JP2012054883A - Imaging control system, control device, control method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a user to easily recognize the drive direction of an imaging apparatus, when the direction of the imaging apparatus having drive mechanisms for panning and tilting is to be fitted to a desired imaging direction.SOLUTION: A pan aid guide 315 indicating a pan drive direction is superposed on a display image 310 without overlapping with a movement route of an imaging center moved by pan drive, as illustrated in Fig. (a). Because the pan aid guide 315 displays the pan drive direction even when the imaging direction of the imaging apparatus coincides with a pan rotary axis, as illustrated in Fig. (c), the user can recognize the drive direction of the imaging apparatus. Also, the user can recognize how a pan main guide 313, which indicates the movement route of the imaging center moved by the pan drive, is varied by a tilt drive of the imaging apparatus.

Description

  The present invention relates to an imaging control system that controls an imaging apparatus, a control apparatus and control method for the imaging apparatus, and a program.

  2. Description of the Related Art Conventionally, there is an imaging control system that includes an imaging device connected to a network and a client device that controls the imaging device via the network. In the imaging control system, the pan and tilt drive mechanism of the imaging apparatus can be controlled by an operation on the client apparatus. An imaging control system for the purpose of enabling a user to easily point an imaging device in the direction of a target when panning and tilting the imaging device using such an imaging control system is known. (For example, Patent Document 1). The imaging control system described in Patent Document 1 stores a table in which the relationship between pan angle and name display characters such as “east”, “west”, “south”, and “north” is stored in a memory in the imaging device. The imaging device is directed at the pan angle corresponding to the input name display character, or the name display character corresponding to the direction in which the imaging device is directed is displayed on the monitor.

JP 2004-266876 A

  Further, when performing pan / tilt driving of the imaging device, as a method for helping the user to operate the imaging direction of the imaging device in a target direction, it is conceivable to display the pan / tilt driving direction superimposed on the captured image. . However, when the pan and tilt drive directions are displayed in a superimposed manner, there is a problem that the user may not be able to recognize the drive direction in a specific imaging direction.

  Below, the problem which arises in a drive direction display is demonstrated. A description will be given of how the driving direction is displayed on the display image and how the driving direction is changed with the operation of the tilt mechanism with reference to FIG.

  In FIG. 9A, the axis 901 is the imaging direction of the imaging device 110, the display image 910 is an image displayed on the display device, the imaging center 911 is the center of the captured image, and the pan rotation center 912 is the pan rotation center on the display image. Indicates the position. In FIG. 9A, a pan direction guide 913 indicates a guide indicating the pan driving direction by the pan driving mechanism, and a tilt direction guide 914 indicates a direction guide indicating the tilt driving direction by the tilt driving mechanism. The pan direction guide 913 and the tilt direction guide 914 are expressed as straight lines or curves passing through the imaging center 911. These direction guides dynamically change in shape in accordance with changes in the imaging direction, that is, operations of the pan, tilt, and rotation mechanisms.

  When the shaft 901 is nearly perpendicular to the pan rotation axis 203 as shown in FIG. 9A, the pan direction guide 913 approaches a straight line and the curvature becomes small. On the other hand, a display image when the tilt mechanism is operated from the state of the shaft 901 and the imaging direction is brought close to the pan rotation axis will be described with reference to FIG. As shown in FIG. 9B, as the imaging direction approaches the pan rotation axis 203, the distance between the imaging center 911 and the pan rotation center 912 is closer on the display image 920, and the curvature of the pan direction guide 913 is growing. As described above, when the imaging direction is in the vicinity of the pan rotation axis 203, the pan direction guide 913 is a circle or arc having a small radius, and it is difficult for the user to recognize the pan driving direction. Further, if the tilt operation is further continued from the state of the image pickup apparatus, the pan direction guide converges to a point and cannot be displayed when the image pickup direction reaches the pan rotation axis. Therefore, the user cannot recognize the pan driving direction.

  As described above, when the pan direction guide and the tilt direction guide are superimposed so as to pass through the center of the captured image, the pan movement direction becomes difficult to recognize or cannot be recognized in a specific state. There is a problem that causes confusion when trying to match. Accordingly, an object of the present invention is to enable a user to more easily recognize the driving direction of an imaging device when trying to match the orientation of the imaging device to a desired imaging direction.

  In order to achieve the above object, a control device according to the present invention includes an image pickup unit that picks up an image on the image pickup element with an intersection between an optical axis and the image pickup element as an image pickup center, and a pan drive unit that drives the image pickup unit to pan And a tilt driving means for operating the pan driving means, and a tilt for operating the tilt driving means. And a superimposing unit that superimposes a pan direction guide indicating a pan driving direction by the pan driving unit on the captured image captured by the imaging unit, and the superimposing unit moves the imaging center by pan driving. The pan direction guide that does not overlap the moving path is superimposed on the captured image.

  The present invention allows a user to more easily recognize the driving direction of the imaging apparatus by superimposing a panning direction guide that does not overlap the movement path along which the imaging center moves by panning on the captured image.

The block diagram for demonstrating the imaging control system of this invention. Explanatory drawing of an imaging device having a pan, tilt, and rotation mechanism. The figure for demonstrating the display image in Example 1 of this invention. FIG. 6 is a diagram for explaining a display image at the time of rotation driving in the first embodiment. The flowchart for demonstrating operation | movement of the control apparatus concerning this invention. The flowchart for demonstrating operation | movement of the imaging device concerning this invention. The figure for demonstrating the virtual spherical surface centering on an imaging device. The figure for demonstrating the display image in Example 2 of this invention. Explanatory drawing of a prior art example.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 shows a block diagram of an imaging control system in the first embodiment of the present invention. In FIG. 1, the imaging device 110 performs imaging. The client device 130 performs setting of the imaging device 110, display of a captured image, and recording. A network 190 connects the imaging device 110 and the client device 130. The network 190 includes a plurality of routers, switches, cables, and the like that satisfy a communication standard such as Ethernet (registered trademark). In the present invention, any communication standard, scale, and configuration may be used as long as communication between each server and client can be performed. For example, the network 190 may be configured by the Internet, a wired LAN (Local Area Network), a wireless LAN (Wireless LAN), a WAN (Wide Area Network), or the like.

  First, the configuration of the imaging device 110 will be described. The imaging unit 111 includes an imaging element and an optical system that connects an image of a subject on the imaging element, and performs imaging on the imaging element with an intersection between the optical axis of the optical system and the imaging element as an imaging center. The image sensor is an image sensor such as a CMOS (Complementary Metal-Oxide Semiconductor) or a CCD (Charged Coupled Device).

  The pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 drive the imaging unit 111 based on an instruction from the CPU 115 described later. The pan driving unit 112 pans the imaging unit 111. The tilt driving unit 113 drives the imaging unit 111 to tilt. The rotation driving unit 114 rotates a lens unit 207 (described later) constituting the imaging unit 111 around a rotation rotation shaft 208 (described later).

  The video processing unit 116 processes the video signal captured by the imaging unit 111. The video processing performed in the video processing unit 116 is conversion of a digital video signal of an image signal captured by the imaging unit 111, encoding of the digital video signal, and the like. For example, YUV can be used as the format of the digital video signal. Also, as a method of encoding a digital video signal, for example, MPEG4, H. A system based on a standard such as H.264, MJPEG or JPEG can be used. The video signal subjected to the video processing by the video processing unit 116 is temporarily stored in the memory 117 and is output from the network 190 to the client device 130 via the communication control unit 118 under the control of the CPU 115 described later.

  The communication control unit 118 performs packetization processing on the encoded digital video signal. Further, the communication control unit 118 performs a packet multiplexing process according to a predetermined format in order to output a digital video signal to the network 190 according to the control of the CPU 115. As the predetermined format, for example, a format such as HTTP (Hypertext Transfer Protocol), RTP (Real-time Transport Protocol), or the like can be used. The communication control unit 118 transmits the digital video signal imaged by the imaging unit 111 to the network 190.

  The CPU 115 reads and executes a program stored in the memory 117, thereby controlling the operation of each component included in the imaging device 110. Further, the CPU 115 controls the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 in accordance with commands received from the client device 130 via the network 190. Further, the CPU 115 transmits the pan, tilt, and rotation positions of the imaging unit 111 to the client device 130 via the communication control unit 118 based on the driving results of the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114. Further, the CPU 115 acquires the angle of view of the image capturing unit 111, the size of the captured image captured by the image capturing unit 111, and the like from the image capturing unit 111 and transmits the acquired image to the client device 130.

  An example of the imaging device 110 is shown in FIGS. 2 (a) and 2 (b). FIG. 2A is a side view of the imaging device 110. In FIG. 2A, the pan rotating part is composed of a bottom case 201 and a turntable 202, and the turntable 202 rotates around a pan rotating shaft 203. The pan driving unit 112 is configured by a stepping motor or the like, and pans the imaging unit 111 by rotating the turntable 202.

  FIG. 2B is a front view of the imaging device 110. The tilt rotation unit is composed of a lens column 204 and a lens case 206, and has a structure in which the lens case 206 rotates about a tilt rotation axis 205. The tilt driving unit 113 is configured by a stepping motor or the like, and tilts the imaging unit 111 by rotating the lens case 206. The rotation part of the rotation is constituted by a lens case 206 and a lens unit 207, and the lens unit 207 rotates around a rotation rotation axis 208. The rotation drive unit 114 is configured by a stepping motor or the like, and rotates the imaging unit 111 by rotating the lens unit 207.

  Next, the client device 130 will be described with reference to FIG. Under the control of the CPU 137, the client device 130 receives the captured image transmitted from the imaging device 110 via the communication control unit 131, temporarily stores it in the memory 132, and sends it to the display control unit 133.

  The display control unit 133 superimposes a pan direction guide indicating the pan driving direction by the pan driving unit 112 on the captured image captured by the imaging unit 111. Further, the display control unit 133 superimposes a tilt direction guide indicating a tilt driving direction by the tilt driving unit 113 on the captured image captured by the imaging unit 111. Then, the display control unit 133 causes the display device 170 to display a pan direction guide indicating the pan driving direction by the pan driving unit 112 and a tilt direction guide indicating the tilt driving direction by the tilt driving unit 113 on the captured image. The display mode will be described later with reference to FIG. Further, the display control unit 133 performs display control for displaying a user interface such as an operation button on the display device 170.

  The UI control unit 136 receives an instruction from the input device 150 described later, and transmits a command for controlling the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 to the imaging device 110 via the communication control unit 131 by the CPU 137. To do. The UI control unit 136 includes a pan operation unit 138 for operating the pan drive unit 112, a tilt operation unit 139 for operating the tilt drive unit 113, and a rotation operation unit 140 for operating the rotation drive unit 114. .

  The input device 150 is a device for inputting a command for the user to operate the imaging device 110. The input device 150 outputs pan, tilt, and rotation drive commands input by the user to the UI control unit 136. The input device 150 is, for example, a keyboard or a mouse. The user operates the imaging device 110 by operating an operation button or the like displayed on the display device 170 described later using a keyboard or a mouse. Alternatively, the input device and the display device may be integrally configured, and a command to the imaging device 110 may be input using a touch panel or the like.

  The display device 170 displays a captured image captured by the imaging device 110 and a direction guide indicating a driving direction such as panning and tilting by display control of the display control unit 133. Although the client device 130 and the display device 170 are shown as independent devices in FIG. 1, the client device 130 and the display device 170 may be configured as a single unit. For example, when a PC (Personal Computer) is used as the client device 130, the PC can also function as the display device 170 by displaying a captured image and a direction guide on the PC display.

  Next, an example of a display image displayed on the display device 170 by the display control of the display control unit 133 is shown in FIG. FIG. 3A is a diagram when the imaging direction is nearly perpendicular to the pan rotation axis 203. In FIG. 3A, a display image 310 is a display image displayed on the display device 170 as a result of the display control unit 133 performing display control on the captured image received by the client device 130 from the imaging device 110. The imaging center 311 is an intersection between the optical axis of the optical system that connects the subject image on the imaging device and the imaging device of the imaging unit 111.

  The pan rotation center 312 indicates the position of the pan rotation center in the plane of the display image 310. The pan main guide 313 is a pan direction guide that indicates a pan movement direction so as to overlap a movement path along which the imaging center 311 moves by pan driving. A method for setting the pan rotation center and a display method for the pan main guide 313 will be described later with reference to FIG. The tilt main guide 314 is a tilt direction guide that indicates a tilt moving direction so as to overlap a moving path along which the imaging center 311 moves by tilt driving. The pan assist guide 315 is a pan direction guide that does not overlap the moving path along which the imaging center 311 moves by pan driving. The pan auxiliary guide 315 is displayed at an appropriate interval outside the pan main guide 313 with respect to the pan rotation center 312 and indicates the pan driving direction to the user in the same manner as the pan main guide 313. In this manner, the display control unit 133 superimposes the pan direction guide that does not overlap the moving path along which the imaging center 311 moves by pan driving on the captured image. A display method of the bread assist guide 315 will be described later.

  Here, a display method of the pan main guide 313 and a setting method of the pan rotation center 312 will be described with reference to FIG. In FIG. 3E, a pan rotation axis 203 is a rotation axis for the imaging unit 111 to perform pan rotation, and an imaging apparatus position 300 is a position of the imaging apparatus. In FIG. 3E, a captured image 302 is a captured image virtually arranged so as to be orthogonal to the imaging direction of the imaging unit 111, and a vector 301 is a vector indicating the direction of the center of the captured image 302. The size of the vector 301 is set according to the angle of view of the captured image 302 and the size of the captured image 302.

The display control unit 133 performs display control of the pan main guide 313 and setting of the pan rotation center 312. First, the display control unit 133 obtains the size of the vector 301 from the angle of view acquired from the imaging device 110 and the size of the captured image 302. The size of the vector 301 is obtained by, for example, (Equation 1). However, the size of the vector 301 is L, the length of the diagonal line of the captured image 302 is 2d, and the diagonal view angle of the captured image 302 is 2α.
(Formula 1) L = d / tan α
Further, the display control unit 133 obtains an angle 303 formed by the pan rotation axis 203 and the vector 301 from the tilt angle acquired from the imaging device 110. Then, the display control unit 133 derives the length of the pan rotation radius 304 from the previously obtained size L of the vector 301 and the angle 303. The length of the pan rotation radius can be obtained by (Equation 2). However, the length of the pan rotation radius 304 is r, and the angle 303 is β.
(Formula 2) r = L · sin β
The bread rotation radius 304 thus obtained is used as a radius, and the circumference of a circle orthogonal to the pan rotation axis 203 is obtained as the pan rotation trajectory 305. Then, the pan main guide 313 is displayed by projecting and depicting the pan rotation trajectory 305 viewed from the imaging device position 300 from the imaging device position 300 to the virtual captured image 302.

  Further, the intersection of the plane including the captured image 302 and the pan rotation axis 203 is set as the pan rotation center 312. However, in the present embodiment, when the angle 303 is 90 degrees, the pan rotation center 312 is on a line that passes through the imaging center of the captured image 302 in the plane of the captured image 302 and is parallel to the pan rotation axis 203, and above the drawing. It shall be set as existing. The setting method of the pan rotation center 312 when the angle 303 is 90 degrees is not limited to this. When the angle 303 is 90 degrees, the pan rotation center 312 may not be set on the plane of the captured image 302.

  The display method of the pan main guide 313 and the setting method of the pan rotation center 312 are not limited to this. For example, a point moved from the imaging center 311 of the display image 310 by a distance equal to the pan rotation radius 304 in the tilt drive direction and upward in FIG. Then, an arc of a circle drawn with the pan rotation radius 304 as a radius from the pan rotation center 312 may be displayed as the pan main guide 313. Further, the bread main guide 313 may not be represented by an arc. For example, the pan driving direction may be indicated by displaying an arrow as shown in FIG. For example, the arrow can be drawn so as to circumscribe a curve drawn by projecting the pan rotation trajectory 305. Alternatively, the arrow can be displayed so that both ends of the arrow are inscribed in a curve drawn by projecting the pan rotation trajectory 305. These are examples for indicating the pan driving direction, and the display method is not limited to the above.

  Next, a display method of the bread assist guide 315 will be described. The bread auxiliary guide 315 can be displayed so that the distance from the bread main guide 313 is constant. Alternatively, the pan driving direction may be indicated by displaying an inscribed or circumscribing arrow on a curve displayed so that the distance from the pan main guide 313 is constant in the same manner as the pan main guide 313. In FIG. 3A, the bread main guide 313 is shown as a solid line and the bread auxiliary guide 315 is shown as a broken line, but the bread main guide 313 may be shown as a broken line, or the bread auxiliary guide 315 may be shown as a solid line. The display method of the pan auxiliary guide 315 is not limited to the above-described method, and any method may be used as long as it indicates the pan driving direction so as not to overlap the moving path along which the imaging center 311 moves by pan driving.

  3A, the imaging apparatus 111 is instructed to be tilted from the input device 150 and is tilted in a direction toward the pan rotation center position (upward in the figure). The display image 320 when approaching will be described with reference to FIG. When the imaging direction approaches the pan rotation axis 203, the imaging center 311 and the pan rotation center 312 approach, so the radius of the pan main guide 313 becomes small and the driving direction becomes difficult to recognize. However, by displaying the pan auxiliary guide 315 on the outside of the pan main guide 313, the pan driving direction can be indicated by an arc having a larger radius, so that the user can easily recognize the pan driving direction.

  The image pickup unit 111 is tilt-driven from the state of FIG. 3B toward the pan rotation center position, and a display image 330 when the image pickup center 311 and the pan rotation axis coincide with each other is shown in FIG. I will explain. In this state, the pan rotation center position derived from the state value of the imaging device 110 and the imaging center 311 coincide with each other, so that the pan main guide 313 converges to one point and cannot be displayed. However, since the pan auxiliary guide 315 set to be displayed outside the pan main guide 313 continues to be displayed without converging, the user can recognize the pan driving direction.

  Further, like the display image 340 shown in FIG. 3D, the display control unit 133 can display the second bread auxiliary guide 316 inside the bread main guide 313. This second pan auxiliary guide 316 shows in advance how the pan main guide 313 changes when it is tilt-driven in the direction toward the pan rotation center 312 (upward in the figure). Can be shown. Therefore, even if the pan main guide converges and is not displayed as described above, the moving direction of the captured image can be appropriately conveyed to the user without causing confusion to the user. In this way, the imaging control system or control device according to the present embodiment can allow the user to more easily recognize the driving direction of the imaging device.

  FIG. 4 shows a display image 410 when the imaging unit 111 is rotated from the state of FIG. When the imaging unit 111 is rotated, the display image 340 in FIG. 3D rotates around the imaging center 311. The display control unit 133 rotates the directions of the pan main guide 313, the tilt main guide 314, the pan auxiliary guide 315, and the pan auxiliary guide 316 around the imaging center 311 with the rotation of the display image 340 and superimposes it on the captured image. In this way, the display control unit 133 superimposes the pan direction guide and the tilt direction guide on the captured image in accordance with the drive of the rotation driving unit 114.

  As a result, the client device 130 can indicate to the user the pan and tilt drive directions when the imaging unit 111 is rotated. Even when the pan rotation center position and the imaging center 311 coincide with each other and the pan main guide 313 converges to one point and cannot be displayed, the pan assist guide 315 can indicate the pan driving direction to the user. Furthermore, when the tilt is driven in the direction toward the pan rotation center 312 by the pan auxiliary guide 316, it can be shown to the user in advance how the pan main guide 313 changes. When the rotation driving is performed, the pan driving direction and the tilt driving direction are inclined as shown in FIG. 4, so that it is difficult for the user to grasp the pan driving direction and the tilt driving direction. However, according to the present embodiment, the pan driving direction and the tilt driving direction can be shown to the user even when the optical axis of the imaging apparatus approaches the pan rotation axis.

  Next, the operation of the client device 130 according to the present embodiment will be described with reference to the flowchart of FIG. The processing flow of FIG. 5 shows a program for causing the client apparatus 130 to execute the procedure shown in FIG. The CPU 137 built in the client device 130 is a computer, and executes a program read from the memory 132 built in the client device 130.

  First, the client apparatus 130 enters a PTR (pan / tilt / rotation) setting mode (S100). The PTR setting mode refers to a mode that enables operation setting of the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 of the imaging device 110 from the client device 130. Specifically, in the PTR mode, the display control unit 133 that has received a command from the CPU 137 causes the display device 170 to display a display image and operation buttons for pan, tilt, and rotation operation settings. Then, the client device 130 issues a command instruction to the imaging device 110 in accordance with an instruction input by the user operating the operation button from the input device 150.

  Next, as described with reference to FIGS. 3 and 4, the client apparatus 130 adjusts the panning main guide 313, the tilting main guide 314, the panning auxiliary guide 315, and the current panning, tilting, and rotation angles. The pan auxiliary guide 316 is displayed (S110).

  Next, the client device 130 determines whether a driving instruction for the imaging device 110 is input from the input device 150 (S120). When a driving instruction for the imaging device 110 is input from the input device 150 to the client device 130 (Yes in S120), the client device 130 sends a driving command corresponding to the input operation to the imaging device 110 ( S130). Thereafter, the process returns to S110.

  Subsequently, the operation of the imaging apparatus 110 in the present embodiment will be described with reference to the flowchart of FIG. The processing flow of FIG. 6 shows a program for causing the imaging apparatus 110 to execute the procedure shown in FIG. The CPU 115 built in the imaging apparatus 110 is a computer, and executes a program read from the memory 117 built in the imaging apparatus 110.

  The imaging device 110 first initializes the imaging device 110 (S200). In step S200, the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 are initialized, and the imaging apparatus and the like are initialized. By the initialization, the origin positions of the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 are confirmed, and the current imaging position is detected. Then, the current position of the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114 and the angle of view of the captured image are transmitted as statuses to the client device 130 (S210). When the initialization is completed, the imaging device 110 transmits a captured image to the client device 130 (S220). Then, the imaging device 110 waits for command reception from the client device 130 (S230).

  When a command is input from the client device 130, the imaging device 110 performs one of pan driving, tilt driving, rotation driving, or a plurality of driving according to the command (S240). Pan driving, tilt driving, and rotation driving are performed by the pan driving unit 112, the tilt driving unit 113, and the rotation driving unit 114, respectively. The imaging device 110 transmits the current position after the driving instructed from the client device 130 and the angle of view of the captured image to the client device 130 as a status (S250). Thereafter, it waits for command reception again (S230).

  In addition to the method of always displaying the bread auxiliary guide 315 and the bread auxiliary guide 316 displayed outside or inside the bread main guide 313 described above, only when the imaging area of the imaging unit 111 is within a specific range. You may make it display. For example, when the angle 303 formed by the pan rotation axis 203 for the pan driving unit 112 to drive the image capturing unit 111 and the vector 301 of the image capturing unit 111 is equal to or less than a threshold, the display control unit 133 performs the pan assist guide. 315 and the pan auxiliary guide 316 can be superimposed on the captured image. Here, it is assumed that the vector 301 and the optical axis of the imaging unit 111 coincide. Alternatively, the pan assist guide 315 and the pan assist guide 316 can be displayed when the distance between the imaging center 311 and the pan rotation center 312 shown in FIG.

  As described above, the distance between the imaging center 311 and the pan rotation center 312 is determined based on the length of the pan rotation radius 304 in FIG. Further, the length of the pan rotation radius 304 changes according to the angle of view of the imaging unit 111 and the size of the captured image 302. Accordingly, the display control unit 133 changes the threshold value of the angle 303 according to the angle of view of the imaging unit 111 and the size of the captured image, so that the distance between the imaging center 311 and the pan rotation center 312 is equal to or less than a predetermined value. The bread auxiliary guide 315 and the bread auxiliary guide 316 can be displayed. Other methods may be adopted as a method for determining whether the imaging region of the imaging unit 111 is within a specific range, and is not limited to these methods.

  In this way, when it is highly likely that the pan main guide 313 converges to the pan rotation center 312 when the imaging unit 111 is tilt driven, the pan auxiliary guide 316 displays the pan main guide 313 when the tilt driving is continued. The user can be informed that it will disappear. In addition, even after the pan main guide 313 is not displayed, the pan driving guide 315 can inform the user of the pan driving direction. Furthermore, when the imaging area of the imaging unit 111 is not within a specific range, the pan assist guide 315 and the pan assist guide 316 are not displayed, so that it is possible to prioritize the visibility of the captured image. In addition to using the threshold value, the user may be allowed to switch between display and non-display. The display method of the pan and tilt movement direction of the present invention is not limited to the method described above.

  According to the configuration described above, the display control unit 133 superimposes the pan direction guide that does not overlap the moving path along which the imaging center moves by pan driving on the captured image. Therefore, even when the imaging center and the pan rotation center overlap and the pan main guide 313 is no longer displayed, the user can recognize the moving direction. Also, by displaying the pan assist guide 316 on the inner side (pan rotation center side) of the imaging center moving path, the user recognizes how the pan main guide changes before the imaging center and the pan rotation center overlap. be able to. In this way, the present embodiment can appropriately convey the moving direction of the imaging region to the user. Therefore, the user can more easily recognize the driving direction of the imaging apparatus 110 than when only the pan main guide 313 is displayed on the display image.

  In the present embodiment, the case where the pan main guide 313 indicating the pan movement direction is displayed so as to overlap the moving path along which the imaging center 311 moves is described, but only the auxiliary guide is displayed without displaying the pan main guide 313. Even in this case, the effects of the present invention can be achieved.

  In the second embodiment, an imaging system that superimposes and displays a latitude and longitude on a spherical surface virtually set around the imaging device 110 on a captured image will be described.

  First, the configuration of the imaging system according to the second embodiment will be described. The display control unit 133 of the client device 130 superimposes and displays the latitude and longitude on the spherical surface virtually set around the imaging device 110 in addition to the pan main guide and the tilt main guide on the captured image. Since other configurations are realized by the same configuration as the imaging control system described with reference to FIG. 1 in the first embodiment, description of each configuration is omitted. About each structure, it attaches | subjects and uses the same number as the number used in FIG.

  Next, a display image displayed on the display device 170 by the display control of the display control unit 133 will be described with reference to FIGS. FIG. 7A shows a virtual spherical surface virtually set around the imaging device 110. In FIG. 7A, an imaging device position 710 indicates a position where the imaging device 110 is installed. A pan rotation axis 203 indicates a rotation axis for the imaging unit 111 to perform pan driving. A spherical surface 720 is a spherical surface virtually set around the imaging device. A latitude line 721 is a latitude line set on a spherical surface, and a meridian line 722 is a meridian set on a spherical surface. Latitude lines 721 and meridians 722 on the spherical surface 720 are set at predetermined positions on the spherical surface 720. In this embodiment, the latitude line 721 is set for each fixed latitude from the equator plane with the imaging device position 710 as the center. A meridian 722 is set for each fixed longitude from a predetermined meridian serving as a reference line with the imaging device position 710 as the center. The setting method of the latitude line 721 and the meridian line 722 is arbitrary and is not limited to the above-described method.

  Next, an example of a display image displayed on the display device 170 when the imaging device 110 captures an image from the imaging device position 710 will be described with reference to FIGS. 8A and 8B. The captured image captured by the imaging device 110 is transmitted to the client device 130. Then, the display control unit 133 superimposes the latitude line 721 as a pan direction guide on the captured image arranged on the virtual spherical surface. Further, in this embodiment, the display control unit 133 superimposes the pan main guide 813, the tilt main guide 814, and the meridian 722 on the captured image and outputs the superimposed image to the display device 170.

  In FIG. 8A, a display image 810 represents a display image displayed on the display device 170. The imaging center 811 is an intersection of the optical axis of the optical system that connects the subject image on the imaging device and the imaging device of the imaging unit 111. A pan rotation center 812 indicates the position of the pan rotation center in the plane of the display image 810.

  The pan main guide 813 is a pan direction guide that indicates a pan moving direction so as to overlap a moving path along which the imaging center 811 moves by pan driving. The tilt main guide 814 passes through the imaging center 811 and indicates the tilt driving direction. A latitude line 721 indicates a latitude line set on the spherical surface, and a meridian line 722 indicates a longitude line set on the spherical surface. In the present embodiment, the pan main guide 813 and the tilt main guide 814 are superimposed on the captured image, and the latitude line 721 and the meridian line 722 are superimposed to indicate the pan and tilt drive directions. The display positions of the latitude line 721 and the meridian line 722 are controlled using the setting values of the latitude line 721 and the meridian line 722 set on the spherical surface and the imaging position of the imaging device 110.

  The display method of the bread main guide is the same as the method described with reference to FIG. Next, a method for displaying latitude lines 721 and meridians 722 will be described. First, the display control unit 133 of the client device 130, as shown in FIG. 7B, based on the imaging position information such as the pan angle, the tilt angle, and the rotation amount received from the imaging device 110, the angle of view, and the image size. A virtual display image 730 is set on the virtual spherical surface 520. Then, preset latitude lines 721 and meridians 722 are projected from the imaging device position 710 to the display image 730. The latitude lines 721 and meridians 722 thus projected on the display image 730 are displayed as latitude lines 721 and longitude lines 722 in the display image 810.

  The display method described above is an example, and the display method of the latitude line 721 and the meridian 722 is not limited to this. Further, in FIG. 8A, the latitude line 721 and the meridian line 722 are shown by broken lines, but the present invention is not limited thereto, and they may be displayed by solid lines or arrows. Alternatively, the latitude line 721, the meridian line 722, the pan main guide 813, and the tilt main guide 814 may be displayed in different colors so that they can be distinguished.

  Next, the display image 820 when the tilt is driven from the state of FIG. 8A and the imaging direction coincides with the pan rotation axis will be described with reference to FIG. In this state, the pan main guide 813 cannot be displayed because it converges to a point as in the first embodiment. However, since the latitude line 721 set on the spherical surface additionally displays the pan driving direction, the user can recognize the pan driving direction. Further, the latitude line 721 allows the user to confirm in advance how the pan main guide is changed by the pan driving operation. Thus, in the present embodiment, the latitude line 721 serves as the bread assist guide 315 and the bread assist guide 316 in the first embodiment.

  In addition to the method of always displaying the latitude lines 721 and meridians 722 described above, in addition to the method of always displaying, a method of displaying a threshold separately and displaying only when the imaging direction is within a specific range, or the user's own display And non-display may be switched. Further, the positions of the latitude line 721 and the meridian 722 set on the spherical surface may be variable.

  Subsequently, when the imaging unit 111 is rotated, the display image 810 in FIG. 8A rotates about the imaging center 811 as in the first embodiment. The display control unit 133 rotates the orientation of the pan main guide 813 and the tilt main guide 814 around the imaging center 811 as the captured image rotates. Further, the display control unit 133 newly sets a display image 730 on the spherical surface 720 according to the rotation drive amount. Then, the display control unit 133 projects the latitude lines 721 and meridians 722 after rotation onto the display image 730, and displays the projected latitude lines 721 and longitude lines 722 on the display image after rotation. Alternatively, the latitude line 721 and the meridian line 722 may be rotated around the imaging center 811 of the display image 810 together with the pan main guide 813 and the tilt main guide 814.

  As a result, the client device 130 can indicate to the user the pan and tilt drive directions when the imaging unit 111 is rotated. Even when the pan rotation center position coincides with the imaging center 811 and the pan main guide 813 converges to one point and cannot be displayed, the latitude driving line 721 can indicate the pan driving direction to the user. Furthermore, the latitude line 721 indicates to the user in advance how the pan main guide 813 changes when the tilt is driven in the direction toward the center of pan rotation (upward in the figure). it can.

Since the operations of the client device 130 and the imaging device 110 in the imaging control system according to the present embodiment are the same as those described with reference to FIGS. 5 and 6 in the first embodiment, description thereof will be omitted.
In the above-described configuration, the latitude line 721 is set on the virtual sphere set with the imaging device as the center, and the latitude line 721 is superimposed on the display image 810. Therefore, even when the imaging center 811 and the pan rotation center 812 overlap with each other and the pan main guide 813 is not displayed, the user can recognize the moving direction by the latitude line 721. The latitude line 721 allows the user to recognize how the pan main guide 813 changes before the imaging center 811 and the pan rotation center 812 overlap. In this way, this embodiment can appropriately convey the moving direction of the area to the user. Therefore, it is possible to make it easier for the user to recognize the driving direction of the imaging apparatus than when only the pan main guide 813 is displayed on the display image 810.

In the present embodiment, the case where the pan main guide 813 indicating the pan movement direction is displayed so as to overlap the moving path along which the imaging center 811 moves is described, but the pan main guide 813 is not displayed and only the latitude line 721 is displayed. Even in this case, the effects of the present invention can be achieved.
As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to these embodiment, A various deformation | transformation and change are possible within the range of the summary.

(Other examples)
In the first and second embodiments, the case where the imaging apparatus 110 has a rotation mechanism has been described. On the other hand, when there is no rotation mechanism, it is possible to perform virtual rotation by rotating the image on the client device, but the present invention can be implemented with such a configuration. Even in such a case, the pan driving direction and the tilt driving direction can be shown to the user even when the optical axis of the imaging apparatus approaches the pan rotation axis, as in the case where the imaging unit 111 is rotated. .

  Further, in the first and second embodiments, the case where the tilt main guide is displayed in addition to the pan main guide and the pan auxiliary guide has been described. However, only the pan auxiliary guide may be displayed. Even when only the pan assist guide is displayed, the moving direction of the imaging region can be appropriately conveyed to the user without the pan direction guide disappearing due to the tilt drive of the imaging unit 111. Further, the client device 130 described in the first embodiment and the second embodiment may be integrated with the imaging device 110. That is, the present invention can be implemented even when the client device 130 superimposes the pan main guide 313 and the pan auxiliary guide 315 on the captured image captured by the image capturing device 110 and then transmits the display image to the display device 170 via the network 190. It is.

DESCRIPTION OF SYMBOLS 110 Image pick-up device 111 Image pick-up part 112 Pan drive part 113 Tilt drive part 114 Rotation drive part 130 Client apparatus 133 Display control part 138 Pan operation part 139 Tilt operation part 140 Rotation operation part 311 Imaging center 313 Pan main guide 315 Pan auxiliary guide 721 Parallel line 722 Meridian

Claims (8)

Imaging means for imaging on the imaging element with the intersection of the optical axis and the imaging element as the imaging center;
Pan driving means for pan driving the imaging means;
A control device for controlling an image pickup apparatus having a tilt drive means for tilt driving the image pickup means;
Pan operating means for operating the pan driving means;
A tilt operating means for operating the tilt driving means;
A superimposing unit that superimposes a pan direction guide indicating a pan driving direction by the pan driving unit on a captured image captured by the imaging unit;
The superimposing unit superimposes the pan direction guide that does not overlap a moving path along which the imaging center moves by pan driving on the captured image. Imaging means for imaging on the imaging element with the intersection of the optical axis and the imaging element as the imaging center;
Pan driving means for pan driving the imaging means;
A tilt driving means for driving the imaging means to tilt;
A control device for controlling an imaging device having rotation driving means for rotating the imaging means about the optical axis;
Pan operating means for operating the pan driving means;
A tilt operating means for operating the tilt driving means;
A rotation operation means for operating the rotation drive means;
A superimposing unit that superimposes a pan direction guide indicating a pan driving direction by the pan driving unit on a captured image captured by the imaging unit;
The control device according to claim 1, wherein the superimposing unit superimposes the pan direction guide on the captured image in accordance with driving of the rotation driving unit.   2. The superimposing unit sets a latitude line on a virtual sphere centered on the imaging apparatus, and superimposes the latitude line on the captured image arranged on the virtual sphere as the pan direction guide. The control device described in 1.   The superimposing unit does not overlap a moving path along which the imaging center moves when an angle formed by a pan rotation axis for the pan driving unit to pan-drive the imaging unit and the optical axis is equal to or less than a threshold value. The control apparatus according to claim 1, wherein the pan direction guide is superimposed on the captured image.   The control device according to claim 4, wherein the superimposing unit changes the threshold value according to an angle of view of the imaging unit. An imaging control system having an imaging device and a control means for controlling the imaging device,
The imaging device
Imaging means for imaging on the imaging element with the intersection of the optical axis and the imaging element as the imaging center;
Pan driving means for pan driving the imaging means;
Tilt drive means for tilt driving the imaging means,
The control means includes
Pan operating means for operating the pan driving means;
A tilt operating means for operating the tilt driving means;
And a superimposing unit that superimposes a pan direction guide indicating a pan driving direction on a captured image captured by the imaging unit without overlapping a moving path along which the imaging center moves by pan driving by the pan driving unit. Imaging control system. Imaging means for imaging on the imaging element with the intersection of the optical axis and the imaging element as the imaging center;
Pan driving means for pan driving the imaging means;
A control method for controlling an imaging apparatus having a tilt driving means for tilt-driving the imaging means,
The superimposing unit has a superimposing step of superimposing a pan direction guide indicating a pan driving direction on a captured image captured by the imaging unit without overlapping a moving path along which the imaging center moves by pan driving by the pan driving unit. A control method for an imaging apparatus. Imaging means for imaging on the imaging element with the intersection of the optical axis and the imaging element as the imaging center;
Pan driving means for pan driving the imaging means;
A computer for controlling an image pickup apparatus having a tilt drive means for driving the image pickup means to tilt;
The program for performing the superimposition procedure which superimposes the pan direction guide which shows a pan drive direction on the picked-up image imaged by the said imaging means, without overlapping the movement path | route which the said imaging center moves by the pan drive by the said pan drive means.

Images