JP2992617B2 - Method for determining shooting position of remote control camera and camera remote control system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining a photographing position in a camera remote control system to which a remote control head (hereinafter, referred to as a head) is attached.

[Conventional technology]

In recent years, the use of pan heads for traffic information, event information, nature observation, sports broadcasting, etc. has been increasingly demanded in various fields. With the advent of ISDN and the realization of image communication services on the public communication network, there has been a growing demand for remote control of the camera platform via the public communication network.

In such a usage form, the number of operators who first view images from a camera attached to a camera platform to be remotely controlled is increasing. Therefore,
It is important to provide the operator with preliminary knowledge of what direction the camera can be moved and what can be seen. Furthermore, the camera shooting positions desired by each operator vary widely, and it is also important to be able to freely select an image at any point within the entire range that can be shot by the camera and obtain it with easy operation. It becomes.

On the other hand, conventionally, the pan head is often used for various kinds of monitoring, and the remote control is performed by an operator operating a rotary dial or the like corresponding to the remote control item provided on the remote control operation panel, and displaying the image. While controlling the remote control items individually.

[Problems to be solved by the invention]

In this case, the operator who selects the camera shooting position
Because it is a specific person such as a security guard who is familiar with the outline of the entire range of images that can be captured by the camera and how to use the operation panel,
Preliminary knowledge of what direction the camera can be moved and what can be seen is presented to the operator in advance, and images at any point within the entire range that can be captured by the camera can be freely selected and easily operated. It is not necessary or necessary to make the remote control operation method easy to use, such as making it possible to acquire it.

An object of the present invention is to allow an operator who is not familiar with the outline of the entire range of images that can be captured by a camera and how to use the operation panel to freely view an image of an arbitrary point within the entire range that can be captured. Another object of the present invention is to provide a method for determining a photographing position of a remote control camera and a camera remote control system which can be obtained by a simple operation.

[Means for solving the problem]

According to the method of the present invention for determining a shooting position of a remote control camera, image information in a data format that can be processed by a computer over the entire range that can be shot by the camera, and coordinates of the installation position of the camera on the image information Value, the initial shooting position when connected to the camera from the remote operation side, the coordinate value on the image information, and the camera platform control value corresponding to the initial shooting position are stored in advance on the camera installation side, When the camera operator issues a camera shooting position selection request,
Based on the stored information, the image information is transferred to the remote operation side, and the information is displayed on the screen by superimposing the camera installation position and the current shooting position. When the camera shooting position is designated, a camera platform control value corresponding to the designated camera shooting position, a camera platform control value corresponding to the initial shooting position, and a coordinate value on the image information of the camera installation position. The initial shooting position, the coordinate value on the image information, the designated camera shooting position, the coordinate value on the image information, and automatically calculated from the height of the camera from the ground,
The calculated pan head control value is sent to the camera installation side, and the pan head is controlled according to the calculated pan head control value.

Also, the camera remote control system of the present invention comprises a camera installation side device and a remote operation side device, wherein the camera installation side device has a computer-processable data format of the entire range that can be photographed by the camera. The image information and the coordinates of the installation position of the camera on the image information are stored in advance, and the initial shooting position when the camera is connected from the remote operation side on the image information. A storage device for storing coordinate values and a camera platform control value corresponding to the initial shooting position; a servo amplifier for controlling the camera platform based on the camera platform control value; and a camera receiving an incoming call request from a remote operation side. The information stored in the storage device is read out according to a camera photographing position selection request from the remote operation side, transferred to the remote operation side, and then transmitted from the remote operation side. When the platform control value is transferred, the control unit sends the camera platform control value to the servo amplifier and controls the camera platform. The device on the operation side is transferred from the device on the camera installation side. A storage device that stores the information, a display device, and when the camera operator issues a camera shooting position selection request,
Based on the information stored in the storage device, the camera installation position and the current shooting position are superimposed on the image information and displayed on the display device, and the image transferred from the camera installation side is displayed on the display device. When the image synthesizing device to be displayed on the display device and the outgoing connection request from the operator are transferred to the device on the camera installation side, and then the operator makes a camera shooting position selection request,
The camera photographing position selection request is transferred to the device on the camera installation side, and after the information read and transferred from the storage device on the camera installation side is stored in the storage device, the operator transmits the request to the display device. When a desired camera shooting position in the image information in which the camera installation position and the current shooting position are superimposed is indicated, a camera platform control value corresponding to the specified camera shooting position is stored in the storage device. A camera platform control value corresponding to the initial photographing position, a coordinate value of the camera installation position on the image information, a coordinate value of the initial photographing position on the image information, and a designated camera. The image processing apparatus further includes a control device for automatically calculating a coordinate value of the shooting position on the image information and a height from the ground surface of the camera and transferring the calculated value to a device on the camera installation side.

[Action]

When the operator selects a camera shooting position, image information indicating the entire range that can be shot by the camera is displayed on the screen, and when the operator specifies an arbitrary point on the image information, the camera shooting position is set to the specified point. Since the camera platform control value for moving is automatically calculated and the camera platform is remotely controlled according to the calculation result, an image of an arbitrary point within the entire range that can be captured by the camera can be obtained.

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a remote control system of a camera to which a method of deciding a photographing position of a remote control camera according to the present invention is applied. FIG. FIG. 3 is a view showing a screen display example in which a current shooting position is superimposed, FIG. 3 is a view showing a screen display example in which a camera shooting position is selected on the screen of FIG. 2, and FIG. 4 is a coordinate value (x ₀ , y ₀ ), (x ₁ , y ₁ ) and the intersection angles θ _P0 , θ _P1 . FIG. 5 is a diagram showing the tilt angle θ _T.

The remote control system for a camera according to the present embodiment includes a zoom lens 1 and remotely controls a camera 2 whose orientation in the left-right direction and the up-down direction can be changed by a camera platform 3. They are connected by a subscriber line 18, an ISDN public communication network 17, and a subscriber line 19.

The device on the camera installation side is composed of a servo amplifier 4, a remote control device 5, a storage device 6, an image capturing / encoding device 7, and a network control device 8. The device on the remote operation side is a control device 10, a mouse 11, and a storage device. 12, network control device 13, image decoding device 14,
It comprises a screen synthesizing device 15 and a monitor display 16.

The storage device 6 stores image information of the entire range that can be photographed by the camera 2 in a data format that can be processed by a computer. Further, the coordinate value (x) of the installation position (center of rotation) of the camera 2 on the image information , y) and the coordinate values (x ₀ , y ₀ ) of the initial shooting position when the camera 2 is connected from the remote operation side. In addition, the pan head control value for the initial installation position,
The value of the height H (FIG. 5) of the camera 2 from the ground surface is also stored in the storage device 6. The remote control device 5 is a network control device 8
Receives the notification of the incoming request detection from the remote operation side from the remote control side, and controls the image capturing / encoding device 7 to
When the video from the camera 2 input to the camera 2 is coded as a still image and transferred to the remote operation side via the network control device 8, and the network control device 8 receives a notification of detection of a camera shooting position selection request from the remote operation side, Then, all information stored in the storage device 6 is read out and transferred to the remote operation side via the network control device 8, and thereafter, the calculation result of the pan head control value corresponding to the designated camera photographing position is obtained. Is transferred from the remote operation side via the
To control the pan head 3.

The mouse 11 is used for pointing a connected camera name displayed on the monitor display 16 or for clicking a command selection on the same monitor display 16. The image decoding device 14 returns the coded still image transferred from the camera installation side via the network control device 13 to a still image.
The control device 10 stores the information transferred from the camera installation side via the network control device 13 in the storage device 12, creates a screen based on the stored information, and displays the screen on the screen synthesis device 15 When the operator selects a desired camera photographing position on the screen by using the mouse 11, the camera calculates a camera platform control value corresponding to the selected camera photographing position and transfers it to the remote control device 5 via the network control device 13. I do. The screen synthesis device 15 synthesizes the still image decoded by the image decoding device 14 with the guidance message sent from the control device 10, and
And the screen created by the control device 10 is displayed on the monitor display 16.

Next, an operation of determining a camera shooting position in the present embodiment will be described.

First, when the operator points the camera name with the mouse 11 to the connection displayed on the monitor display 16,
A request to the corresponding ISDN number is sent to the remote control
The information is sent from 10 to the network controller 13 on the remote control side, and the outgoing connection is started. When there is an incoming call from the ISDN public communication network 17 to the network control device 8 on the camera installation side via the subscriber line 18, the network control device 8 detects the incoming call and notifies the remote control device 5. The network controller 8 may respond to the incoming call either immediately after detecting the incoming call or after receiving a response instruction from the remote controller 5, but here, the network controller 8 immediately responds to complete the communication path setting. Camera 2 via video signal line 9
The video input to the image capturing / encoding device 7 from
In accordance with an instruction from the remote control device 5, the image capturing / encoding device 7 converts the image into a coded still image, and the network control device 8, the subscriber line 18, the ISDN public communication network 17, the subscriber line 1
9, image decoding device 14 via network control device 13 on the remote control side
(Hereinafter referred to as route R1). The transferred coded still image is returned to a still image by the image decoding device 14 according to an instruction from the remote control device 10, and then the guidance is sent from the remote control device 10 by the screen synthesizing device 15. The message is combined with a message or the like and displayed on the monitor display 16 (hereinafter, referred to as route R2).

Here, when the operator makes a camera shooting position selection request by an operation such as clicking the corresponding command selection branch on the screen with the mouse 11, the camera shooting position selection request is
From the remote controller 10 to the remote controller 13
To the remote controller 5 via the subscriber line 19, the ISDN public communication network 17, the subscriber line 18, and the network controller 8 on the camera installation side (hereinafter referred to as route R3). Remote control device 5
Is image information of the entire range that can be photographed by the camera 2 stored in the storage device 6, and the camera 2 on the image information
The coordinate value of the installation position, the coordinate value on the image information of the initial shooting position when connected to the camera 2 from the remote operation side, and the pan head control value corresponding to the coordinate value are read out. Network control device 8, subscriber line 18, ISDN public communication network 1
7. Transfer to the control device 10 on the remote control side via the subscriber line 19 and the network control device 13 on the remote control side (hereinafter referred to as route R4). After storing the transferred information in the storage device 12, the control device 10 on the remote operation side creates the screen shown in FIG. 2 based on the stored information. Further, after instructing the screen synthesizing device 15 to output only the input from the control device 10 to the monitor display 16, the created screen is sent to the screen synthesizing device 15.

When the operator clicks and selects a desired camera photographing position in the screen while viewing the screen shown in FIG. 2, the control device 10 specifies the clicked position with an arrow or the like as shown in FIG. At the same time, the camera platform control value corresponding to the selected camera shooting position is calculated, and the result is transferred to the remote control device 5 via the route R3.

The calculation of the pan head control value is performed according to the following procedure. For the sake of explanation, FIG.
The current camera shooting position, a value represented by the coordinate value managed on the image information stored in the storage device 12 the coordinate value of each point of the camera shooting position selected by mouse click,
Let (x, y), (x ₀ , y ₀ ) and (x ₁ , y ₁ ) be respectively. Further, as shown in FIG. 4, a line indicating the pan operation reference position of the camera platform 3 (position at which the pan angle becomes 0 degree) is L, and as shown in FIG. 5, the center of the camera 2 from the ground surface is shown. Let H be the height to the point.

First, first, determine the pan control value P ₁ corresponding to the coordinate values (x _1, y _1).

The pan control value of the pan head 3 corresponding to the coordinate value (x ₀ , y ₀ ) is represented by P ₀
As shown in FIG. 4, coordinate values (x ₀ , y ₀ ) and (x, y)
The intersection angle between the line connecting the two points and the line L is θ _P0 , and the coordinate value (x ₁ , y
Assuming that the intersection angle between the line connecting the two points ₁ ) and (x, y) and the line L is θ _P1 , the intersection angles θ _P0 and θ ₀₁ are pan angles, respectively, and the pan control value P ₁ is as follows: Can be expressed.

Here, the intersection angles θ _P0 and θ _P1 can be calculated as follows.

Thus, pan control value P ₁ can be easily calculated from the calculation results of the crossing angle theta _P0 and theta _P1.

Next, determine the tilt control value T ₁ corresponding to the coordinate values (x _1, y _1).

When a building or the like exists at the selected shooting position, it is more effective to calculate the tilt control value in consideration of the height of the building. However, generally, such three-dimensional image information is stored in the storage device 12. No information is included. However, this problem can be avoided by allowing the remote control to specify the fine adjustment of the pan head control value after moving to the selected shooting position. Therefore, in this case, the tilt control value is set as shown in FIG. As shown, the description will be simplified to match the ground surface of the destination coordinate point.

The tilt control value of the camera platform 3 corresponding to the coordinate value (x ₀ , y ₀ ) is represented by T
Assuming that the tilt angles corresponding to ₀ and the coordinate values (x ₀ , y ₀ ) and (x ₁ , y ₁ ) are θ _T0 and θ _T1 , respectively, the tilt control value
T ₁ can be expressed as follows.

Here, the distance between two points of the coordinate values (x ₀ , y ₀ ) and (x, y) is
L _0, the coordinate values (X _1, y ₁₎ and (x, y) and the distance between two points to L _1, the distance L ₀ and L ₁ can be calculated as follows.

Using this calculation result, as can be seen from FIG.
The tilt angles θ _T0 and θ _T1 can be calculated as follows.

Therefore, tilt control value T ₁ is the tilt angle theta _T0 and theta _T1
Can be easily calculated from the calculation result.

 This completes the calculation of the movement amount of the camera platform 3.

 Subsequently, the control value of the zoom lens 1 is calculated.

First, the lens focus control value F ₁ corresponding to the coordinate values (x _1, y _1).

The lens focus control value corresponding to the coordinate value (x ₀ , y ₀ ) is F ₀ , and the focal lengths of the coordinate values (x ₀ , y ₀ ) and (x ₁ , y ₁ ) to the ground point are K ₀ and K, respectively. When _1, the lens focus control value F ₁ is expressed as follows.

Here, the focal lengths K ₀ and K ₁ can be calculated as follows, as can be seen from FIG.

Therefore, the lens focus control value F ₁ can be easily calculated from the calculation result of the calculation results of the previous tilt angle theta _T0 and theta _T1 and focal length K ₀ and K _1.

Next, the lens zoom control value Z ₁ corresponding to the coordinate value (x ₁ , y ₁ ) is a control value for determining the viewing angle, and is calculated in consideration of the viewing angle desired by the operator. Is more effective. However, similarly to the tilt control value, it can be replaced by allowing the fine adjustment of the lens zoom control value to be designated after the movement to the selected shooting position. Therefore, here, the lens zoom control is performed by reflecting only the change in the focal length. Simplify to change the value.

Specifically, the lens zoom control value Z ₁ corresponding to the coordinate values (x _1, y _1), the lens zoom control value Z ₀ corresponding to the coordinate values (x _0, y _0), the lens focus control value F ₁ Can be calculated as follows using the focal lengths K ₀ and K ₁ of the coordinate values (x ₀ , y ₀ ) and (x ₁ , y ₁ ) to the ground surface point calculated in the process of calculating.

According to the procedure described above, four pan control values, tilt control values, lens focus control values, and lens zoom control values are calculated as pan head control values.

The remote controller 5 sends the received head control values to the servo amplifier 4 to control the head 3. After the control completion signal is returned from the servo amplifier 4 to the remote control device 5, the video input to the image capturing / encoding device 7 from the camera 2 via the video signal line 9 is transmitted by the instruction of the remote control device 5. The image is coded again by the image capturing / encoding device 7 to be coded still images.
Will be displayed. Here, if the above-described shooting position selection operation is performed, the shooting position can be repeatedly changed many times.

Note that the method of determining a shooting position of a remote camera according to the present invention can be performed regardless of whether a transferred image is a still image or a moving image, and that a communication line is not interposed between the camera installation side and the remote operation side. Can also be implemented.

In addition, in the case of the first shooting, the pan head control value for the designated camera shooting position is a pan head control value corresponding to the initial shooting position and the coordinate value of the camera installation position on the image information. Calculated from the coordinate value of the initial shooting position on the image, the coordinate value of the designated camera shooting position on the image information, and the height H of the camera from the ground surface.
In the case of the subsequent shooting, the camera platform control value corresponding to the previous shooting position, the coordinate value of the camera installation position on the image information, and the coordinate value of the previous shooting position on the image information And the coordinate value of the designated camera shooting position on the image information and the height H of the camera from the ground surface may be calculated. In this case, the image of the designated camera shooting position may be calculated. The coordinate values on the information and the calculated camera platform control values are stored in the storage device 12 each time.

〔The invention's effect〕

As described above, according to the present invention, when an operator selects a camera shooting position, image information indicating the entire range that can be shot by the camera is displayed on the screen, and when the operator specifies an arbitrary point on the image information, By automatically calculating a camera platform control value for moving the camera shooting position to the designated point, and remotely controlling the camera platform according to the calculation result, an image of an arbitrary point within the entire range shootable by the camera can be obtained. Can be obtained freely and with a simple operation.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of a camera remote control system to which a method for determining a shooting position of a remote control camera according to the present invention is applied, and FIG. FIG. 3 is a diagram showing a screen display example in which the installation position and the current photographing position are superimposed, FIG. 3 is a diagram showing a screen display example in which a camera photographing position is selected on the screen in FIG. 2, and FIG. ₀ , y ₀ ), (x ₁ , y ₁ ) and the intersection angles θ _P0 , θ _P1 . FIG. 5 is a diagram showing the tilt angle θ _T. 1 ... zoom lens, 2 ... camera, 3 ... head, 4 ... servo amplifier, 5 ... remote control device, 6 ... storage device (camera installation side), 7 ... image capture / encoding device 8 Network control device (camera installation side) 9 Video signal line 10 Control device (remote operation side) 11 Mouse 12 Storage device (remote operation side) 13 Network control device (remote operation side), 14 image decoding device, 15 screen synthesis device, 16 monitor display, 17 ISDN public communication network, 18, 19 subscriber line.

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H04N 7/18 E G05D 3/12 K H04N 5/232 B H04Q 9/00 301 E

Claims (7)

(57) [Claims] 1. A method for deciding a photographing position of a remote control camera having a remote control head, comprising: image information in a data format which can be processed by a computer, in an entire range photographable by said camera; The coordinate value on the image information of the installation position of the camera, the coordinate value on the image information of the initial shooting position when connected to the camera from the remote operation side, and a cloud corresponding to the initial shooting position The table control value is stored in the camera installation side in advance, and when the camera operator issues a camera shooting position selection request, the stored information is transferred to the remote operation side, and based on the information, The camera installation position and the current shooting position are superimposed on the image information and displayed on the screen.When the operator indicates a desired camera shooting position in the screen, a pan head control value for the specified camera shooting position is displayed. Said A camera platform control value corresponding to the period photographing position, the camera installation position, and the coordinate value on the image information, the initial imaging position, and the coordinate value on the image information,
The designated camera shooting position, the coordinate value on the image information, automatically calculated from the height from the ground surface of the camera, and sends the calculated pan head control value to the camera installation side, A method for determining a shooting position of a remote control camera, wherein the camera platform is controlled in accordance with the calculated camera platform control value. 2. A coordinate value on the image information of the designated photographing position of the camera and a calculated pan head control value are stored. In the case of the second or subsequent photographing, the designated position is designated. The head control value corresponding to the camera shooting position, the head control value corresponding to the previous shooting position, the coordinate value of the camera installation position, the coordinate value in the image information, and the image of the previous shooting position. The coordinate values on the information, the designated camera shooting position, the coordinate values on the image information, and the height of the ground surface of the camera are automatically calculated and the specified camera shooting position The method according to claim 1, wherein the coordinate values on the image information and the calculated pan head control values are stored. 3. The method according to claim 1, wherein the camera installation side and the remote operation side are connected by a communication line. 4. The method according to claim 3, wherein said communication line comprises a subscriber line and an ISDN public communication network. 5. A remote control system for a camera to which a remote control head is attached, comprising a device on a camera installation side and a device on a remote operation side, wherein the device on the camera installation side is capable of photographing with the camera. Image information of the entire range in a data format that can be processed by a computer and coordinate values of the installation position of the camera on the image information are stored in advance, and the initial values when the camera is connected from a remote operation side are stored. A storage device for storing a coordinate value of the shooting position on the image information and a pan head control value corresponding to the initial shooting position; a servo amplifier controlling the pan head based on the pan head control value; The video from the camera is transferred to the remote operation side in response to an incoming request from the operation side, the information stored in the storage device is read out in response to the camera shooting position selection request from the remote operation side, and the information is transmitted to the remote operation side. When the head control value is transferred from the remote operation side after that, the control unit sends the head control value to the servo amplifier and controls the head, and the device on the operation side includes: A storage device for storing the information transferred from the device on the camera installation side, a display device, and when the camera operator issues a camera shooting position selection request, based on the information stored in the storage device, An image synthesizing device that superimposes a camera installation position and a current shooting position on the image information and displays the image on the display device, and displays an image transferred from the camera installation side on the display device; The outgoing connection request is transferred to the device on the camera installation side, and then when the operator makes a request for selecting the camera shooting position, the request for camera selection is transferred to the device on the camera installation side, and then the storage device on the camera installation side Read from After storing the output and transferred information in the storage device, the operator sets a desired camera shooting position in the image information in which the camera installation position and the current shooting position are superimposed and displayed on the display device. When instructed, the pan head control value corresponding to the instructed camera photographing position is stored in the storage device, and the pan head control value corresponding to the initial photographing position and the camera installation position are displayed on the image information. , The initial shooting position, the coordinate value on the image information, the designated camera shooting position, the coordinate value on the image information, and the height of the camera from the ground surface. A remote control system for a camera, including a control device for transferring the information to a device on the camera installation side. 6. A remote control system for a camera to which a remote control head is attached, wherein one or more devices on the camera installation side connected to one another via an ISDN public communication network and a subscriber line. A device on a remote operation side, wherein the device on the camera installation side has image information in a data format that can be processed by a computer over the entire range that can be photographed by the camera, and the image information on an installation position of the camera. The coordinate values on the above are stored in advance, and the coordinate values on the image information of the initial shooting position when the camera is connected from the remote operation side, and the pan head control value corresponding to the initial shooting position are stored. A storage device, a servo amplifier for controlling the camera platform based on the camera platform control value, a network controller, an image capturing / encoding device, and a notification of detection of an incoming request from a remote operation side from the network controller. When you receive The image capturing / encoding device is controlled to convert the video from the camera into an encoded image and transfer it to the remote operation side via the network control device, and the network control device requests a camera photographing position selection from the remote operation side. Upon receiving the detection notification, all the information stored in the storage device is read out and transferred to the remote operation side via the network control device, and then the pan head control value is transferred from the remote operation side via the network control device. Then, the control device includes a control device that sends the transferred pan head control value to the servo amplifier and controls the pan head, wherein the operation side device includes a net control device, and the net control device from a camera installation side. An image decoding device for decoding an encoded still image transferred through the network control device; a storage device for storing information transferred from the camera installation side via the network control device; a display device; When a photographing position selection request is issued, a camera installation position and a current photographing position are superimposed on the image information and displayed on the display device based on the information stored in the storage device. An image synthesizing device for displaying an image transferred from the network device on the display device, and transmitting an outgoing connection request from an operator to the network control device and the ISDN.
Transfer to the camera installation side device via the public communication network and the subscriber line, and then, when the operator makes the camera shooting position selection request, the camera shooting position selection request is sent to the network control device and the ISDN public communication. After transferring the information read from the storage device on the camera installation side via the network and the subscriber line and then transferred from the storage device on the camera installation side and transferred via the network control device to the storage device, the operation is performed. When the user indicates a desired camera shooting position in the image information in which the camera installation position and the current shooting position are superimposed on the display device, a pan head control value corresponding to the specified camera shooting position is indicated. The pan head control value stored in the storage device, the pan head control value corresponding to the initial photographing position, the coordinate value of the camera installation position on the image information, and the coordinate of the initial photographing position on the image information. value And a control device that calculates from the coordinate value on the image information of the designated camera shooting position and the height from the ground surface of the camera, and transfers the same to the device on the camera installation side via the network control device. Camera remote control system, including. 7. The remote control-side control device stores, in the storage device, a coordinate value on the image information of the designated shooting position of the camera and the calculated pan head control value, In the case of the second and subsequent shootings, the camera platform control value corresponding to the instructed camera shooting position is calculated using the camera head control value corresponding to the previous shooting position and the image information of the camera installation position. Calculated from the coordinate value of the previous shooting position, the coordinate value on the image information, the designated camera shooting position, the coordinate value on the image information, and the height of the ground surface of the camera. And storing the coordinate value of the designated camera photographing position on the image information and the calculated pan head control value in the storage device, and transferring the pan head control value to the camera installation side device. Claim 5 or 6
The described system.