JP5763978B2 - Control device and control method of control device - Google Patents

Description

  The present invention relates to a technique related to an imaging apparatus equipped with a rotation mechanism centered on an optical axis (hereinafter referred to as “rotate mechanism”. Also, rotation drive around the optical axis is referred to as “rotate”).

  In addition to panning and tilting, cameras equipped with a rotation mechanism have appeared. In addition, a camera that detects a rotation angle with respect to the optical axis of imaging and rotationally corrects the captured image has appeared. In a camera equipped with a rotation mechanism, a mechanism has been proposed in which a predetermined angle is maintained by rotating an imaging unit with respect to an image that appears to be tilted according to the rotation angle of a pan, as in Patent Document 1. Further, as disclosed in Patent Document 2, a rotation correction unit that detects rotation of an imaging lens around an optical axis and displays an image by rotating the image around the optical axis so as to cancel the rotation has been proposed.

JP 2007-089042 A JP 2009-060435 JP

  In a camera equipped with a rotation mechanism, when a captured image is long in a horizontal direction such as 3: 4 or 9:16, an area that cannot be captured unless rotated from the tilt end as shown in FIG. , Referred to as a “specific region”).

  When the user wants to control the camera within the shooting range including this specific area, the conventional pan / tilt control cannot see the specific area even when the tilt end is reached. There was a problem that the user had to operate and check the image. Further, since the image is rotated when the camera is rotated, there is a problem that the orientation of the camera becomes difficult for the user to understand.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide a technique for enabling imaging of an imaging range including a specific area without performing complicated operations by a user. To do.

In order to achieve the object of the present invention, for example, the control device of the present invention can control the rotation angle of an imaging device that captures images having different aspect ratios, and the panning and tilting angles of the imaging device. A control device capable of controlling at least one,
If one of the said tilt angle and the pan angle is instructed as the control target angle, determining means for determining a control target angle of the imaging device whether or not it is possible to change in response to the instruction,
Control means for changing the rotation angle of the imaging apparatus by a specified amount when it is determined by the determination means that it is impossible to change the control target angle of the imaging apparatus according to the instruction. And

  When the user designates imaging including a specific area, desired imaging can be obtained without being aware of the rotation control.

The block diagram which shows the function structural example of a system. The figure explaining a specific area | region. The figure which shows the example of a display of GUI. 5 is a flowchart of processing performed by the imaging apparatus 100. 5 is a flowchart of processing performed by the imaging apparatus 100. The figure explaining the change amount of a low angle. The figure which shows the example of a display of GUI. The figure which shows the example of a display of GUI. The figure which shows the example of a display of GUI. The figure which shows the example of a display of GUI. The figure which shows the example of a display of GUI. The figure explaining the width | variety of a specific area | region.

  Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The embodiment described below shows an example when the present invention is specifically implemented, and is one of the specific examples of the configurations described in the claims.

[First Embodiment]
First, a functional configuration example of a system according to the present embodiment will be described with reference to the block diagram of FIG. As shown in FIG. 1, the system according to the present embodiment includes an imaging device 100 that functions as a control device that can control a camera, and an image display device 500 that is connected to the imaging device 100 via a network 10. . The network 10 may be either a wired or wireless network, or a combination thereof. The network 10 is configured by TCP / IP, for example.

  First, the imaging device 100 will be described. The communication control unit 130 functions as an interface for performing data communication with the image display device 500 via the network 10, and data communication with the image display device 500 via the network 10 is performed by the communication control unit 130. Is done through.

  When the communication control unit 130 receives a command transmitted from the external image display device 500 via the network 10, the command control unit 140 analyzes the command. As a result, if this command is related to image processing, this command is sent to the image processing unit 120. If this command is related to drive control of the imaging unit 110, this command is sent to the drive control unit. 150.

  The imaging unit 110 is a device that can capture a moving image or a still image of a scene, and the captured images (or images of each frame) are sequentially sent to the image processing unit 120. In FIG. 1, the imaging unit 110 is shown as a functional unit in the imaging device 100, but the imaging unit 110 may be a separate device from the imaging device 100, and in this case, the imaging unit 110 is wired or wireless, etc. The image capturing apparatus 100 may be communicably connected via the network.

  The image processing unit 120 performs image processing according to the command received from the command control unit 140 on the image received from the imaging unit 110 to generate an image processed image having a specific format. Then, the image processing unit 120 sends the generated image processed image to the storage device 160 and the command control unit 140.

  The rotation driving unit 200 controls the low angle of the imaging unit 110. The pan driving unit 210 controls the pan angle of the image capturing unit 110 (the image capturing unit 110 is fixed on the pan head and actually the pan angle of the pan head). The tilt drive unit 220 controls the tilt angle of the image pickup unit 110 (the image pickup unit 110 is fixed on the camera platform, and actually the tilt angle of the image pickup unit 110 with respect to the camera platform).

  The drive control unit 150 performs drive control of each of the rotation drive unit 200, the pan drive unit 210, and the tilt drive unit 220 according to the command received from the command control unit 140. For example, if the command received from the command control unit 140 controls the low angle, the rotation drive unit 200 changes the low angle of the imaging unit 110 by an amount (or a prescribed amount) specified by the command. Is controlled. With this drive control, the imaging unit 110 rotates about the optical axis of the imaging unit 110 by an amount (or a prescribed amount) specified by the command. For example, if the command received from the command control unit 140 controls the pan angle, the pan driving unit changes the pan angle of the imaging unit 110 by an amount (or a specified amount) specified by the command. 210 is driven and controlled. For example, if the command received from the command control unit 140 controls the tilt angle, the tilt drive unit changes the tilt angle of the imaging unit 110 by an amount (or a specified amount) specified by the command. 220 is driven and controlled. Further, the drive control unit 150 acquires the current low angle, pan angle, and tilt angle of the imaging unit 110 from each of the rotation drive unit 200, the pan drive unit 210, and the tilt drive unit 220, and stores the storage device 160 and the command. It is sent to the control unit 140.

  When the command control unit 140 acquires the current low angle, pan angle, and tilt angle of the imaging unit 110 from the drive control unit 150, the command control unit 140 sends the acquired low angle, pan angle, and tilt angle to the communication control unit 130 and the network 10. To the image display apparatus 500. When the command control unit 140 receives an image processed image from the image processing unit 120, the command control unit 140 sends the image to the image display device 500 via the communication control unit 130 and the network 10.

  The storage device 160 is an information storage device that can store information, such as a flash memory or a hard disk drive device, and can store and hold an image-processed image and various information related to imaging.

  Next, the image display device 500 will be described. The communication control unit 560 functions as an interface for performing data communication with the imaging device 100 via the network 10, and data communication with the imaging device 100 via the network 10 is performed via this communication control unit 560. Done.

  When information indicating the current state of the image capturing unit 110 including the image processed image and the current low angle, pan angle, and tilt angle of the image capturing unit 110 is transmitted from the image capturing apparatus 100, these are transmitted via the communication control unit 560. Are input to the command processing unit 550. When the image received from the communication control unit 560 is an image processed image, the command processing unit 550 transfers this image to the image processing unit 530. On the other hand, when the information received from the communication control unit 560 is information indicating the current state of the imaging unit 110, the command processing unit 550 transfers this information to the display control unit 520.

  The image processing unit 530 appropriately processes the image received from the command processing unit 550 as necessary. For example, characters, symbols, images, and the like stored in the storage device 570 are superimposed on the image received from the command processing unit 550. Of course, the image processing unit 530 may not perform any processing on the image received from the command processing unit 550. The image processing unit 530 outputs the image processed / not processed as described above to the display control unit 520.

  The display control unit 520 displays the “information indicating the current state of the imaging unit 110” received from the command processing unit 550 and a GUI (graphical user interface), which will be described later, together with an image from the image processing unit 530. To display. Further, when the image from the image processing unit 530 is an image captured by the imaging unit 110 while being rotated by the rotation driving unit 200, the display control unit 520 rotates the image in reverse. To the image display unit 510.

  The image display unit 510 includes a CRT, a liquid crystal screen, or the like, and can display an image received from the image processing unit 530, information, an image, or a GUI received from the display control unit 520.

  When the user operates the above-described GUI using a keyboard or mouse (not shown), the camera operation input unit 540 performs an operation to change the low angle, pan angle, and tilt angle of the imaging unit 110. A command indicating the operation content is generated as a control command. Then, the camera operation input unit 540 sends the generated control command to the imaging apparatus 100 via the communication control unit 560. When the image display unit 510 is configured with a touch panel screen, the user may operate this GUI by directly instructing on the display screen of the image display unit 510.

  Next, when the user of the image display apparatus 500 inputs an operation for changing the pan angle or tilt angle of the imaging unit 110 using a keyboard or a mouse (not shown), the image display apparatus 500 and the imaging apparatus 100 are used. The processing performed by each of the above will be described.

  A GUI as shown in FIG. 3 is displayed on the image display unit 510 of the image display device 500. In the area 590, an image sent from the image processing unit 530 via the display control unit 520 is displayed.

  In the region 540a, a group of buttons that are operated to instruct to change the low angle, pan angle, and tilt angle of the imaging unit 110 are displayed. The interface for changing these corners is not limited to such an interface, and various interfaces can be considered. A slider bar for instructing to change the pan angle of the imaging unit 110 is displayed in the area 540b, and a slider bar for instructing to change the tilt angle of the imaging unit 110 is displayed in the area 540c.

  While observing the image displayed in the area 590, the user decides in which direction imaging is desired next, and operates the slider bar and the button group using a keyboard, a mouse, or the like.

  The camera operation input unit 540 generates a control command indicating the content of the operation from the user. For example, when the user performs an operation of changing the pan angle using the above-described GUI, the camera operation input unit 540 generates a control command for instructing to change the pan angle by the amount P. The control command is transmitted to the imaging apparatus 100 via the network 10 by the communication control unit 560.

  The control command received via the communication control unit 130 is input to the command control unit 140, and the command control unit 140 analyzes the control command. A process performed by the imaging apparatus 100 when this control command is related to drive control of the imaging unit 110 will be described with reference to FIG. 4 showing a flowchart of the process. Note that the flowchart in FIG. 4 assumes a case where the aspect ratio of the image captured by the imaging unit 110 is a: b (a <b) and a specific region appears at the tilt end. However, if a> b, “tilt” in the following description may be replaced with “pan”. In this case, the “specific area” is an area that cannot be shot unless rotated from the pan end.

  In step S <b> 410, when the command control unit 140 receives a control command via the communication control unit 130, the command control unit 140 transfers the control command to the drive control unit 150. In step S420, the drive control unit 150 determines whether or not this control command is a control command for changing the tilt angle.

  As a result of the determination, if the control command is for changing the tilt angle, the process proceeds to step S430. If the control command is not for changing the tilt angle, the process proceeds to step S470.

  In step S470, the drive control unit 150 controls the drive unit corresponding to the angle to be changed by the control command among the rotation drive unit 200 and the pan drive unit 210, and causes the imaging unit 110 to change the angle. . For example, when the control command is for changing the pan angle, the drive control unit 150 changes the pan angle of the imaging unit 110 by an amount (or a predetermined amount) specified by the control command. The drive unit 210 is driven and controlled. The same applies to the low angle.

  On the other hand, in step S430, the drive control unit 150 is in a state in which the current pan angle of the imaging unit 110 can no longer be changed in the positive direction (a state in which the upper limit of the positive direction has been reached in the range in which the pan angle can be changed). Judge whether there is. In step S430, the drive control unit 150 is in a state in which the current pan angle of the imaging unit 110 can no longer be changed in the minus direction (a state in which the upper limit in the minus direction has been reached within the changeable range of the pan angle). Judge whether there is. This is equivalent to determining whether the current position of the imaging unit 110 is at the tilt end.

  If it is determined in step S430 that the current pan angle of the imaging unit 110 can no longer be changed in the positive direction, or no longer changeable in the negative direction, the process proceeds to step S440. On the other hand, as a result of the determination in step S430, if the current pan angle of the imaging unit 110 can no longer be changed to the plus direction, or no longer can be changed to the minus direction, the process proceeds to step S460. move on.

  In step S460, the drive control unit 150 drives and controls the tilt drive unit 220 so that the tilt angle of the imaging unit 110 is changed by an amount specified by the control command (or a predetermined amount).

  On the other hand, in step S440, the drive control unit 150 determines whether or not the current tilt angle of the imaging unit 110 can be changed by an amount specified by the control command (or a predetermined amount). For example, when the current tilt angle of the imaging unit 110 cannot be changed any more in the plus direction but the control command further changes the tilt angle in the plus direction, it is determined that the change is impossible. Similarly, when the current tilt angle of the imaging unit 110 can no longer be changed in the minus direction, but the control command further changes the tilt angle in the minus direction, it is determined that the change is impossible. .

  That is, in steps S430 and S440, generally, when a control command for controlling at least one of the pan angle and the tilt angle as a control target angle is received, whether or not the control target angle of the imaging unit 110 can be changed. Judgment.

  As a result of the determination in step S440, if it is determined that change is possible, the process proceeds to step S460. If it is determined that change is not possible, the process proceeds to step S450.

  In step S450, the drive control unit 150 drives and controls the rotation drive unit 200 so that the low angle of the imaging unit 110 is changed by a specified amount. By this drive control, the imaging unit 110 rotates by a specified amount around the optical axis of the imaging unit 110. Further, in step S450, the drive control unit 150 determines that the low angle has been changed in step S450 because it has been determined that the change cannot be made in step S440, and information indicating the low angle before the change in step S450. Store in the storage device 160.

  That is, in step S450, when the control target angle of the imaging unit 110 has reached the upper limit value and the control command instructs a change exceeding the upper limit value, the control target angle is not changed and the low angle is set. Change only the specified amount.

  In the present embodiment, the prescribed amount, which is the amount of change in the low angle in step S450, is 90 degrees (an angle with respect to the ground plane (horizontal plane) of the imaging unit 110 in the pan head), but may be other angles. . For example, when it is desired to improve the user's cognition, ± 90 degrees perpendicular to the horizontal plane as shown in FIG. However, when priority is given to the imageable area, the angle at which the imageable area becomes the maximum as shown in FIG. 6 (θ where tan θ = y / x when horizontal is x and vertical is y is subtracted from 90. Angle) can be specified.

  The drive control unit 150 collects the low angle, pan angle, and tilt angle of the imaging unit 110 after the drive control by the drive control unit 150 (or during the drive control) from each drive unit, and transfers the collected data to the command control unit 140. To do. Further, the command control unit 140 acquires an image-processed image obtained by performing image processing on the image captured by the imaging unit 110 from the image processing unit 120. However, the command control unit 140 transmits the information collected by the drive control unit 150 and the image acquired from the image processing unit 120 to the image display device 500 via the communication control unit 130.

  FIG. 7A shows a display example of a GUI displaying an image captured by the imaging unit 110 when the low angle of the imaging unit 110 is changed by 90 degrees in step S450. As shown in FIG. 7A, since the low angle of the imaging unit 110 is changed by 90 degrees, the captured image is also rotated by 90 degrees.

  Here, as described above, in step S450, information indicating that the low angle was changed in step S450 because it was determined that the change was not possible in step S440, and information indicating the low angle before being changed in step S450, It was stored in the storage device 160. Therefore, the communication control unit 130 transmits these pieces of information to the image display apparatus 500 side, and the display control unit 520 displays “information indicating the low angle before being changed in step S450” and “90 degrees that is the low angle at the time of imaging”. The image is rotated by the difference from "." Thereby, an image can be displayed as shown in FIG.

  As described above, according to the present embodiment, when a user requests imaging of a specific area, an image can be viewed while maintaining a predetermined angle without being aware of rotation control. In this embodiment, the pan / tilt / rotate control commands are assumed to be specified by angle or coordinates for pan / tilt, and specified by angle for rotate, but the specified parameters are relative / absolute. No matter what.

[Second Embodiment]
In the first embodiment, when the current pan angle (tilt angle) of the imaging unit 110 cannot be changed to the plus side / minus side any more, a control command for further changing to the plus side / minus side. Explained the case of receiving. In the present embodiment, the current pan angle (tilt angle) of the imaging unit 110 is still in a state where it can be changed to the plus side / minus side. However, when the pan angle (tilt angle) is changed according to the received control command, the change is made. A case that exceeds the possible range will be described.

  In the following embodiments, including this embodiment, differences from the first embodiment will be described, and the rest is basically the same as the first embodiment.

  A display example of the GUI according to the present embodiment is shown in FIG. Of course, this GUI is displayed on the image display unit 510 of the image display device 500. The slider bar shown as “control 1” in FIG. 8 indicates the current field of view (pan, tilt) of the imaging unit 110 among all the fields of view that can be captured by the imaging unit 110 by the length of the slider bar. Pan and tilt are indicated by the position of the slider bar. These slider bars can be operated by the user using a keyboard, a mouse, or the like, and the field of view can be designated according to the current position of the slider bar. Then, the designated field of view is notified to the imaging device 100, and the imaging device 100 controls the angle of the imaging unit 110 so as to capture the notified field of view.

  Here, depending on the position of the slider bar, a field of view including a specific area is designated. Therefore, when a field of view including a specific area is designated, a notification to that effect may be made, such as changing the color of the slider bar.

  The ratio of the specific area expressed on the slider bar is the largest when the installation surface is horizontal and becomes 0 degrees, decreases as it approaches 90 degrees, and disappears at 90 degrees. This is because a specific area does not exist at a rotation angle of 90 degrees.

  Further, the image in the area indicated as the control 2 is a panoramic image in the entire field of view that can be imaged by the imaging unit 110. Here, a specific region with respect to the entire field of view is surrounded by a frame so that it can be visually recognized, and can be distinguished by changing the color. Such an image is displayed by superimposing a frame indicating a specific area on a panoramic image captured in advance. In addition, a frame indicating the current field of view of the imaging unit 110 is superimposed and displayed.

  The user can designate a field of view centered on the one point by designating one point on the image using a keyboard or a mouse. In addition, by operating a frame indicating the field of view of the imaging unit 110, the field of view can be specified again. Here, when a specific area is included in the field of view designated by the user, the frame indicating the designated field of view is rotated by a specified amount in the image. However, it should be noted that when the imaging unit 110 is set on a wall surface, the horizontal amount is shifted when pan and tilt control occurs, and thus this specified amount is an angle when the installation is completed. For example, when the specified amount is 90 degrees with respect to the horizontal, the frame changes from the A frame to the B frame in FIG. This makes it easier for the user to grasp the image taken after rotation. Note that the size of the specific area in the panorama image is determined by the rotation angle when the panorama image is created. Here, it is assumed that the installation surface is horizontal and a rotation angle of 90 degrees is assumed. However, depending on the rotation angle, a specific region may become large.

  When the user designates the field of view of the imaging unit 110 as described above, the camera operation input unit 540 generates a control command for changing the field of view of the imaging unit 110 to the designated field of view, and communicates the generated control command. The image is transmitted to the imaging apparatus 100 via the control unit 560. When a specific area is included in the plus direction (minus direction) of the pan angle of the designated field of view, the pan angle of the imaging unit 110 is designated as the upper limit value in the plus direction (minus direction) in the control command. And a command for changing the low angle. The same applies to the tilt angle.

  On the imaging device 100 side, when the communication control unit 130 receives such a control command, the command control unit 140 sends the control command to the drive control unit 150. The drive control unit 150 controls the pan driving unit 210 so that the pan angle of the imaging unit 110 becomes an upper limit value in the plus direction (minus direction), and the rotation driving unit 200 to change the low angle of the imaging unit 110. Control. The same applies to the tilt angle.

[Third Embodiment]
Also in this embodiment, the low angle is changed when the pan angle and tilt angle of the imaging unit 110 cannot be changed any more according to the control command. However, in this embodiment, the low angle before the change is not lost. The auxiliary function for doing this will be described.

  The drive control unit 150 changes the low angle or changes the low angle when the control command instructs the change exceeding the upper limit value while the control target angle of the imaging unit 110 reaches the upper limit value. When the low angle is changed according to the instructed control command, the operation is as follows. That is, information indicating that the low angle has been changed is sent to the image processing unit 120. The image processing unit 120 performs image processing on the image captured by the imaging unit 110 with the low angle changed, and then attaches the information received from the drive control unit 150 to the image processed image. . The method of attaching is not particularly limited, and when an image is converted into a prescribed format, it may be attached to the image as its header, or may be embedded in the image by a method such as a digital watermark.

  However, on the side of the image display apparatus 500 that has received such an image, for example, an arrow metaphor indicating a specific direction (vertical upward direction in the example) or an angle such as a part surrounded by a broken line in FIG. May be indicated by a number.

  An example in which auxiliary information whose upper direction is constantly indicated by an arrow is displayed in a superimposed manner will be described with reference to FIGS. According to the first embodiment, the state before the rotation is as shown in FIG. 9A. At this time, the arrow serving as auxiliary information faces upward. The state after rotation is as shown in FIG. Since the image rotates with the rotation of the imaging unit 110, the upward arrow also rotates to the right. And the final state rotated and displayed on the image display device 500 side is shown in FIG. The arrow is pointing up.

  As described above, even when the image is rotated in any direction and angle on the imaging device 100 side, the user can know the original angle, which is helpful for understanding the operation of the imaging device 100.

  The process of superimposing the auxiliary information on the image information may be performed by the image processing unit 120 or the display control unit 520. The auxiliary information is not limited to being superimposed on the image, and any display form may be adopted as long as the original angle can be notified to the user.

[Fourth Embodiment]
In the first embodiment, when the current pan angle (tilt angle) of the imaging unit 110 cannot be changed to the plus side / minus side any more, a control command for further changing to the plus side / minus side. Explained the case of receiving. In the present embodiment, when the current pan angle (tilt angle) of the imaging unit 110 cannot be changed to the plus side / minus side any more, a control command for changing to the minus side / plus side is received. The case will be described.

  Processing performed by the imaging apparatus 100 when the control command received via the communication control unit 130 relates to drive control of the imaging unit 110 will be described with reference to FIG. 5 showing a flowchart of the processing. In the flowchart of FIG. 5, the same processing steps as those in the flowchart of FIG. 4 are denoted by the same reference numerals, and description thereof is omitted.

  In step S510, the drive control unit 150 determines whether or not “information indicating that the low angle has been changed in step S450 because it has been determined that it cannot be changed in the previous step S440” is already stored in the storage device 160. to decide. As a result of this determination, if it is stored, the process proceeds to step S520. If it is not stored, the process proceeds to step S440.

  In step S520, the drive control unit 150 determines whether the tilt angle of the imaging unit 110 can be changed by an amount specified by the control command (or a predetermined amount). This determination is the same as in step S440. If it cannot be changed, the process is terminated. On the other hand, if it can be changed, the process proceeds to step S450. For example, when the current pan angle of the imaging unit 110 can no longer be changed in the positive direction and the control command changes the pan angle in the negative direction, it is determined that the change is possible.

  When the process proceeds from step S520 to step S450, in step S450, the drive control unit 150 controls the rotation drive unit 200 to return the low angle of the imaging unit 110 to the low angle stored in the storage device 160. . Note that the present invention is not limited to returning to the low angle stored in the storage device 160. For example, the installation surface may be horizontal and may be returned to a predetermined angle (specified value) such as 0 degrees. . Further, in step S450 in this case, “information indicating that the low angle has been changed in step S450 because it was determined that the change was not possible in the previous step S440” stored in the storage device 160 is deleted. The processing performed in step S450 when the processing proceeds from step S440 to step S450 is as described in the first embodiment.

[Fifth Embodiment]
In the first embodiment, the image after rotation displayed on the image display unit 510 is elongated vertically. Depending on the image display unit 510, there are display restrictions such as a low vertical resolution. Therefore, in this embodiment, an image is displayed while maintaining a specific aspect ratio.

  In the first embodiment, as shown in FIG. 10A, a horizontally long image is rotated and displayed vertically. For example, as shown in FIG. 12, when an image having an aspect ratio of 9:16 is assumed, the vertical width of the specific area is (16−9) /2=3.5. In the vertically rotated image, an area that can be cut out with an aspect ratio of 9:16 is vertical (81 ÷ 16) ≈5, and includes a specific area sufficiently. Accordingly, as shown in FIG. 10B, the image is enlarged and corrected so as to have a specific aspect ratio in a range including a specific region.

  Such enlargement correction may be performed on the imaging apparatus 100 side or on the image display apparatus 500 side. When performed on the imaging apparatus 100 side, zoom control is performed so that a specific region is included in an image that has been subjected to image processing by the image processing unit 120. In the imaging device 100 equipped with the electronic zoom, a part of the image obtained from the imaging unit 110 may be enlarged and corrected by the image processing unit 120 and transmitted to the image display device 500. In the imaging unit 110 equipped with an optical zoom, the movable range of the imaging unit 110 varies depending on the zoom value. Therefore, when the zoom value is already near the optical telephoto end, an enlarged image is provided by electronic zoom, and when the image pickup unit 110 is movable, the image pickup unit 110 is tilt-controlled to the position where the specific area is most included and zoomed. .

  On the other hand, when enlargement correction is performed on the image display apparatus 500 side, the image processing unit 530 maintains the specific aspect ratio as shown in FIG. Cut out the image to include it. The cut image is enlarged and displayed by the display control unit 520 in accordance with the screen size of the image display unit 510. Accordingly, it is possible to provide an image including a specific area while maintaining the aspect ratio of the image viewed by the user.

[Sixth Embodiment]
In the first embodiment, the drive control unit 150 of the imaging apparatus 100 causes the command control unit 140 to create a message at a timing at which the rotation drive unit 200 starts changing the low angle. When the command control unit 140 creates a message, it sends it to the image display unit 510.

  This message includes a message indicating that processing for changing the low angle is started, the current low angle, the low angle after the change, and the speed (angular velocity) for changing the low angle. However, if the changed low angle or the speed at which the low angle is changed is determined in advance, it may not be included in the message. The speed of changing the low angle is determined by hardware specifications. Even a rotation angle per unit time may be a specific value uniquely determined between the imaging apparatus 100 and the image display unit 510.

  Upon receiving such a message, the display control unit 520 of the image display device 500 causes the image display unit 510 to display the image received from the imaging device 100 while rotating the image in the reverse direction based on the speed in the message. Thus, the image can be continuously displayed to the user while maintaining the predetermined angle even during the rotation control, which helps to prevent the user's sickness due to the rotation and the operation of the imaging apparatus 100.

[Seventh Embodiment]
In this embodiment, if the low angle of the imaging unit 110 is being changed, the imaging device 100 transmits a message indicating that to the image display device 500, and the image display device 500 receives this message. While this is in progress, a message indicating that the change is in progress is displayed. The purpose of this process is to avoid turning the eyes of the user looking at the screen because the image rotates during the rotation control.

  A display example of a GUI displayed on the image display unit 510 while receiving such a message is shown in FIG. An image with the letters “rotating (dummy image)” (hereinafter referred to as a dummy image) is held in advance on the image display device 500 side, and the dummy image is displayed while a message is being received. You may make it do. If the imaging device 100 is changing the low angle of the imaging unit 110, a dummy image stored in advance in the storage device 160 is transmitted to the image display device 500 instead of the image captured by the imaging unit 110. It may be. The image display apparatus 500 may display the image transmitted from the imaging apparatus 100 on the GUI, whether it is a captured image or such an image.

  Whether or not the low angle is being changed may be determined by the drive control unit 150 monitoring whether or not the rotation drive unit 200 is operating, and if the low angle is being operated, it may be determined that the low angle is being changed. However, when the dummy image is held in advance on the image display device 500 side, the imaging device 100 includes information indicating whether or not the rotation driving unit 200 is in operation and transmits the message to the image display device 500. There is a need to. Of course, the method of determining whether or not the low angle is being changed is not limited to this.

  As a dummy image, a message (character string, character image) indicating rotation, an arbitrary image, a rotated image obtained from a panoramic image captured in advance, and the latest image currently obtained are rotated to a specific angle. Something that makes it possible to capture later images. In addition, you may make it use each said embodiment combining suitably.

(Other examples)
The present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and a computer (or CPU, MPU, or the like) of the system or apparatus reads the program. It is a process to be executed.

Claims (9)

A control device capable of controlling a rotation angle of an imaging device that captures images having different aspect ratios and controlling at least one of a pan angle and a tilt angle of the imaging device ,
If one of the said tilt angle and the pan angle is instructed as the control target angle, determining means for determining a control target angle of the imaging device whether or not it is possible to change in response to the instruction,
Control means for changing the rotation angle of the imaging apparatus by a specified amount when it is determined by the determination means that it is impossible to change the control target angle of the imaging apparatus according to the instruction. Control device. Wherein, in a state where the control target angle of the imaging device has reached the upper limit value, if it is instructed to change the control target angle to a value greater than the upper limit value, the control target angle of the imaging device The control device according to claim 1, wherein the rotation angle of the imaging device is changed by the specified amount without changing. The control means, after changing the rotation angle of the imaging device by the specified amount without changing the control target angle of the imaging device, in a state where the control target angle of the imaging device has reached an upper limit value, If changing the control target angle to a value that does not exceed the upper limit value is instructed, the control device according to claim 2, characterized in that to change the rotation angle of the imaging device to a prescribed value.   The control device according to claim 1, further comprising a display unit that cuts out and displays a specific region of the image captured by the image capturing device.   4. The apparatus according to claim 1, further comprising output means for outputting a message indicating that the rotation angle is being changed to the outside while the rotation angle is being changed by the control means. The control device described in 1. A control method of a control device capable of controlling a rotation angle of an imaging device that captures images having different aspect ratios and controlling at least one of a pan angle and a tilt angle of the imaging device ,
Determination means of the control device, if the one of the pan angle and the tilt angle is instructed as the control target angle, whether it is possible to change the control target angle of the imaging device in response to the instruction A determination process for determining whether or not
When it is determined in the determination step that the control unit of the control device can not change the control target angle of the imaging device according to the instruction, the rotation angle of the imaging device is changed by a specified amount. A control method for a control device comprising: a control step. In the control step, when it is instructed to change the control target angle to a value exceeding the upper limit value in a state where the control target angle of the imaging device has reached the upper limit value, the control target angle of the imaging device The control method of the control device according to claim 6, wherein the rotation angle of the imaging device is changed by the specified amount without changing. Computer program for causing a computer to function as a control device capable of controlling a rotation angle of an imaging device that captures images having different aspect ratios and controlling at least one of a pan angle and a tilt angle of the imaging device Because
A determination unit that determines whether or not the control target angle of the imaging apparatus can be changed according to the instruction when one of the pan angle and the tilt angle is specified as the control target angle;
Control means for changing the rotation angle of the imaging device by a specified amount when it is determined by the determining means that it is impossible to change the control target angle of the imaging device according to the instruction.
As a computer program. In a state where the control target angle of the imaging device has reached the upper limit value, the control unit is configured to change the control target angle to a value exceeding the upper limit value, and when the control target angle of the imaging device is instructed The computer program according to claim 8, wherein the rotation angle of the imaging apparatus is changed by the specified amount without changing.