JP2014204139A - Imaging apparatus, cradle, imaging system, and control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the cost and size of a cradle.SOLUTION: The imaging apparatus which controls a cradle for driving the imaging apparatus to operate at least in one of a panning direction and a tilting direction comprises: an angular speed sensor 120 for detecting a shake; and a central controller 130 which determines whether the imaging apparatus 3 is in an operating state or a standstill state on the basis of a result of the detection by the angular speed sensor 120 and controls the cradle 2 to stop driving of the cradle 2 when determining that the imaging apparatus 3 is in the standstill state.

Description

  The present invention relates to an imaging apparatus, a cradle, an imaging system, and a control method thereof.

  Patent Document 1 discloses a moving position detection device used for a pan and tilt mechanism in a cradle (head) of a video camera. In the movement position detection device of Patent Document 1, a notch having a predetermined length having edges A and B is formed along the moving direction of the rotating plate. The reference position and limit position are detected by detecting edges A and B using the two sensors S1 and S2.

JP-A-6-284331

  When this moving position detection device is used, a sensor for detecting the limit position and the reference position is required. Therefore, it is difficult to reduce the cost of the product as a cradle and it is difficult to reduce the size of the cradle.

  SUMMARY An advantage of some aspects of the invention is that it provides an imaging device, a cradle, an imaging system, and a control method thereof that can reduce the cost and size of the cradle.

An imaging apparatus according to an aspect of the present invention is an imaging apparatus that controls a cradle that drives an imaging apparatus to operate in at least one of a pan direction and a tilt direction, the sensor detecting shake, and the sensor A controller for controlling the cradle so that the driving of the cradle is stopped when it is determined whether the imaging apparatus is in an operating state or a stationary state based on the detection result of It is provided.
An imaging system according to one embodiment of the present invention defines an imaging device, a cradle that drives the imaging device to operate in at least one of a pan direction and a tilt direction, and an operation end of a pan operation or a tilt operation. When the imaging device determines that the imaging device is in an operating state or a stationary state based on a detection result of the sensor and a detection result of the sensor, and determines that the imaging device is in a stationary state Includes a control unit that controls the cradle so that the driving of the cradle is stopped.
An imaging system control method according to an aspect of the present invention includes an imaging device, a cradle that drives the imaging device to operate in at least one of a pan direction and a tilt direction, and an operation of a pan operation or a tilt operation. An image pickup system control method comprising: a stopper that defines an end, wherein a shake of the image pickup apparatus is detected, and whether the image pickup apparatus is in an operating state or a stationary state is determined based on the detection result of the shake. When it is determined that the cradle is stationary, the cradle is controlled so that the driving of the cradle is stopped.
A cradle according to one embodiment of the present invention is a cradle that drives an imaging apparatus including a sensor that detects shake to operate in at least one of a pan direction and a tilt direction, and an operation signal from the imaging apparatus A driving mechanism for driving the imaging device in the panning or tilting direction, and a stopper for defining an operation end of a panning operation or a tilting operation by the driving mechanism. When the stationary state is determined based on the detection result, a stop signal is input from the imaging device, and when the stop signal is input, the drive of the drive mechanism is stopped.

  According to the present invention, it is possible to reduce the cost and size of the cradle by using the sensor of the imaging device.

It is a figure which shows typically the whole structure of the imaging system which concerns on this Embodiment. It is a control block diagram of the imaging system concerning this embodiment. It is a flowchart which shows the control method of the imaging system which concerns on this Embodiment. It is a flowchart which shows the process which determines whether an angular velocity sensor is operating. It is a graph which shows typically the relation between the output of an angular velocity sensor, and a threshold.

(overall structure)
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram schematically illustrating the overall configuration of the imaging system according to the present embodiment. As shown in FIG. 1, the imaging system 1 includes a cradle 2 (head) and an imaging device 3 mounted on the cradle 2. The imaging device 3 can be attached to and detached from the cradle 2. Furthermore, the smart phone 4 which is one form of an information terminal is used as a remote control. The imaging device 3 is a camcorder that can capture moving images and still images, for example. The cradle 2 has a pan function for panning the imaging device 3 and a tilt function for tilting the imaging device 3.

  The cradle 2 and the imaging device 3 are connected by a connection cable 5 that the cradle 2 has. The imaging device 3 and the smartphone 4 are capable of two-way communication via wireless communication such as WiFi (registered trademark) or Bluetooth (registered trademark). With the above configuration, in the present embodiment, by operating the smartphone 4, the pan function and tilt function of the cradle 2 are remotely controlled via the imaging device 3, and the state of the cradle 2, more specifically, the cradle 2 is described in detail. The control result of the pan function and the tilt function is monitored on the smartphone 4. For example, when the user operates the smartphone 4, an operation instruction and a stop instruction for the cradle 2 are performed.

  When the cradle 2 performs a pan operation, the imaging device 3 rotates in the left-right direction, and the imaging direction of the imaging device 3 changes. Since the pan angle changes in this way, the imaging device 3 can be directed in a desired direction. Thereby, it is possible to image a subject desired by the user. The cradle 2 performs not only pan operation but also tilt operation. When the cradle performs a tilting operation, the imaging device 3 rotates in the vertical direction, and the imaging direction of the imaging device 3 changes. Since the tilt angle changes in this way, the imaging direction 3 can be directed to a desired direction. Note that the cradle 2 only needs to operate only one of the pan operation and the tilt operation. The cradle 2 may be anything that can change the imaging direction of the imaging device 3.

  Note that the input for performing the pan operation and the tilt operation is not limited to the smartphone 4. For example, input may be performed using a dedicated remote controller. Furthermore, input may be performed using an operation button or a touch panel provided on the imaging device 3 or the cradle 2. Alternatively, the panning operation and the tilting operation may be performed so that the imaging device 3 follows a predetermined subject. In this case, input by the user is unnecessary.

(Control system for imaging system)
Next, the control system of the imaging system will be described with reference to FIG. FIG. 2 is a control block diagram showing the main part of the control system of the imaging system. Note that the configuration of the imaging system 1 is not particularly limited as long as it can capture a moving image or a still image. The main body of the imaging apparatus 3 includes an imaging unit 100, an image A / D converter 106, a camera shake correction unit 110, an angular velocity sensor (gyro sensor) 120, A / D converters 121a and 121b, a communication unit 122, and a central control unit. 130, an input unit 141, and an output unit 142 are provided.

The cradle 2 includes a turntable 21, a stopper 22, a drive mechanism 23, and a driver 24. The imaging device 3 is mounted on the turntable 21. For example, the drive mechanism 23 is a motor, and the driver 24 is a motor driver. When the drive mechanism 23 rotates the turntable 21, the imaging device 3 rotates. That is, when the drive mechanism 23 drives the imaging device 3, the direction of the optical axis LA changes. Thereby, a pan operation or a tilt operation is performed, and the imaging direction can be changed to a desired direction.
The driver 24 receives an operation signal for performing a pan operation or a tilt operation and a stop signal for stopping the pan operation or the tilt operation from the imaging device 3. The driver 24 outputs a drive signal for driving the drive mechanism 23 based on the operation signal. That is, the drive mechanism 23 rotates the turntable 21 so that the rotation direction, the rotation angle, and the rotation speed according to the drive signal from the driver 24 are obtained. Furthermore, the driver 24 stops the drive of the drive mechanism 23 based on the stop signal.
The drive mechanism 23 includes a Y drive mechanism 23a and a Z drive mechanism 23b. The Y drive mechanism 23a rotates the turntable 21 in the horizontal direction to execute a pan operation. The Z drive mechanism 23b rotates the turntable 21 in the vertical direction to execute a tilt operation. The driver 24 outputs drive signals for driving the Y drive mechanism 23a and the Z drive mechanism 23b, respectively.

  Further, the cradle 2 is provided with a stopper 22 for restricting the rotation of the turntable 21. The stopper 22 defines the operating end of the drive mechanism 23. When the turntable 21 rotates to a predetermined angle, the turntable 21 contacts the stopper 22. In other words, the rotation of the turntable 21 stops when the turntable 21 hits the stopper 22. In the pan operation, the stopper 22 is provided at a position corresponding to the operation end in both the left and right rotational directions. In the tilt operation, the stopper 22 is provided at a position corresponding to the operation end in both the up and down rotation directions. Thus, by providing the stopper 22 that mechanically stops the rotation of the turntable 21, the turntable 21 performs a pan operation and a tilt operation within a predetermined angle range.

  The central control unit 130 is constituted by a semiconductor integrated circuit including a CPU, a ROM (Read Only Memory) storing various programs, a RAM (Random Access Memory) as a work area, and the like, imaging, display of various images, and camera shake correction. It controls overall processing of the imaging apparatus 3 such as control, transmission / reception of various information related to remote control, and change of zoom magnification. Further, the central control unit 130 controls pan / tilt control and driving of the cradle 2 related to the control. Therefore, the central control unit 130 includes a camera shake control unit 131, a pan operation control unit 132, a determination unit 133, a setting unit 134, and a tilt operation control unit 135.

  The imaging unit 100 includes a zoom lens 101, a focus lens 102, a diaphragm 103, and an imaging element 104. The zoom lens 101 is moved along the optical axis LA by a zoom actuator (not shown). Similarly, the focus lens 102 moves along the optical axis LA by a focus actuator (not shown). The diaphragm 103 operates by being driven by a diaphragm actuator (not shown). The imaging element 104 is configured by a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like.

  The image sensor 104 photoelectrically converts light that has passed through the zoom lens 101, the focus lens 102, and the aperture 103 to generate an analog image signal of the subject. The image A / D converter 106 converts an analog image signal into digital image data.

  The input unit 141 includes an operation key including a release switch and a power switch (not shown), a cross key, a joystick, a touch panel superimposed on the display unit, and the like, and receives an operation input from the user to the imaging system 1. . For example, the input unit 141 accepts inputs such as imaging start / stop, zoom change, camera shake correction setting, and recording setting. Note that the input unit 141 may accept inputs for performing a pan operation and a tilt operation.

  The output unit 142 includes a display unit such as a liquid crystal monitor, an internal memory, an external memory, and interfaces thereof. The output unit 142 outputs image data and the like to the outside based on a command from the central control unit 130. For example, the display unit displays an image based on the image data acquired by the imaging unit 100. Alternatively, the digital image data is stored in an external memory such as an SD card or a compact flash (registered trademark).

The imaging device 3 incorporates an angular velocity sensor 120 for detecting a shake direction and a change in shake. The angular velocity sensor 120 detects changes in the biaxial or triaxial angular velocities and is used to derive the vertical and horizontal shake amounts of the imaging device 3, for example, the hand shake amount. For example, the shake amount (hand shake amount) can be obtained by integrating the output signal from the angular velocity sensor 120.
Here, the direction of the optical axis LA is defined as the X-axis direction, and the directions in the plane perpendicular to the optical axis LA are defined as the Y-axis direction and the Z-axis direction. The Y-axis direction and the Z-axis direction are directions orthogonal to each other, the Y-axis direction corresponds to the horizontal direction (pan direction), and the Z-axis direction corresponds to the vertical direction (tilt direction). The angular velocity sensor 120 includes a Y angular velocity sensor 120a and a Z angular velocity sensor 120b. The Y angular velocity sensor 120a detects an angular velocity in the Y-axis direction, and the Z angular velocity sensor 120b detects an angular velocity in the Z-axis direction. That is, the Y angular velocity sensor 120a detects the angular velocity in the pan direction, and the Z angular velocity sensor 120b detects the angular velocity in the tilt direction.
The output from the angular velocity sensor 120 is A / D converted by the A / D converters 121 a and 121 b and output to the central control unit 130. The camera shake control unit 131 of the central control unit 130 outputs a camera shake correction value to the camera shake correction unit 110 based on the output from the angular velocity sensor 120. That is, the camera shake control unit 131 outputs a camera shake correction value that cancels the camera shake amount detected by the angular velocity sensor 120 to the camera shake correction unit 110.

  The camera shake correction unit 110 includes a driver 112 and a camera shake correction actuator 111. The driver 112 generates a drive signal based on the camera shake correction value from the central control unit 130 and outputs the camera shake correction actuator 111. The camera shake correction actuator 111 drives the image sensor 104 based on the drive signal. The camera shake correction actuator 111 is, for example, a motor or the like, and shifts the image sensor 104 up and down and left and right based on a drive signal. In other words, the image sensor 104 moves in a plane perpendicular to the optical axis LA of the lens by the camera shake correction actuator 111. Thereby, camera shake of the imaging device 3 can be corrected. When the imaging device 3 is not attached to the cradle 2, that is, when the user holds the imaging device 3 in his / her hand, camera shake occurs. The camera shake correction unit 110 corrects the camera shake based on the output of the angular velocity sensor 120.

  Note that the camera shake correction method is not limited to the image sensor shift method in which the image sensor 104 is shifted, and an optical method (lens unit shift method) in which the lens is moved may be used. Furthermore, electronic camera shake correction that performs camera shake correction by image processing may be used. Further, a hybrid system combining an electronic system and an optical system may be used.

  The communication unit 122 receives a wireless signal from the smartphone 4. For example, when an operation signal for performing a pan operation is wirelessly transmitted from the smartphone 4, the communication unit 122 detects an operation signal of the cradle 2. Then, the communication unit 122 outputs the detected operation signal to the central control unit 130. The pan operation control unit 132 outputs an operation signal for pan operation to the driver 24 in accordance with the input operation signal. Further, the setting unit 134 is set with a threshold value for determining whether or not the pan operation is being performed. And the determination part 133 determines whether the imaging device 3 is panning by comparing a threshold value and the output of the Y angular velocity sensor 120a.

Here, the pan operation control unit 132 controls the cradle 2 based on the determination result of the determination unit 133. The pan operation controller 132 controls the pan operation based on the output from the Y angular velocity sensor 120a. An output signal from the Y angular velocity sensor 120a used for camera shake correction is also used for controlling the pan operation.
Similarly, the tilt operation control unit 135 controls the cradle 2 based on the determination result of the determination unit 133. The tilt operation control unit 135 controls the tilt operation based on the output from the Z angular velocity sensor 120b. The setting unit 134 is set with a threshold value for determining whether or not the tilting operation is being performed. Then, the determination unit 133 compares the threshold value with the output of the Z angular velocity sensor 120b to determine whether or not the imaging device 3 is performing a tilt operation. As described above, the output signal from the Z angular velocity sensor 120b used for camera shake correction is also used for controlling the tilt operation.
Hereinafter, a method for controlling the pan operation using the gyro output will be described.

  FIG. 3 is a flowchart showing a method for controlling the pan operation. First, the user starts a cradle operation with the smartphone 4 (step S11). Then, based on the received signal received by the communication unit 122, the pan operation control unit 132 instructs the cradle 2 to operate (step S12). That is, the pan operation control unit 132 outputs an operation signal for performing a pan operation to the driver 24. Then, the driver 24 outputs a drive signal to the Y drive mechanism 23a to instruct the operation of the Y drive mechanism 23a (step S13). Thereby, the Y drive mechanism 23a rotates the turntable 21, and the imaging direction of the imaging device 3 changes.

  Next, the pan operation control unit 132 determines whether there is an instruction to stop the cradle 2 (step S14). That is, it is determined whether there is an instruction to stop the cradle 2 depending on whether the cradle operation is continuously received from the smartphone 4. If there is an instruction to stop the cradle 2 (YES in step S14), the pan operation control unit 132 outputs a stop signal to the driver 24 to instruct to stop the Y drive mechanism 23a (step S17). Thereby, the drive of the Y drive mechanism 23a stops and the cradle 2 stops (step S18).

  When there is no instruction to stop the Y drive mechanism 23a (NO in step S14), the pan operation control unit 132 determines an output from the Y angular velocity sensor 120a (step S15). For example, the determination unit 133 compares the threshold value with the output value of the Y angular velocity sensor 120a. Then, the determination unit 133 determines whether or not the imaging device 3 is performing a pan operation based on the comparison result between the output value and the threshold value (step S16). That is, the determination unit 133 determines whether or not the imaging device 3 is stationary.

  If the determination unit 133 determines that the imaging device 3 is performing a pan operation (YES in step S16), the process returns to step S14, and the pan operation control unit 132 determines whether there is an instruction to stop the cradle 2 from the smartphone 4. To do. If there is no instruction to stop the cradle 2 from the smartphone 4, the pan operation is continued. On the other hand, when the determination unit 133 determines that the imaging device 3 is not panning, that is, the imaging device 3 is stationary (NO in step S16), the process proceeds to step S17. That is, when the imaging device 3 is stationary, the pan operation control unit 132 issues a stop instruction for the Y drive mechanism 23a (step S17). As a result, the cradle 2 stops (step S18).

  Thus, when there is a stop instruction from the smartphone 4 or when the imaging device 3 is not panning, the pan operation control unit 132 outputs a stop signal to the driver 24. That is, even if there is an operation instruction for the cradle 2 from the smartphone 4, if the pan operation angle has not changed, the pan operation control unit 132 stops the Y drive mechanism 23a. As a result, the cradle 2 stops.

  For example, the turntable 21 is stopped by the stopper 22 at the operating end of the Y drive mechanism 23a. Therefore, when the Y drive mechanism 23a reaches the operating end, the turntable 21 does not rotate even if the Y drive mechanism 23a is further operated. The panning angle of the imaging device 3 does not change, and the angular velocity of the Y angular velocity sensor 120a does not change. By comparing the output value of the Y angular velocity sensor 120a with a threshold value, it can be determined whether or not the operating end of the Y drive mechanism 23a has been reached. When the operating end of the Y drive mechanism 23a is reached, the drive of the Y drive mechanism 23a is stopped. In this way, when the turntable 21 reaches the operation end of the pan operation, the Y drive mechanism 23a is not driven unnecessarily. Therefore, the cradle 2 can be appropriately controlled.

  Next, the gyro output determination in step S15 will be described with reference to FIG. FIG. 4 is a flowchart showing details of step S15. First, gyro data is input from the Y angular velocity sensor 120a to the central control unit 130 (step S21). Next, an upper limit and a lower limit are set for performing pan motion stillness determination (steps S22 and S23). For example, the setting unit 134 is preset with two threshold values, an upper limit and a lower limit.

  Then, the determination unit 133 determines whether the gyro data is within the range from the upper limit to the lower limit (step S24). The determination by the determination unit 133 will be described with reference to FIG. FIG. 5 is a graph schematically showing an output value (angular velocity) of the Y angular velocity sensor 120a, an upper threshold value, and a lower threshold value. The horizontal axis represents time, and the vertical axis represents the output value (angular velocity) of the Y angular velocity sensor 120a in the pan direction. As shown in FIG. 5, the range from the lower limit to the upper limit is defined as the range of the stationary state. For example, when the gyro data indicates the angular velocity in the Y-axis direction, the angular velocity is 0 when in a stationary state. The upper limit is a value larger than 0, and the lower limit is a value smaller than 0. For example, when the angular velocity is positive, the rotation is in the right direction. When the angular velocity is negative, the rotation is in the left direction. Thus, the range of the stationary state includes the time when the angular velocity is zero.

  When the output value (angular velocity) of the Y angular velocity sensor 120a is within the range of the stationary state defined by the upper limit and the lower limit (YES in step S24), the determination unit 133 determines that the imaging device 3 is in the stationary state. (Step S25). That is, even if the Y drive mechanism 23 a tries to rotate the turntable 21, the angular velocity is a value close to 0, so the determination unit 133 determines that the turntable 21 is hitting the stopper 22. On the other hand, when the output value (angular velocity) of the Y angular velocity sensor 120a is outside the range of the stationary state and there is gyro data (NO in step S24), the determination unit 133 determines that the imaging device 3 is in the operating state (step) S26). The determination unit 133 determines that the rotating base 21 does not hit the stopper 22 and the imaging device 3 can freely operate.

  And the determination part 133 outputs the determination signal according to the determination result (step S27). For example, when the imaging device 3 is in a panning operation, the determination signal is at a low level, and when the imaging device 3 is stationary, the determination signal is at a high level. Such processing is performed, and the process returns to step S16 in FIG. Then, the pan operation control unit 132 determines whether or not the pan operation is being performed based on the determination signal.

  Thus, based on the output from the Y angular velocity sensor 120a, it can be determined whether or not the Y drive mechanism 23a is at the operating end. By doing in this way, it becomes unnecessary to provide the cradle 2 with a sensor for determining whether or not the operation end of the pan operation has been reached. Furthermore, it is determined whether or not the operating end has been reached using the output of the Y angular velocity sensor 120a built in the camera body. Thereby, control can be performed with a small number of sensors. The number of sensors and the number of wirings can be reduced, and the cost and size can be reduced. In addition, since it is only necessary to set the upper and lower thresholds in advance, it can be controlled easily.

  Further, the imaging device 3 may transmit a signal indicating that the operation end has been reached to the smartphone 4. Thereby, it can be notified to the user that the operation end has been reached. Further, the initialization position of the pan operation can be detected by the Y angular velocity sensor 120a. That is, when initializing the pan operation, the Y drive mechanism 23 a is driven in one direction, and the turntable 21 is brought into contact with the stopper 22. The determination unit 133 detects that the turntable 21 has come into contact with the stopper 22 based on the output value (angular velocity) of the Y angular velocity sensor 120a. Thereby, it is detected that the Y drive mechanism 23a has reached the operation end of the pan operation. The position of the operation end can be set as the initialization position of the pan operation. That is, the initialization position can be determined based on the output of the Y angular velocity sensor 120a.

  In the above description, the pan operation is controlled based on the output from the Y angular velocity sensor 120a. However, the tilt operation can be similarly controlled. For example, for the tilt operation, a stopper that defines the operation end in the tilt direction is provided. Further, the Z angular velocity sensor 120b detects the angular velocity in the tilt direction. When it is detected that the operation end in the tilt direction has been reached, the tilt operation control unit 135 may stop driving the Z drive mechanism 23b for tilt operation. Only one of the pan operation and the tilt operation may be controlled by the above control method. Further, the shake (hand shake amount) may be detected by another sensor such as an acceleration sensor instead of the angular velocity sensor 120.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.

DESCRIPTION OF SYMBOLS 1 Imaging system 2 Head 3 Imaging device 4 Smartphone 100 Imaging part 110 Camera shake correction mechanism 120 Angular velocity sensor 121 A / D converter 130 Central control part 131 Camera shake control part 132 Pan operation control part 133 Judgment part 134 Setting part

Claims (8)

An imaging apparatus that controls a cradle that drives an imaging apparatus to operate in at least one of a pan direction and a tilt direction,
A sensor for detecting shake,
A controller that determines whether the imaging device is in an operating state or a stationary state based on a detection result of the sensor, and controls the cradle so that the driving of the cradle is stopped when it is determined that the imaging device is in a stationary state; ,
An imaging apparatus comprising: The sensor is an angular velocity sensor that detects angular velocity,
The control unit compares the angular velocity detected by the angular velocity sensor with a threshold value, determines whether the imaging device is in an operating state or a stationary state based on the comparison result, and is in the stationary state. The imaging apparatus according to claim 1, wherein when the determination is made, the cradle is controlled such that driving of the cradle is stopped. The angular velocity sensor is
A first angular velocity sensor for detecting an angular velocity in the pan direction;
A second angular velocity sensor for detecting an angular velocity in the tilt direction;
It is configured with
The imaging apparatus according to claim 2, wherein the control unit performs camera shake correction of the captured image based on detection results of the first angular velocity sensor and the second angular velocity sensor. An imaging device;
A cradle that drives the imaging device to operate in at least one of a pan direction and a tilt direction;
A stopper that defines the operation end of the pan operation or tilt operation;
With
The imaging device
A sensor for detecting shake,
A controller that determines whether the imaging device is in an operating state or a stationary state based on a detection result of the sensor; ,
An imaging system comprising: The sensor is an angular velocity sensor that detects an angular velocity of the imaging device,
The control unit compares the angular velocity detected by the angular velocity sensor with a threshold value, determines whether the imaging device is in an operating state or a stationary state based on the comparison result, and is in the stationary state. The imaging system according to claim 4, further comprising: controlling the cradle so that the driving of the cradle stops when it is determined. The angular velocity sensor is
A first angular velocity sensor for detecting an angular velocity in the pan direction;
A second angular velocity sensor for detecting an angular velocity in the tilt direction;
It is configured with
The imaging system according to claim 5, wherein the control unit performs camera shake correction of a captured image based on detection results of the first angular velocity sensor and the second angular velocity sensor. An imaging device;
A cradle that drives the imaging device to operate in at least one of a pan direction and a tilt direction;
A stopper that defines the operation end of the pan operation or tilt operation;
An imaging system control method comprising:
Detecting shake of the imaging device;
An imaging system that determines whether the imaging device is in an operating state or a stationary state based on a detection result of the shake, and controls the cradle so that the driving of the cradle is stopped when it is determined that the imaging device is in a stationary state. Control method. A cradle that drives an imaging device including a sensor for detecting shake to operate in at least one of a pan direction and a tilt direction,
A drive mechanism for driving the imaging device in the pan direction or tilt direction based on an operation signal from the imaging device;
A stopper for defining an operation end of a pan operation or a tilt operation by the drive mechanism, and when the imaging apparatus determines that the camera is in a stationary state based on a detection result of the sensor, a stop signal is input from the imaging apparatus. ,
A cradle that stops driving the drive mechanism when the stop signal is input.

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