JPH08202437A - Camera control system in monitor and control equipment - Google Patents

Abstract

PURPOSE: To easily and speedily make the controlled variables of the panning, tilting, and zooming of a camera correspond to their calculated quantities. CONSTITUTION: The monitor and control equipment which displays video from the camera 11 that is panned, tilted, and zoomed under the control of a camera control means 31 on a display 2 and displays and controls an object when an operator shows the object on the screen is provided with a camera state quantity converting means 33 which converts the camera controlled variables read out from a camera controlled variable read means 32 into camera calculated quantities, namely, pan and tilt quantity into angles and zoom quantity into a distance, and it is made easy to make the camera controlled variables correspond to the camera calculated quantities, thereby shortening the computation time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention displays an image from a camera capable of pan, tilt, and zoom control on a display, and when an operator gives an instruction on the image, displays information about the instructed object or the object. The present invention relates to a supervisory control device that controls and manages a system by performing control, and particularly relates to a camera control system thereof.

[0002]

2. Description of the Related Art As a conventional example in which a camera is controlled by instructing an image, for example, there is one disclosed in Japanese Patent Laid-Open No. 4-286475 (hereinafter, also referred to as a proposed device). FIG. 11 shows the entire configuration of the proposed apparatus, and FIG. 12 shows the details of the computer and the camera driving apparatus shown in FIG. That is, as shown in FIG. 11, the proposed device uses the display 2 and the mouse 4,
A frame is displayed on the display 2, and the size of the image is changed by designating an arbitrary enlargement / reduction rate or a moving distance on the display 2 for the image in the frame. That is, in order to operate the image, pan (horizontal movement) and tilt (vertical movement) are passed to the swivel base 13 via the drive unit built in the swivel base 13 and zoomed (continuous expansion,
For reduction, a signal is supplied from the computer 3 to the lens 12 via the drive device built in the lens 12.

In the arithmetic / control unit 301 shown in FIG. 12,
For pan and tilt, the amount of movement from the center position of the frame (current picture square plane) displayed on the image before the change to the center position of the scaled picture square plane is calculated with coordinate components (x, y), The pan drive motor control data of the swivel base 13 is generated from the x-direction component and the same data is sent to the pan processing unit 305, and the tilt drive motor control data is generated from the y-direction component and the tilt processing unit 306 is generated. I am sending it to. For zooming, the area ratio (reduction data) of the current image rectangular area and the enlarged / reduced image rectangular area is calculated, and the same data is sent to the zoom processing unit 302. Bread processing unit 30
5. The tilt processing unit 306 and the zoom processing unit 302 convert the respective drive motor control data into control signals for driving the motors to drive and control the respective motors.

[0004]

In the above-mentioned proposed device, the contents of the pan, tilt and zoom control data are not specifically described. That is, generally, a potentiometer or a stepping motor is used to control the zoom, pan, and tilt amounts of the camera. For example, assuming that a potentiometer is used, the relationship between the potentiometer value of the zoom lens and the focal length, and the rotation It is known that the relationship between the pan / tilt potentiometer value of the table and the pan / tilt angle is not linear.

Further, a method of having a calibration curve as a table showing the relationship between the camera control amount, that is, the potentiometer values of pan, tilt, and zoom and the camera calculation amount, that is, the pan, tilt angle, and the focal length, can be considered. However, in the current technology, there is also an individual difference at the time of manufacture, so that it is necessary to obtain a calibration curve for each device, which is very troublesome.

On the other hand, when an instruction is given on an image, it is necessary to identify the instructed object in order to display information on the instructed object or control the object. Several methods have been proposed for identifying the target, but in order to identify the target using the line-of-sight vector from the camera to the target, the amount of pan, tilt, and zoom calculations of the camera are required. Therefore, an object of the present invention is to easily associate the pan / tilt / zoom control amount of the camera with these calculation amounts (pan / tilt angle, focal length), and use the obtained camera calculation amount on the image. It is to be able to identify the indicated object.

[0007]

In order to solve such a problem, according to the invention of claim 1, a camera for picking up an object, a display for displaying an image of the camera, and a pan / tilt / zoom control of the camera. And a camera control amount reading unit that reads out the current camera control amount, and converts the current camera control amount into an angle for the pan / tilt amount and a camera calculation amount represented by the focal length for the zoom amount. And a camera state amount storage unit that stores the current camera control amount and the converted camera calculation amount in association with each other, displays the image from the camera on the display, and displays the image on the image. A monitor control device for instructing an object to display and control information related to the object, wherein the camera state quantity conversion means comprises a tilt / zoom camera. After calculating the reference value of the tilt calculation amount after conversion from the focal length of the camera before the change and the screen coordinate change after inputting the attention point on the image before and after changing the pan amount with the control amount fixed , The camera is changed after the pan / tilt angle before change and the screen coordinate change are input after the attention point on the image before and after the pan / tilt control amount is changed while the camera zoom control amount is fixed is changed. The pan / tilt amount of the camera is converted into an angle, and the focus point of the camera before and after the focus point on the image before and after the zoom control amount is changed while the camera pan / tilt control amount is fixed is input. It is characterized in that the zoom amount of the camera after the change is converted into the focal length from the change of the screen coordinates.

According to the first aspect of the present invention, when the pan / tilt state quantity is converted by the camera state quantity conversion means, a mark for identifying the center of the screen is displayed so as to be superimposed on the image, and the pan is displayed. After inputting a point which becomes the center of the screen after the change as the attention point before the change of the tilt amount, the pan / tilt control can be performed so that the attention point overlaps the mark at the center of the screen (the invention of claim 2). ).

[0009]

[Action]

1) As in the invention of claim 1, the tilt / zoom control amount of the camera is fixed, and the screen coordinate values of the target point on the image before and after the pan control amount is changed are obtained. From the relational expression established between the tilt angle and the focal length of the camera before the change, the reference value of the tilt calculation amount is calculated and the image before and after the control amount of the pan / tilt / zoom of the camera is changed. The screen coordinates of the point of interest are obtained, and from the relational expression that holds between these values and the pan / tilt angle and focal length of the camera before the change, the pan / tilt control amount is the angle and the zoom control amount is the By converting each to a focal length, it becomes easy to associate the camera control amount with the calculation amount, and to easily identify the target on the image.

2) As in the invention of claim 2, as a point of interest before the change of the pan / tilt amount in claim 1, by inputting a point which becomes the center of the screen (the origin of the screen coordinates) after the change, It is not necessary to input the screen coordinates of the point of interest after the change. Further, by setting the changed target point as the origin of the screen coordinates, the relational expression established between the screen coordinate value of the target point on the image, the pan / tilt angle of the camera, and the focal length according to claim 1 is simplified. To facilitate calculation of pan / tilt angles.

[0011]

1 is a block diagram showing a first embodiment of the present invention. The camera unit 1 includes a camera 11 and a lens 12.
And the swivel base 13 and is connected to the computer 3. The camera unit 1 is controlled by the camera control means 31 of the computer 3, and the pan, tilt, and zoom control amounts thereof can be read by the camera control amount reading means 32. The image output from the camera 11 is displayed on the display 2. The screen coordinates on display 2 are
A cursor 5 that can move on the screen of the display 2 in conjunction with a mouse 4 connected to the computer 3 can be used to make a selection instruction. Data can be input to the computer 3 from the keyboard 6.

In this embodiment, the case where a potentiometer is used to control the pan, tilt and zoom of the camera will be described below. Further, the camera state amount represents a combination of both the camera control amount and the camera calculation amount, and the camera control amount is an amount used when actually controlling the camera,
That is, the pan, tilt, and zoom potentiometer values of the camera are shown, and the camera calculation amount represents the amount used for identifying the object, that is, the camera pan, tilt angle, and focal length. Further, here, one camera state quantity is managed by a preset number.

FIG. 2 is a flow chart showing an outline of the processing operation in FIG. 1. The camera calculation amount reference value setting process of step 1 (step 1) and the step 2 (step) are shown.
The camera state quantity setting process of 2) is executed. In the camera calculation amount reference value setting processing, the pan / tilt control is performed at the position where the camera is used as a reference, and the pan / tilt / zoom control amount and the pan / tilt / zoom calculation amount when the zoom is controlled to the widest angle are set and stored. To do. The zoom calculation amount, that is, the reference value f ₀ of the focal length is the focal length f _W at the widest angle. An appropriate value is input from the keyboard 6 as the pan calculation amount, that is, the pan angle reference value θ ₀ . The tilt calculation amount, that is, the reference value φ ₀ of the tilt angle is set based on the calculation described later with the zoom amount being the widest angle.

FIG. 3 shows details of the camera calculation amount reference value setting process. Hereinafter, FIG. 3 will be described with reference to FIGS. 5, 6 and 8. 5 is an explanatory diagram for explaining the positional relationship between the screen coordinate system, the real space coordinate system, and the object, FIG. 6 is an explanatory diagram of an example image in each process of setting the camera calculation amount reference value, and FIG. 8 is a camera state amount storage It is a content explanatory view of a means.

At step 1-1, a camera calculation amount reference preset number indicating an area for storing preset position data which is a reference amount of the camera calculation amount is input from the keyboard 6 to the computer 3. For example, the camera calculation amount reference preset number = 1. In step 1-2, the camera control unit 31 controls the zoom of the camera to the widest angle.
At this time, the pan and tilt control amounts may be appropriate. Here, the image as shown in FIG. 6A is displayed on the display 2. Objects 8a and 8b are shown in the image. st
In ep1-3, the camera control unit 31 performs pan / tilt control to a position to be used as a reference for the amount of calculation. This allows
An image as shown in FIG. 6B is displayed on the display 2.

At step 1-4, the reference value θ ₀ of the pan angle in the camera control state after step 1-3 processing is input to the computer 3 from the keyboard 6. In step 1-5, the pan, tilt, and zoom control amounts of the camera after step 1-3 processing are read from the camera control amount reading means 32 and stored in the computer 3. step1-6
Then, the y-axis of the screen coordinate system is superimposed on the image of FIG. 6 (2) and displayed as shown in FIG. 6 (3). step1-
In FIG. 7, the mouse 4 is used to move the cursor 5 to the coordinates of the target point for calculating the tilt angle reference value on the image of FIG.
Is moved on the display 2, and the mouse 4 is clicked at the position of the attention point to input. The screen coordinates of the point of interest P are p (xp, yp).

In step 1-8, the pan control of the camera is performed in the direction opposite to the direction in which the point p exists with respect to the y-axis in FIG. 6 (3), and the target point is the edge of the screen as shown in FIG. 6 (4). Try to come near. In FIG. 6 (4), the target point p moves to the position of the point p '. In step 1-9, step
Delete the y-axis of the screen coordinate system superimposed and displayed in p1-6. In step 1-10, the screen coordinates p ′ (xp ′, yp ′) of the target point after the pan change in step 1-8 is input in the same manner as in step 1-7.

In step 1-11, the screen coordinates p (xp, y) obtained in step 1-7 and step 1-10.
p), p '(xp', yp '), focal length f, tilt angle φ before pan change, unit line-of-sight vector (Xp, Yp, from the camera rotation center point O to the point P in the real space coordinate system) Z
p), the unit line-of-sight vector (Xp ′, Yp ′, from the camera rotation center point O after pan control to the point P ′ in the real space coordinate system)
Zp '), the following equations (1), (2), and (3) are established.

Zp = (fsinφ + ypcosφ) / √ (xp ² + f ² + yp ² ) ... (1) Zp ′ = (fsinφ + yp'cosφ) / √ (xp ′ ² + f ² + yp ′ ² ) (2) Zp = Zp ′ … (3)

In the real space coordinate system, as shown in FIG. 5, the center of rotation of the camera 11 is the origin, the horizontal right direction is the X axis, the line-of-sight direction is the Y axis, and the vertically upward direction is the Z axis. X
-It is a coordinate system on the Y plane, and the screen coordinate system is the camera 11.
Is the coordinate system with the center of the screen as the origin, the x axis to the right, and the y axis to the up. The screen is present at a position separated from the center of rotation of the camera 11 by the focal length f in the line-of-sight direction and perpendicular to the line-of-sight direction.

Here, A = 1 / √ (xp ² + f ² + yp ² ), B = 1 / √ (xp ′ ² + f ² + yp ′ ² ) ... (4), and the formula (4) is given by (1), Substituting into equation (2),
When rearranging using the relationship of the equation (3), φ = tan ⁻¹ [(ypB−yp′A) / {(AB) f}] (5) By substituting f = f ₀ into this equation (5),
The tilt angle reference value φ ₀ is calculated.

It should be noted that the point of interest to be selected when obtaining the tilt angle reference value φ ₀ is preferably near the y-axis of the screen before the pan change, and the pan control amount is the screen after the pan of the target point is changed. It is desirable that the control amount be close to the edge of. This is to reduce the error in calculating the tilt angle reference value φ ₀ (see the denominator of the equation (5)).

In step 1-12 of FIG. 3, the step corresponding to the camera calculation amount reference preset number input in step 1-1 in the camera state amount storage means 34 is entered.
1-5, the camera control amount, the focal length reference value f ₀ given in the initial conditions, the pan angle reference value θ ₀ input in step 1-4, and the tilt angle reference value obtained in step 1-11. φ ₀ is stored as shown in FIG. 8, for example.

FIG. 4 is a flow chart for explaining the camera state quantity setting process. The outline is to set a new camera state quantity based on the camera state quantity that has been set so far, and it is roughly divided into reference camera state quantity selection, pan / tilt angle calculation, focal length calculation and set camera state. It consists of each process of quantity storage. Hereinafter, FIG. 4 will be described in detail with reference to FIGS. 5, 7 and 8. Note that FIG. 7 is an explanatory diagram of an example of an image in each process of setting the camera state amount, and the others are similar to the above.

In the reference camera state quantity selection of step 2-1, a reference preset position for calculating the pan / tilt angle and the focal length in the camera state quantity to be newly set is set, and the camera is controlled to the preset position. To do.
That is, in step 2-1-1, the reference preset number is input to the computer 3 from the keyboard 6. It is assumed that the values of the camera control amount and the camera calculation amount at the preset position of the reference preset number have already been set. When this process is first performed, the preset number set in the camera calculation amount reference value setting process of step 1 is selected as the reference preset number. Here, description will be made assuming that the reference preset number = 1.

In step 2-1-2, the camera control amount (pan / tilt / zoom potentiometer value) of the reference preset number is read from the camera state amount stored in the computer 3 in the format as shown in FIG. The pan / tilt / zoom of the camera is controlled via the camera control means 31. The image at this time is as shown in FIG. 7 (1).
Objects 8a and 8b are shown in the image.

In the pan / tilt angle calculation of step 2-2, the zoom (focal length) is fixed after the reference camera state quantity selection process of step 2-1 and only the pan / tilt preset position newly set from now on. Change to. The pan / tilt angle is calculated from the position change of the point of interest on the image before and after the pan / tilt control. That is, in step 2-2-1, the mouse 4 is used to move the cursor 5 on the display 2, and the screen coordinates q (xq, yq) of the target point for pan / tilt angle calculation are input.
In FIG. 7 (1), one point in the object 8b is set as the point Q.

In step 2-2-2, the zoom is fixed and the pan / tilt is changed to the desired position. The image after the change is as shown in Fig. 7 (2), and step 2-2-1
The point q input at is moved to the point q'on the image. s
In step 2-2-3, the screen coordinates q ′ (xq ′, yq ′) of the target point for pan / tilt angle calculation after pan / tilt control are input in the same manner as in step 2-2-1.

At step 2-2-4, the following relational expression is obtained by the camera state quantity conversion means 33 in the computer 3. Screen coordinates q (xq, yq), q '(xq', yq ') obtained in step 2-2-1 and step 2-2-3
And the pan angle θ, the tilt angle φ, the focal length f, and the unit line-of-sight vector (Xq, Yq, Zq) from the camera rotation center point O to the point Q in the real space coordinate system at the reference preset position.
And the pan angle θ ′ after the pan / tilt control, the tilt angle φ ′, and the unit line-of-sight vector (Xq ′, Yq ′, Zq ′) in the real space coordinate system from the camera rotation center point O to the point Q ′. In between, (6), (6) ', (6) "shown in the following equation 1
Equations (7), (7) ', (7) "shown in Equation 2 and Equation (8) shown in Equation 3 hold. Since the zoom is fixed before and after the pan / tilt control, , The focal length is constant at f.

In the state before the pan / tilt control, the number 1 is obtained.

[Equation 1]

In the state after the pan / tilt control, the equation 2 is obtained.

[Equation 2]

In the real space coordinate system, since point Q = point Q ',
The relationship of Equation 3 is established.

(Equation 3)

Considering the Z component from equations (7) "and (8), Zq = (fsinφ '+ yq'cosφ') / √ (xq ' ² + f ² + yq' ² ) = √ (f ² + yq ' ² ) Sin (φ '+ α) / √ (xq' ² + f ² + yq ' ² ) (9) where cosα = f / √ (f ² + yq' ² ) sin α = yq '/ √ (f ² + yq) ' ² ) −180 ° <α <180 ° (10).

From the relation of the equation (9), φ ′ is given by the following (11)
It is represented by a formula. φ ′ = sin ⁻¹ {Zq (√ (xq ′ ² + f ² + yq ′ ² ) / √ (f ² + yq ′ ² )} − α (11) From the expressions (11) and (6) ”, the pan After tilt control, the value of the tilt angle φ'is obtained, and if the value of the angle φ'is determined, from the X and Y components of the equations (6) ", (7)" and (8), the pan / tilt control is performed. The value of the pan angle θ'of is obtained.

In the focal length calculation of step 2-3, the pan / tilt is fixed in the state after the pan / tilt angle calculation process of step 2-2, and only the zoom (focal length) is set to a preset amount to be newly set. change.
The focal length is calculated from the change in the position of the point of interest on the image before and after zoom control. That is, in step 2-3-1, the screen coordinates r (xr, yr) of the focal point calculation focus point R before zoom control are input in the same manner as in step 2-2-1. In FIG. 7 (2), the point r is different from the point q ', but the same point may be used if q'is not the origin of the screen coordinates.

In step 2-3-2, the pan / tilt is fixed and the zoom is changed to a desired size. The changed image will be as shown in Fig. 7 (3).
The point R in the object 8b input in step 4 has moved to the point r'on the image. In step 2-3-3, step 2-3
Similarly to -1, the screen coordinates r '(xr', yr ') of the focal point calculation focus point after zoom control are input. st
In ep2-3-4, the following calculation is performed by the camera state quantity conversion means 33 in the computer 3. That is, step
Screen coordinates r obtained in 2-3-1 and step 2-3-3
From (xr, yr), r '(xr', yr '), the zoom magnification M when the zoom at the reference preset position is 1.
Find (M> 0). The zoom magnification M is calculated by the following equation (12).

M = xr ′ / xr = yr ′ / yr = √ (xr ′ ² + yr ′ ² ) / √ (xr ² + yr ² ) ... (12) If the zoom magnification M is obtained, the focus at the reference preset position Since the distance f is obtained in FIG. 8, the focal length f ′ at the preset position to be set is obtained by the following equation (13). f ′ = M · f (13)

The set camera state quantity storage processing of step 2-4 is performed by calculating the pan / tilt angle and s of step 2-2.
Since the camera control to the preset position to be set has been completed by the focal length calculation process of step 2-3, the camera state amount at this position is read out and the data is stored together with the above calculation result. That is, step
In 2-4-1, the camera control amount reading unit 31 reads the camera control amount, that is, the pan / tilt / zoom potentiometer values of the camera.

In step 2-4-2, a preset number to be newly set this time is input (set preset number ≠).
Reference preset number). Here, the preset number = 2. In step 2-4-3, the camera control amount obtained in step 2-4-1, that is, the pan of the camera, is stored in the position corresponding to the setting preset number input in step 2-4-2 in the camera state amount storage unit 34. -Potentiometer values for tilt / zoom and the camera calculation amount obtained by the pan / tilt angle calculation of step 2-2 and the focal length calculation process of step 2-3, that is, the pan angle θ ', tilt angle φ', focus of the camera The distance f'is stored (see FIG. 8).

When another preset position is set, the process returns to step 1. If not, the process ends. In this embodiment, the pan / tilt angle calculation is first performed and then the focal length calculation is performed. However, the pan / tilt angle calculation may be performed after the focal length calculation.

FIG. 9 is a flow chart showing another embodiment of the present invention, and FIG. 10 is an explanatory view for explaining an example of an image in the pan / tilt calculation processing in FIG. First, ste
In p2-2'-1, the point s (xs, ys) at the center of the screen is input after pan / tilt control (see FIG. 10 (1)). In step 2-2′-2, as shown in FIG. 10 (2), a mark that allows the center of the screen to be seen is displayed so as to be superimposed on the image.

At step 2-2'-3, the zoom is fixed and the pan / tilt control is performed. At this time, step
The point s set in 2-2'-1 is step 2-2'-2.
Pan / tilt control is performed so as to match the mark indicating the center of the screen displayed in. After the pan / tilt control, the point s moves to the point s ′ = point o (0,0) (see FIG. 10 (3)). In step 2-2'-4, step
Delete the mark displayed on p2-2'-2.

At step 2-2'-5, the pan / tilt angle is calculated by the camera state quantity conversion means 33 in the computer 3. That is, step2-2'-1 and st
screen coordinates s (xs, y obtained in ep2-2'-3
s), s'(xs',ys') = o (0,0), pan angle θ, tilt angle φ, focal length f, and real space from the camera rotation center point O to the point S at the reference preset position Unit line-of-sight vector (Xs, Ys, Zs) in the coordinate system, pan angle θ ′ after pan / tilt control, tilt angle φ ′, unit in the real space coordinate system from the camera rotation center point O to the point S ′ Between the line-of-sight vector (Xs', Ys', Zs'), the following equation (14) shown in equation 4, equation (15) shown in equation 5 and equation 6
The relational expression of Expression (16) shown in is established. Since the zoom is fixed before and after the pan / tilt control, the focal length is constant at f.

In the state before the pan / tilt control, the equation (6) "is given by equation 4 (equation 14).

[Equation 4]

In the state after the pan / tilt control, the expression (7) ″ gives the expression 5 (expression 15).

(Equation 5)

In the real space coordinate system, since the point S = the point S ', the relation of the equation 6 (Equation 16) is established.

(Equation 6)

Z in equations (15) and (16) shown in equations 5 and 6
Considering the components, Zs = sin φ ′ is obtained, and φ ′ is expressed by the following equation (17). φ '= sin ^-1 Zs (17)

In addition, equations (5), (6) (15), (16)
Considering the X and Y components of the equation, Xs = sin θ′cos φ ′ Ys = cos θ′cos φ ′. Therefore, the following expression (18) is obtained. θ ′ = tan ⁻¹ (Xs / Ys) (18)

The values of the pan angle θ'and the tilt angle φ'after the pan / tilt control are obtained from the equations (17), (18) and (14). The calculation of the equations (17) and (18) is much easier than the calculation of the tilt angle φ ′ of the equation (11) and the subsequent calculation of the pan angle θ ′.

[0050]

According to the present invention, the following effects can be expected. 1) According to the invention of claim 1, if the reference preset position is already set, it is only necessary to input the pan / tilt / zoom control of the camera and the screen coordinate value of the attention point on the image before and after the pan / tilt / zoom control. , The camera calculation amount (pan / tilt angle and focal length) of the preset position to be newly set can be obtained, and the pan / tilt angle and the camera control amount can be stored in association with each other. It is possible to identify the pointing object on the image using the focal length.

2) According to the invention of claim 2, by inputting a point which is the center of the screen after control (the origin of the screen coordinates) as the target point before the control of the pan / tilt amount in claim 1. , It becomes unnecessary to input the screen coordinates of the point of interest after the change. Further, by setting the changed point of interest as the origin of the screen coordinates, the relational expression established between the screen coordinate value of the point of interest on the image, the pan / tilt angle of the camera, and the focal length of claim 1 is simplified. And the pan / tilt angle can be easily calculated.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a flowchart showing an outline of a processing operation in FIG.

FIG. 3 is a flowchart showing details of camera calculation amount reference value setting processing in FIG.

FIG. 4 is a flowchart showing details of a camera state amount setting process of FIG.

FIG. 5 is an explanatory diagram illustrating a positional relationship between a screen coordinate system, a real space coordinate system, and an object.

FIG. 6 is an explanatory diagram of an image example in each process of setting a camera calculation amount reference value.

FIG. 7 is an explanatory diagram of a video example in each process of camera state amount setting.

FIG. 8 is an explanatory diagram of a content example of a camera state amount storage unit.

FIG. 9 is a flowchart showing a pan / tilt angle calculation process according to the second embodiment of the present invention.

10 is an explanatory diagram of a video example in the pan / tilt angle calculation processing of FIG.

FIG. 11 is an overall configuration diagram showing a proposed device.

FIG. 12 is a detailed configuration diagram of a camera control unit in the proposed apparatus.

[Explanation of symbols]

1 ... Camera unit, 2 ... Display, 3 ... Calculator,
4 ... Mouse, 5 ... Cursor, 6 ... Keyboard, 11 ... Camera, 12 ... Lens, 13 ... Revolving base, 31 ... Camera control means, 32 ... Camera control amount reading means, 33 ... Camera state quantity conversion means, 34 ... Camera State quantity storage means.

Claims (2)

[Claims] 1. A camera for picking up an image of a target, a display for displaying an image of the camera, a camera control unit for controlling pan / tilt / zoom of the camera, and a camera control amount reading unit for reading out a current camera control amount. , A camera state amount conversion means for converting the current camera control amount into an angle for the pan / tilt amount and a camera calculation amount represented by the focal length for the zoom amount, and the current camera control amount and the converted camera calculation amount. And a camera state quantity storing means for storing the information related to each other and displaying a video from the camera on a display, indicating a target on the video, and displaying and controlling information related to the monitoring control device. In the camera state quantity conversion means, the attention points on the image before and after the pan amount is changed while the control amount of the camera tilt / zoom is fixed are input. After calculating the reference value of the tilt calculation amount after conversion from the focal length of the camera before change and its screen coordinate change, before and after changing the pan / tilt control amount with the camera zoom control amount fixed. The point of interest on the image is input, and the pan / tilt angle before the change and the pan / tilt amount of the camera after the change from the change in the screen coordinates are converted into an angle, and the pan / tilt control amount of the camera is fixed. As input points of interest on the image before and after changing the zoom control amount, the focal length of the camera before the change and the zoom amount of the camera after the change from the screen coordinate change can be converted into the focal length. A camera control method in a characteristic supervisory control device. 2. When the pan / tilt state quantity is converted by the camera state quantity conversion means, a mark for identifying the center of the screen is displayed by being superimposed on the image, and the mark before the pan / tilt quantity change is displayed. 2. The camera in the supervisory control device according to claim 1, wherein after a point that becomes the center of the screen after the change is input as a point of interest, pan and tilt control is performed so that the point of interest overlaps the mark at the center of the screen. control method.