JP2016086204A - Imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging device including a revolving camera capable of performing control with shortest distance, without moving through the outside of a limited visible range if it is preset.SOLUTION: Provided is an imaging device having a communication unit communicating with a client via a network, an imaging section for imaging a subject, a 360-degree revolving universal head, and a camera control unit for controlling the imaging section and the universal head. The imaging device has a visible range limitation function for limiting the imageable range, and the communication unit specifies a target position from a target position inputted by a client when the visible range limitation function is effective, otherwise specifies the travel distance and direction from the target position and current position, and controls the camera control unit.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a camera platform control technique for an imaging apparatus.

  2. Description of the Related Art Conventionally, there is a turning camera capable of 360 ° control without limitation of a rotatable angle in the pan direction of the surveillance camera, and its control means is disclosed in Patent Document 1. According to the present invention, since there is no restriction in the control direction in the turning camera, it is supposed to move the shortest distance. Further, when it is not desired to show the predetermined area, there may be a visible range restriction function for restricting the predetermined area as a prohibited area. In addition, in recent years, Patent Document 2 discloses an invention that performs an operation to avoid the prohibited range.

JP 2004-34349 A JP 2004-264651 A

  In a turning camera that does not have a limit on the angle that can be rotated, when the control is performed so as to avoid the prohibited area, there is a problem that the shortest distance is not moved.

  An object of the present invention is to provide an imaging apparatus capable of performing control at the shortest distance without passing outside the visible range even when the visible range restriction is set with a turning camera.

In order to achieve the above object, the present invention provides:
A communication unit that communicates with a client via a network;
An imaging unit for imaging a subject;
A pan head that turns 360 degrees;
An imaging apparatus having the imaging unit and a camera control unit that controls a pan head,
The imaging device has a visible range limiting function for limiting the imageable range,
The communication unit specifies the target position from the target position input from the client if the visible range restriction function is valid, otherwise specifies the movement amount and direction from the target position and the current position to control the camera. It is characterized by controlling the part.

  According to the imaging apparatus of the present invention, even when the visible range restriction is set with the turning camera, it is possible to perform control at the shortest distance without passing outside the visible range.

Block diagram of surveillance camera of this embodiment Network configuration diagram including the configuration of the surveillance camera of this embodiment Illustration of visible range restriction Illustration of pan direction Flow chart of this embodiment Hardware configuration diagram of surveillance camera of this embodiment Block diagram of the client in this embodiment

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

  Hereinafter, an image pickup apparatus according to a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 2 illustrates an imaging system including a monitoring camera 1000 as an imaging device and client devices 2000 and 2100 as external devices in the present embodiment. Here, the monitoring camera 1000 and the client devices 2000 and 2100 are connected to each other via an IP network 1500 configured by a LAN or the like so that they can communicate with each other.

  The client apparatuses 2000 and 2100 in FIG. 2 transmit to the monitoring camera 1000 a command for controlling pan / tilt, which will be described later, and a command for instructing the start of streaming of moving images, sounds, and the like. On the other hand, the monitoring camera 1000 transmits responses to these commands to the client device, and starts streaming of moving images, sounds, and the like to the client device.

  FIG. 6 is a hardware configuration diagram of the monitoring camera 1000. A CPU 1600, a primary storage device 1606, a secondary storage device 1607, an image capture I / F 1602, a camera control I / F 1604, a pan head 1608, a camera 1603, and a network I / F 1609 are connected to each other via an internal bus 1601. ing. Here, the primary storage device 1606 is a high-speed writable storage device represented by a RAM, and is loaded with an OS, various programs, and various data, and is also used as a work area for the OS and various programs.

  The secondary storage device 1607 is a non-volatile storage device represented by FDD, HDD, flash memory, CD-ROM drive, etc. In addition to being used as a permanent storage area for the OS, various programs, and various data. It is also used as a storage area for various short-term data. Details of various programs and the like placed in the primary storage device 1606 and the secondary storage device 1607 of the surveillance camera will be described later.

  A camera 1603 is connected to the image capture I / F 1602, and image data captured by the camera 1603 is converted and compressed into a predetermined format and transferred to the primary storage device 1606. A camera 1603 is connected to the camera control I / F 1604, and controls camera settings such as an angle of view, exposure, shutter speed, focus, and white balance of the camera 1603 as necessary, and returns the state.

  In addition, the camera control I / F 1604 controls the pan head 1608 of the monitoring camera 1000 in each of the pan direction and the tilt direction. Further, when the visible range restriction is set, the pan / tilt control position is adjusted so as to be within the visible range. A network I / F 1609 is an I / F that connects to an external device such as a client that requests an image to the monitoring camera 1000, and is via a communication medium such as a wireless LAN or Ethernet (registered trademark). In the present invention, any communication standard, scale, and configuration can be used as long as communication between servers and clients can be performed without any problem. Therefore, the present invention can be applied from the Internet to a LAN (Local Area Network).

  FIG. 1 is a block diagram showing the configuration of the monitoring camera 1000 in this embodiment. In FIG. 1, 1002 is an imaging unit, 1003 is an imaging control unit, 1004 is a compression encoding unit, 1005 is a communication unit, 1007 is a pan head control unit, 1006 is a camera control unit, and 1009 is a storage unit.

  The imaging unit 1002 captures an image of a subject that is imaged and outputs a video signal. The video signal captured by the imaging unit 1002 is input to the imaging control unit 1003. The imaging control unit 1003 performs image processing such as camera development processing and inputs the processed image to the compression encoding unit 1004. In the compression encoding unit 1004, JPEG or H.264 is used. The data is compressed by a compression encoding method typified by H.264 and stored in the storage unit 1009. When an image acquisition request is made from the client device 2000, the communication unit 1005 accepts the request, and distributes the image stored in the storage unit 1009 to the client device 2000.

  In FIG. 1, the communication unit 1005 receives an imaging control command, a pan head control command, and a visible range restriction setting command for limiting the visible range from the client device 2000. Receiving each command, the communication unit 1005 inputs a camera control command such as an imaging control command or a pan head control command to the camera control unit 1006 after performing conversion if necessary. The camera control unit 1006 collectively handles commands for controlling the camera, and performs distribution control to the imaging control unit and the pan head control unit.

  The imaging control command controls the imaging unit 1002 from the camera control unit 1006 via the imaging control unit 1003. The pan head control command is input from the camera control unit 1006 to the pan head control unit 1007. The visible range setting command is stored in the communication unit. When the visible range restriction is set, the imaging control command and the pan head control command are limited to the visible range, and then input to the camera control unit 1006. When the current position is changed by the camera control command, the imaging control unit 1003 and the pan head control unit 1007 notify the client apparatus 2000 of the status change via the camera control unit 1006 and the communication unit 1005.

  In the present embodiment, the case where there are a camera control unit, an imaging control unit, and a pan head control unit for controlling the camera has been described as an example, but one or two may be used and does not depend on the division method.

  FIG. 7 is a software configuration diagram of the client 2000. The input unit 2004, the display unit 2003, the communication unit 2006, the decoding unit 2005, and the storage unit 2002 are loaded into the primary storage device. The input unit 2004 is a program for accepting an operation of an input device (for example, a mouse or a keyboard) by a user. This program accepts an image data request, a pan / tilt angle / zoom control command, and a visible range setting command according to a user's operation of an input device, and passes the input to the communication unit 2006.

  The communication unit 2006 controls transmission of various life commands input from the input unit 2004 to the monitoring camera 1000 and receives image data, position information regarding the current pan / tilt angle / zoom value, and the like from the monitoring camera 1000. It is a program. Image data received by the communication unit 2006 is stored in the storage unit 2002. The decoding unit 2005 decodes the compressed image data stored in the storage unit 2002 and stores it again in the storage unit 2002.

  A display unit 2003 is a program that displays an image or the like corresponding to the image data stored in the storage unit 2002 on a display. Each program is linked by the function of the OS. Note that the input unit 2004 of the present embodiment is not limited to accepting an operation of an input device, but can accept an operation of a client via a network, an input of a client automatic execution program, or the like.

  FIG. 3 is an explanatory diagram of the visible range restriction. First, a coordinate system for controlling the pan head will be described with reference to 3300. The coordinate system that controls the pan head is expressed in angle. The coordinates of a certain point are represented as [Pan, Tilt]. For example, the origin 3301 is Pan = 0 ° and Tilt = 0 °, which is [0, 0].

  The surveillance camera can only use the upper or lower hemisphere because the body of the image is limited by its own body. Therefore, it is possible to set installation conditions such as whether to use the upper hemisphere or the lower hemisphere. Depending on the installation conditions, the left and right pluses and minuses are reversed in the pan direction, and the upper limit value and lower limit value that can be controlled in the tilt direction are changed. 3300 is an illustration when the inverted hemisphere is used.

  Regarding the pan direction, the right is the plus direction and the left is the minus direction. As a range, the lower limit of pan is -180 ° and the upper limit is 179.99 °. Regarding the tilt direction, the lower limit value is -180, and the maximum value is 0. Considering these, 3302 is [−90, 0], 3303 is [+90, 0], 3304 is [0, +90], and 3305 is [0, −90]. There are two control methods 3306: pan control and tilt control. Therefore, there are a plurality of coordinate systems.

  When controlling in the pan direction, [−180, 0]. When controlling in the tilt direction, it is also expressed as [0, -180]. In the case of erecting, that is, using the upper hemisphere of the camera, the right direction is negative and the left direction is positive. The upper limit value of tilt is 180 °, and the lower limit value is 0 °.

  Here, the pan direction pan head control command in the monitoring camera 1000 will be described. First, the pan head control command received by the communication unit 1005 will be described. The communication unit 1005 has an absolute value designation command for designating the target position of the coordinate system as an absolute value. The communication unit 1005 that has received the absolute value designation command transmits the command to the camera control unit 1006.

  Next, pan direction control commands of the camera control unit 1006 will be described. The camera control unit 1006 receives a command from the communication unit and transmits the command to the camera platform control unit 1007. The camera control unit 1006 has an absolute value designation control command for designating a target position with an absolute value. This command moves the shortest distance to the target position. In addition, it has a relative value designation control command for designating the target position as a relative value from the current value.

  In order to control the target position with a relative value, if a relative value designation control command is controlled during pan movement, the current position when the communication unit 1005 issues a command and the current position received by the camera control unit 1006 are different, so the target position is stopped. It is necessary to control by the state. If panning is in progress, it is necessary to execute a relative value designation control command after controlling with the pan stop command.

  Finally, although the target position is designated by an absolute value, the camera control unit 1006 also has an absolute value designation relative control command for performing control by converting to a relative value from the current value. When this control command is issued during pan movement, relative value control is performed after the camera control unit 1006 issues a pan stop command.

  Finally, the pan direction control command of the pan head control unit 1007 will be described. The pan / tilt head control unit 1007 has an absolute position control command for designating a target position with an absolute value and a relative position control command for designating with a relative value. The absolute position control command moves the shortest distance to the target position, and the relative position control command moves by a relative value from the current value.

  In FIG. 3, 3000 is a view in which a visible range restriction is set. A broken line 3001 is a visible range, and control is possible only inside the broken line. When the control is performed by protruding outside the broken line, the control is performed by rounding to the broken line. 3000 is an example of controlling from a point 3002 to a point 3003 with a locus 3004. 3004 is controlled through the front of the ball.

  The visible range restriction will be described. Visible range restriction is a function that limits the visible range. Calculates whether the limit set from the current value of the pan head and the current angle of view has not been exceeded. Therefore, even if the limit of the movable range is reached compared to the movable range limit that limits the range of movement of the pan head, zooming to the telephoto side will show the coordinates of the controllable pan head at the current zoom position. Since recalculation is performed, the pan head can be controlled to the limit. As an example of the setting method, the upper end, the lower end, the left end, the right end, the telephoto, and the wide angle can be set on the basis of the origin [0, 0]. There are three dependencies between these settings: Upper end> Lower end, Left end <Right end, Telephoto <= Wide angle.

  3200 in FIG. 3 is an example in which the visible range is extended to the back side of the sphere. A broken line 3201 is a visible range. In 3200, the shortest distance is moved from the point 3102 to the point 3103, and the trajectory 3204 is rotated around the back side, but the visible range 3205 is protruded. When the visible range restriction such as 3200 is set, the target position can be controlled without passing outside the visible range by performing control as indicated by 3100 in FIG. In order to control the point 3102 from the point 3102 to the point 3103, the control is performed on the trajectory 3104 passing through this side.

  FIG. 5 is a flowchart of this embodiment that realizes both the movement of the shortest distance and the control within the visible range. The S5000 absolute designation command is activated by the communication unit 1005 when requested by the client. In S5001, it is determined whether or not the visible range is set. If there is no visible range restriction, an absolute value designation control command is issued to the camera control unit 1006 in S5003. If the visible range is restricted, a relative control command specifying an absolute value is issued to the camera control unit 1006 in S5002.

  The S5200 absolute value designation control command is activated by the camera control unit 1006 when a command is issued from the communication unit. In step S5201, the camera control unit 1006 issues an absolute position control command to the camera platform control unit 1007. Upon receiving the absolute control command, the pan head control unit 1007 performs control so as to move the shortest distance.

  In step S5100, the absolute value designation relative control command is activated by the camera control unit when a command is issued from the communication unit. In S5101, the operation stop control is performed because the relative position shifts when the camera platform is moving. In step S5102, the relative position is calculated. The calculation method is to subtract the current value from the absolute value specified by the communication unit 1005. In step S5103, a relative position control command is issued to the pan head control unit 1007 based on the calculated relative position.

  FIG. 4 shows the pan direction in a one-dimensional manner. 4000 is the pan movable range. With 4008 as the origin 0, the left movable limit 4003 is −180 °, and the right movable limit 4002 is 179.99 °. Although there are a left movable limit 4003 and a right movable limit 4002, they are provided for the purpose of expressing as a protocol, and the left movable limit 4003 and the right movable limit 4002 are approximately the same point shifted by 0.01 °. Therefore, in the case of the absolute position designation control command, if the shortest distance exceeds the movable limit and passes through 4009, control is performed through 4009.

  Reference numeral 4001 denotes the visible range of the pan. The left end of the visible range is 4005 and the right end is 4004. An arrow 4006 is the right direction and represents the plus direction. An arrow 4007 is the left direction and represents the minus direction. In the case of a relative position designation control command, if a positive value is designated, control is performed in the right direction with reference to the current position. On the other hand, if a negative value is specified, it is controlled to the left.

  In this way, it is determined whether to control left or right by the sign of the designated value. For example, consider a case where −180 ° is specified by a relative value designation control command when the current value is 10 °. Since the absolute value calculated from the relative position to the target position is based on the current value of 10 °, the relative value is −180 ° − (current value of 10 °) = − 190 °.

  In the case of the relative value designation control command, since the control is performed in the left-right direction based on the current value, the command always moves on the 4000 straight line. You cannot go through 4009. Using this feature, the absolute value designation relative control command is controlled by the camera control unit 1006 by converting the absolute value into a relative value and moving on the straight line of the visible range 4006. Since the communication unit 1005 switches between the absolute value designation relative control command and the absolute value designation control command according to the determination of whether or not the visible range is limited in S5001, both the movement of the shortest distance and the control within the visible range are realized. ing.

  In this embodiment, the camera control unit 1006 has a relative control command for specifying an absolute value, but a pan head control unit may be provided. In this case, the pan head control unit 1007 performs the conversion process from the absolute value to the relative value.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the gist such as conversion from absolute values to relative values in the pan head control method. It can be changed.

1002 Imaging unit, 1003 Imaging control unit, 1004 Compression encoding unit,
1005 communication unit, 1006 camera control unit, 1007 pan head control unit, 1009 storage unit

Claims (4)

A communication unit that communicates with a client via a network;
An imaging device having an imaging unit that images a subject, a pan that rotates 360 degrees, and a camera control unit that controls the imaging unit and the pan,
The imaging device has a visible range limiting function for limiting the imageable range,
The communication unit specifies the target position from the target position input from the client if the visible range restriction function is valid, otherwise specifies the movement amount and direction from the target position and the current position to control the camera. An image pickup apparatus that controls a unit. The imaging device
An imaging control unit for controlling the imaging unit;
A pan head control unit for controlling the pan head,
The camera control unit controls the imaging control unit and the pan head control unit,
As a method of specifying the target position, it has absolute value control to reach the target position at the shortest distance,
As a method for designating the movement amount and direction from the target position and the current position, the target position is designated by an absolute value, and relative control is performed, and absolute value designation relative control is provided.
When the absolute value control is received and the visible range restriction function is not set, the communication unit performs absolute value control to the camera control unit.
The camera control unit that has received the absolute value control from the communication unit transmits the absolute value control to the pan head control unit,
The imaging apparatus according to claim 1, wherein when the relative control specified by the absolute value is received, the relative control is transmitted to the pan head control unit after the absolute value is converted into the relative value. The imaging apparatus according to claim 1, wherein the current value is subtracted from the absolute value as a conversion method from the absolute value to the relative value. The imaging apparatus according to claim 1, wherein operation stop control is performed when performing relative control with absolute value designation.