JPH01288696A - Device for controlling universal head - Google Patents

Abstract

PURPOSE:To enable one TV camera to monitor each position by storing the pan position, tilt position, zoom position, and focus position of a plurality of positions and scanning each portion in order to monitor same. CONSTITUTION:The pan position, tilt position, zoom position, and focus position of a plurality of positions are stored by an EEPROM 76 and each position is scanned in order to monitor each position in line with the stored data. Thereby, a plurality of positions can be monitored in order by one TV camera, simplifying a structure while lowering a cost.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pan head control device for controlling a pan head that directs a TV camera to an arbitrary position, for example when monitoring a desired location with a TV camera. .

[Conventional technology]

In supermarkets, retail stores, etc. that have relatively large sales floor areas, TV cameras are installed to monitor predetermined areas in order to prevent shoplifting and the like. This makes it possible to grasp a relatively large sales floor even with a small number of store employees.

Additionally, fires can be detected early by monitoring potentially flammable areas such as cooking areas and smoking rooms with TV cameras.

For this reason, the TV camera is attached to an electric pan head, and by controlling the electric pan head, the TV camera can be directed to any desired location.

[Problem to be solved by the invention]

However, conventionally, when monitoring multiple locations, multiple T
V-cameras are placed at each position and monitored by multiple CRTs. Therefore, there are disadvantages that not only the configuration becomes complicated and the cost increases, but also the space occupied in the monitoring room becomes large.

The present invention was made in view of this situation, and it is possible to
This allows multiple locations to be sequentially monitored using a camera.

[Means to solve the problem]

The pan head control device of the present invention includes first and second motors that rotate a bracket to which a predetermined object is attached in the pan direction and tilt direction, and detects the rotation position of the bracket in the pan direction and tilt direction. , a first and a second outputting a detection signal.
A pan head control device for controlling a pan head comprising: a first operating means operated when rotating the bracket to a predetermined pan position and a predetermined tilt position; and first and second detection means. A memory for storing a plurality of positions of the bracket specified by the pan position and tilt position output by the means, a second operating means operated when storing a plurality of positions of the bracket in the memory, and a predetermined mode selected. and control means for controlling the first and second motors to sequentially move the bracket to a plurality of positions stored in the memory.

[Effect]

When the first operating means is operated, the first and second motors are driven, and the bracket is moved to a predetermined pan position and tilt position. When the second operating means is operated, the outputs of the first and second detecting means at that time are stored in the memory.

For example, when the auto scan mode is selected, the control means moves the bracket to a predetermined position stored in the memory.

When, for example, a predetermined time has elapsed at that position, the bracket is moved to the next storage position. Such operations are sequentially repeated for a plurality of stored positions.

Therefore, it becomes possible to automatically monitor a plurality of positions in sequence.

〔Example〕

7 to 9 show the electric pan head of the present invention in use. In these figures, reference numeral 1 denotes a mounting base, to which the electric pan head 2 is attached and fixed with bolts, nuts, etc. 3 is a TV camera and lens attached to the electric pan head 2.

1 and 2 show a controller that controls the electric pan head 2. FIG. In these figures, 12 is a power switch for the controller 11, which is turned on when in use and turned off when not in use. 13 is a pair of focus switches that are operated when controlling the focus state;
AR), the focus of the TV camera 3 lens becomes more T.
Approach the subject close to V camera 3 and press the right side (F A R)
If you press , it moves away from you. 14 is a pair of zoom switches operated when controlling the zoom state;
WIDE) or the right side (position E) will zoom to the wide-angle side or telephoto side, respectively.

15 is a joystick switch, which is switched to the left (LEFT) in the figure when panning the bracket of the pan head 2 to the left or right.
When tilting up or down, it is pressed toward the UP or DOWN side in the figure. When the switch 15 is pressed diagonally upward in the figure, the bracket pans to the left and simultaneously tilts upward. Even when pressed obliquely to the upper right, lower left, or lower right, they are simultaneously driven in two corresponding directions.

The switch 15 can also be configured with four bushing switches corresponding to each direction, a trackball, a mouse, or the like. 16 is an LED (of course, a lamp or the like may be used), which blinks when an external signal is input from the terminal 33.

Reference numeral 17 is a knob that is operated when setting the pause time (the time during which the TV camera stops (monitors) at each position during auto-scanning). In this embodiment, any time between 1 second and 30 seconds can be set. 18 is a switch for selecting the moving speed of the lens of the TV camera in the manual mode. In this embodiment, it is possible to switch to three stages: high (H, IGH), medium (MID), and low (LOW).

19 is a switch to change the mode, auto scan (AUTOSCAM), auto pan (AUTOPA).
N), manual (MANUAL) and program (P
ROGRAM). When the program mode is selected, when the left switch (SET) in the figure is pressed among the memory switches 20, the target position during auto scan mode, external signal input generation, or scene selection is stored in the memory. When you press the switch on the right (CLEAR),
The memory location is erased.

21 is a switch for switching between automatically setting the aperture of the lens of the TV camera 3 (AUTO) and manually setting it (MAN). MA by switch 21
N, when mode is selected, turn knob 22 to the left (OPEN
) or to the right (CLO8E), the aperture can be adjusted to a predetermined value. Reference numeral 23 denotes a volume, which is used to remotely change the photometry method of the video signal when automatically selecting the aperture value. Volume 23
When the amount in the figure is rotated to the left (AV), the average value of the video signal is used as the reference value, and when it is rotated to the far right (PK), the peak value of the video signal is used as the reference value, and within this range, the average value of the video signal is used as the reference value. Can be configured. By rotating the volume 32 to the left (LOW) or right (HIGH) in the figure, the reference level of the video signal can be adjusted by remote control.

24 is a switch, and 25 is a plurality of LEDs (which may be lamps or the like) arranged corresponding to the switch 24 (eight in the embodiment).

The switch 24 is operated in correspondence to each position when storing or deleting the position to point the TV camera in the memory, or when selecting a stored position, and corresponds to each position when the switch 24 is operated. LED2
5 lights up or flashes.

31 is a switch for selecting the rated voltage for driving the lens of the TV camera 3, and it is switched to the left side in the figure for 6V, and to the right side for 12V. R on the lens of TV camera 3
Built-in OM etc. and memorized the type of rated voltage,
By reading this stored data in the controller 11, the rated voltage can be automatically selected.
The switch 31 becomes unnecessary. Alternatively, the connector connecting the TV camera 3 to the controller 11 may be provided with a terminal for voltage identification, and the connector may be used in place of the ROM.

34 and 35 are connectors to which cables for transmitting and receiving signals with the pan head 2 are connected.

36 is the left (N) side in the figure when the pan head 2 is installed in an upright position;
This is a switch that can be switched to the left (R) side in the figure when standing upside down. The left/right and up/down relationships are reversed when standing upright and when standing upside down, so by switching this switch in advance, joystick switch 1
When operating the TV camera 5, it becomes possible to quickly rotate the TV camera in a desired direction without confusion.

For example, as shown in FIG. 4, a weight 36A that moves inside the cylinder 36D in response to gravity (installed state)
If a device consisting of switches 36B and 36C that are pressed by A is provided on the pan head 2, the switch 36B will be pressed when the pan head is upright.
is turned on and the switch 36C is turned on when the camera is in an inverted position, so the installation state of the pan head 2 can be automatically detected from the outputs of the switch positions 36B and 36C. In this way, the switch 36 becomes unnecessary.

FIG. 3 shows the basic configuration of the TV camera 3. The CCD 42 outputs an electric signal (video signal) in response to the light input from the lens group 41. The focusing lens and zooming lens of the lens group 41 are driven by a focus motor 43 and a zoom motor 44, respectively. Potentiometers 45 and 46 output signals corresponding to the focus position and zoom position of the focusing lens and zooming lens of the lens group 41.

20 to 25 show the basic configuration of the pan head 2. FIG.

In FIG. 20, reference numeral 117 is a base flange, and this base flange 117 is attached and fixed to a mounting base. The bottom surface of the base flange 117 is closed by a bottom hole 116. 112 is a pan shaft fixed perpendicularly to the base flange 117, and a spur gear 1 is attached to this pan shaft 112.
14 and a worm wheel 115 are fixed. 10
9 is a ball bearing, the inner circumference of which is fixed to the pan shaft 1↓2, and the outer circumference of the ball bearing 119, respectively.

As a result, the pan base 119 is rotatable about the pan shaft 112 with respect to the base flange 117. 110 is a spacer inserted between the ball bearing 109 and the spur gear 114, 111 is a spring pin that fixes the worm wheel 115 to the pan shaft 112, and 113 is the pan shaft 1.
This is a protective ring attached to the lower end of 12.

A connector cover 108 covers the connector panel 606 (FIG. 25), and is fixed to the base flange 117 with screws. A bread motor 106 is fixed to the pan base 119 so that its rotating shaft is parallel to the pan shaft 112, and a worm 107 is attached to its tip. A cover 103 surrounds the outer periphery of the electric pan head, and is attached to the pan base 119. 105 is a receiving plate attached to the cover 103, and 104 is a mounting plate to which the spur gear 308 is attached.

102 is a bracket, and 101 is a rubber plate fixed to the upper surface of the bracket 1°2. 128 is the bracket 102
This is a mounting screw for attaching a TV camera to the camera.

118 is a limiter ring, and the base flange 117
Fixed. Pan limiters 601 and 602 (FIG. 25) are attached to this limiter ring 118 with screws 612 and 613.

123 is a tilt base 424 and a tilt frame 412 (
23), and a worm 127 is attached via a ball bearing 125 and a needle bearing 126. 122 is a worm wheel fixed to the other end of the rotating shaft of the worm 127. 121 is a ball bearing, and the lower end of the rotating shaft of the worm 127 is rotatably supported by the bracket 123.

120 is a bearing holding ring for the ball bearing 121, and 124 is a thrust bearing cover for the ball bearing 125.

-11= In FIG. 21, 201 is a pan worm bracket, which is fixed to the pan base 119.

202 is a worm that meshes with the worm wheel 115, and is connected to the pan worm bracket 2 via a ball bearing 210.
It is rotatably supported by 01.

A worm wheel 203 is attached to one end of the rotating shaft of the worm 202 so as to mesh with the worm 107.

A spur gear 211 meshes with the spur gear 114.

A spur gear 212 is attached to the potentiometer 213 and meshes with the spur gear 211.

204 is a switch seat, and four microswitches 2
05 to 208 are attached.

Microswitches 205 and 206 are arranged in the same horizontal plane, and microswitches 207 and 208 are arranged in the same horizontal plane above them. 209° and 214 are actuators arranged above and below, each of which has a micro switch 2.
05, 206 and microswitches 207 and 208.

In FIG. 22, 301 is a gear shaft fixed to the mounting plate 104, and a spur gear 308 is rotatably supported via a ball bearing 307. 303 is potentiometer 30
It is a nine-sided spur gear attached to the rotating shaft of No. 5 by a spring pin 302, and meshes with a spur gear 308. 306
is a mounting plate for mounting the potentiometer 305, 304
is a potentio collar for attaching the mounting plate 306 to the tilt frame 412 at a predetermined distance.

In FIG. 23, 424 is a tilt base formed in a substantially U-shape, which is fixed to the pan base 119 via a tilt frame 412 and supported rotatably around the pan shaft 112 via a ball bearing 425. has been done.

426 is a bearing holding ring for the ball bearing 425, and 401 is a protection ring fixed to the upper end of the pan shaft 112.

On one arm of the tilt base 424 (on the right side in the figure),
A tilt wheel shaft 406 is rotatably supported via a ball bearing 404 . 402 is a bearing holding ring for the ball bearing 404, and 403 and 408 are protection rings fixed to the inner and outer ends of the tilt wheel shaft 406, a410.
It is a cormorant worm wheel, and is fixed to a tilt wheel shaft 406 by a spring pin 405. Spur gear 4
11 is fixed concentrically to the worm wheel 410. The worm wheel 410 meshes with the worm 127, and the spur gear 411 meshes with the spur gear 308, respectively. A mounting ring 409 to which the bracket 102 is attached is fixed to a worm wheel 410.

The other arm of the tilt base 424 (left side in the figure) has a
A tilt limiter shaft 421 is rotatably supported via a ball bearing 423. The center of rotation of the tilt limiter shaft 421 coincides with the center of rotation of the tilt wheel shaft 406, and is arranged to perpendicularly intersect the central axis of the pan shaft 112. A mounting ring 420 is fixed to the tilt limiter shaft 421 by a spring pin 422. Installation 54
A tilt limiter 417 is attached to 20.

The installation position of tilt limiter 417 is tilt adjuster 4
It can be changed by adjusting 18. Furthermore, the attachment ring 420 is also fixed to the bracket 102. The cover 419 covers the outward protrusion of the tilt limiter shaft 421.

415 is a tilt motor, and the tilt frame 41
It is fixed at 2. A worm 413 is fixed to the tip of the rotating shaft of the motor 415 by a spring pin 414. The worm 413 meshes with the worm wheel 122.

407 is a connector case, and a connector mounting plate 610
(Fig. 25). 416 is an angle,
It is fixed to a tilt frame 412.

In FIG. 24, 501 and 502 are microswitches, which are fixed to the angle 416.

503 is an actuator that drives the microswitches 501 and 502.

In FIG. 25, 604 is a rotation stopper, and screws 612.
613 to change and adjust the mounting positions of the pan limiters 601 and 602. 603.
605.6Q7 is a receptacle formed in the connector panel 606, and transmits and receives DC signals, AC signals, and video signals to and from the controller 11, respectively.

Receptacles 608, 609, and 611 are formed on the connector mounting plate 610, and transmit and receive video signals, lens control and potentiometer signals, and the main power source for the TV camera to and from the TVV camera.

The pan shaft 112 and the tilt wheel shaft 406 are hollow in order to pass a cord (not shown) connecting each component.

When the motor 106 is energized, a worm 107 having a rotating shaft parallel to the pan shaft 112 rotates. This rotation is transmitted via the worm wheel 203 to the worm 202, which has a rotation axis perpendicular to the pan axis 112. warm 20
2 rotates, the worm wheel 115 is driven.

However, the worm wheel 115 is connected to the pan axis 112 (
Since it is fixed to the base flange 117), it cannot rotate = 16-. As a result, the worm 202 becomes the worm wheel 1.
15, and rotates (revolutions) within a plane (horizontal plane) perpendicular to the pan axis 112. The worm 202 is attached to the pan worm bracket 201.
Since the bracket 102 is fixed to the pan base 119 and the bracket 102 is fixed to the pan base 119 in sequence, the bracket 102 (and the TVV camera fixed thereto) eventually rotates (revolutions) about the pan axis 112 in a horizontal plane. The direction of rotation can be arbitrarily selected by switching the direction of rotation of the motor 106.

Assuming that the pan base 119 is rotating clockwise when viewed from above, when the pan base 119 rotates to a predetermined position, the upper actuator 214 comes into contact with the protrusion 601A of the pan limiter 601. As a result, the microswitch 208 is turned on (or off). When the pan base 119 further rotates clockwise, the lower actuator 209 comes into contact with the recess 601B that is recessed by a predetermined distance from the protrusion 601A, and the microswitch 20
6 turns on (or off).

Conversely, when the pan base 119 rotates counterclockwise to a predetermined position, the upper actuator 214 first contacts the protrusion 602A of the pan limiter 602, turning the microswitch 207 on (or off). When the rotation continues further, the lower actuator 209 comes into contact with the recess 602B that is set back from the protrusion 602A, and the microswitch 205 is turned on (or turned off).

When the auto pan mode is designated, the controller 11 switches the rotation direction of the motor 106 to the opposite direction when the upper microswitch 207 or 208 is turned on (or off). As a result, the bracket 102 has a protrusion 601A.
It repeatedly rotates clockwise and counterclockwise within the range regulated by and 602A. The range of this autopan is within the range regulated by the rotation stopper 604.
2.613 and adjusting the mounting position of the pan limiters 601 and 602.

Microswitch 205 or 206 is on (or off)
At that time, for example, the power to the motor 106 is removed.

As a result, the rotation range of the pan base 119 is limited to the concave portion 601B.
and 602B (slightly wider than the range restricted by the mounting positions of protrusions 601A and 602A).

When the pan base 119 rotates, the spur gear 211 attached to the pan base 119 rotates (
revolution). The rotation of the spur gear 211 is also caused by the pan shaft 112.
The signal is transmitted to the spur gear 212 having a rotating shaft parallel to the rotation axis. Spur gear 2
12 rotates the potentiometer 213. Spur gear 1
The numbers of teeth 14 and 212 are set equal. Therefore, the potentiometer 213 is rotated by an angle equal to the rotation angle of the pan base 119 (bracket 102). By monitoring the output voltage of the potentiometer 213, the actual horizontal rotation angle of the bracket 102 (TV camera 3) can be detected.

Next, tilt control will be explained. When the motor 415 is energized, the worm 413, which has a rotating shaft that does not intersect with the pan shaft 112 when mounted, rotates. This rotation of the worm 413 is transmitted to the worm wheel 122 having a rotation axis substantially parallel to the pan axis 112. Worm wheel 122
When the worm 127 rotates, the worm 127 coaxial with the worm 127 rotates. The rotation of the worm 127 is transmitted to a worm wheel 410 having a rotation axis (tilt wheel axis 406) that perpendicularly intersects the pan axis 112. worm wheel 410
Since the bracket 102 is fixed to the bracket 102 via the attachment ring 409, the bracket 102 eventually rotates about the tilt wheel axis 406 in a vertical plane. The rotation direction can be changed by switching the rotation direction of the motor 415.

When the bracket 102 rotates, the mounting ring 420 fixed to the bracket 102 and, therefore, the tilt limiter 417 mounted to the mounting ring 420 also rotate against the tilt limiter shaft 4.
It rotates around 21.

When the bracket 102 rotates by a predetermined angle in the counterclockwise direction when viewed from the right side in FIG.
1 turns on (or off). Conversely, when the tilt limiter 417 rotates clockwise by a predetermined angle, the actuator 5
03 to turn on (or off) the microswitch 502.

Microswitch 501 or 502 is on (or off)
At this time, the power to the motor 415 is removed. This prevents the bracket 102 from being rotated beyond the range regulated by the mounting position of the tilt limiter 417, which has a substantially fan-like shape.

When the worm wheel 410 rotates, the spur gear 411 fixed to the worm wheel 410 also rotates. Rotation of spur gear 411 is transmitted to spur gear 303 via spur gear 308 . Spur gear 303 having the same number of teeth as spur gear 411 rotates potentiometer 305 . Therefore, by monitoring the output voltage of the potentiometer 305, the actual vertical rotation angle of the bracket 102 can be detected.

FIG. 5 is a block diagram of the controller 11.

In the figure, 61 is a CPU as a control means, 62 is a C
Lower 8 of data output from PU61 to address bus
This is a latch circuit that latches bits. 63 is an EPROM that stores predetermined programs, etc., and 64 is a RAM that temporarily stores externally input data, calculation results, etc. 65 is an address map decoder that generates addresses for each memory. A clock divider 66 divides the frequency of the clock output from the CPU 61 and supplies the divided clock to the timer circuit 71. The timer circuit 71 is the tarok divider 6
A timer (time elapsed) operation is performed by counting the clock outputted by 6, and controls the pause time, the blinking time of the LED, and the escape time from the external signal input.

67 to 70 are I10 ports for inputting and outputting data. Mode switching signal when switch 19 is operated, scene select signal when switch 24 is operated, signal when joystick switch 15 is operated, terminal 3
External signal from 3, speed signal corresponding to the switching position of switch 8, microswitch 205 to 208.501
．． Signals etc. from 502 are input to the work/○ boats 67 and 68 via the switch receiver 72. It corresponds to the pan position signal and tilt position signal output by the potentiometer 213.305 of the pan head 2, the focus position signal and zoom position signal output by the potentiometer 45.46 of the lens of the TV camera 3, and the operation position of the knob 17. The pause time setting signal etc. outputted by the A/D converter 7
After being A/D converted by 7, it is stored in EEFROM 76. The data read from EEFROM76 is I
The data is supplied to the RAM 64 via the 10 port 70 and stored therein.

73 to 75 are drivers, and driver 73 is I10.
LED16 corresponds to the data input from port 69.
．． 25. The driver 74 drives the pan motor 106 and the tilt motor 415 in response to data from the machine/○ port 69.

The driver 75 drives the focus motor 43 and the zoom motor 44 in response to the outputs of the ■/○ ports 69 and 70.

26 and 27 show an embodiment of the driver 74. FIG. When rotating the pan motor 106 clockwise, I
A signal is output from the 10 port 69 to the line DPCW, and the non-contact relay RY3 is turned on.

This connects line AC100R and DPCWM. An AC power source is connected to the lines AC100R and AClooS. As a result, line AC100S, pan motor 106
, DPCWM, and AC100R, and the pan motor 106 is rotated clockwise. Pan motor 1
When rotating 06 counterclockwise or tilt motor 4
15 clockwise or counterclockwise, I
10 ports 69 stranded wire DPCCW, DTCW or DTC
A signal is output to CW, and non-contact relay RY4, RY5 or RY6 is turned on and operates in the same manner.

By selectively turning on the non-contact relays RY3 to RY6 in this way, the pan motor 106 and the tilt motor 415 are rotated in a predetermined direction.

FIG. 28 shows an embodiment of the driver 75. When focus motor 43 is not driven, relay RYI is not excited. At this time, contacts 2 and 3 of relay RY1 are connected, and contacts 4 and 5 are opened. As a result, the line DFOCUS connected to the focus motor 43 is held at ground potential.

When driving the focus motor 43, I10 port 6
A signal is output to the 9-stranded wire DFC, and the relay RY1 is energized. As a result, contacts 2 and 3 are opened, contacts 4 and 5 are connected, and the voltage output from transistors Q5 and Q7 forming the push-pull circuit is supplied to line DFOCUS.

Data corresponding to the switching state and operating state of the switch 31 is input to the D/A converter U50 from the I10 port 7Q. This data is the D/A converter tJ5
0, and output as a predetermined current from the terminal I out 2. This output current is the operational amplifier U
The voltage is converted into a voltage by a current/voltage conversion circuit including 46 and U47, and is supplied to the connection point between diodes D9 and Dlo.

When a positive potential V is supplied to the connection point between diode D9 and DIO, when the voltage drop of diode D9 is 2vE, the potential of the anode of diode D9 is V + 2vε
becomes. Further, the potential difference between the pace emitters of transistors Q1 and Q5 is Vbe, and the potential of the emitter of transistor Q5 is Vbe. Then, Vo=V1+2VH-2Vbe. Since Vbe and vE, ■o=v1-vbe. Since the potential difference Vbe is usually about 0.6V,
Potential ■. is approximately equal to the potential V□. In this way D
A positive potential corresponding to the input data to the /A converter U50 is output to the focus motor 43.

At this time, transistor Q3 is off because its base potential is slightly higher than its emitter potential.

Therefore, transistor Q7 is also turned off.

When a negative potential is supplied to the connection point between the diode D9 and DIO, the transistors Q1 and Q5 are turned off, and the negative potential from the transistors Q3 and Q7 is applied to the focus motor 43.
is supplied to

In order to drive the zoom motor 44, as in the case of driving the focus motor 43, it consists of a relay RY2, a D/A converter U51, a current-voltage conversion circuit having operational amplifiers U48 and U49, and transistors Q2, Q4, Q6, and Q8. A push-pull circuit (buffer circuit) and the like are provided. These also operate in the same way as when driving the focus motor.

The CPU 61 controls each circuit, means, etc. according to the program stored in the EPROM 63. FIG. 6 is a block diagram of this program. As shown in the figure, MANUAL 81, AUTOPAN
) 82, program (PROGRAM) 83, auto scan (AUTO5CAN) 84, scene select (S
CENE 5ELECT) 85, external signal input (EX
Programs corresponding to the basic functions of T IN) 86, manual control 87, position adjustment 88, calculation 89, A/D conversion (AI), CVT) 90
, EEPROM 91, and external input display 92 subroutines are provided.

When the power is turned on, each program is sequentially called in the order of manual, auto pan, auto scan, and program.
One of these, corresponding to the input from each switch,
Alternatively, programs for scene selection or external signal input are executed, and within these programs, predetermined subroutines are executed as necessary.

The basics of these programs will be explained below with reference to the figures.

Figure 10 shows the manual program 81.
This is a flowchart. When the power switch 12 of the controller 11 is turned on, the RAM 64 is cleared. Next, the EPROM63 subroutine is executed, and the EPROM63 subroutine is executed.
The ROM63 values (data on pan position, tilt position, focus position, and zoom position) are read out. The value of the variable E'DEF is set corresponding to the read data. The variable EEDEF has 8 bits corresponding to 8 positions (switch 24), and a bit with stored data regarding pan position, tilt position, focus position, and zoom position is set to logic 1, and a bit with no stored data is set to logic 0.

Next, it is determined by switch 19 whether manual mode is selected, and if it is not manual mode, auto pan (ATPAN) program (Figure 13)
to move to. When in manual mode, the variable FLGMD
is set to the value 4 (100B (binary)). The variable FLGMD represents the mode and is set to 1 (IB) in auto scan mode, 2 (IOB) in auto pan mode, and 8 (100 OB) in program mode.

Thereafter, a manual control (MANCTL) subroutine is executed. At this time, the driver 7S operates the focus motor 43,
The driver 74 controls the pan motor 106 in response to the operation of the joystick switch 15.
, controls the tilt motor 415. In addition, as shown in Table 1, in this mode, the differential speed of the lens is selected with the switch 18, and the aperture (
I RIS) can be adjusted to any value.

Table 1 also shows the manual operation situation in each mode other than manual mode.

Next, it is determined whether an external signal is input from the terminal 33 or not. When an external signal is input, the program moves to an external signal input program (EXT) (FIG. 15). As a result, when an emergency signal such as a fire signal is input as an external signal, the external signal input mode is executed with priority over the manual mode.

If no external signal is input and the switch 24 at the position where the corresponding data is stored in advance is not turned on, the process returns to the step titled MANB. When the switch 24 is turned on and position signals (pan, tilt, focus, zoom) corresponding to the switch 24 are stored in advance, the program shifts to the scene select (SCNSLT) program (FIG. 14).

Table 1: ○: Valid at all times △: Valid after completion of positioning FIG. 18 is a flowchart of the subroutine of the manual controller 1 control (MAN CTL).

First, the attachment state of the head (pan head 2) is determined. Pan head 2
When it is fixed in an upright position, the switch 36 is switched to the right (N) side in the figure. Also, when fixed in an inverted position, the left (R)
) side. When standing upright and when standing upside down, the direction in which the TV camera 3 is panned (left and right) and tilted (up and down) is opposite to the screen. So switch 3
6 is switched to the R side, pressing the joystick switch 15 up (or down) will rotate the TV camera 3 down (or up), and pressing it to the left (or right) will rotate the TV camera 3 to the right (or left). It is necessary to rotate it so that it matches the top, bottom, left, and right directions of the screen. Therefore, in the case of an upright position, the following flow is executed as is, and in the case of an inverted position, the left and right, top and bottom of the following flow are reversed and executed.

First, the auto pan mode is determined. Since panning by manual operation of the joystick switch 15 is prohibited in the auto pan mode, the process moves to a step of determining whether the joystick switch 15 is up or down.

When not in auto pan mode, while the left switch of the joystick switch 15 is on (period of being pressed to the left), if the left (counterclockwise) micro switch 205 is not on, the pan motor 106
rotates the pan base 119 to the left (counterclockwise) (in the case of an inverted position, to the right (clockwise)). When the joystick switch 15 is not pressed to the left or when the left microswitch 205 is turned on, panning to the left (counterclockwise) direction is turned off.

Similarly, the process when the joystick switch 15 is pressed to the right is executed. At this time, the rightward (clockwise) rotation limit position is detected by the microswitch 206.

Next, upward suppression of the joystick switch 15 is determined. While the joystick switch 15 is pressed upward, the microswitch 501 as an upward limit switch is not turned on.
The tilt motor 415 is driven, and the bracket 102 is rotated upward (downward in the case of inverted position). If the micro switch 501 is turned on or the joystick switch 1
When 5 is not pressed upward, upward rotation is turned off.

Similarly, in response to the operation of the joystick switch 15, the downward drive is performed within the range in which the microswitch 502 as a downward limit switch is not turned on.

Next, data corresponding to switches 13, 14, 18, and 31 are set in variables LENSFC and LENSZMk, respectively. When FAR and NEAR of switch 13 are pressed at the same time, it is inoperable.

Therefore, at this time, the focus motor 43 is turned off, and the LA
The process moves to the step labeled ZMI (step for zoom processing). In other words, although not shown,
The zoom processing steps similar to the focus processing steps indicated by labels a and b described below are labeled LAZM.
It is continuous with I, and its processing is executed. switch 1
The same applies when 3 is not turned on.

When one of the focus switches 13 is on, the value of the variable LENSFC is set in the register C. Furthermore, register HL has a value of 6000H (hex), register B
A value O is set to HL, and the value obtained by adding BC to HL is set as the new HL. The value of this HL is set as variable PPIB4,
Variable PPlA4 is set to zero.

A predetermined conversion table is stored in advance in the EPROM 63 so that a predetermined voltage is supplied to the focus motor 43 (the same applies to the zoom motor 44) in accordance with the values of the variables PP A4 and PPIB4. The conversion table is illustrated as shown in Table 2, for example.

When the variable LENSFC is 25, OF
0FFH is set in H, PPlA4. As a result, a voltage of -12V is supplied to the focus motor 43.

When the focus is being driven, the process moves to the step labeled FC8LATS. When focus driving is not in progress, the values of PP I B4 and PPlA4 are set in registers D and E.

The value of variable LENSFC is 31H112H111H or 3
2H occurs when the lens speed is set to L. In this case, since a voltage 1/2 of the rated voltage is supplied to the focus motor 43, it becomes difficult to start the focus motor 43. Therefore, in this case, the focus data is latched and the second front focus drive is executed, but the rated voltage is supplied only during the Looms period. As a result, the focus motor 43
is definitely activated.

The supply voltage is set when the values of variables PPIB4 and PPlA4 are 0F.
-12V when H1OFFH, +12V when 00H,
When 0CH1OOH (7), it is set to -6v, and when 04H, OOH, it is set to +6■.

When Looms has elapsed, the values of registers D and E are set in variables PPIB4 and PPlA4, and focus latch and focus drive are executed.

FIG. 12 is a flow chart of the program (PROGRAM) 83. First, the mode is determined, and if it is not the program mode, the LED 25 is turned off and the mode shifts to manual programming (FIG. 10). When in program mode, the variable FLGMD is set to the value 8,
Of the eight switches 24, all the LEDs 25 in positions where data is stored are lit. Then, a manual control (MANCTL) subroutine is executed. As shown in Table 1, manual operations similar to those in manual mode are possible in program mode. Then, the user operates the joystick switch 15 while viewing the video output from the TV camera 3 on a monitor (not shown) connected to the controller 11 to direct the TV camera 3 to a predetermined position. Operate switches 13 and 14 to set the desired focus and zoom.

When the desired screen is obtained, the user presses the 8 switches 2
Press any one of 4. Pressed switch 2
The flag 5SFLG of No. 4 is set to the value 1, and the values of the flags corresponding to the other switches are set to O. The above steps are executed until any one switch 24 is pressed.

When any one switch 24 is pressed, the flag 5SFLGI corresponding to the first (position 1) switch 24 is first determined, and when the value is 1, the corresponding LED 25 of position 1 blinks. be done.

This confirms that the switch 24 is suppressed. flag 5
When the value of SFLGI is 0, if data is input to the address of position 1 of the EEPROM 76, the LED 25 of position 1 is lit. As a result, the LED 25 corresponding to the already stored position is maintained in a lit state. When no data is input to the memory, the LED 25 is turned off.

The same process as the step of position 1 regarding this flag 5SFLGI (steps in the range indicated by a and b in the figure) is performed on each switch 24 from position 2 to position 8.
This is also executed for flags 5SFLG2 to 5SFLG8 corresponding to .

When the manual operation of the joystick switch 15, etc. is completed, and the left switch 20 (set switch) is pressed, subroutines ADcVT and EE are executed.
PPOM is read and executed. That is, the potentiometer 213 (pan position), 305 at this point
(tilt position), 45 (focus position) and 46 (zoom position) outputs are converted into A/D converter 77.
converted and written to EEPROM 76 (EEWR
ITE). This written data is then read out (EEREAD) and transferred to the RAM 6 via the ■/○ boat 70.
Written to 4.

When the processing of such a subroutine is completed, flag 5 is set.
SFLGI-8 are set to the value 0 and the transition is to the step titled PROGRAM.

When the joystick switch 15 etc. is being manually operated, or even if the joystick switch 15 is not being operated but the set switch is not turned on, the clear switch (switch 2 on the right side)
0) is determined. When the clear switch is off, if it is still in program mode, the manual control (MAN CTL) subroutine is executed.
Move to the step titled PRGAI. When the program mode is not set, the flags 5SFLGI to 8 are set to the value ○, and then the program shifts to the MANUAL program.

When the clear switch is turned on, the variable N is set according to the value of the flag 5SFLG at that position. Variable N is less than O1 when the value of flag 5SFLGI is 1.
5.10.15.20.25 when FLG2 to 8 are 1
．． 30.35. These values represent the starting address of the EEPROM 76 where data of each position is stored. Further, the value of the bit in the corresponding position of the variable EEDEF is set to O (meaning that data is not stored). Furthermore, erasing and writing of the EEPROM 76 is enabled, and data at the address indicated by the value N is erased. The EEPROM 76 is set to a disabled state after the erasing/writing process is completed, and is further read out to the RA.
Transferred to M64. and flags 5SFLGI to 8
After is set to O, the process moves to the step titled PROGRAM.

The above operations can be summarized as follows. switch 19
Switch to program mode, operate the joystick switch 15, switches 13, 14, etc., and after confirming that the desired screen is obtained on the monitor, press the switch 24 corresponding to the number (position) for which you want to memorize that screen. do. At this time, the LED 25 at that position changes from an off state to a blinking state. Next, when the left switch 20' (set switch) is pressed, the position that the TV camera 3 is pointing at at this time (pan position, tilt position, focus position, and zoom position) will be EEPR, 0M76, and R
Written to AM64. At this time, the LED 25 changes from blinking to lighting. This allows the user to confirm that the data for that position has been stored.

Note that when the pan base 119 or the bracket 102 reaches the rotation limit position, the microswitches 205 to 208 or 5
When 01 or 502 is on, even if the set switch is pressed to notify the user that the set value is inappropriate, the LED 25 remains blinking and does not change. Similarly, when the switches 15, 13, and 14 are being operated, it is determined that manual operation is being performed, and the LED 25 remains blinking.

To delete the already memorized position, press the switch 20 (clear switch) on the right side when the LED 25 is blinking.
Press. At this time, the LED 25 turns off, thereby confirming that the memory has been erased.

Figure 14 shows scene select (SCENE 5ELEC).
T) is a flowchart of program 85. In this flow, first the flags PANEND, TII, TEN
D, ZMEND, FC, and END are reset to ○. These flags are set to 1 when adjustment of each position of pan, tilt, zoom, and focus is completed.

When no data is stored in the EEPROM 76, this flow moves to the step titled 5CNXX.

If data is stored in the EEPROM 76 but it is not in position 1, position 1 (first)
The LED 25 is turned off. The flag FGOFFI is set to the dark value 1 when the switch 24 in position 1 is pressed, and to the value O when the suppression is released. This flag prevents scene selection from being set and released alternately when the switch 24 is kept pressed. The flag MSSFGI is set to a value of 1 when position 1 is scene selected, and is set to a value of 0 when position 1 is released. Therefore, after the flag MSSFGI is set to the value 1 when the flag FGOFF1 is 1, and immediately after the flag FGOFFI is set to O, the flag FGOFFI is set to the value 1.
is set to the value O, and the process moves to the step titled 5CNG.

If data is stored in position 1, flag F
When GOFFI is 1, if the switch 24 at position 1 is off, the corresponding LED 24 is turned off, and the same process as described above is executed. The same applies when the flag FGOFFI is 0, the flag MSSFGI is 0, and the switch 24 at position 1 is off.

When the flag MSSFGI is 1 (scene select 1 is selected) and the switch 24 at position 1 is off, the process moves to the step of the title 5CND. When the switch 24 in position 1 is on, scene select 1 has already been selected and each bird is present, so this switch operation is the second time. Therefore, the flag MSSFGI is reset to the value 0, and the flags PANEND, TILTEND, ZMEND, FC
END is reset (set to value o). Also that L
ED25 and motor 43.44.106.415 are turned off and the step is moved to the step titled 5CNXX.

If the flag FGOFFI is 1 or the flag MSSFGI is ○ and the switch 24 in position 1 is on,
-7-7gMSSFGI, FGOFFl, variable PO8E
E is set above each value.

The variable PO8EE contains the address of the EEPROM 76 corresponding to the position number to be aligned (1 for position 1, 6.11.16 for positions 2 to 8).
．． 21.26.31.36) is entered. This variable PO8E
When E changes (variable PO8EE and variable PO8EE1
(When the previous PO8EE value is input) does not match), flags PANEND, TILTEND, ZM
After END and FCEND are reset, the variable posE
The value of EL is set equal to the value of variable PO8EE (this PO8EEI is used for the next comparison with PO8EE). The values of MSSFG2 to MSSFG8 are then reset to O.

Also, when variable PO8EE does not change (PO8EE
When the value of PO3EEI matches the value of PO3EEI, the flag MSS
The values of FG2 to FG8 are reset to O. Flag END
When FLG has a value of 0 (when adjustment of the four positions is not completed), a position adjustment (ADPS) subroutine is executed. In other words, the CPU 61 is EEPRO
The driver 74 corresponds to the data stored in M76.
．． 75 to control the motors 54.55 and 43.44 to move the TV camera 3 to the stored pan position, tilt position,
Adjust the focus position and zoom position. After the adjustment is completed, or when the four position adjustments have already been completed (when the flag ENDFLG is 1), the ADPS subroutine is not executed, and when the variable PO3EE is 1, the LED 25 at position 1 blinks. . This allows the user to confirm that the video at position 1 is currently scene selected. When variable PO8EE is not 1, the LED at position 1 will not blink.

The above steps between labels a and b are similarly executed for the other seven positions. However, in this case EE
The determination as to the presence or absence of data stored in the PROM 76 differs depending on the position. For example, in the case of position 3, whether flags FGOFF1 and 2 are all O, and in the case of position 8, flags FGOFFI to 7
The judgment is whether or not all are 0.

After processing the eight positions, it is then determined whether an external signal is input. When an external signal is input, flags MSSFGI to 8 and FGOFFI to 8 are reset to O, and the program shifts to the external signal input (EXT) program (FIG. 15).

If there is no external signal input and the four position adjustments have already been completed, manual control subroutine 8
7 is executed. In other words, manual position adjustment becomes possible.

Furthermore, mode switching is determined based on the value of the flag FLGMD and the information of the non-switch 19, and if the mote has not been switched, the process moves to the step titled 5CNSLTO. Flag P when mode switching is in progress
ANEND, TILTEND, ZMEND, FCEND
A reset is performed and each motor and LED is turned off. Furthermore, after the flags MSSFGI to 8 and FGOFFI to 8 are reset to ○, the switch 24 is turned off, and the soft timer of 0.1 seconds has elapsed to prevent chattering, the program of the selected mode is activated. to move to.

The above operation can be summarized as follows. PROGRA
In a mode other than the M mode, when any of the eight switches 24 at a position where data is stored is turned on, the scene selection function is executed. First, the LED 2 corresponding to the selected switch 24
5 blinks (even if you press a switch for which no data is stored, this function will not be executed, so its LED will not blink either). The motors 54, 55, 43, 44 are controlled in accordance with the stored data of the position, and the pan position, tilt position, focus position, and zoom position are adjusted.

After the adjustment corresponding to the stored data is completed, manual position adjustment becomes possible.

When one position is scene selected, if you turn on the switch of another position, that new position will be scene selected. If an external signal is input during this function, the external signal mode is prioritized and executed. When the switch corresponding to the blinking LED is pressed again or the switch 19 is operated to switch the mode, the scene select function is canceled and the selected mode is executed.

FIG. 16 is a flowchart of the position adjustment (ADPS) subroutine. When the adjustment in the panning direction has been completed (PANEND=1), the process moves to the step labeled ADPU.

When the adjustment of the pan direction is not completed yet, the value of variable PO8EE (11, 6, 11, 16, 21, 2
6, 31, 36), the predetermined value of the variable poscH (0,
1, 2, 3, 4, 5, 6, 7) are set. Also A
The /D conversion (ADCVT) subroutine 90 reads the output of the potentiometer 45.46.213.305 and stores it in the EEPROM 76. RAM in advance
The pan position data FTPAN of that position stored in 64 is set to variable 0UTGO, and variable IN
The current pan position data read into COME is sent. A subroutine ADSUB included in the calculation subroutine 89 calculates the difference between INCOME and 0UTGO. If the carry of the difference is O (the difference is negative), the flag ADCFGI indicating the polarity is set to 0, and then the number to be subtracted and the number to be subtracted are swapped. Then, the difference between the two is calculated again, and the correct difference value is obtained.

When the carry of the difference is 1 (the difference is positive), it is the correct difference value, so the flag ADLFG King is set to 1.

The result of the subtraction is set to the variable RESDUEI.

When the pan motor 106 is on, the value 2 is set to 0UTGO, and when the pan motor 106 is off, the value 3 is set. The value 2 corresponds to a rotation angle of approximately ±1° of the pan base 119. Also 0U
The reason why TGO is set to the value 3 is to stop the pan motor quickly in anticipation of overrun. The steps in the range labeled a and b are similarly provided for tilt control processing. However, in this case, the value set to 0UTGO is 1 when the tilt motor 415 is on.

The value (difference) of RESDUEI is set in INCOME, and the difference from 0UTGO is calculated again. This detects whether the difference between the stored position and the current position is within ±1°.

When the carry of the difference is 1 (not within ±1°),
The value of the variable PANCOUNT is reset to O. When the result of the first subtraction is positive (when AD-51 = CFG1 = 1), if the limit switch (microswitch j7A) for clockwise (right) rotation is not on, the flag DPCW is set to the value ○, Flag Dpccw has value 1
1L is set. As a result, the pan motor 106 rotates the pan base 119 clockwise. Flag PANE
After ND is reset to O, the process moves to the ADPU label step.

When the microswitch 206 is on, no further rotation is possible, so the flag DPCW is set to 1 and the pan motor is stopped. Also, the flag PANEND is set to 1, and the process moves to the step labeled ADPU.

When the flag ADCFGI is O, if the counterclockwise (left) rotation limit switch (microswitch 205) is off, the flag DPCW is set to 1 and DPCCW is set to O. As a result, the pan motor 106 moves to the pan base 1.
19 counterclockwise. Then flag PANE
After ND is set to ○, the process moves to the step of label ADPU. When the microswitch 205 is turned on,
Flag DPCCW is set to 1 and the pan motor is stopped. After the flag PANEND is set to 1, the process moves to the step labeled ADPU.

When the carry of the difference in the second subtraction is O (when the difference is within ±1°), the pan motor 106 is turned off and the variable PAN
The value 1 is added to COUNT.

When the value of the variable PANCOUNT does not reach 60, the process moves to the step labeled ADPU. When the value of PANCOUNT is 60 (positioned within ±1° for approximately 0.5 seconds), the flag PANEND becomes 1, and the variable PANCO
UNT is set to O.

In the step of label ADPU, flag ZME is first set.
A determination of ND is performed, and when the value is 1 (when the zoom adjustment is completed), the process moves to the step labeled ADPXX.

When the flag ZMEND is O, the A/D conversion ADCVT subroutine is executed, and the zoom position data PTZM stored in advance is set in the variable ○UTG○. Further, the data of the current zoom position is input to the variable INCOME. The difference between the two is calculated, and the carry is 1 (the difference is positive)
At this time, flag ADCFG3 is set to 1.

When the carry is O (the difference is negative), the flag ADCFG3 is set to O and the subtracted variable is exchanged and then subtracted again to generate the correct difference value.

The result of the subtraction is input to the variable RESDUEI. R.E.
If the value of SDUE 1 is greater than or equal to 2 (the output voltage of the potentiometer 46 differs by more than 20 mV), the variable ZMCOUNT is reset to the value O. When the switch 31 is switched to the 12V side, if the flag ADCFG3 is 1, it is +12V, and if it is 0, it is -12V.
The code corresponding to V is sent to the D/A converter of driver 7S.

When the switch 31 is switched to the 6v side, a coat corresponding to -6v is output when the flag ADCFG3 is O, and a coat corresponding to +6v when it is 1.

These data are latched, the zoom motor 44 is driven, and the flag ZMEND is reset to O.

Then, the process moves to the step of Rahel ADPXX.

When the variable RESDUE1 is smaller than 2 (when the difference is less than 20 mV in terms of the voltage of the potentiometer 46),
The Ov code is sent to the D/A converter, and the data is latched. The value 1 is added to the variable ZMCOUNT. When the variable ZMCOUNT is less than the value 1305, the process moves to the step labeled ADPXX. When the value of ZMCOUNT reaches 1305 (a difference of 20 mV or less is approximately 1.
(continues for 3 seconds), flag ZMEND is set to 1 and variable ZMCOUNT is reset to 0. Then, the zoom motor 44 is turned off.

The steps in the ranges indicated by labels C and d above are similarly prepared in the case of focus adjustment.

In the step indicated by the label ADPXX, each flag P indicates the adjustment status of pan, tilt, zoom, and focus.
ANEND, TILTENII ZMEND, FCEN
When D is not all 1, the above process is repeated again. When all four adjustments have been completed (all flags are 1), all flags are reset to O and ENDFLG is set to 1.

FIG. 11 is a flow chart of the auto scan (AUTO5CAN) program 84. First flag PAN
END, TILTEND, ZMEND, and FCEND are reset to 0. If the auto scan mode is not selected, each LED is turned off, each motor is stopped, and the program shifts to the program (FIG. 12) named PROGRAM.

If auto scan mode is selected, flag F
LGMD is set to the value 1. , the variable EEDEF has the value O
When this is the case (when data is not written in the EEPROM 76), the process moves to the step indicated by the title ATSV2. When data is being written to the EEPROM 76, the variable PO8EE is set to the value 1, and the flag ENDFLG is set to the value 0. Next, a value is set in variable PO8EE. For example, when PO8EE is 1, flag EED
If the bit at position 1 (the least significant bit) of EF is 1, PO8EE is set to 1, and if it is 0, 5 is added to PO8EE.

LED of the position where you are trying to further align
25 is lit, and position adjustment is executed by the position adjustment (ADPS) subroutine.

After the adjustment is completed, when the flag ENDFLG is O, if an external signal is input, the LED 25 is turned off, each motor is also stopped, and the program shifts to the external signal program (EXT). When there is no external signal input, when the switch 24 in the position where data is stored is pressed, the LED 25
, each motor is turned off and the scene select (SCNSL)
Move to program T).

When the switch 24 in the position where data is stored is not pressed, the LE
D. The motor is turned off and the program named PROGRAM is entered. When the auto scan mode is selected, return to the label ATSD step.

When the flag ENDFLG is 1, the adjustment has already been completed, so ENDFLG is reset to the value O again. P.O.
After the value 5 is added to 3EE, the pause time input from the A/D converter 77 is set.

When the pause time set by operating knob 17 has elapsed, each flag PANEND, TILTEN
D, ZMEND, and FCEND are set to 0.

will be reset. When the value of PO3EE is 41 (eighth position), the process moves to the step of label ATSB, and the process from position 1 is repeated again. PO8EE
When the value of is not 41, the step moves to the label ATSC and the processing of the next position is executed.

If the data in EEPROM76 is empty before the timer time elapses, manual control (MANCTL
) is executed, but manual operation is disabled when data is stored in the EEPROM 76.

Furthermore, when an external signal is input, the LED and motor are turned off, and the program shifts to the external signal program (EXT). If the switch 24 at the position where data is stored is pressed when no external signal is input, the LED and motor are turned off and the program shifts to the scene select (SCNSLT) program. When the switch at the position where data is stored is not pressed, the LED and motor are turned off if it is not the auto scan mode, and the program shifts to PROGRAM.

If still in auto scan mode, EEPROM7
If the data in No. 6 is empty, the process moves to the step labeled ATSV2, and if it is not empty, the process moves to the step labeled ATSVI.

The above operations can be summarized as follows. When the auto scan mode is set, positions set by the program function are scanned in ascending order of numbers. At each position, the robot is stopped for a set pause time. Therefore, images at the stored pan position, tilt position, zoom position, and focus position can be monitored for a set period of time. In this mode, each position cannot be operated manually.

FIG. 15 is a flowchart of the external signal input program (EXTIN). First, flag PANEND, TIL
TEND, ZMEND, FCEND, MATFLG are O
will be reset to

Furthermore, the mode is determined, and if it is the program mode, the flags EXEFLGI to 8, PANEND, T
ILTEND, ZMEND, FCEND, MATFLG
is reset to O, and each LED and motor are turned off.

After the answer signal is released when the timer 2 has elapsed for one second, the program moves to the program named PROGRAM.

When not in the program mode, the flag EXEFLG is corrected. Flags EXEFLGI to 8 represent positions for positioning when inputting external signals,
For example, when aligning to position 1, EXEF
LGI is set to 0, and 6O-EXEFLG2 to 8 are set to 1. However, if the input of the external signal at a certain position is canceled and EXEFLG at that position is left at O, alignment at other positions becomes impossible. To prevent this, when the external input is canceled, the EXE of that position
FLG is corrected to 1, and EXEFLG at other positions is corrected to ○.

If the data at position 1 is empty, no external signal is input to position 1, or EXEFLGI is 1, the process moves to the label EXC step. When data is stored in position 1, an external signal is input there, and the position switch is turned on, the variable PO
8EE is set to 1.

When the value of PO3EE changes from the previous case, the flag is reset and the value of PO3EE is set to PO8EEL. When the value of PO8EE does not change or
When the value of 8EE is set in PO8EEI, the flag MATFLG is determined.

Flag MATFLG is a flag in which each bit from LSB to MSB corresponds to position 1 to position 8, respectively, and is used to determine whether or not alignment is actually performed at that position. This flag performs alignment when the value is ○, and is set to 1 when ENDFLG becomes 1.

When the flag MATFLG is 1, the process moves to the label EXC step. When flag MATFLG is 0, flag E
XEFLGI and ENDFLG are reset to O. Flags EXEFLG2 to EXEFLG8 are set to 1, and the answer signal is canceled. This answer signal is output from the terminal 33 to an external device (not shown) when alignment is completed, and is released when a new external signal is input or when all external signals are no longer input. be.

Position adjustment after answer signal release (ADPS)
The subroutine is executed to adjust the position corresponding to the stored data. When the flag ENDFLG is 1 (when the adjustment is completed), the flag MATFLG is set to 1 and an answer signal is output. When the flag ENDFLG is 0 or when the answer signal is output, the next label E
Move to step XX.

The steps in the range indicated by labels a and b above are similarly executed for positions 2 to 8.

In the step labeled EXX, external input display (EX
TDISPI) subroutine 92 is executed, and the LED
16.25 is driven. The B register and C register are
Each bit from LSB to MSB is in position 1
.

When only one bit is set to 1 in the B and C registers, the EXEFLG of that position is set to O1, and the EXEFLG of the other positive controllers are set to 1. EXEF
When the LG setting is completed, or when there is no bit set to 1 in the B or C register, or when there are two or more bits set to 1, E
NDFLG is determined. When ENDFLG is 1 (adjustment is complete), manual control (M
ANCTL) subroutine is executed and manual operation becomes possible. If the adjustment is not yet completed, this subroutine will not be executed and manual operation will not be possible.

Each motor is stopped when an external signal is input but no data is stored.

Label EXTT when external signal is continuously input
Return to step I, and if no input is made, set the flag EX
EFLGI to 8, and PANEND, TILTEN
D, ZMEND, FCEND, and MATFLG are reset to O, and each LED and motor are turned off. and 1
When the seconds have elapsed, the answer signal is canceled and the mode switch 19 shifts to the selected mote.

FIG. 17 is a flowchart of a subroutine for external signal input display. The flag ALTFLG is set to 1 when all the data at the position where the external signal is input is empty, and to O otherwise.

In either case, the LED 16 blinks.

When flag ALTFLG is ○, flag EXEFLGI
If it is ○ (if it is the object of alignment), the LED 25 of the positive controller 1 is lit. EXEFLGI
When is 1 (not targeted for alignment),
If no external signal is input to the positive controller 1, the LED 25 at position 1 remains off. When an external signal is input to position 1, the LED 25 at position 1 is turned on if the output TOUTI of the timer 71 is 1, and turned off if it is 0. The value of the output TUTI is alternately changed to 1 and O every second, for example. Therefore, at this time, the LED 25 at position 1 blinks at a cycle of 1 second. The same applies when the value of the flag ALTFLG is 1.

The steps in the range indicated by labels a and b are similarly executed for positive controls 2 to 8.

The operations when the above external signals are input are summarized as follows. For example, terminal 3 of the controller 11 from a fire alarm, etc.
When an external signal is input to 3, LED 16 (ALERT
) blinks, and the LED 25 corresponding to the input position lights up. The position of the TV camera 3 (pan, tilt, zoom,
Focus position) alignment is executed. When multiple external signals are input, the LE of the second and subsequent input positions
D25 blinks. When one of the switches 24 corresponding to a blinking LED is pressed, the blinking changes to lighting, and alignment is performed to the position stored in that position. At this time, the LED 25 at the position where alignment was being performed changes from lighting to blinking.

Furthermore, when there is no longer any external signal input for a lit position, the LED 25 for that position will go out, and the LED 25 for the leftmost number (smallest number) among the flashing positions will light up, and the positioning will be completed. be exposed.

Therefore, it is preferable to allocate each position 1 to 8 in order from the place to be monitored with the highest priority.

Manual operation becomes possible after alignment corresponding to the stored data is completed. When all input external signals are released, the switch 19 returns to the selected mote. This external signal input function is valid in modes other than PROGRAM mode.

External signals are often generated during emergencies. Therefore, even when the power switch 12 is off, the receiver 72 can be kept in an operating state by a backup power source, and when receiving an external signal, the power switch 12 can be automatically turned on to execute the external signal input function.

Figure 13 shows AUTOPAN program 8.
2 is a flowchart. When the auto pan mode is not in effect, the pan motor 106, tilt motor 415, focus motor 43, and zoom motor 44 are turned off, and the process shifts to the auto scan (ATSCAN) program (FIG. 11).

When auto pan mode is set by switch 19, flag FLGMD is set to value 2, and C, D,
E register is reset. The pan motor, tilt motor, zoom motor, and focus motor are all temporarily turned off.

When the microswitch 205 serving as a counterclockwise limit switch is on, the pan motor 106 drives the pan base 119 clockwise. Also at this time C
The value of the register is set to 1. Micro switch 2
05 is not on, but when the microswitch 207 located slightly clockwise is on, none of the registers are set and the pan motor 10
6 drives the pan base 119 clockwise.

On the other hand, when the microswitch 206 serving as a clockwise limit switch is on, the pan base 119 is rotated counterclockwise by the pan motor 106, and the value 1 is set in the D register.

When any of the microswitches 205, 207, and 206 are off, the pan base 119 is rotated counterclockwise and the value 1 is set in the E register.

In the step labeled ATPE, when the counterclockwise microswitch 205 remains off and the microswitch 207 turns on, the E register and C register are reset to 0, and the counterclockwise rotation of the pan base 119 is stopped. It is stopped and rotated counterclockwise.

Before the pan base 119, which rotates clockwise, turns on the micro switch 206, when the micro switch 208, which is located slightly counterclockwise, is turned on, the D register is reset, and the pan base 119 turns on the clock. The rotation in the direction is stopped, and the rotation is reversed in the counterclockwise direction.

In this way, microswitches 208 and 207 are normally
The pan base 119 performs a panning operation within the range regulated by.

Microswitch 2 in label ATPE step
If the microswitch 207 is also off when the microswitch 05 is off, the process moves to the step labeled ATPH. If the E register is 1 when the microswitch 205 is on, the process moves to the step labeled ATPG.

If the microswitch 205 is on, the E register is O, and the C register is O, it is assumed that some abnormality has occurred, and driving of the pan base 119 in any direction is stopped. When the value of the C register is 1, the label A T P
Move to step H.

In the step of label ATPH, when the microswitch 206 is on, if the D register is 1, the label A
If it is 0, the process moves to the step of label ATPI.

At the step labeled ATPK, a manual control (MANCTL) subroutine is executed.

This allows manual operations such as tilt, zoom, and focus other than panning.

As soon as the external signal is input, the pan motor 106 is turned off.
The program moves to an external signal input (EXT I N) program 86 (FIG. 15). If no external signal is input, scene selection is determined; if scene select is input, pan motor 106 is turned off, and scene select (
SCNSLT) program 85 (FIG. 14).

When the scene select is not input, if the auto pan mode is maintained, the process moves to the label ATPE step, and if the auto pan mode is not, the pan motor 106 is turned off, and the auto scan (ATSCAM) program 84 (FIG. 11) to move to.

The above operations can be summarized as follows. That is, when the auto pan mode is selected, the microswitch 208 (or the microswitch 206 placed outside of it) located at the clockwise rotation end and the microswitch 206 located at the counterclockwise rotation end The pan base 119 repeats the pan operation within the range regulated by the micro switch 207 (or the micro switch 2o5 placed outside of the micro switch 207).

This operation continues until the mode is switched or, if there is an external signal input or scene select interrupt, the function shifts to that function. Also, with this mode, you can manually control the lens speed for zoom and focus.

FIG. 19 is a flowchart of another embodiment of the autopan program of the present invention. The processing when the mode is not the autopan mode and the processing up to setting the value 2 to the flag FLGMD when the mode is the autopan mode are the same as those shown in FIG.

In this embodiment, after the flag FLGMD is set to the value 2, the pan base 119 is driven counterclockwise by the pan motor 106. When the counterclockwise outer microswitch 205 is turned on, or when the microphone and loss inch 205 are off but the inner microswitch 207 is turned on, the pan base stops being driven counterclockwise. , is reversely driven in the opposite direction (clockwise).

When both the microswitches 205 and 207 are off, the microswitch 206 on the outer side in the clockwise direction is next judged in the same way as when the pan base 119 is reversely rotated in the clockwise direction. Micro switch 20
6 is turned on, or when the micro switch 206 is turned off but the micro switch 208 inside J is turned on, the pan base stops driving clockwise,
It is driven in the opposite direction (counterclockwise).

When both the microswitches 206 and 208 are off, the process moves to the manual control subroutine step in the same way as when the pan base 119 is rotated counterclockwise.

The subsequent processing is the same as the step after the label ATPK in FIG. 13.

In the embodiment of FIG. 13, when the pan base 119 is rotating counterclockwise, the micro switch 207
is turned on, and then the outer microswitch 205 is turned on.
When turned on, auto pan operation is stopped at that point. However, such a situation occurs when the microswitch 207
This may occur even if it is not a defect.

Therefore, in the embodiment shown in FIG. 19, when both microswitches 207 and 205 are turned on, the pan motor is driven in reverse in the same way as when only one microswitch 207 is turned on. As a result, even in the above-mentioned case, the autopan operation will not be stopped. Further, in this embodiment, the C and DE registers are not required.

In the above, the focus is manually adjusted for each position in program mode, and the EEPROM7
However, if the TV camera 3 has an autofocus function, the in-focus signal from the TV camera 3 is sent to the controller 11, and when the in-focus signal is detected in the controller 11, a predetermined LED, It is also possible to turn on a lamp or the like. If the focus position is stored when the user presses the switch 24 after confirming that the LED or the like is lit, manual focus operation becomes unnecessary. Of course, it is also possible to store only the pan position and tilt position (and zoom position if necessary) without storing the focus position, and to always set the focus to autofocus.

At least one of the pan position, tilt position, zoom position, and focus position can be set to a magnetic card, magnetic disk, or IC.
It is also possible to store the data in an external memory such as memory in advance, attach this external memory to the controller, read the data, and write it to the EEPROM, or use this external memory itself instead of the EEPROM. . In this way, there is no need to manually set each position each time, and it becomes possible to quickly set any position by simply replacing the external memory.

In addition, a memory is provided in the controller 11 so that the shape of the room to be monitored, the installation position of the TV camera, the direction of monitoring, etc. can be arbitrarily set and stored in this memory, and the video corresponding to this stored data can be stored. It can be superimposed on the video output by the TV camera 3 or selectively displayed on the monitor in place of the video. In this way, even in an emergency, the monitor position can be quickly determined without confusion.

[Effects of the Invention] As described above, according to the present invention, at least one of a pan position, a tilt position, a zoom position, and a focus position at a plurality of positions is stored, each position is sequentially scanned, and the data is scanned in accordance with the stored data. Since each position is monitored, a plurality of positions can be monitored periodically with one TV camera.

[Brief explanation of the drawing]

FIG. 1 is a front view of the controller of the present invention, FIG. 2 is a rear view of the controller of the present invention, FIG. 3 is a block diagram of the TV camera of the present invention, and FIG. 4 is a cross section of the installation state detection device of the present invention. 5 is a block diagram of the controller of the present invention,
Fig. 6 is a block diagram of the program of the controller of the present invention, Fig. 7 is a front view of the electric pan head to which the TV camera of the present invention is attached, and Fig. 8 is a side view of the electric pan head to which the TV camera of the present invention is attached. Figure 9 is a rear view of the electric pan head to which the TV camera of the present invention is attached, Figure 1o is a flowchart of the manual program of the present invention, Figure 11 is a flowchart of the auto scan program of the present invention, Figure 12 is 13 is a flowchart of the auto pan program of the present invention; FIG. 14 is a flowchart of the scene selection program of the present invention; FIG. 15 is a flowchart of the external signal input program of the present invention; Figure 17 is a flowchart of the position adjustment subroutine of the present invention, Figure 17 is a flowchart of the external signal input display routine of the present invention, Figure 18 is a flowchart of the manual control subroutine of the present invention, and Figure 19 is the auto pan program. Flowchart of the second embodiment, FIG. 20 is a right side view with a part cut away of the electric pan head of the present invention, FIG. 21 is a sectional view taken along line A-A in FIG. 20, and FIG. Second
0, FIG. 23 is a partially cutaway front view of the electric pan head of the present invention, FIG. 24 is a sectional view taken along line B-B in FIG. 23, and FIG. 25. 26 and 27 are block diagrams of the driver for the pan motor and tilt motor of the invention, and FIG. 28 is a block diagram of the driver for the focus motor and zoom motor of the invention. It is a diagram. 1...Mounting base 2...Electric pan head 3...TV camera 11...Controller 13.14...Switch 15...Joystick switch 16...LED 17...Knob 18.19 ,20.21...Switch 22...Knob 23...Volume 24...Switch 25...LED Patent applicant Asahi Optical Co., Ltd.

Claims (1)

[Claims] First and second motors rotate a bracket to which a predetermined object is attached in the panning direction and tilting direction, detecting the rotational position of the bracket in the panning direction and tilting direction, and generating a detection signal. A pan head control device for controlling a pan head comprising first and second detection means for outputting a first and second detection means, the first operation means being operated when rotating the bracket to a predetermined pan position and a predetermined tilt position; , a memory for storing a plurality of positions of the bracket specified by the pan position and tilt position output by the first and second detection means, and a second operation performed when storing the plurality of positions of the bracket in the memory. means and when a given mode is selected,
A pan head control device comprising: control means for controlling first and second motors and sequentially moving the bracket to a plurality of positions stored in a memory.