WO2023120195A1 - 制御装置、制御方法、及び制御プログラム - Google Patents

制御装置、制御方法、及び制御プログラム Download PDF

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Publication number
WO2023120195A1
WO2023120195A1 PCT/JP2022/045121 JP2022045121W WO2023120195A1 WO 2023120195 A1 WO2023120195 A1 WO 2023120195A1 JP 2022045121 W JP2022045121 W JP 2022045121W WO 2023120195 A1 WO2023120195 A1 WO 2023120195A1
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WIPO (PCT)
Prior art keywords
control
turning
imaging
turning mechanism
cpu
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/045121
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English (en)
French (fr)
Japanese (ja)
Inventor
哲也 藤川
智大 島田
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Fujifilm Corp
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Fujifilm Corp
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Application filed by Fujifilm Corp filed Critical Fujifilm Corp
Priority to JP2023569288A priority Critical patent/JPWO2023120195A1/ja
Priority to CN202280085129.XA priority patent/CN118435616A/zh
Publication of WO2023120195A1 publication Critical patent/WO2023120195A1/ja
Priority to US18/736,540 priority patent/US12538031B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/683—Vibration or motion blur correction performed by a processor, e.g. controlling the readout of an image memory
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position

Definitions

  • the present invention relates to a control device, control method, and control program.
  • Patent Document 1 when moving the camera body toward a position where the movement target position is predetermined, the pan mechanism and the tilt mechanism are driven at a first movement speed, and the movement target position is not predetermined.
  • a pan-tilt camera is described that drives a pan mechanism and a tilt mechanism at a second movement speed that is slower than the first movement speed when the camera body is moved in this state or when the camera body is manually moved.
  • Patent Document 2 describes a surveillance camera device that uses a joystick, tablet, or the like to input the coordinates of the destination of the camera, and controls the position and speed of the pan rotation and tilt rotation of the camera.
  • An embodiment according to the technology of the present disclosure provides a control device, control method, and control program capable of rotating the imaging device at an appropriate speed according to the situation.
  • a control device is a control device that includes a processor and controls a turning mechanism that turns an imaging device, wherein the processor controls at least one of imaging conditions of the imaging device and operation information of the turning mechanism.
  • the first control and the second control regarding the operation of the turning mechanism are switched based on whether the input factor for the control differs between the first control and the second control.
  • control device of one aspect of the present invention includes: A control device comprising a processor for controlling a turning mechanism for turning an imaging device, wherein the processor operates the turning mechanism based on at least one of imaging conditions of the imaging device and operation information of the turning mechanism. Switches between the first control and the second control for the above, and the second control is a control that enables a lower-speed turn than the first control.
  • a processor of a control device that controls a turning mechanism for turning an imaging device controls the turning mechanism based on at least one of imaging conditions of the imaging device and operation information of the turning mechanism.
  • the first control and the second control regarding the operation of are switched, and input factors for the control are different between the first control and the second control.
  • a control program causes a processor of a control device that controls a turning mechanism for turning an imaging device to control the turning mechanism based on at least one of imaging conditions of the imaging device and operation information of the turning mechanism. Switching between the first control and the second control regarding the operation of A control program for executing a process, wherein the first control and the second control have different input factors for control.
  • control device a control method, and a control program capable of rotating the imaging device at an appropriate speed according to the situation.
  • FIG. 4 is a diagram showing an example of turning of the monitoring camera 10 in the pitch direction by the turning mechanism 16.
  • FIG. 4 is a diagram showing an example of turning of the monitoring camera 10 in the yaw direction by the turning mechanism 16.
  • FIG. 2 is a block diagram showing an example of the configuration of the optical system and electrical system of the surveillance camera 10;
  • FIG. 3 is a diagram showing an example of the electrical system configuration of the turning mechanism 16 and the management device 11.
  • FIG. 10 is a flow chart showing a first modified example of the operation control of the turning mechanism 16 by the CPU 60A;
  • FIG. 4 is a diagram showing readout positions of images read out by the surveillance camera 10 for each turning command in position control.
  • FIG. FIG. 11 is a flow chart showing a second modification of the operation control of the turning mechanism 16 by the CPU 60A;
  • FIG. 10 is a diagram showing an extraction range when the amount of communication delay between the CPU 60A and the surveillance camera 10 is less than the threshold;
  • FIG. 10 is a diagram showing an extraction range when the amount of communication delay between the CPU 60A and the surveillance camera 10 is equal to or greater than the threshold;
  • FIG. 10 is a diagram showing a change in the position of the cutout range when the surveillance camera 10 is rotated; 4 is a diagram showing an example of a manner in which a control program is installed in the control device of the management device 11 from a storage medium storing the control program; FIG.
  • FIG. 1 is a diagram showing an example of an imaging system 1 equipped with the control device of this embodiment.
  • the imaging system 1 includes a surveillance camera 10 and a management device 11.
  • the surveillance camera 10 is an example of an imaging device in the present invention.
  • the management device 11 is an example of a control device in the present invention.
  • the monitoring camera 10 is installed indoors and outdoors on a pillar, wall, or part of a building (for example, a rooftop) via a turning mechanism 16, which will be described later, and captures an image of an imaging target, which is a subject.
  • the monitoring camera 10 transmits a captured image obtained by capturing and image capturing information related to the capturing to the management device 11 via the communication line 12 .
  • the management device 11 has a display 13a, a keyboard 13b, a mouse 13c, and a secondary storage device 14.
  • Examples of the display 13a include a liquid crystal display, a plasma display, an organic EL (Electro-Luminescence) display, a CRT (Cathode Ray Tube) display, and the like.
  • the secondary storage device 14 is an HDD (Hard Disk Drive).
  • the secondary storage device 14 is not limited to an HDD, and may be a non-volatile memory such as flash memory, SSD (Solid State Drive), or EEPROM (Electrically Erasable and Programmable Read Only Memory).
  • the management device 11 receives captured images and captured information transmitted from the monitoring camera 10, and displays the received captured images and captured information on the display 13a and stores them in the secondary storage device .
  • the management device 11 performs imaging control for controlling imaging by the surveillance camera 10 .
  • the management device 11 performs imaging control by communicating with the monitoring camera 10 via the communication line 12 .
  • the imaging control is control for setting imaging parameters for the monitoring camera 10 to perform imaging, and causing the monitoring camera 10 to perform imaging. For example, it includes setting the turning direction and turning speed of the monitoring camera 10 by operating the keyboard 13b or the mouse 13c, or by touching the screen of the display 13a.
  • FIG. 2 is a diagram showing an example of turning of the monitoring camera 10 in the pitch direction by the turning mechanism 16.
  • FIG. 3 is a diagram showing an example of turning of the monitoring camera 10 in the yaw direction by the turning mechanism 16.
  • the surveillance camera 10 is attached to the turning mechanism 16 .
  • the turning mechanism 16 enables the surveillance camera 10 to turn.
  • the turning mechanism 16 has a turning direction (pitch direction) that intersects the yaw direction and has the pitch axis PA as a central axis, and a yaw direction as shown in FIG. 3 as an example. It is a two-axis turning mechanism capable of turning the surveillance camera 10 in the turning direction (yaw direction) with the axis YA as the central axis. Note that the turning mechanism 16 according to the present embodiment has shown an example of a two-axis turning mechanism, but the technology of the present disclosure is not limited to this, and may be a three-axis turning mechanism or a one-axis turning mechanism. may be
  • FIG. 4 is a block diagram showing an example of the configuration of the optical system and electrical system of the surveillance camera 10.
  • the surveillance camera 10 includes an optical system 15 and an imaging device 25 .
  • the imaging element 25 is positioned behind the optical system 15 .
  • the optical system 15 has an objective lens 15A and a lens group 15B.
  • the objective lens 15A and the lens group 15B are arranged along the optical axis OA of the optical system 15 from the target subject side (object side) to the light receiving surface 25A side (image side) of the image sensor 25. are arranged in order.
  • the lens group 15B includes an antivibration lens 15B1, a focus lens (not shown), a zoom lens 15B2, and the like.
  • the zoom lens 15B2 is movably supported along the optical axis OA by a lens actuator 21, which will be described later.
  • the anti-vibration lens 15B1 is movably supported in a direction perpendicular to the optical axis OA by a lens actuator 17, which will be described later.
  • the monitoring camera 10 is on the telephoto side, so the angle of view is reduced (the imaging range is narrowed).
  • the angle of view is widened (the imaging range is widened).
  • the optical system 15 may include various lenses (not shown) in addition to the objective lens 15A and the lens group 15B. Furthermore, the optical system 15 may have an aperture. The positions of the lens, the lens group, and the diaphragm included in the optical system 15 are not limited.
  • the anti-vibration lens 15B1 is movable in a direction perpendicular to the optical axis OA, and the zoom lens 15B2 is movable along the optical axis OA.
  • the optical system 15 has lens actuators 17 and 21 .
  • the lens actuator 17 applies force to the anti-vibration lens 15B1 that fluctuates in the direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • the lens actuator 17 is controlled by an OIS (Optical Image Stabilizer) driver 23 .
  • OIS Optical Image Stabilizer
  • the lens actuator 21 applies a force to the zoom lens 15B2 to move it along the optical axis OA of the optical system 15.
  • the lens actuator 21 is controlled by a lens driver 28 .
  • the focal length of the surveillance camera 10 changes as the position of the zoom lens 15B2 moves along the optical axis OA.
  • the angle of view in the pitch axis PA direction is the yaw axis YA direction.
  • the angle of view is narrower than the angle of view at the , and narrower than the angle of view at the diagonal.
  • the light representing the imaging area is imaged on the light receiving surface 25A of the imaging element 25, and the imaging area is imaged by the imaging element 25.
  • the vibration given to the surveillance camera 10 includes the vibration caused by the traffic of automobiles, the vibration caused by the wind, the vibration caused by the road construction, etc. when outdoors, and the vibration caused by the operation of the air conditioner and the vibration caused by the human body when indoors. Vibration, etc. due to entry and exit of Therefore, the monitoring camera 10 shakes due to the vibration applied to the monitoring camera 10 (hereinafter also simply referred to as “vibration”).
  • shake means that the target subject image on the light receiving surface 25A of the imaging device 25 in the monitoring camera 10 fluctuates due to changes in the positional relationship between the optical axis OA and the light receiving surface 25A. refers to phenomena. In other words, the “shake” can be said to be a phenomenon in which an optical image formed on the light receiving surface 25A fluctuates due to the tilt of the optical axis OA caused by the vibration applied to the surveillance camera 10. . Fluctuation of the optical axis OA means, for example, inclination of the optical axis OA with respect to a reference axis (for example, the optical axis OA before vibration occurs).
  • shake caused by vibration is also simply referred to as "shake”.
  • the surveillance camera 10 includes a lens-side shake correction mechanism 29, an image sensor-side shake correction mechanism 45, and an electronic shake correction unit 33. and is used for shake correction.
  • the lens-side shake correction mechanism 29 and the imaging device-side shake correction mechanism 45 are mechanical shake correction mechanisms.
  • the mechanical shake correction mechanism applies power generated by a driving source such as a motor (eg, voice coil motor) to the shake correction element (eg, the anti-vibration lens 15B1 and/or the imaging element 25). is moved in a direction perpendicular to the optical axis of the imaging optical system, thereby correcting shake.
  • a driving source such as a motor (eg, voice coil motor) to the shake correction element (eg, the anti-vibration lens 15B1 and/or the imaging element 25).
  • the lens-side shake correction mechanism 29 applies power generated by a driving source such as a motor (for example, a voice coil motor) to the vibration-proof lens 15B1, thereby causing the vibration-proof lens 15B1 to move toward the light of the imaging optical system. It is a mechanism that moves in a direction perpendicular to the axis, thereby correcting shake.
  • the imaging element side shake correction mechanism 45 applies power generated by a drive source such as a motor (for example, a voice coil motor) to the imaging element 25 to move the imaging element 25 perpendicular to the optical axis of the imaging optical system. It is a mechanism that moves in a direction and thereby corrects shake.
  • the electronic shake correction unit 33 corrects shake by performing image processing on the captured image based on the amount of shake.
  • the shake correction section mechanically or electronically corrects the shake with a hardware configuration and/or a software configuration.
  • mechanical shake correction refers to mechanically moving a shake correction element such as the anti-vibration lens 15B1 and/or the imaging element 25 using power generated by a drive source such as a motor (for example, a voice coil motor).
  • Electronic shake correction refers to shake correction realized by image processing performed by a processor, for example.
  • the lens-side shake correction mechanism 29 includes an anti-vibration lens 15B1, a lens actuator 17, an OIS driver 23, and a position sensor 39.
  • a shake correction method by the lens-side shake correction mechanism 29 .
  • a method of correcting shake by moving the anti-vibration lens 15B1 based on the amount of shake detected by a shake amount detection sensor 40 (described later) is employed as a shake correction method. Specifically, the vibration is corrected by moving the anti-vibration lens 15B1 in the direction of canceling the vibration by the amount that cancels the vibration.
  • a lens actuator 17 is attached to the anti-vibration lens 15B1.
  • the lens actuator 17 is a shift mechanism equipped with a voice coil motor, and drives the voice coil motor to move the anti-vibration lens 15B1 in a direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a shift mechanism equipped with a voice coil motor is adopted, but the technology of the present disclosure is not limited to this, and instead of the voice coil motor, a stepping motor or a piezo element Other power sources, such as, may be applied.
  • the lens actuator 17 is controlled by the OIS driver 23. Driving the lens actuator 17 under the control of the OIS driver 23 mechanically changes the position of the anti-vibration lens 15B1 within a two-dimensional plane perpendicular to the optical axis OA.
  • the position sensor 39 detects the current position of the anti-vibration lens 15B1 and outputs a position signal indicating the detected current position.
  • a device including a Hall element is adopted as an example of the position sensor 39 .
  • the current position of the anti-vibration lens 15B1 refers to the current position within the two-dimensional plane of the anti-vibration lens.
  • the anti-vibration lens two-dimensional plane refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a device including a Hall element is adopted as an example of the position sensor 39, but the technology of the present disclosure is not limited to this, and instead of the Hall element, a magnetic sensor, a photosensor, or the like is used. may be adopted.
  • the lens-side shake correction mechanism 29 corrects shake by moving the vibration reduction lens 15B1 along at least one of the pitch axis PA direction and the yaw axis YA direction in the range that is actually imaged. That is, the lens-side vibration correction mechanism 29 corrects vibration by moving the vibration reduction lens 15B1 in the vibration reduction lens two-dimensional plane by a movement amount corresponding to the vibration amount.
  • the imaging element side shake correction mechanism 45 includes an imaging element 25 , a BIS (Body Image Stabilizer) driver 22 , an imaging element actuator 27 , and a position sensor 47 .
  • BIS Body Image Stabilizer
  • a shake correction method a method of correcting shake by moving the imaging device 25 based on the amount of shake detected by the shake amount detection sensor 40 is employed. Specifically, the shake is corrected by moving the imaging device 25 in the direction of canceling the shake by the amount that cancels the shake.
  • the imaging element actuator 27 is attached to the imaging device 25 .
  • the imaging element actuator 27 is a shift mechanism equipped with a voice coil motor, and drives the voice coil motor to move the imaging element 25 in the direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a shift mechanism equipped with a voice coil motor is adopted, but the technology of the present disclosure is not limited to this, and instead of the voice coil motor, a stepping motor or a piezo actuator is used. Other power sources such as elements may be applied.
  • the imaging device actuator 27 is controlled by the BIS driver 22. By driving the imaging element actuator 27 under the control of the BIS driver 22, the position of the imaging element 25 mechanically changes in the direction perpendicular to the optical axis OA.
  • the position sensor 47 detects the current position of the imaging element 25 and outputs a position signal indicating the detected current position.
  • a device including a Hall element is adopted as an example of the position sensor 47 .
  • the current position of the imaging device 25 refers to the current position within the two-dimensional plane of the imaging device.
  • a two-dimensional plane of the imaging element refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a device including a Hall element is adopted as an example of the position sensor 47, but the technology of the present disclosure is not limited to this, and a magnetic sensor, a photosensor, or the like is used instead of the Hall element. may be adopted.
  • the surveillance camera 10 includes a computer 19, a DSP (Digital Signal Processor) 31, an image memory 32, an electronic shake corrector 33, a communication I/F 34, a shake amount detection sensor 40, and a UI (User Interface) device 43.
  • the computer 19 has a memory 35 , a storage 36 and a CPU (Central Processing Unit) 37 .
  • the imaging device 25, DSP 31, image memory 32, electronic shake correction unit 33, communication I/F 34, memory 35, storage 36, CPU 37, shake amount detection sensor 40, and UI device 43 are connected to a bus 38. .
  • the OIS driver 23 is also connected to the bus 38 .
  • one bus is shown as the bus 38 for convenience of illustration, but a plurality of buses may be used.
  • Bus 38 may be a serial bus or a parallel bus such as a data bus, an address bus, and a control bus.
  • the memory 35 temporarily stores various information and is used as a work memory.
  • An example of the memory 35 is a RAM (Random Access Memory), but it is not limited to this and may be another type of storage device.
  • Various programs for the surveillance camera 10 are stored in the storage 36 .
  • the CPU 37 reads various programs from the storage 36 and executes the read various programs on the memory 35 to control the surveillance camera 10 as a whole.
  • Examples of the storage 36 include flash memory, SSD, EEPROM, HDD, and the like. Further, for example, instead of flash memory or in combination with flash memory, various nonvolatile memories such as magnetoresistive memory and ferroelectric memory may be used.
  • the imaging device 25 is a CMOS (Complementary Metal Oxide Semiconductor) image sensor.
  • the imaging device 25 images the target subject at a predetermined frame rate under the instruction of the CPU 37 .
  • the "predetermined frame rate" referred to here indicates, for example, several tens of frames/second to several hundreds of frames/second.
  • the image pickup device 25 itself may also have a built-in control device (image pickup device control device). conduct.
  • the image pickup device 25 may image the target subject at a predetermined frame rate under the instruction of the DSP 31.
  • the detailed control inside the image pickup device 25 is imaged according to the image pickup instruction output by the DSP 31. This is done by the device controller.
  • the DSP 31 is also called an ISP (Image Signal Processor).
  • a light-receiving surface 25A of the imaging device 25 is formed by a plurality of photosensitive pixels (not shown) arranged in a matrix.
  • each photosensitive pixel is exposed, and photoelectric conversion is performed for each photosensitive pixel.
  • the charge obtained by performing photoelectric conversion for each photosensitive pixel is an analog imaging signal representing the target subject.
  • a plurality of photoelectric conversion elements having sensitivity to visible light for example, photoelectric conversion elements in which color filters are arranged
  • the plurality of photoelectric conversion elements include a photoelectric conversion element sensitive to R (red) light (for example, a photoelectric conversion element having an R filter corresponding to R), and a G (green) light.
  • these photosensitive pixels are used to perform imaging based on visible light (for example, light on the short wavelength side of approximately 700 nm or less).
  • imaging may be performed based on infrared light (for example, light on the longer wavelength side than about 700 nm).
  • a plurality of photoelectric conversion elements sensitive to infrared light may be used as the plurality of photosensitive pixels.
  • SWIR Short-wavelength infrared
  • an InGaAs sensor and/or a Type-II Quantum Well (T2SL; Simulation of Type-II Quantum Well) sensor may be used.
  • the imaging device 25 performs signal processing such as A/D (Analog/Digital) conversion on the analog imaging signal to generate a digital image, which is a digital imaging signal.
  • the imaging device 25 is connected to the DSP 31 via the bus 38 and outputs the generated digital image to the DSP 31 via the bus 38 in units of frames.
  • CMOS image sensor is described as an example of the imaging device 25, but the technology of the present disclosure is not limited to this, and a CCD (Charge Coupled Device) image sensor is applied as the imaging device 25. good too.
  • the imaging device 25 is connected to the bus 38 via an AFE (Analog Front End) (not shown) with a built-in CCD driver, and the AFE A/D-converts the analog imaging signal obtained by the imaging device 25.
  • a digital image is generated by performing signal processing such as the above, and the generated digital image is output to the DSP 31 .
  • the CCD image sensor is driven by a CCD driver built into the AFE.
  • the CCD driver may be provided independently.
  • the DSP 31 performs various digital signal processing on the digital image.
  • Various types of digital signal processing refer to, for example, demosaic processing, noise removal processing, gradation correction processing, color correction processing, and the like.
  • the DSP 31 outputs the digital image after digital signal processing to the image memory 32 for each frame.
  • Image memory 32 stores digital images from DSP 31 .
  • the shake amount detection sensor 40 is, for example, a device including a gyro sensor, and detects the amount of shake of the surveillance camera 10. In other words, the shake amount detection sensor 40 detects the shake amount in each of the pair of axial directions.
  • the gyro sensor detects the amount of rotational shake around each axis (see FIG. 1) of the pitch axis PA, yaw axis YA, and roll axis RA (an axis parallel to the optical axis OA).
  • the shake amount detection sensor 40 detects the amount of rotational shake about the pitch axis PA and the amount of rotational shake about the yaw axis YA detected by the gyro sensor within a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA. , the amount of shake of the surveillance camera 10 is detected.
  • a gyro sensor is given as an example of the shake amount detection sensor 40, but this is only an example, and the shake amount detection sensor 40 may be an acceleration sensor.
  • the acceleration sensor detects the shake amount within a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA.
  • the shake amount detection sensor 40 outputs the detected shake amount to the CPU 37 .
  • the shake amount detection sensor 40 an example of a form in which the shake amount is detected by a physical sensor called the shake amount detection sensor 40 is given, but the technology of the present disclosure is not limited to this.
  • a motion vector obtained by comparing chronologically successive captured images stored in the image memory 32 may be used as the shake amount.
  • the amount of shake to be finally used may be derived based on the amount of shake detected by a physical sensor and the motion vector obtained by image processing.
  • the CPU 37 acquires the shake amount detected by the shake amount detection sensor 40, and controls the lens side shake correction mechanism 29, the imaging element side shake correction mechanism 45, and the electronic shake correction unit 33 based on the acquired shake amount.
  • the shake amount detected by the shake amount detection sensor 40 is used for shake correction by the lens-side shake correction mechanism 29 and the electronic shake correction unit 33 .
  • the electronic shake correction unit 33 is a device including an ASIC (Application Specific Integrated Circuit).
  • the electronic shake correction unit 33 corrects shake by performing image processing on the captured image in the image memory 32 based on the shake amount detected by the shake amount detection sensor 40 .
  • the electronic shake correction unit 33 may be a device including a plurality of ASICs, FPGAs, and PLDs.
  • a computer including a CPU, a storage, and a memory may be employed as the electronic shake correction section 33 .
  • the number of CPUs may be singular or plural.
  • the electronic shake correction unit 33 may be implemented by a combination of hardware and software configurations.
  • the communication I/F 34 is, for example, a network interface, and controls transmission of various information to and from the management device 11 via the network.
  • An example of a network is a WAN (Wide Area Network) such as the Internet or a public communication network. It manages communication between the monitoring camera 10 and the management device 11 .
  • the UI device 43 includes a reception device 43A and a display 43B.
  • the receiving device 43A is, for example, a hard key, a touch panel, or the like, and receives various instructions from the user.
  • the CPU 37 acquires various instructions accepted by the accepting device 43A and operates according to the acquired instructions.
  • the display 43B displays various information under the control of the CPU 37.
  • the various information displayed on the display 43B includes, for example, the contents of various instructions received by the reception device 43A, captured images, and the like.
  • FIG. 5 is a diagram showing an example of the electrical system configuration of the turning mechanism 16 and the management device 11.
  • the turning mechanism 16 includes a yaw axis turning mechanism 71, a pitch axis turning mechanism 72, a motor 73, a motor 74, a driver 75, a driver 76, speed sensors 77A, 78A, position sensors 77B, 78B, and communication I/Fs 79 and 80 are provided.
  • the yaw axis turning mechanism 71 turns the surveillance camera 10 in the yaw direction.
  • the motor 73 generates power by being driven under the control of the driver 75 .
  • the yaw axis turning mechanism 71 receives power generated by the motor 73 to turn the surveillance camera 10 in the yaw direction.
  • the pitch axis turning mechanism 72 turns the monitoring camera 10 in the pitch direction.
  • Motor 74 generates power by being driven under the control of driver 76 .
  • the pitch axis turning mechanism 72 turns the monitoring camera 10 in the pitch direction by receiving power generated by the motor 74 .
  • the speed sensor 77A detects the turning speed of the yaw axis turning mechanism 71.
  • the position sensor 77B detects the turning position of the yaw axis turning mechanism 71 .
  • the turning position of the yaw axis turning mechanism 71 means the orientation in the yaw direction.
  • a speed sensor 78A detects the turning speed of the pitch axis turning mechanism 72 .
  • the position sensor 78B detects the turning position of the pitch axis turning mechanism 72 .
  • the turning position of the pitch axis turning mechanism 72 means the orientation in the pitch direction.
  • the communication I/Fs 79 and 80 are, for example, network interfaces, and perform transmission control of various information with the management device 11 via the network.
  • An example of a network is a WAN (Wide Area Network) such as the Internet or a public communication network. It controls communication between the turning mechanism 16 and the management device 11 .
  • the management device 11 includes a display 13a, a secondary storage device 14, a control device 60, a reception device 62, and communication I/Fs 66, 67, 68.
  • the control device 60 has a CPU 60A, a storage 60B, and a memory 60C.
  • CPU 60A is an example of a processor in the present invention.
  • the reception device 62, the display 13a, the secondary storage device 14, the CPU 60A, the storage 60B, the memory 60C, and the communication I/F 66 are each connected to the bus 70.
  • bus 70 In the example shown in FIG. 5, one bus is shown as the bus 70 for convenience of illustration, but a plurality of buses may be used.
  • Bus 70 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the memory 60C temporarily stores various information and is used as a work memory.
  • An example of the memory 60C is a RAM, but it is not limited to this and may be another type of storage device.
  • the storage 60B stores various programs for the management device 11 (hereinafter simply referred to as "management device programs").
  • the CPU 60A controls the entire management device 11 by reading the management device program from the storage 60B and executing the read management device program on the memory 60C.
  • the management device program includes the control program in the present invention.
  • the communication I/F 66 is, for example, a network interface.
  • the communication I/F 66 is communicably connected to the communication I/F 34 of the monitoring camera 10 via a network, and controls transmission of various information to and from the monitoring camera 10 .
  • Communication I/Fs 67 and 68 are, for example, network interfaces.
  • the communication I/F 67 is communicably connected to the communication I/F 79 of the turning mechanism 16 via a network, and controls transmission of various information to and from the yaw axis turning mechanism 71 .
  • the communication I/F 68 is communicably connected to the communication I/F 80 of the turning mechanism 16 via a network, and controls transmission of various information to and from the pitch axis turning mechanism 72 .
  • the CPU 60A receives captured images, captured information, and the like from the monitoring camera 10 via the communication I/F 66 and I/F 34.
  • the CPU 60A acquires turning speed information from the speed sensor 77A of the turning mechanism 16 via the communication I/F 67 and the communication I/F 79. Also, the CPU 60A acquires turning position information from the position sensor 77B via the communication I/F 68 and the communication I/F 80 .
  • the CPU 60A controls the turning motion of the yaw axis turning mechanism 71 by controlling the driver 75 and the motor 73 of the turning mechanism 16 via the communication I/F 67 and the communication I/F 79.
  • the CPU 60A also controls the turning motion of the pitch axis turning mechanism 72 by controlling the driver 76 and the motor 74 of the turning mechanism 16 via the communication I/F 68 and the communication I/F 80 .
  • the CPU 60A switches the control method for the turning motion of the turning mechanism 16 based on at least one of the imaging conditions of the monitoring camera 10 and the operation information of the turning mechanism 16.
  • Control methods for the turning motion of the turning mechanism 16 include "speed control” and "position control.”
  • Speed control is a control that performs continuous turning using a command value related to speed as an input factor for control.
  • Speed control is an example of the first control of the present invention.
  • a turning instruction is output using turning speeds in the pitch and yaw directions as input factors.
  • speed control the vehicle continues to turn at the speed of the output turning instruction.
  • To finish turning it is necessary to output a turning end instruction.
  • Oblique turning is also possible by turning in both the pitch direction and the yaw direction.
  • speed control there are cases in which the low-speed rotation inherent in the swivel base cannot be performed depending on the protocol used for control. If the surveillance camera 10 is in a telephoto state in a state in which it cannot be rotated at a sufficiently low speed, the rotation speed on the image increases, and the surveillance camera 10 may not be able to rotate to a predetermined position at an appropriate speed.
  • Position control is a control that performs discrete turns using command values related to position as input factors for control.
  • Position control is an example of the second control of the present invention.
  • a turning instruction is output using turning positions in the pitch and yaw directions as input factors.
  • position control the turning angle from the current position to the target position is continuously output as a turning instruction while changing the target position.
  • a turning instruction is output while directly inputting a factor of how many degrees (for example, 1°) to turn with respect to the pitch axis PA and the yaw axis YA. Since turning stops when the target position is reached, there is no need to output a turning end instruction unlike speed control.
  • Position control Since the position control outputs turning instructions while continuously changing the target position, it is possible to turn at a lower speed than speed control on average, although the turning is discrete. Further, in the position control, since the target position is continuously set and the turning instruction is output, it is possible to control the fine position in the pitch direction and the yaw direction without the difference due to the protocol. Position control is control that enables surveillance camera 10 to turn at a lower speed than speed control.
  • the imaging conditions of the surveillance camera 10 include, for example, the optical zoom position, electronic zoom (digital zoom) position, imaging angle of view, and viewing angle of the surveillance camera 10 .
  • the imaging conditions of the monitoring camera 10 may include, for example, the exposure time of imaging by the monitoring camera 10 and the frame rate of imaging.
  • the imaging conditions of the monitoring camera 10 may include, for example, the state of anti-vibration control of imaging by the monitoring camera 10 .
  • the state of anti-vibration control refers to ON/OFF of correction by the lens-side vibration correction mechanism 29, image pickup device-side vibration correction mechanism 45, and electronic vibration correction unit 33, and the degree of correction.
  • the imaging conditions of the surveillance camera 10 may include, for example, the resolution of the imaging by the surveillance camera 10 .
  • the operation information of the turning mechanism 16 includes, for example, the turning history of the turning mechanism 16.
  • the turning history includes the monitoring time of each monitoring area, the number of times the turning mechanism 16 has stopped in each monitoring area, and the like.
  • the CPU 60A switches between speed control and position control based on whether the turning position of the turning mechanism 16 and the turning history of the turning mechanism 16 satisfy a predetermined condition.
  • the CPU 60A performs interpolation control for shifting a turning image by image processing between discrete turns by position control.
  • the CPU 60A determines the extraction range of the predetermined area to be extracted from the imaging data of the surveillance camera 10 based on the quality of communication (communication delay amount) performed with the surveillance camera 10, according to the turning by speed control or position control. Control is performed to change and shift the display captured image displayed on the display 13 .
  • the CPU 60A controls the turning speed of the turning mechanism 16 based on the angle of view of the image captured by the monitoring camera 10 .
  • the CPU 60A controls the turning speed of the turning mechanism 16 based on the quality of communication with the monitoring camera 10.
  • the reception device 62 is, for example, the keyboard 13b, the mouse 13c, and the touch panel of the display 13a, and receives various instructions from the user.
  • the CPU 60A acquires various instructions accepted by the accepting device 62 and operates according to the acquired instructions. For example, when the receiving device 62 receives the processing details for the monitoring camera 10 and/or the turning mechanism 16 , the CPU 60A operates the monitoring camera 10 and/or the turning mechanism 16 according to the instruction received by the receiving device 62 .
  • the display 13a displays various information under the control of the CPU 60A.
  • the various information displayed on the display 13a includes, for example, the contents of various instructions received by the reception device 62, the captured image and the imaged information received by the communication I/F 66, and the like.
  • the CPU 60A causes the display 13a to display the content of various instructions received by the receiving device 62, and the captured image and captured information received by the communication I/F 66. FIG.
  • the secondary storage device 14 is, for example, a non-volatile memory, and stores various information under the control of the CPU 60A.
  • Various types of information stored in the secondary storage device 14 include, for example, captured images and captured information received by the communication I/F 66 .
  • the CPU 60A causes the secondary storage device 14 to store the captured image and the captured information received by the communication I/F 66 .
  • the monitoring camera 10 is installed, for example, on the wall inside the building facing the entrance of the building in order to capture images of a subject entering and exiting the building.
  • a worker is present in front of the management device 11 and is looking at the captured image of the monitoring camera 10 displayed on the display 13a.
  • the operator operates the keyboard 13b and the mouse 13c of the management device 11, or touches the surface of the display 13a, and monitors the subject while rotating the surveillance camera 10.
  • FIG. 6 is a diagram showing an example of a captured image displayed on the display 13a.
  • This captured image is an image of the monitoring target person M being monitored.
  • the monitored person M is moving in the lower left direction on the screen of the display 13a. Therefore, in this state, the person to be monitored M is out of the imaging area of the monitoring camera 10 . Therefore, for example, the operator operates the mouse 13c to move the cursor 13d to an arbitrary position in the lower left direction on the screen of the display 13a where the person to be monitored M is moving, and clicks.
  • an arrow line 13e extending from the center position of the screen to the position of the cursor 13d is displayed on the screen of the display 13a by the CPU 60A of the management device 11, and the surveillance camera 10 is moved in the direction of the arrow line 13e. will be rotated.
  • the turning speed of the monitoring camera 10 at this time is controlled according to the length of the arrow line 13e, that is, how far away from the center position of the screen is clicked.
  • FIG. 7 is a flow chart showing a first operation control example in which the CPU 60A of the management device 11 controls the operation of the turning mechanism 16. As shown in FIG. The CPU 60A of the management device 11 executes, for example, the processing shown in FIG.
  • the CPU 60A of the management device 11 determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received (step S111).
  • the rotation start operation for starting the rotation of the surveillance camera 10 is, for example, the click operation of the mouse 13c by the operator (see FIG. 6), as described above.
  • the turning start operation may be an operation of pressing the button of the mouse 13c by the operator (not including releasing the button).
  • the CPU 60A determines the turning speed of the surveillance camera 10 to be turned by the turning mechanism 16 (step S112).
  • the turning speed is determined based on the length of the arrow line 13e displayed when the operator designates and clicks the cursor 13d on the screen. It is determined that the longer the arrow line 13e, the faster the turning speed, and the shorter the arrow line 13e, the slower the turning speed. Also, the direction in which the surveillance camera 10 is turned is determined by the direction of the arrow line 13e.
  • the CPU 60A determines whether or not the zoom position of the surveillance camera 10 is equal to or greater than the threshold (step S113).
  • the zoom position means, for example, the angle of view currently set for the surveillance camera 10 .
  • the angle of view of the surveillance camera 10 can be changed by the operator's operation of the management device 11 .
  • the angle of view of the monitoring camera 10 can be changed by touching a zoom button displayed on the screen of the display 13a.
  • step S113 if the zoom position of the monitoring camera 10 is not equal to or greater than the threshold (step S113: No), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to speed control.
  • the CPU 60A determines that the situation is suitable for relatively high-speed turning because the surveillance camera 10 is set to a zoom position that is less than the threshold, ie, to a wide angle of view (wide angle).
  • the CPU 60A calculates an input value of a turning start command for starting turning of the surveillance camera 10 by speed control (step S114).
  • the input value of the turning start command is a speed command for turning the surveillance camera 10 at the turning speed determined in step S112.
  • the CPU 60A outputs a turning start command including the input value calculated in step S114 to the turning mechanism 16 (step S115).
  • the motors 73 and 74 of the turning mechanism 16 are activated, and the surveillance camera 10 turns with speed control at the turning speed determined in step S112.
  • the turning end condition is, for example, that the operator performs an operation to end turning. Specifically, the turning end condition is that the operator moves the cursor 13d to the central portion on the screen of the display 13a and clicks. Alternatively, the turning end condition is that the operator moves the cursor 13d to the central portion on the screen of the display 13a and clicks. Alternatively, if the turning start operation is an operation of pressing the button of the mouse 13c, the turning end condition may be the release of the pressed button of the mouse 13c.
  • step S116 if the condition for ending the turning of the turning mechanism 16 is not satisfied (step S116: No), the CPU 60A repeats the process of step S116 and waits until the condition for ending turning is satisfied.
  • step S116 when the condition for ending the turning of the turning mechanism 16 is satisfied (step S116: Yes), the CPU 60A outputs a turning end command for ending turning of the surveillance camera 10 in speed control (step S117). ), the process ends.
  • step S113 if the zoom position of the surveillance camera 10 is equal to or greater than the threshold (step S113: Yes), the CPU 60A switches the rotation method of the surveillance camera 10 by the rotation mechanism 16 to position control.
  • the CPU 60A determines that relatively low-speed turning is necessary because the surveillance camera 10 is set to a zoom position equal to or greater than the threshold, that is, to a relatively narrow angle of view (negative angle (telephoto)).
  • the CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S118).
  • the output interval of the turning command is, for example, an interval (for example, 100 msec) at which the turning command is output when the turning command to turn by a predetermined angle (for example, 1°) is continuously output toward the turning mechanism 16 . It's about.
  • step S118 the CPU 60A determines whether or not it is now time to output the turn command (whether 100 msec has passed) based on the output interval (100 msec) calculated in step S118 (step S119).
  • step S119 if it is time to output a turning command (step S119: Yes), the CPU 60A outputs a turning command including the input value calculated at step S18 to the turning mechanism 16 (step S120). As a result, the motors 73 and 74 of the turning mechanism 16 are activated, and the surveillance camera 10 turns with position control at the turning speed determined in step S112.
  • the CPU 60A determines whether or not the conditions for ending the turning of the turning mechanism 16 are satisfied (step S121).
  • the conditions for turning end are the same as the conditions for the operation mentioned in step S116.
  • step S121 if the condition for ending the turning of the turning mechanism 16 is not satisfied (step S121: No), the CPU 60A returns to step S119 and repeats the processes after step S119.
  • step S121 if the condition for ending the turning of the turning mechanism 16 is satisfied (step S121: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S119 if it is not the timing to output the turning command (step S119: No), the CPU 60A proceeds to step S121 and executes the processing from step S121.
  • the first operation control example by the CPU 60A of the management device 11 switches between speed control and position control regarding the operation of the turning mechanism 16 based on the angle of view of the imaging by the monitoring camera 10.
  • Velocity control uses a speed-related command value as an input factor
  • position control uses a position-related command value as an input factor.
  • Position control enables the surveillance camera 10 to turn at a lower speed than speed control.
  • Surveillance camera 10 can be swiveled at the required slow speed.
  • the average speed of continuously repeated short movement turns is even faster than the slowest turning speed of speed control. This is because a slow turning speed can be realized. Therefore, even when the monitoring camera 10 is set at a narrow angle (telephoto), the turning amount of the monitoring camera 10 can be appropriately controlled, and the usability of the operator who remotely operates the monitoring camera 10, for example, is improved. be able to.
  • the operation by the operator for turning the monitoring camera 10 is performed by operating the mouse 13c, but the operation is not limited to this.
  • it may be performed by pressing an arrow key on the keyboard 13b.
  • a joystick (not shown) may be provided and tilted.
  • it may be performed by performing a touch operation (scrolling operation) on the screen of the display 13a.
  • the turning operation is continued for a predetermined period of time. Conditions may be met. In the case of operating the joystick, the turning end condition may be satisfied by returning the tilted joystick to its original position. Further, when a touch operation is performed on the screen of the display 13a, the turning end condition may be satisfied by stopping scrolling according to the touch operation.
  • FIG. 8 is a flow chart showing a second operation control example for controlling the operation of the turning mechanism 16 by the CPU 60A of the management device 11. As shown in FIG. The CPU 60A executes, for example, the processing shown in FIG.
  • the CPU 60A determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received (step S211).
  • the CPU 60A determines the turning speed of the monitoring camera 10 to be turned by the turning mechanism 16 (step S212). Note that the processing in steps S211 and S212 has the same processing contents as the processing in steps S111 and S112 shown in FIG.
  • the CPU 60A determines whether or not the current exposure time set for the surveillance camera 10 is equal to or greater than the threshold (step S213).
  • the exposure time of the monitoring camera 10 can be changed by the operator's operation of the management device 11 .
  • the exposure of the surveillance camera 10 can be changed by touching an exposure button displayed on the screen of the display 13a.
  • step S213 if the exposure time of the monitoring camera 10 is not equal to or greater than the threshold (step S213: No), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to speed control.
  • the CPU 60A determines that the situation is suitable for relatively high-speed turning because the exposure time of the monitoring camera 10 is set to be less than the threshold value, that is, the shutter speed is set to be relatively high.
  • the CPU 60A calculates an input value of a turning start command for starting turning of the surveillance camera 10 by speed control (step S214). Note that each process from step S214 to step S217 has the same process content as each process from step S114 to step S117 shown in FIG.
  • the CPU 60A outputs a turning start command including the input value calculated in step S214 to the turning mechanism 16 (step S215).
  • the surveillance camera 10 turns while being speed-controlled at the turning speed determined in step S212.
  • step S216 determines whether or not the conditions for ending turning of the turning mechanism 16 are satisfied (step S216), and if the conditions for ending turning are not satisfied (step S216: No), The process of step S216 is repeated until the condition is satisfied and waits. On the other hand, in step S216, if the condition for ending the turning of the turning mechanism 16 is satisfied (step S216: Yes), the CPU 60A outputs a turning end command for ending turning of the surveillance camera 10 in speed control ( Step S217), this process is terminated.
  • step S213 if the exposure time of the monitoring camera 10 is equal to or greater than the threshold (step S213: Yes), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to position control.
  • the CPU 60A determines that a relatively slow turn is required because the exposure time of the surveillance camera 10 is set to a threshold value or more, that is, the shutter speed is set to be slow to some extent.
  • the CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S218).
  • Each process from step S218 to step S221 has the same process content as each process from step S118 to step S121 shown in FIG.
  • step S219 the CPU 60A determines whether or not it is now time to output a turn command (step S219), and if it is time to output a turn command (step S219 : Yes), a turning command including the input value calculated in step S218 is output to the turning mechanism 16 (step S220).
  • the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S212.
  • step S221 determines whether or not the turning end condition of the turning mechanism 16 is satisfied (step S221). It returns and repeats each process after step S219. On the other hand, in step S221, when the condition for ending the turning of the turning mechanism 16 is satisfied (step S221: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S219 if it is not the timing to output the turning command (step S219: No), the CPU 60A proceeds to step S221 and executes the processes after step S221.
  • the second example of operation control by the CPU 60A of the management device 11 switches between speed control and position control regarding the operation of the turning mechanism 16 based on the exposure time of imaging by the monitoring camera 10.
  • FIG. 9 is a flow chart showing a third operation control example for controlling the operation of the turning mechanism 16 by the CPU 60A of the management device 11. As shown in FIG. The CPU 60A executes, for example, the processing shown in FIG.
  • the CPU 60A determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received (step S311).
  • the CPU 60A determines the turning speed of the surveillance camera 10 to be turned by the turning mechanism 16 (step S312). Note that the processing in steps S311 and S312 has the same processing contents as the processing in steps S111 and S112 shown in FIG.
  • the CPU 60A determines whether or not the anti-vibration control currently set in the surveillance camera 10 is off (step S313).
  • the anti-vibration control of the surveillance camera 10 is correction of anti-shake by the lens-side anti-shake mechanism 29, the imaging device-side anti-shake mechanism 45, and the electronic anti-shake section 33, as described above.
  • Anti-vibration control of the monitoring camera 10 can be turned on/off or intensity correction by the operation of the management device 11 by the operator.
  • the anti-vibration control of the monitoring camera 10 can be set by touching an anti-vibration button displayed on the screen of the display 13a.
  • step S313 if the anti-vibration control of the surveillance camera 10 is not turned off (step S313: No), the CPU 60A switches the rotation method of the surveillance camera 10 by the rotation mechanism 16 to speed control.
  • the CPU 60A determines that the situation is suitable for relatively high-speed turning because the anti-vibration control of the monitoring camera 10 is ON, ie, the shake is corrected.
  • the CPU 60A calculates an input value of a turning start command for starting turning of the surveillance camera 10 by speed control (step S314).
  • Each process from step S314 to step S317 has the same process content as each process from step S114 to step S117 shown in FIG.
  • the CPU 60A outputs a turning start command including the input value calculated in step S314 to the turning mechanism 16 (step S315).
  • the surveillance camera 10 turns with speed control at the turning speed determined in step S312.
  • step S316 determines whether or not the conditions for ending turning of the turning mechanism 16 are satisfied (step S316), and if the conditions for ending turning are not satisfied (step S316: No), The process of step S316 is repeated until the condition is satisfied and waits.
  • step S316 if the condition for ending the turning of the turning mechanism 16 is satisfied (step S316: Yes), the CPU 60A outputs a turning end command for ending turning of the surveillance camera 10 in speed control ( Step S317), this process is terminated.
  • step S313 if the anti-vibration control of the surveillance camera 10 is off in step S313 (step S313: Yes), the CPU 60A switches the rotation method of the surveillance camera 10 by the rotation mechanism 16 to position control. Since the anti-shake control of the surveillance camera 10 is off, that is, the shake correction is not performed, the CPU 60A needs to rotate the surveillance camera 10 with position control that can be controlled at a slower rotation speed than the speed control. Determine that there is. The CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S318). Each process from step S318 to step S321 has the same process content as each process from step S118 to step S121 shown in FIG.
  • step S318 the CPU 60A determines whether or not it is now time to output a turning command (step S319), and if it is time to output a turning command (step S319 : Yes), a turning command including the input value calculated in step S318 is output to the turning mechanism 16 (step S320).
  • step S319 the CPU 60A determines whether or not it is now time to output a turning command
  • step S319 a turning command including the input value calculated in step S318 is output to the turning mechanism 16 (step S320).
  • the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S312.
  • step S321 determines whether or not the turning end condition of the turning mechanism 16 is satisfied (step S321), and if the turning end condition is not satisfied (step S321: No), the process proceeds to step S319 It returns and repeats each process after step S319.
  • step S321 when the condition for ending the turning of the turning mechanism 16 is satisfied (step S321: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S319 if it is not the timing to output the turning command (step S319: No), the CPU 60A proceeds to step S321 and executes the processes after step S321.
  • the third operation control example by the CPU 60A of the management device 11 switches between speed control and position control regarding the operation of the turning mechanism 16 based on the defensive control state of imaging by the monitoring camera 10.
  • the turning control of the surveillance camera 10 can be performed at an appropriate turning speed according to the ON/OFF state or strength state of the imaging defense control. That is, by performing position control when anti-vibration control of the surveillance camera 10 is set to OFF, the surveillance camera 10 can be rotated at a necessary low speed in a state in which anti-vibration control is not performed. Therefore, even when the monitoring camera 10 is not controlled for anti-vibration, it is possible to make the picked-up image less likely to blur, and it is possible to improve usability for the operator.
  • FIG. 10 is a flowchart showing a fourth operation control example for controlling the operation of the turning mechanism 16 by the CPU 60A of the management device 11.
  • the CPU 60A executes, for example, the processing shown in FIG. 10 as the operation control of the turning mechanism 16.
  • the CPU 60A determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received (step S411).
  • the CPU 60A determines the turning speed of the surveillance camera 10 to be turned by the turning mechanism 16 (step S412). Note that the processing in steps S411 and S412 has the same processing contents as the processing in steps S111 and S112 shown in FIG.
  • the CPU 60A determines whether or not the frame rate currently set in the surveillance camera 10 is equal to or less than the threshold (step S413).
  • the frame rate of the surveillance camera 10 can be changed by the operator's operation of the management device 11 .
  • the frame rate of the surveillance camera 10 can be set by touching a frame rate button displayed on the screen of the display 13a.
  • step S413 if the frame rate of the monitoring camera 10 is not equal to or lower than the threshold (step S413: No), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to speed control.
  • the CPU 60A determines that the situation is suitable for relatively high-speed turning because the frame rate of the monitoring camera 10 is set to be higher than the threshold, that is, the number of image frames is relatively large.
  • the CPU 60A calculates an input value of a turning start command for starting turning of the surveillance camera 10 by speed control (step S414). Note that each process from step S414 to step S417 has the same process content as each process from step S114 to step S117 shown in FIG.
  • the CPU 60A outputs a turning start command including the input value calculated in step S414 to the turning mechanism 16 (step S415).
  • the surveillance camera 10 turns with speed control at the turning speed determined in step S412.
  • step S416 determines whether or not the conditions for ending turning of the turning mechanism 16 are satisfied (step S416), and if the conditions for ending turning are not satisfied (step S416: No), It waits by repeating the process of step S416 until the condition is satisfied.
  • step S416 if the condition for ending the turning of the turning mechanism 16 is satisfied (step S416: Yes), the CPU 60A outputs a turning end command for ending turning of the surveillance camera 10 in speed control ( Step S417), this process is terminated.
  • step S413 if the frame rate of the monitoring camera 10 is equal to or less than the threshold (step S413: Yes), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to position control.
  • the CPU 60A rotates the surveillance camera 10 with position control that can be controlled at a slower rotation speed than the speed control because the frame rate of the surveillance camera 10 is set to a threshold value or less, that is, the number of frames of images is reduced to some extent. determine that it is necessary.
  • the CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S418).
  • Each process from step S418 to step S421 has the same process content as each process from step S118 to step S121 shown in FIG.
  • step S418 the CPU 60A determines whether or not it is time to output a turning command (step S419). : Yes), a turning command including the input value calculated in step S418 is output to the turning mechanism 16 (step S420). As a result, the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S412.
  • step S421 determines whether or not the turning end condition of the turning mechanism 16 is satisfied (step S421), and if the turning end condition is not satisfied (step S421: No), the process proceeds to step S419 It returns and repeats each process after step S419.
  • step S421 when the condition for ending the turning of the turning mechanism 16 is satisfied (step S421: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S419 if it is not the timing to output the turning command (step S419: No), the CPU 60A proceeds to step S421 and executes the processes after step S421.
  • the fourth operation control example by the CPU 60A of the management device 11 switches between speed control and position control regarding the operation of the turning mechanism 16 based on the frame rate of imaging by the monitoring camera 10.
  • FIG. 11 is a flow chart showing a fifth operation control example for controlling the operation of the turning mechanism 16 by the CPU 60A of the management device 11. As shown in FIG. The CPU 60A executes, for example, the processing shown in FIG. 11 as the operation control of the turning mechanism 16.
  • the CPU 60A determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received (step S511).
  • the CPU 60A determines the turning speed of the surveillance camera 10 to be turned by the turning mechanism 16 (step S512). Note that the processing in steps S511 and S512 has the same processing contents as the processing in steps S111 and S112 shown in FIG.
  • the CPU 60A determines whether or not the resolution currently set for the surveillance camera 10 is equal to or greater than the threshold (step S513).
  • the resolution is, for example, the number of pixels of an image captured by the surveillance camera 10 .
  • the resolution of the surveillance camera 10 can be changed by the operator's operation of the management device 11 .
  • the resolution of the surveillance camera 10 can be set by touching a resolution button displayed on the screen of the display 13a.
  • step S513 if the resolution of the monitoring camera 10 is not equal to or greater than the threshold (step S513: No), the CPU 60A switches the turning method of the monitoring camera 10 by the turning mechanism 16 to speed control.
  • the CPU 60A determines that the situation is suitable for relatively high-speed turning because the resolution of the monitoring camera 10 is lower than the threshold value, that is, the number of pixels is set to a certain extent.
  • the CPU 60A calculates an input value of a turning start command for starting turning of the monitoring camera 10 by speed control (step S514). Note that each process from step S514 to step S517 has the same process content as each process from step S114 to step S117 shown in FIG.
  • the CPU 60A outputs a turning start command including the input value calculated in step S514 to the turning mechanism 16 (step S515).
  • the surveillance camera 10 turns with speed control at the turning speed determined in step S512.
  • step S516 determines whether or not the conditions for ending turning of the turning mechanism 16 are satisfied (step S516), and if the conditions for ending turning are not satisfied (step S516: No), It waits by repeating the process of step S516 until the condition is satisfied.
  • step S516 if the condition for ending the turning of the turning mechanism 16 is satisfied (step S516: Yes), the CPU 60A outputs a turning end command for ending turning of the monitoring camera 10 in speed control ( Step S517), this processing ends.
  • step S513 if the resolution of the surveillance camera 10 is equal to or higher than the threshold in step S513 (step S513: Yes), the CPU 60A switches the rotation method of the surveillance camera 10 by the rotation mechanism 16 to position control.
  • the CPU 60A determines that a relatively low-speed turn is required because the resolution of the monitoring camera 10 is equal to or higher than the threshold, that is, the number of pixels is set to a certain extent.
  • the CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S518).
  • Each process from step S518 to step S521 has the same process content as each process from step S118 to step S121 shown in FIG.
  • step S519 the CPU 60A determines whether or not it is time to output a turning command (step S519), and if it is time to output a turning command (step S519 : Yes), a turning command including the input value calculated in step S518 is output to the turning mechanism 16 (step S520).
  • the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S512.
  • step S521 determines whether or not the turning end condition of the turning mechanism 16 is satisfied (step S521). It returns and repeats each process after step S519. On the other hand, in step S521, when the condition for ending the turning of the turning mechanism 16 is satisfied (step S521: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S519 if it is not the timing to output the turning command (step S519: No), the CPU 60A proceeds to step S521 and executes the processes after step S521.
  • the fifth operation control example by the CPU 60A of the management device 11 switches between speed control and position control regarding the operation of the turning mechanism 16 based on the resolution of the imaging by the monitoring camera 10.
  • FIG. 12 is a flow chart showing a sixth operation control example for controlling the operation of the turning mechanism 16 by the CPU 60A of the management device 11. As shown in FIG. The CPU 60A executes, for example, the processing shown in FIG.
  • step S611 the CPU 60A determines whether or not a turning start operation for starting turning of the surveillance camera 10 has been received. Note that the process of step S611 has the same processing contents as the process of step S111 shown in FIG.
  • the CPU 60A determines whether the relationship between the current turning position of the turning mechanism 16 and the turning history of the turning mechanism 16 satisfies a predetermined condition (step S612).
  • the predetermined condition is, for example, when the number of times the turning mechanism 16 has turned by way of the current position is equal to or greater than a predetermined number of times during a certain period of time in the past (for example, one week in the past). This is the case when it is a position that has been well monitored recently.
  • the predetermined condition is that there is no history of the current position for a certain period of time in the past (for example, the most recent hour), that is, the position that is currently being turned is a position that does not need to be monitored at the present stage. There may be.
  • step S612 if the relationship between the current position of the turning mechanism 16 and the turning history does not satisfy the predetermined condition (step S612: No), the CPU 60A sets the turning speed of the surveillance camera 10 turned by the turning mechanism 16 to A relatively high turning speed is determined (step S613). For example, the CPU 60A multiplies the turning speed determined by the turning start operation received in step S611 (for example, the turning speed according to the length of the arrow line 13e) by a coefficient ⁇ , and obtains the turning speed of the surveillance camera 10 as the turning speed. Determined as The coefficient ⁇ is a coefficient (1 as an example) that is greater than the coefficient ⁇ described later.
  • the CPU 60A switches the turning method of the surveillance camera 10 by the turning mechanism 16 to speed control. Since the relationship between the current position of the turning mechanism 16 and the turning history does not satisfy the predetermined condition, the CPU 60A determines that the situation is suitable for relatively high-speed turning.
  • the CPU 60A calculates an input value of a turning start command for starting turning of the surveillance camera 10 by speed control (step S614). Note that each process from step S614 to step S617 has the same process content as each process from step S114 to step S117 shown in FIG.
  • the CPU 60A outputs a turning start command including the input value calculated in step S614 to the turning mechanism 16 (step S615).
  • the surveillance camera 10 turns with speed control at the turning speed determined in step S613.
  • step S616 determines whether or not the conditions for ending turning of the turning mechanism 16 are satisfied (step S616), and if the conditions for ending turning are not satisfied (step S616: No), It waits by repeating the process of step S616 until the condition is satisfied. On the other hand, in step S616, if the condition for ending the turning of the turning mechanism 16 is satisfied (step S616: Yes), the CPU 60A outputs a turning end command for ending turning of the surveillance camera 10 in speed control (step S617), this process is terminated.
  • step S612 if the relationship between the current position of the turning mechanism 16 and the turning history satisfies the predetermined condition (step S612: Yes), the CPU 60A determines the turning speed of the surveillance camera 10 that is turned by the turning mechanism 16. is determined (step S618). For example, the CPU 60A multiplies the turning speed determined by the turning start operation received in step S611 (for example, the turning speed according to the length of the arrow line 13e) by a coefficient ⁇ to determine the turning speed of the surveillance camera 10. Determined as The coefficient ⁇ is a coefficient (0.5 as an example) that is smaller than the coefficient ⁇ described above.
  • the CPU 60A switches the rotation method of the surveillance camera 10 by the rotation mechanism 16 to position control. Since the relationship between the current position of the turning mechanism 16 and the turning history satisfies the predetermined condition, the CPU 60A determines that the situation is suitable for turning at a relatively low speed.
  • the CPU 60A calculates the input value of the turning command for turning the monitoring camera 10 by position control and the output interval of the turning command (step S619).
  • Each process from step S619 to step S622 has the same process content as each process from step S118 to step S121 shown in FIG.
  • step S620 determines whether or not it is time to output a turning command (step S620), and if it is time to output a turning command (step S620 : Yes), a turning command including the input value calculated in step S619 is output to the turning mechanism 16 (step S621).
  • step S620 determines whether or not it is time to output a turning command
  • step S620 if it is time to output a turning command (step S620 : Yes)
  • a turning command including the input value calculated in step S619 is output to the turning mechanism 16 (step S621).
  • the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S618.
  • step S622 determines whether or not the turning end condition of the turning mechanism 16 is satisfied. If the turning end condition is not satisfied (step S622: No), the process proceeds to step S620 Returning to step S620, each process is repeated. On the other hand, in step S622, when the condition for ending the turning of the turning mechanism 16 is satisfied (step S622: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S620 if it is not the timing to output the turning command (step S620: No), the CPU 60A proceeds to step S622 and executes the processing from step S622.
  • the sixth operation control example by the CPU 60A of the management device 11 is based on whether the relationship between the turning history of the turning mechanism 16 and the current turning position of the turning mechanism 16 satisfies a predetermined condition. , the turning speed of the turning mechanism 16 and the control method (speed control and position control) of the turning mechanism 16 are switched.
  • the surveillance camera 10 can be controlled to turn at an appropriate turning speed according to the relationship between the turning history of the turning mechanism 16 and the current position. That is, it is possible to secure a longer monitoring time for locations that the operator wants to monitor carefully and locations that are likely to be overlooked, thereby improving usability for the operator.
  • FIG. 13 is a flow chart showing a first modification of the operation control of the turning mechanism 16 by the CPU 60A.
  • Each process from step S711 to step S718 shown in FIG. 13 has the same process contents as each process from step S111 to step S118 shown in FIG.
  • step S718 the CPU 60A calculates the reading position of the image read by the surveillance camera 10 (step S719). Then, the CPU 60A generates an image of the reading position calculated in step S719 (step S720). The generated image is displayed on the display 13a.
  • FIG. 14 is a diagram showing readout positions of images read out by the surveillance camera 10 for each turn command in position control.
  • turning commands for turning the surveillance camera 10 are output from the CPU 60A to the surveillance camera 10, such as "Nth turn” and "N+1th turn”.
  • the "Nth turn” command and the next "N+1th turn” command are output at the output interval calculated in step S718.
  • the imaging element 25 of the surveillance camera 10 captures three frames during discrete turns.
  • the captured images 91a to 91c are captured by the monitoring camera 10 in three frames (t-th frame, t+1-th frame, and t+2-th frame) between the “Nth turn” and the “N+1th turn”. It is a captured image (25A of light-receiving surfaces of the image pick-up element 25).
  • the picked-up image 91d is each picked-up image that can be read by the first (t+3th frame) of the three frames picked up by the surveillance camera 10 between the "N+1th turn” and the "N+2nd turn".
  • the position control of the turning mechanism 16 is a discrete control.
  • the imaging result is the same image except for the effects of blurring and the like. In other words, the content displayed on the display 13a does not change even though the monitor camera 10 captures three frames between the "Nth turn” and the "N+1th turn".
  • the display content of the display 13a changes only in discrete time units of position control. Therefore, in the captured images of three frames acquired when each turning command is received, the image reading positions from the image sensor 25 are gradually changed in the turning direction (rightward) so as to become, for example, the reading positions 92a, 92b, and 92c. decided to shift to
  • step S720 the CPU 60A determines whether or not it is now time to output the turn command based on the output interval calculated in step S718 (step S721).
  • step S721 if it is not the timing to output the turning command (step S721: No), the CPU 60A determines whether or not the turning end condition of the turning mechanism 16 is satisfied (step S724).
  • step S724 if the condition for ending the turning of the turning mechanism 16 is satisfied (step S724: Yes), the CPU 60A ends the turning of the surveillance camera 10 in the position control.
  • step S724 if the condition for ending the turning of the turning mechanism 16 is not satisfied (step S724: No), the CPU 60A returns to step S719 and repeats the processes after step S719.
  • step S721 if it is time to output a turning command (step S721: Yes), the CPU 60A resets the read position calculated at step S719 (step S222).
  • the readout positions are calculated for the captured images 91a to 91c of frames t, t+1, and t+2, respectively, and it is determined that the generation of the images at these readout positions is completed. Then, the shifted readout position is reset. That is, the readout position 92d of the captured image 91d next to the captured images 91a to 91c is the same as the readout position 92a of the captured image 91a.
  • the CPU 60A outputs a turning command including the input value calculated in step S718 to the turning mechanism 16 (step S723).
  • the surveillance camera 10 rotates while being position-controlled at the rotation speed determined in step S712.
  • step S724 the CPU 60A advances to step S724, and executes the processes after step S724 described above.
  • the monitoring By gradually shifting the reading position of the camera 10 in the turning direction, the image displayed on the display 13a is shifted.
  • the surveillance image of the surveillance camera 10 displayed on the display 13a can be a smooth turning image.
  • the management device 11 receives the overall images of the captured images 91a to 91d captured by the surveillance camera 10, and the CPU 60A on the management device 11 side determines the respective readout positions in the overall image as readout positions 92a, 92b, 92c, and 92b. You may shift like 92d.
  • the management device 11 and the surveillance camera 10 are connected by a communication line 12. For this reason, when imaging information, captured images, etc. are transmitted and received via the communication line 12, a communication delay may occur in the communication between the two. If a communication delay occurs, the work efficiency of the operator who operates the turning of the surveillance camera 10 while looking at the display 13 of the management device 11 may decrease. Therefore, in the second modified example, the use image area in the captured image is changed according to the amount of communication delay that occurs in the communication between the management device 11 and the monitoring camera 10, thereby preventing the decrease in work efficiency due to the communication delay. Suppress.
  • FIG. 15 is a flow chart showing a second modification of the operation control of the turning mechanism 16 by the CPU 60A.
  • the CPU 60A starts the processing shown in FIG. 15 when it starts receiving the imaging data from the monitoring camera 10.
  • FIG. 15 starts receiving the imaging data from the monitoring camera 10.
  • the CPU 60A detects the amount of communication delay that occurs in communication with the surveillance camera 10 via the communication line 12.
  • the amount of communication delay may be detected based on the response time from the surveillance camera 10 to the signal to the surveillance camera 10, or the communication method between the CPU 60A and the surveillance camera 10 (high-speed method or low-speed method). etc.).
  • the CPU 60A determines whether or not the detected communication delay amount is greater than or equal to the threshold (step S811).
  • step S811 if the communication delay amount is not equal to or greater than the threshold (step S811: No), the CPU 60A cuts out the central region of the imaging data received from the surveillance camera 10 and displays it as a captured image on the display 13a (step S812). ).
  • the process of cutting out and displaying the imaged data is a process of cutting out only a partial range from the imaged data, enlarging the cut out image to, for example, the size of the original imaged data, and displaying the enlarged image.
  • FIG. 16 is a diagram showing a cutout range in imaging data when the amount of communication delay between the CPU 60A and the surveillance camera 10 is less than the threshold.
  • the CPU 60A cuts out the central region 102 of the imaging data 101 received from the monitoring camera 10 when the monitoring camera 10 is not turning. It is cut out from the imaging data 101 as a display captured image).
  • the CPU 60A captures the central region 104 of the imaging data 103 received from the surveillance camera 10 as a cutout range (display captured image). Cut out from the data 103 .
  • step S811 if the communication delay amount is equal to or greater than the threshold (step S811: Yes), the CPU 60A causes the turning mechanism 16 to instruct the surveillance camera 10 to turn right. It is determined whether or not the vehicle is in the middle of the vehicle (instructing to turn right) (step S813).
  • step S813 if the turning mechanism 16 instructs the monitoring camera 10 to turn right (step S813: Yes), the CPU 60A cuts out the right-side region of the imaging data received from the monitoring camera 10. The captured image is displayed on the display 13a (step S814).
  • step S813 if the turning mechanism 16 has not instructed the surveillance camera 10 to turn to the right (step S813: No), the CPU 60A causes the turning mechanism 16 to turn to the left with respect to the surveillance camera 10. (step S815).
  • step S815 if the turning mechanism 16 instructs the surveillance camera 10 to turn left (step S815: Yes), the CPU 60A cuts out the left-side area of the imaging data received from the surveillance camera 10 and displays it. 13a as a captured image (step S816).
  • step S815 if the turning mechanism 16 has not instructed the monitoring camera 10 to turn left (step S815: No), the CPU 60A proceeds to step S812, and the imaging data received from the monitoring camera 10 is is cut out and displayed as a captured image on the display 13a.
  • FIG. 17 is a diagram showing a cutout range in imaging data when the amount of communication delay between the CPU 60A and the surveillance camera 10 is equal to or greater than the threshold.
  • the CPU 60A receives the signal from the monitoring camera 10 when the monitoring camera 10 is not turning, as in the case where the communication delay amount is less than the threshold value.
  • a central region 112 of the imaged data 111 to be received is cut out from the imaged data 111 as a cutout range (displayed captured image).
  • the CPU 60A extracts the right-side region 114 shifted to the right from the center of the imaging data 113 received from the monitoring camera 10 ( It is cut out from the imaging data 113 as a display captured image). Further, when the communication delay amount is equal to or greater than the threshold, when the monitoring camera 10 is turned to the left, the CPU 60A cuts out the left-side region 116 shifted to the left from the center of the imaging data 115 received from the monitoring camera 10 (display range). captured image) from the imaging data 115 .
  • the CPU 60A adjusts the shift amount as follows at the start and end of turning by the turning operation of the surveillance camera 10. You may perform control to do.
  • FIG. 18 is a diagram showing changes in the position of the cutout range (display captured image) when the surveillance camera 10 is turned.
  • the start time of the turning operation by the operator is assumed to be time T1
  • the end time of the turning operation is assumed to be time T2.
  • the communication delay time between the CPU 60A and the monitoring camera 10 is assumed to be a communication delay time T3. In this example, it is assumed that the monitoring camera 10 is turning right.
  • Fig. 18 compares Fig. 17 to show the change.
  • the cutout range is set to the same position as the central region 112 during non-turning.
  • the cutout range R2 is shifted slightly to the right from the central region 112 to the position of the middle region 124, and at time T5 after the communication delay time T3 has passed, the cutout range R2
  • the range R1 is shifted to the position of the region 114 on the right side.
  • the shift of the cutout range is made to correspond to the communication delay time T3 also at the time of this end, and the position of the cutout range is gradually shifted during the communication delay time T3.
  • FIG. 18 compares FIG. 17 to show the change.
  • the cutout range R1 shifted to the position of the right-side region 114 is changed to
  • the cutout range R2 is shifted slightly to the right from the central region 112 to the intermediate region 124 position.
  • the cutout range is shifted to the same position as the center region 112 during non-turning.
  • control in the second modified example is executed in parallel with each control in the above-described first to sixth operational control examples and the first modified example. And it can be applied to both speed control and position control.
  • the present invention is not limited to this.
  • the rotation of the surveillance camera 10 by the rotation mechanism 16 may be vertical or diagonal rotation.
  • the CPU 60A cuts out an area of the imaging data received from the monitoring camera 10 that is shifted in the vertical direction or oblique direction of rotation as a cutout range (displayed captured image).
  • speed control or position control is performed based on the communication quality (communication delay amount) between the CPU 60A of the management device 11 and the turning mechanism 16.
  • the image displayed on the display 13a is shifted by shifting the clipping range of the CPU 60A in the imaging data in the turning direction according to the turning of the monitoring camera 10 by the rotation.
  • the display 13a and the secondary storage device 14 are installed at the same location, but this is not the only option.
  • the display 13a and the secondary storage device 14 may be installed in separate locations.
  • the cutout range (display captured image) to be cut out from the captured data may be changed according to the amount of communication delay that occurs in communication between the display 13a and the secondary storage device 14.
  • the turning speed of the monitoring camera 10 turned by the turning mechanism 16 is determined based on the length of the arrow line 13e displayed by the operator's operation. is not limited to
  • the CPU 60A may control the turning speed at which the turning mechanism 16 turns the monitoring camera 10 based on the angle of view of the imaging by the monitoring camera 10 . Specifically, even if the operator's operation amount is the same, the narrower the angle of view, the slower the turning speed of the monitoring camera 10 by the turning mechanism 16 .
  • the determination of the turning speed in step S112 of the flow chart showing the first operation control is performed instead of the turning controlled in the third modification.
  • the turning speed may be determined by combining the turning speeds controlled in the third modified example in the same manner as in the flow charts of the second to sixth motion control.
  • the CPU 60A may control the turning speed of the surveillance camera 10 that is turned by the turning mechanism 16 based on the communication quality (communication delay amount) with the turning mechanism 16, for example. Specifically, control is performed so that the turning speed of the surveillance camera 10 by the turning mechanism 16 becomes slower as the amount of communication delay increases.
  • the turning speed determined by the first to sixth motion controls is determined by combining the turning speeds controlled in the fourth modification.
  • the turning speed determined by the first to sixth motion controls is determined by combining the turning speeds controlled in the fourth modification.
  • control program of each embodiment is stored in the storage 60B of the management device 11, and the CPU 60A of the management device 11 executes the control program in the memory 60C. is not limited to this.
  • FIG. 19 is a diagram showing an example of a manner in which a control program is installed in the control device 60 of the management device 11 from a storage medium storing the control program of the operation control example.
  • the control program 221 may be stored in a storage medium 220, which is a non-temporary storage medium.
  • the control program 221 stored in the storage medium 220 is installed in the control device 60, and the CPU 60A executes the turning control and the like described above according to the control program 221.
  • FIG. 19 is a diagram showing an example of a manner in which a control program is installed in the control device 60 of the management device 11 from a storage medium storing the control program of the operation control example.
  • the control program 221 may be stored in a storage medium 220, which is a non-temporary storage medium.
  • the control program 221 stored in the storage medium 220 is installed in the control device 60, and the CPU 60A executes the turning control and the like described above according to the control program 221.
  • FIG. 19 is a
  • the main body (CPU 60A) of the management device 11, the display unit (display 13a), and the operation unit (keyboard 13b and mouse 13c) of the management device 11 are arranged at the same place.
  • the configuration has been described, they may be located at separate locations and connected to each other via a network.
  • the communication delay described above includes communication delay between the main body (CPU 60A) of the management device 11 and the display unit (display 13a), communication delay between the main body (CPU 60A) of the management device 11 and the operation unit (keyboard 13b and mouse 13c). may also include communication delays between
  • the turning mechanism 16 includes the speed sensors 77A, 78A and the position sensors 77B, 78B has been described, but the configuration is not limited to this. That is, the turning mechanism 16 may be configured to perform the above speed control and position control without feedback control of turning speed and position.
  • the configuration in which the angle of view (zoom position) of the monitoring camera 10 is variable by the zoom lens 15B2 has been described, the configuration is not limited to this.
  • the angle of view of the monitoring camera 10 may be configured to be variable by changing the lens of the monitoring camera 10 or by digital zooming.
  • a control device comprising a processor and controlling a turning mechanism for turning an imaging device,
  • the processor switches between first control and second control regarding the operation of the turning mechanism based on at least one of imaging conditions of the imaging device and operation information of the turning mechanism,
  • the first control and the second control have different input factors for control, Control device.
  • a control device comprising a processor and controlling a turning mechanism for turning an imaging device,
  • the processor switches between first control and second control regarding the operation of the turning mechanism based on at least one of imaging conditions of the imaging device and operation information of the turning mechanism,
  • the second control is a control capable of turning at a lower speed than the first control. Control device.
  • the imaging conditions include an angle of view of imaging by the imaging device, Control device.
  • the imaging conditions include an exposure time for imaging by the imaging device, Control device.
  • the control device according to any one of (1) to (4),
  • the imaging conditions include a state of anti-vibration control for imaging by the imaging device. Control device.
  • the control device according to any one of (1) to (5),
  • the imaging conditions include a frame rate of imaging by the imaging device, Control device.
  • the control device according to any one of (1) to (6),
  • the imaging conditions include the resolution of imaging by the imaging device, Control device.
  • the control device according to any one of (1), (3) to (7),
  • the input factor of the first control is a command value related to speed
  • the input factor of the second control is a position command value, Control device.
  • the control device includes a sensor for detecting a turning speed of the turning mechanism and a sensor for detecting a turning position of the turning mechanism,
  • the processor acquires information on the turning speed and the turning position detected by the sensor, and performs the first control and the second control. Control device.
  • the control device according to any one of (1) to (9),
  • the first control is a control for continuous turning,
  • the second control is control for discrete turning, Control device.
  • the control device according to any one of (1) to (10),
  • the operation information of the turning mechanism is a turning history of the turning mechanism,
  • the processor switches between the first control and the second control based on whether or not the turning position of the turning mechanism and the turning history satisfy a predetermined condition. Control device.
  • the control device according to any one of (1) to (11), An image based on imaging data obtained by the imaging device is displayed on a display device, The second control is control for discrete turning, The processor performs control to shift the image between discrete turns by the second control. Control device.
  • control device according to any one of (1) to (12), An image based on imaging data obtained by the imaging device is displayed on a display device, The processor performs control to shift the image according to turning by the first control or the second control, based on communication quality. Control device.
  • the control device according to any one of (1) to (13), The processor controls the turning speed of the turning mechanism based on the angle of view of imaging by the imaging device. Control device.
  • control device according to any one of (1) to (14), The processor controls the turning speed of the turning mechanism based on communication quality. Control device.
  • the communication quality is communication quality between the imaging device and the control device, Control device.
  • control device according to any one of (1) to (16), The processor controls the turning speed of the turning mechanism based on the turning history of the turning mechanism. Control device.
  • a processor of a control device that controls a turning mechanism that turns the imaging device, Switching between first control and second control regarding the operation of the turning mechanism based on at least one of the imaging conditions of the imaging device and the operation information of the turning mechanism,
  • the first control and the second control have different input factors for control, control method.
  • Imaging System 10 Surveillance Camera 11 Management Device 12 Communication Line 13a Display 13b Keyboard 13c Mouse 14 Secondary Storage Device 15 Optical System 15B Lens Group 15B1 Anti-vibration Lens 15B2 Zoom Lens 16 Turning Mechanism 25 Imaging Element 25A Light Receiving Surface 29 Lens Side Shake Correction Mechanism 31 DSP 32 image memory 33 electronic shake corrector 34, 66 to 68, 79, 80 communication I/F 35, 60C Memory 36, 60B Storage 37, 60A CPU 38, 70 bus 40 shake amount detection sensor 43 UI system device 43A, 62 reception device 45 imaging element side shake correction mechanism 60 control device 71 yaw axis turning mechanism 72 pitch axis turning mechanism 73, 74 motor 75, 76 driver 77A, 78A speed sensor 77B, 78B position sensor

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