by the constant speed control is an angle at which the lens barrel 3 moves per unit time, and the auto pan control by the central control unit 2 per unit time. This corresponds to the amount of movement of the lens barrel 3 based on.

  On the other hand, in step S70, the central control unit 2 acquires the motor control information at that time. The motor control information acquired in step S70 is information representing the mode of drive control for the pan motor 35 and the tilt motor 31. For example, during the control of moving the lens barrel 3 between positions in the sequence operation described above. Or whether the control is being stopped. Thereafter, the central control unit 2 advances the processing to step S80.

  In step S80, the central control unit 2 determines whether or not the motor control information acquired in step S70 is for moving the lens barrel 3 between positions (turning control), and if so, step S90. If it is determined that this is not the case, the process returns to step S70.

  In step S90, the central control unit 2 acquires detection outputs (gyro sensor information) of the angular velocity sensors 11 and 12, and advances the process to step S100.

  In step S100, the central control unit 2 determines whether or not the value of the angular velocity that is the detection output of the angular velocity sensor 11 and / or the angular velocity sensor 12 acquired in step S90 is 0. The process proceeds to S120, and if it is determined that it is not 0, the process proceeds to step S110.

  In step S110, the central control unit 2 determines whether or not the direction of the angular velocity that is the detection output of the angular velocity sensor 11 and / or the angular velocity sensor 12 acquired in step S90 is different from the direction predicted by the turn control, If it is determined that they are different, the process proceeds to step S120, and if they are the same, the process returns to step S30.

  Here, the direction is different means that the direction predicted by the turning control and the value of the angular velocity based on the output of the sensor are the same as or different from the threshold value registered in the storage device 2A (the threshold value in step S60). Say that there is a difference.

  In step S120, the central control unit 2 executes a process for notifying abnormality and ends the abnormality detection process. The process for notifying abnormality is, for example, displaying a message for notifying abnormality on the display 4 or outputting a sound for notifying abnormality via a speaker (not shown) provided in the monitoring camera unit 1. To do.

  In the abnormality detection process described above, if the auto pan operation is being performed, the value of the angular velocity detected by the angular velocity sensor 11 and / or the angular velocity sensor 12 during the constant speed control becomes the value of the angular velocity expected by the auto pan operation. On the other hand, when the threshold value is larger than the threshold value or when the threshold value is smaller than the threshold value, an abnormality notification is given (processing in step S120 when YES is determined in step S60). In other words, during constant speed control, force is applied to the lens barrel 3 from the outside, or smooth movement is hindered by a malfunction of the mechanism that moves the lens barrel 3, so that the normal operation of the lens barrel 3 is prevented. When the fast movement is obstructed, an abnormality notification is made in step S120, assuming that the difference in angular velocity values has increased in step S60.

  In the present embodiment described above, an imaging unit that captures an image of a subject is configured by the lens barrel 3, and the moving mode of the imaging unit is detected by the angular velocity sensors 11 and 12 that detect the value of the angular velocity that is the amount of movement. A detecting unit is configured.

  Here, since it is sufficient that the surveillance camera unit 1 recognizes that the normal movement of the lens barrel 3 has been disturbed, the value of the angular velocity acquired in step S50 and compared in step S60 is the angular velocity sensor 11 and the angular velocity. Any one of the sensors 12 may be used.

  In the abnormality detection process described above, if the sequence operation is in progress, the turning control of the lens barrel 3 is blocked during the turning control (YES in step S100), or the lens barrel 3 is turned in a different direction. When the movement mode to be detected for the imaging unit is different from the movement mode (actual movement mode of the imaging unit) corresponding to the value of the angular velocity output by the angular velocity sensors 11 and 12, such as in the case of YES in step S110. Is notified of abnormality (step S120). In other words, during the turning control, when the lens barrel 3 does not turn due to an external force applied to the lens barrel 3 or a malfunction of the moving mechanism of the lens barrel 3 occurs (YES in step S100). When the lens barrel 3 turns in a manner different from the turning based on the original turning control (YES in step S110), an abnormality is notified in step S120.

  In the present embodiment, in the sequence operation, abnormality notification is made by a relatively easier determination than whether the determination is made in the autopan operation (step S60), such as whether the angular velocity value is 0 or whether the rotation direction is different. Whether or not to perform is determined. This is because the period during which the turn control in the sequence operation is executed is assumed to be much shorter than the period in which the constant speed control in the auto pan operation is executed. This is for determining whether or not abnormality notification is necessary.

  In step S100, the process proceeds to step S120 only when the angular velocity value acquired in step S90 is 0. However, the threshold value (in steps S60 and S110) in which the angular velocity value is registered in the storage device 2A. If it is less than or equal to the threshold value, the process may be changed so that the process proceeds to step S120.

  In the abnormality notification process described above, the determination for abnormality notification (steps S60, S100, and S111) is not executed in a period other than the constant speed control in the auto pan operation or a period other than the turning control in the sequence operation. The present embodiment is not limited to this. Even in such a period, that is, in a period in which the lens barrel 3 should be stationary, if the value of the angular velocity that is the detection output of the angular velocity sensors 11 and 12 exceeds a predetermined threshold, that is, the mirror When the cylinder 3 is moving, an abnormality may be notified.

[Second Embodiment]
(1. Overall configuration)
FIG. 6 shows a block diagram of the surveillance camera unit 1 which is the second embodiment of the imaging apparatus of the present invention. In the surveillance camera unit 1 according to the present embodiment, the amount of movement of the lens barrel 3 is detected by the angular velocity sensors 11 and 12 in the first embodiment, whereas the video signal output from the lens barrel 3 is used. The amount of movement is detected by the video signal processing circuit 40 based on the above. For this reason, as shown in FIG. 6, the surveillance camera unit 1 of the present embodiment does not include the angular velocity sensors 11 and 12. The remaining configuration of the surveillance camera unit 1 of the present embodiment can be the same as that of the surveillance camera unit 1 of the first embodiment shown in FIG.

(2. Anomaly detection processing)
FIG. 7 is a flowchart of the abnormality notification process executed in the monitoring camera unit 1 of the present embodiment.

  Note that the surveillance camera unit 1 of the present embodiment performs only an auto pan operation as the auto mode operation. The abnormality notification process is executed in parallel with the auto pan operation.

  Referring to FIG. 7, in the abnormality notification process, central control unit 2 acquires motor control information in step SA10, and advances the process to step SA20. The motor control information acquired in step SA10 is information such as whether the lens barrel 3 is controlled to move at a constant speed between positions or controlled to be stopped in the auto pan operation described above.

  In step SA20, the central control unit 2 causes the video signal processing circuit 40 to calculate a motion vector for an image based on the video signal output from the lens barrel 3, and proceeds to step SA30. The creation of motion vectors in the present embodiment will be described.

  In step SA20, for the image based on the video signal output from the lens barrel 3 of the lens barrel 3, a motion vector is calculated using the image before a predetermined time and the current image.

  Specifically, the video signal processing circuit 40 moves two components (for example, the vertical direction and the horizontal direction) in regions MD_1 to MD_5 at five positions in the image IM as shown in FIG. A motion vector is created by calculating a vector and calculating its average.

  In calculating the motion vector, each vector calculated for the regions MD_1 to MD_5 may be weighted according to the content expected to appear in the region. Vector weighting will be described.

  For example, an image based on the video signal output from the lens barrel 3 a predetermined time ago is the image IM01 in FIG. 9A, and an image based on the video signal output from the lens barrel 3 at the current time is illustrated in FIG. In the case of the image IM02, the motion vectors of the areas MD_1, MD_2, MD_4, and MD_5 shown in FIG. 8 are represented as vectors V1, V2, V4, and V5 in FIG. 9B. Note that the content of the region EX1 in the image IM01 changes in position in the image as indicated by the region EX1 in the image IM02. In the image IM02, the content indicated by the region EX2 is shown at the same position as the region EX1 in the image IM01.

  In the images IM01 and IM02 in FIGS. 9A and 9B, in the areas MD_1, MD_3, and MD_4 in FIG. 8, the center of the subject (the house or the mountain in FIGS. 9A and 9B). Is considered to be noticeably moving. In the auto pan operation, the lens barrel 3 reciprocates along a predetermined route, so that the contents of the subject captured by the lens barrel 3 and the position thereof can be assumed. Therefore, in the calculation of the motion vector, when the vector is calculated by dividing the image based on the video signal output from the lens barrel 3 into a plurality of regions, the region where the center of the subject is noticeably moved (see FIG. 9). In the example shown, it is preferable to calculate by weighting so that the weight of the vector calculated in the region MD_1, MD_3, MD_4) becomes high.

  Returning to FIG. 7, in step SA30, the central control unit 2 determines whether or not the motor control information acquired in step SA10 is under constant speed movement control. If so, the process proceeds to step SA40. If not, the process proceeds to step SA50.

  Returning to FIG. 7, in Step SA40, the central control unit 2 determines whether or not the magnitude of the vector calculated as the difference between the motion vector calculated in Step SA20 and the reference vector is equal to or larger than the first threshold value. If YES, the process proceeds to step SA60, and if not, the process returns to step SA10.

  Here, the reference vector is a motion vector to be calculated by a change in an image based on a video signal output from the lens barrel 3 within a predetermined time, which is expected by constant speed control in an auto pan operation. The reference vector can be calculated in advance based on the image of the location where the lens barrel 3 is to be imaged and the moving speed of the lens barrel 3 in the auto pan operation, or the central control unit 2 can execute the step SA40. It can also be calculated. The first threshold value is basically set to 0, but may be set to a value other than 0 in order to give a certain margin to the control in the abnormality notification process.

  In step SA50, the central control unit 2 determines whether or not the magnitude of the motion vector calculated in step SA20 is greater than or equal to the second threshold value. If so, the process proceeds to step SA60. If not, the process returns to step SA10.

  When the process of step SA10 is executed, it is estimated that the lens barrel 3 is stationary. Therefore, the second threshold value is basically 0. However, the value may be set to a value other than 0 in order to give a certain margin to the control in the abnormality notification process.

  In Step SA60, the central control unit 2 executes a process for notifying abnormality and ends the abnormality detection process. The process for notifying abnormality is, for example, displaying a message for notifying abnormality on the display 4 or outputting a sound for notifying abnormality via a speaker (not shown) provided in the monitoring camera unit 1. To do.

  In the abnormality notification process described above, the presence / absence of an abnormality is determined based on the motion vector calculated from the image captured by the lens barrel 3 based on the amount of motion of the lens barrel 3. Specifically, the magnitude of the motion vector is different from the magnitude of the vector predicted for the lens barrel 3 at that time (for example, the reference vector in step SA40) (or a difference equal to or greater than the first threshold value). ), The abnormality is notified that the movement mode of the lens barrel 3 is different from the control based on the auto pan operation.

  In the present embodiment, the video signal processing circuit 40 that calculates the motion vector that is the amount of motion constitutes a detection unit that detects the amount of motion of the lens barrel 3. The central control unit 2 may calculate the motion vector that is the amount of motion.

[Other variations]
In each of the embodiments described above, a CCD is employed as an image sensor, but the present invention is not limited to this, and other types of elements such as CMOS (Complementary Metal Oxide Semiconductor) may be employed.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims. In addition, the technical ideas described in the embodiments may be implemented singly or in combination as much as possible.

  That is, for example, as the amount of movement of the lens barrel, the angular velocity value is detected in the first embodiment and the motion vector is calculated in the second embodiment. The amount of movement may be detected, and it may be configured to select which one is to be adopted by a user input or the like. The imaging device according to the present invention compares the actual amount of movement of the lens barrel with the amount of movement expected based on the movement control, and if there is a difference (or if the difference is large), notifies the abnormality. .

  DESCRIPTION OF SYMBOLS 1 Surveillance camera unit, 2 Central control part, 2A Storage device, 3 Lens tube, 4 Display, 5 Controller, 6 Monitoring object, 11, 12 Angular velocity sensor, 21 Camera control part, 22 Tilt motor control part, 23 Pan motor control part , 30 arm, 31 tilt motor, 32 rotary plate, 33 slip mechanism, 34 base, 35 pan motor, 36 pan gear, 40 video signal processing circuit, 50 joystick, 51 operation keys.

Claims (7)

An imaging unit for imaging a subject;
A movement control unit for controlling a movement mode of the imaging unit;
A detection unit for detecting a movement mode of the imaging unit;
A notification unit for notifying an abnormality when the movement mode detected by the detection unit is different from the movement mode to be detected when the imaging unit is moved according to the movement control by the movement control unit; Imaging device. The detection unit detects the amount of movement of the imaging unit as a movement mode of the imaging unit,
When the difference between the amount of movement detected by the detection unit and the amount of movement of the imaging unit to be moved according to movement control by the movement control unit exceeds a predetermined threshold, The imaging apparatus according to claim 1, wherein an abnormality is notified.   The imaging device according to claim 2, wherein the detection unit detects an angular velocity of the imaging unit as the amount of movement. The movement control unit intermittently moves the imaging unit between a plurality of fixed states,
During the period when the movement control unit moves the imaging unit so as to change the imaging unit from the first fixed state to the second fixed state, the notification unit detects an angular velocity detected by the detection unit from a specific value. The imaging device according to claim 3, wherein an abnormality is notified when the value is low.   During the period in which the movement control unit moves the imaging unit so as to change the imaging unit from the first fixed state to the second fixed state, the rotation unit of the angular velocity detected by the detection unit is The imaging apparatus according to claim 3 or 4, wherein it is determined whether or not the rotation direction is different from the rotation direction based on the control by the movement control unit, and an abnormality is notified when the rotation direction is determined to be different. A method of controlling an imaging apparatus including an imaging unit that images a subject,
Controlling the movement mode of the imaging unit;
Detecting a movement mode of the imaging unit;
Comparing the detected movement mode with a movement mode to be detected when the imaging unit is moved according to the control of the movement mode;
A method for controlling an imaging apparatus, comprising: reporting an abnormality when the detected movement mode and the movement mode to be detected are different. A control program to be executed by an imaging apparatus including an imaging unit that images a subject,
On the computer,
Controlling the movement mode of the imaging unit;
Detecting a movement mode of the imaging unit;
Comparing the detected movement mode with a movement mode to be detected when the imaging unit is moved according to the control of the movement mode;
A control program for executing an abnormality notification step when the detected movement mode and the movement mode to be detected are different.

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