JP7614837B2 - Imaging device, control method and program thereof - Google Patents

Description

The present invention relates to an imaging device and a control method and program for the same.

Surveillance systems and video distribution systems use cameras equipped with a pan-tilt (PT) mechanism that rotates the camera head, which can be controlled remotely via a network or dedicated line. Such cameras are equipped with a pan mechanism that rotates the camera horizontally and a tilt mechanism that rotates the camera vertically. Furthermore, pan-tilt-zoom (PTZ) cameras that also have an electric zoom can freely change not only the shooting direction but also the shooting angle of view, making them suitable for shooting moving subjects. Some PTZ cameras used for broadcasting work have a function that allows you to specify the PTZ position and the time it takes to move to that position, called a shot operation, and the PTZs start and stop moving to that position simultaneously.

Depending on the mechanical characteristics of the PT drive unit, vibrations and noise due to resonance may occur when driven within a specified speed range, and speed irregularities may occur where the speed changes periodically and slightly during constant speed drive. Cameras used for broadcasting operations place importance on image quality, and require quietness and smooth PT control, so these vibrations, noise, and periodic small changes in speed are problematic. In a shot operation, a target position and travel time are specified, and the speed is determined by the travel distance and travel time to the specified target position, but depending on the specified values, the camera may end up driving within a speed range where the aforementioned vibrations, noise, and speed irregularities may occur.

For example, Patent Document 1 discloses a method in which when driving pan and tilt simultaneously, the driving unit with the shorter driving amount is driven at a high speed rather than at a set speed to avoid resonance speed. Patent Document 2 discloses a method in which, when driving zoom, focus, pan, and tilt, a movement time is specified, and each moving member is driven so that simultaneous drive starts and ends at an appropriate speed depending on that time.

Patent No. 3726826 JP 2004-325710 A

However, in the conventional technology disclosed in the above-mentioned Patent Document 1, the drive unit with the longer drive amount drives at the resonant speed. In addition, the drive unit with the shorter drive amount completes driving first, and simultaneous driving cannot start or end. In addition, in the conventional technology disclosed in the above-mentioned Patent Document 2, there is no mention of acceleration/deceleration control, and the speed is uniquely determined by the moving distance, so it is impossible to avoid a speed range in which vibrations, noise, and speed unevenness may occur depending on the moving distance and moving time to the specified target position.

The present invention was developed in consideration of such problems, and aims to provide a technology that reduces the occurrence of vibrations, noise, and speed irregularities during operation by operating the PTZ shot at a speed that avoids a specified speed range while still meeting the specified movement distance and movement time.

In order to solve this problem, for example, an imaging device according to the present invention has the following configuration.
An imaging device having a driving means for changing an imaging direction of an imaging unit,
an input means for inputting parameters including an imaging direction and a set time required for changing the imaging direction from the outside;
a control means for controlling the driving means based on the parameters input by the input means,
The control means
a derivation means for deriving a first speed in a constant speed movement section based on a difference between a current imaging direction of the imaging unit and an imaging direction indicated by a parameter input by the input means, the set time, and a first acceleration serving as a preset reference;
a determination means for determining whether the derived first speed is within a predetermined speed range to be avoided;
when the determining means determines that the first speed is not included in the predetermined speed range, the driving means is controlled so that the first speed becomes the first speed derived by the deriving means;
The present invention is characterized in that it further includes a drive control means for deriving a second acceleration different from the first acceleration based on a second speed that is not included in the predetermined speed range when the determination means determines that the first speed is included in the predetermined speed range, and for controlling the drive means to achieve the second speed.

According to the present invention, when performing a shot operation in an imaging device that can change the imaging direction, it is possible to reduce the occurrence of vibrations, noise, and speed unevenness during operation by operating at a speed that avoids a specified speed range while satisfying the specified movement distance and movement time.

FIG. 1 is a diagram illustrating the configuration of an imaging apparatus according to a first embodiment. 1A and 1B are a plan view and a side view of an imaging apparatus according to a first embodiment. 5A and 5B are diagrams showing control commands indicating shot operation instructions of the imaging apparatus. 4 is a flowchart showing an overall control process of a shot operation of the imaging apparatus of the first embodiment. 5 is a flowchart showing a drive calculation process for a shot operation of the imaging apparatus of the first embodiment. 5A to 5C are diagrams showing acceleration/deceleration control at a reference acceleration during a shot operation of the imaging apparatus of the first embodiment. 6A to 6C are diagrams showing acceleration/deceleration control at different speeds during a shot operation of the imaging apparatus of the first embodiment. 13A to 13C are diagrams showing acceleration and deceleration control during a shot operation of the imaging apparatus according to the second embodiment. 10 is a flowchart showing acceleration/deceleration control calculations of an imaging apparatus according to a second embodiment. 10 is a flowchart showing acceleration/deceleration control calculations of an imaging apparatus according to a second embodiment. 13A to 13C are diagrams showing acceleration and deceleration control during a shot operation of the imaging apparatus of the third embodiment. 13 is a flowchart showing acceleration/deceleration control calculations of an imaging apparatus according to a third embodiment. 13 is a flowchart showing acceleration/deceleration control calculations of an imaging apparatus according to a third embodiment. 13A and 13B are diagrams showing control commands indicating speed control settings in a shot operation of the imaging apparatus of the fourth embodiment. 13 is a diagram showing a GUI for performing a shot operation of the imaging apparatus according to the fourth embodiment. 13 is a diagram showing a GUI for setting shot operation speed control of the imaging apparatus of the fourth embodiment.

The following embodiments are described in detail with reference to the attached drawings. Note that the following embodiments do not limit the invention according to the claims. Although the embodiments describe multiple features, not all of these multiple features are necessarily essential to the invention, and multiple features may be combined in any manner. Furthermore, in the attached drawings, the same reference numbers are used for the same or similar configurations, and duplicate explanations are omitted.

[First embodiment]
Hereinafter, the first embodiment will be described with reference to FIGS.

FIG. 1 is a diagram illustrating the configuration of an imaging device 1000 according to this embodiment. FIG. 2(a) is a plan view of the imaging device 1000, showing the panning range of the imaging device 1000. FIG. 2(b) is a side view of the imaging device 1000, showing the tilting range of the imaging device 1000.

The imaging device 1000 has an imaging unit 1001, an image processing unit 1002, a zoom driving unit 1003, a pan driving unit 1004, a tilt driving unit 1005, a system control unit 1006, and a communication unit 1007.

The imaging unit 1001 captures an image of a subject at a predetermined frame rate (e.g., 30 frames/second). The imaging unit 1001 includes a lens, an image sensor, and a control circuit for the same, and is electrically connected to the image processing unit 1002. The imaging unit 1001 receives light from the subject that is focused by the imaging optical system of the lens, and converts the optical image of the subject into an electrical signal by photoelectric conversion.

The image processing unit 1002 acquires the signal photoelectrically converted by the imaging unit 1001 and generates image data by performing development processing, compression/encoding processing, etc. The image processing unit 1002 is connected to the system control unit 1006 and transmits the generated image data to the system control unit 1006.

The zoom driving unit 1003 changes the imaging angle of view of the imaging unit 1001. The zoom driving unit 1003 is connected to the system control unit 1006 and has a lens mechanism that performs optical zoom and an electric motor such as a stepping motor that serves as an actuator.

The pan drive unit 1004 is a drive unit that performs panning of the imaging device 1000. The pan drive unit 1004 is communicably connected to the system control unit 1006. The pan drive unit 1004 has a mechanism that performs panning, an electric motor such as a stepping motor that serves as an actuator, and an encoder that detects the pan angle.

In this embodiment, the pan drive unit 1004 is built into either the bottom case 1101 or the turntable 1102. The bottom case 1101 functions as a base unit for the entire imaging device 1000 including the pan drive unit 1004. The bottom case 1101 is disposed under the turntable 1102. The turntable 1102 drives in the pan direction, that is, pans the imaging device 1000, by placing a camera head support 1103 (described later) or the like on it and rotating around a vertical axis. In addition, the turntable 1102 can rotate in the pan direction from -175 degrees to +175 degrees. In other words, the pan drive unit 1004 can rotate the imaging unit 1001 in the pan direction from -175 degrees to +175 degrees by incorporating a mechanism, actuator, and encoder that perform the pan operation in either the bottom case 1101 or the turntable 1102. In addition, in this embodiment, the pan drive unit 1004 is built into either the bottom case 1101 or the turntable 1102, but may have other configurations.

The tilt drive unit 1005 is a drive unit that performs the tilt operation of the imaging device 1000. The tilt drive unit 1005 is communicably connected to the system control unit 1006. The tilt drive unit 1005 has a mechanism that performs the tilt operation, an electric motor such as a stepping motor that serves as an actuator, and an encoder that detects the tilt angle. In this embodiment, the tilt drive unit 1005 is built into either the camera head support 1103 or the camera head 1104, which will be described later.

The camera head support 1103 is a support that supports the camera head 1104. The camera head support 1103 is placed on the central axis of the turntable 1102, and connects the camera head 1104 to the opposite side of the turntable 1102. The camera head 1104 is an independent imaging unit 1001 of the imaging device 1000. The camera head 1104 has an imaging unit 1001 that performs imaging inside and a zoom drive unit 1003 that performs zoom drive. The camera head 1104 performs drive in the tilt direction, that is, tilt operation of the imaging device 1000, with an axis perpendicular to the vertical axis as the central axis. The camera head 1104 can also rotate from -45 degrees diagonally downward to +90 degrees directly upward, with the horizontal direction being 0 degrees. In other words, the tilt drive unit 1005 can incorporate a mechanism, actuator, and encoder that perform tilt operation into either the camera head support 1103 or the camera head 1104. This allows the imaging unit 1001 to rotate from a diagonal downward angle of -45 degrees to a vertical upward angle of +90 degrees. In this embodiment, the tilt drive unit 1005 is built into either the camera head support 1103 or the camera head 1104, but may have another configuration.

In this way, the imaging device 1000 of this embodiment can change the shooting direction by rotating the camera head 1104 in the pan direction and tilt direction to capture images. Note that the driving range of the pan direction and tilt direction in this embodiment is an example and is not limited to this. Also, the pan driving unit 1004 and the tilt driving unit 1005 are used together as a pan tilt driving unit that performs pan tilt drive.

The system control unit 1006 controls the entire imaging device 1000. The system control unit 1006 has a CPU (Central Processing Unit: Processor), a non-volatile memory (EEPROM, etc.) that stores programs executed by the CPU, and a RAM used as a work area. Details will be described later, but this non-volatile memory also stores information such as the maximum speed, minimum speed, and reference acceleration for driving pan, tilt, and zoom. The system control unit 1006 is connected to the outside (client device 4000) via the communication unit 1007, and communicates commands and responses with the client device 4000 to control the imaging device 1000. In other words, the system control unit 1006 receives a camera control command transmitted from the client device 4000, analyzes the acquired camera control command, and executes processing according to the command. The system control unit 1006 then transmits a response to the camera control command to the client device. For example, the system control unit 1006 controls the image processing unit 1002 based on the instructions of an image quality adjustment command, and controls the driving of the pan driving unit 1004, tilt driving unit 1005, and zoom driving unit 1003 based on the instructions of a PTZ command that operates the PTZ.

The communication unit 1007 is communicatively connected to the client device 4000 via the network 5300. The communication unit 1007 receives commands from the client device 4000 via the network 3000, and transmits responses from the system control unit 1006 to the client device 4000. The communication form of the communication unit 1007 may be either wired or wireless. The client device 4000 is typically a personal computer, a smartphone, or the like.

Figure 3 shows a control command 2100 indicating a shot operation instruction for the imaging device 1000. In Figure 3, reference symbol 2101 is a command identifier, and its value "0100" indicates that it is a command to instruct a shot operation. Reference symbol 2102 is a parameter indicating a specified pan position for the shot operation, and specifies the pan position by an angle value. Reference symbol 2103 is a parameter indicating a specified tilt position for the shot operation, and specifies the tilt position by an angle value. Reference symbol 2104 is a parameter indicating a specified zoom position for the shot operation, and specifies the zoom position by an angle value of the horizontal angle of view. And reference symbol 2105 is a parameter indicating a movement time (set time) for the shot operation, and specifies the movement time in seconds.

Here, an example of a command in which the designated position and movement time of the shot motion are specified as parameters in a single command is shown, but this is not limiting. It is also possible to separate a command for registering the designated position of the shot motion and a command for instructing the shot motion to the registered designated position for a specified movement time.

Figure 4 is a flowchart showing the overall control process of the shot operation of the imaging device 1000. The process related to the flowchart in Figure 4 is a process of the system control unit 1006 that is started when a shot operation control command is received via the communication unit 1007.

In S1001, the system control unit 1006 acquires the current positions from the pan driving unit 1004, tilt driving unit 1005, and zoom driving unit 1003, and performs shot drive calculation processing. In the shot drive calculation processing, which will be described in detail later, if driving is not possible within the specified movement time due to limitations on the maximum and minimum speeds of the driving units, the movement time at that time is derived (calculated).

In S1002, the system control unit 1006 determines whether the movement times derived by each of the pan driving unit 1004, tilt driving unit 1005, and zoom driving unit 1003 are the movement times specified in the shot operation control command. If the system control unit 1006 determines that the movement times derived by all of the driving units are the specified movement times, it advances the process to S1005. If the system control unit 1006 determines that any one of the movement times derived by all of the driving units is not the specified movement time, it advances the process to S1003.

In S1003, the system control unit 1006 selects the longest movement time among the movement times derived by the pan driving unit 1004, the tilt driving unit 1005, and the zoom driving unit 1003.

In S1004, the system control unit 1006 re-performs drive calculation processing for the shot operation when the movement time selected in S1003 is specified for the drive units for which no movement time was selected in S1003.

In S1005, the system control unit 1006 instructs the pan driving unit 1004, tilt driving unit 1005, and zoom driving unit 1003 to drive based on the control values derived in the drive calculation process for the shot operation, and then ends this process.

Figure 5 is a flowchart showing the drive calculation process for the shot operation of the imaging device 1000. The flowchart in Figure 5 is executed as a subroutine when the system control unit 1006 executes the processes of S1001 and S1004 in the shot operation control flowchart in Figure 4. The following explanation uses pan drive as an example, but it should be understood that the same applies to tilt drive and zoom drive.

In S2001, the system control unit 1006 derives a movement angle from a specified position specified in a shot operation instruction. For example, if the current position of the pan driving unit 1004 is 40 degrees and the pan position specified in the shot operation instruction is 90 degrees, the movement angle is the difference between them.
Movement angle = 90 - 40 = 50 degrees

In S2002, the system control unit 1006 derives the speed of the pan driving unit 1004 using the reference acceleration from the movement time specified in the shot operation and the derived movement angle.

Figure 6 is a diagram showing acceleration and deceleration control during a shot operation of the imaging device 1000 of the first embodiment. In Figure 6, a0 indicates a reference acceleration, d0 indicates a reference deceleration (negative acceleration) that represents deceleration, v0 indicates a speed, ta0 indicates an acceleration time (acceleration section), tc0 indicates a constant velocity movement time (constant velocity movement section), td0 indicates a deceleration time (deceleration section), and t0 indicates a movement time.

Now, assuming that the movement angle is L0, this movement angle L0 can be expressed by the following equation.

また、等速時間ｔｃ０は、次式（２）で表せる。

加速時間ｔａ０は、加速度ａ０を用いて次式（３）で表せる。

そして、移動角度Ｌ０は、式（１）～（３）を用いて、次式のようになる。

上式を変形すると、移動角度Ｌ０は、次式（４）のようになる。

For simplicity, it is assumed that the absolute values of the reference acceleration a0 and the reference deceleration d0 are equal. In this case, the acceleration time ta0 and the deceleration time td0 are equal, so that the movement angle L0 can be expressed by the following equation (1).

Moreover, the constant velocity time tc0 can be expressed by the following equation (2).

The acceleration time ta0 can be expressed by the following equation (3) using the acceleration a0.

The movement angle L0 is calculated using the following equation (1) to (3).

By modifying the above equation, the movement angle L0 is expressed by the following equation (4).

等速時間ｔｃ０は負の値とはならないため、速度ｖ０は次式のようになる。

Now, when the above equation (4) is solved for the velocity v0, the following equation is obtained.

Since the constant velocity time tc0 does not become a negative value, the velocity v0 is expressed by the following equation.

From the above formula, the speed v0 is calculated based on the reference acceleration a0 for the specified movement angle L0 and movement time t0. For example, when the movement time is 2.4 seconds (hereinafter, seconds will also be abbreviated as s), the reference acceleration a0 is 50 degrees/ ^s2 , and the movement angle is 50 degrees, the speed v0 is obtained by the following formula.

In S2003, the system control unit 1006 determines whether the derived speed is equal to or greater than the maximum speed. If it is determined that the derived speed is less than the maximum speed, the system control unit 1006 advances the process to S2004. If it is determined that the derived speed is equal to or greater than the maximum speed, the system control unit 1006 advances the process to S2007.

In S2004, the system control unit 1006 determines whether the derived speed is less than the minimum speed. If it is determined that the speed is equal to or greater than the minimum speed, the system control unit 1006 advances the process to S2005. If it is determined that the speed is less than the minimum speed, the system control unit 1006 advances the process to S2009.

In S2005, the system control unit 1006 determines whether the derived speed is within a predetermined speed range. The predetermined speed range is a speed range that should be avoided because it is likely to cause vibrations or noise due to resonance in the drive unit, or speed unevenness. In this embodiment, the predetermined speed range is, for example, 25 to 30 degrees/s. If it is determined that the speed is within the predetermined speed range, the system control unit 1006 advances the process to S2006. If it is determined that the speed is not within the predetermined speed range, the system control unit 1006 advances the process to S2011.

In S2006, the system control unit 1006 sets the acceleration of the pan drive unit 1004 to the reference acceleration and the target speed to the speed derived in S2002.

In S2007, the system control unit 1006 derives the movement time when the movement angle of the pan drive unit 1004 is moved at the maximum speed.

上式（５）より、指定された移動角度Ｌ０と速度ｖ０、基準加速度ａ０をもとに移動時間を求める。例えば、移動角度Ｌ０が３００度、速度ｖ０は最高速度の１００度／ｓ、基準加速度ａ０が５０度／ｓ²であった場合、 式（５）を用いて、「５秒」を得る。

Solving the above-mentioned equation (4) for t0 gives the following equation (5).

Using the above formula (5), the travel time is calculated based on the specified travel angle L0, speed v0, and reference acceleration a0. For example, if the travel angle L0 is 300 degrees, the speed v0 is the maximum speed of 100 degrees/s, and the reference acceleration a0 is 50 degrees/ ^s2 , then "5 seconds" is obtained using formula (5).

In S2008, the system control unit 1006 sets the acceleration of the pan drive unit 1004 to the reference acceleration and the target speed to the maximum speed.

In S2009, the system control unit 1006 derives the movement time when the movement angle of the pan driving unit 1004 is moved at the minimum speed. For example, assume that the movement angle L0 is 1 degree, the speed v0 is the minimum speed of 0.1 degrees/s, and the reference acceleration a0 is 50 degrees/ ^s2 . In this case, "10.002 seconds" is obtained from equation (5) in the same manner as in S2007.

In S2010, the system control unit 1006 sets the acceleration of the pan drive unit 1004 to the reference acceleration and the target speed to the minimum speed.

In S2011, the system control unit 1006 derives the acceleration of the movement angle of the pan drive unit 1004 at speeds outside the specified speed range.

Figure 7 is a diagram showing acceleration/deceleration control during a shot operation of the imaging device of the first embodiment. In Figure 7, the solid line indicates acceleration/deceleration control at a speed v0 derived from the reference acceleration, and the dotted line indicates acceleration/deceleration control at a speed v1 different from v0. a0 indicates the reference acceleration, d0 indicates the reference deceleration, ta0 indicates the acceleration time, tc0 indicates the constant velocity time, td0 indicates the deceleration time, and t0 indicates the movement time. It is also assumed that the absolute values of the reference acceleration a0 and the reference deceleration d0 are equal. v1 indicates a speed different from v0, a1 indicates the acceleration when v1 is used, d1 indicates the deceleration when v1 is used, ta1 indicates the acceleration time when v1 is used, tc1 indicates the constant velocity time when v1 is used, and td1 indicates the deceleration time when v1 is used. It is also assumed that the absolute values of the acceleration a1 and the deceleration d1 are equal.

The movement angle L1 of the acceleration/deceleration control at a speed v1 different from v0 is given by the following equation, similar to equation (1).

ｖ１の速度でもショット動作で指定した移動角度を満たすように、移動角度Ｌ０とＬ１は等しい。故に、次式（７）が成り立つ。

また。ｖ１の速度でもショット動作で指定した移動時間を満たすように移動時間ｔ０とｔ１が等しい。故に、次式（８）が成り立つ。

式（８）－式（７）より、速度ｖ１での加減速制御の加速時間ｔａ１は、次式（９）で表せる。

また、速度ｖ１での加減速制御の等速時間ｔｃ１は式（６）より、次式のように表せる。

A moving time t1 in acceleration/deceleration control at a speed v1 different from v0 can be expressed by the following equation (6).

The movement angles L0 and L1 are equal so that the movement angle specified in the shot motion is satisfied even at a speed of v1. Therefore, the following equation (7) is satisfied.

Also, the movement times t0 and t1 are equal so as to satisfy the movement time specified in the shot motion even at the speed v1. Therefore, the following equation (8) holds.

From equation (8)-equation (7), the acceleration time ta1 of the acceleration/deceleration control at the speed v1 can be expressed by the following equation (9).

Further, the constant velocity time tc1 of the acceleration/deceleration control at the velocity v1 can be expressed as follows from equation (6).

The specified travel distance L0, travel time t0, and acceleration time ta1 at acceleration a1 at speed v1 that is equal to but different from v0, and the constant velocity time tc1 can be calculated using the above formula.

The acceleration time ta0 for the acceleration/deceleration control at a speed v0 determined from the reference acceleration a0 is given by the following equation.

また基準加速度ａ０より求めた速度ｖ０での加減速制御の等速時間ｔｃ０は、次式で表せる。

移動時間ｔ０が２．４ｓ、加速時間ｔａ０が０．５３７ｓのとき、等速時間ｔｃ０は、「１．３２７秒」となる。

For example, when the velocity v0 is 26.834 degrees/s and the acceleration a0 is 50 degrees/s ² , the acceleration time ta0 is "0.537 seconds."

The constant velocity time tc0 of the acceleration/deceleration control at the velocity v0 calculated from the reference acceleration a0 can be expressed by the following equation.

When the movement time t0 is 2.4 s and the acceleration time ta0 is 0.537 s, the constant velocity time tc0 is "1.327 seconds."

また、加速度ａ１は、次式（１０）で得られる。

故に、上記条件の場合の加速度ａ１は、「３９．３８５度／ｓ²」となる。

For example, if the specified speed range is 25 to 30 degrees/s, and v1 is set to 31 degrees/s as a speed outside that speed range, then the acceleration time ta1 for the acceleration/deceleration control at speed v1 becomes "0.787 seconds" using equation (9).

Moreover, the acceleration a1 is obtained by the following equation (10).

Therefore, the acceleration a1 under the above conditions is "39.385 degrees/s ² ".

In S2012, the system control unit 1006 sets the speed and acceleration of the pan drive unit 1004 to the speed and acceleration determined in S2011.

In S2013, the system control unit 1006 outputs the movement time of the pan drive unit 1004, and ends this process. If the process branches to S2006 or S2011, the movement time will be as set. If the process branches to S2007 or S2009, the movement time will be different from the movement time as set and limited by a maximum speed and minimum speed. The movement time obtained in this process is used in the shot operation control process in Figure 4.

In this way, according to the imaging device 1000 of this embodiment, in an imaging device equipped with a PTZ shot operation function, the speed is calculated based on the position and movement time specified in the shot operation and the reference acceleration. If the speed is within a specified speed range, the acceleration is calculated from a speed that is not within the specified speed range, and acceleration/deceleration control is performed. This allows the device to operate at a speed that avoids the specified speed range while satisfying the movement distance and movement time specified in the shot operation, thereby reducing the occurrence of vibrations, noise, and speed unevenness during operation.

Second Embodiment
The second embodiment will be described below with reference to Figures 8, 9, and 10. The same components as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

Figure 8 is a diagram showing acceleration and deceleration control during a shot operation of the imaging device of the second embodiment. In Figure 8, vr indicates a "predetermined speed range", the dashed line indicates acceleration and deceleration control when the "predetermined speed range" is avoided by using a high speed v1, and the dashed line indicates acceleration and deceleration control when the "predetermined speed range" is avoided by using a low speed v2. Also, a1 indicates the acceleration when v1 is used, d1 indicates the deceleration when v1 is used, ta1 indicates the acceleration time when v1 is used, tc1 indicates the constant speed time when v1 is used, and td1 indicates the deceleration time when v1 is used. Also, the absolute values of the acceleration a1 and the deceleration d1 are equal. a2 indicates the acceleration when v2 is used, d2 indicates the deceleration when v2 is used, ta2 indicates the acceleration time when v2 is used, tc2 indicates the constant speed time when v2 is used, and td2 indicates the deceleration time when v2 is used. Also, the absolute values of the acceleration a2 and the deceleration d2 are equal. t0 indicates the movement time.

There are two types of acceleration/deceleration control to avoid a specified speed range: a pattern in which the specified speed range vr shown by the dashed line in FIG. 8 is avoided by using a high speed v1, and a pattern in which the specified speed range vr shown by the dashed line in two dots is avoided by using a low speed v2. In this second embodiment, the latter pattern in which the speed is lower than the specified speed range vr is prioritized. The reason is as follows.

In acceleration/deceleration control that avoids a specified speed range at a high speed, the acceleration can be low, but since the "specified speed range" is passed during acceleration and deceleration, vibration, sound, or speed unevenness in the specified speed range occurs momentarily. In acceleration/deceleration control that avoids a specified speed range at a low speed, the acceleration is high, but since the specified speed range is not passed throughout the entire drive, including acceleration and deceleration, vibration, sound, or speed unevenness in the specified speed range does not occur. The upper limit of acceleration that can be driven is determined by the motor torque characteristics and load characteristics of the drive unit. As much as possible, that is, when the acceleration is within the upper limit of acceleration that can be driven, the occurrence of vibration, sound, and speed unevenness during the shot operation can be further reduced by driving with acceleration/deceleration control that increases the acceleration and avoids the specified speed range at a speed lower than the specified speed range.

Figure 9 is a flowchart showing the acceleration calculation process at different speeds of the imaging device 1000. The flowchart in Figure 9 is executed as a subroutine when the system control unit 1006 executes the process of S2011 in the flowchart of the drive calculation process for the shot operation in Figure 5. While the pan drive is described below, it should be understood that the same applies to the tilt drive and zoom drive.

In S3001, the system control unit 1006 sets a speed lower than the specified speed range as a speed outside the specified speed range, and derives the acceleration when driving the specified movement angle at that speed.

また加速度ａ１は式（１０）より、「７５．７８９／ｓ²」となる。

5, the movement angle specified in the shot movement is 50 degrees, the movement time is 2.4 seconds, and the reference acceleration a0 is 50 degrees/ ^s2 , so the speed v0 is 26.834 degrees/s, the acceleration time is 0.537 seconds, and the constant speed time tc0 is 1.327 seconds. If the predetermined speed range is 25 to 30 degrees/s and v1 is set to 24 degrees/s as a speed lower than that speed range, the acceleration time ta1 becomes "0.317 seconds" from formula (9).

Moreover, the acceleration a1 is calculated as "75.789/s ² " from equation (10).

In S3002, the system control unit 1006 determines whether the acceleration derived in S3001 is equal to or less than a predetermined acceleration. The predetermined acceleration is set based on the maximum acceleration that can be accelerated, taking into account variations, from the motor torque characteristics and load characteristics of the drive unit, with a predetermined margin. Here, for example, 100 degrees/ ^s2 is set, and it is determined whether the derived acceleration is within this set value. If it is determined that the acceleration is equal to or less than the predetermined acceleration, the system control unit 1006 selects the acceleration derived in S3001 and ends this process. On the other hand, if it is determined that the acceleration is not equal to or less than the predetermined acceleration, the system control unit 1007 advances the process to S3003.

加速度ａ１は、式（１０）より、「３９．３８５度／ｓ²」となる。

そして、システム制御部１００６は、求めた加速度を使用するよう選択し、本処理を終了する。 In S3003, the system control unit 1006 sets a speed higher than the predetermined speed range as a speed outside the predetermined speed range, and derives the acceleration when driving the specified movement angle at that speed. For example, if the predetermined speed range is 25 to 30 degrees/s and v1 is set to 31 degrees/s as a speed higher than the speed range, the acceleration time ta1 becomes "0.787 seconds" from equation (9).

According to equation (10), the acceleration a1 is calculated to be "39.385 degrees/s ² ".

Then, the system control unit 1006 selects to use the determined acceleration, and ends this process.

After this process is completed, the process returns to the drive calculation process for the shot motion in Figure 5, and the speed and acceleration derived in this process are used.

In addition, when the acceleration needs to exceed the upper acceleration limit, if there is surplus power available in the device, such as when other drive units are not being driven, the upper acceleration limit is raised by increasing the power required for the drive unit and increasing the torque of the drive unit. This makes it possible to drive with acceleration/deceleration control that avoids low speeds at high acceleration. Increasing the number of conditions for driving with acceleration/deceleration control that avoids low speeds in this way makes it possible to further reduce the occurrence of vibrations, noise, and speed unevenness during the shot operation.

Figure 10 is a flowchart showing acceleration calculation processing at different speeds for the shot operation of the imaging device 1000. The flowchart in Figure 10 is executed as a subroutine when the system control unit 1006 executes the processing of S2011 in the flowchart of the drive calculation processing for the shot operation in Figure 5. While pan drive is described below, the same applies to tilt drive and zoom drive.

In S4001, the system control unit 1006 sets a speed lower than the specified speed range as a speed outside the specified speed range, and derives the acceleration when driving the specified movement angle at that speed.

As in the example described in the processing of S3001 in the acceleration calculation processing at different speeds in Fig. 9, the movement angle specified in the shot operation is 50 degrees, the movement time is 2.4 seconds, and the reference acceleration a0 is 50 degrees/ ^s2 , and the speed v0 is 26.834 degrees/s, the acceleration time is 0.537 seconds, and the constant speed time tc0 is 1.327 seconds. The predetermined speed range is set to 25 to 30 degrees/s, and v1 is set to 24 degrees/s as a speed lower than that speed range. In this case, the system control unit 1006 obtains an acceleration time ta1 of 0.317 seconds and an acceleration a1 of 75.789 degrees/ ^s2 .

In S4002, the system control unit 1006 determines whether the derived acceleration is equal to or less than a predetermined acceleration. If it is determined that the derived acceleration is equal to or less than the predetermined acceleration, the system control unit 1006 proceeds to S4003. If it is determined that the derived acceleration is not equal to or less than the predetermined acceleration , the system control unit 1006 proceeds to S4005.

In S4003, the system control unit 1006 determines whether or not other drive units are being driven. If it is determined that other drive units are not being driven, the system control unit 1006 advances the process to S4004. If it is determined that other drive units are being driven, the system control unit 1006 advances the process to S4005.

In S4004, the system control unit 1006 determines whether the acceleration derived in S4001 is equal to or less than a predetermined acceleration when other drive units are not being driven. The predetermined acceleration is set with a predetermined margin in consideration of variations based on the maximum acceleration that can be accelerated, based on the motor torque characteristics and load characteristics of the drive unit when the power margin for the absence of other drive units can be allocated to the drive unit. For example, when the acceleration can be increased up to 150 degrees/ ^s2 , the system control unit 1006 determines whether the acceleration is equal to or less than this acceleration. If it is determined that the acceleration is equal to or less than the predetermined acceleration, the system control unit 1007 selects the acceleration derived in S4001 and ends this process.

In S4005, the system control unit 1006 sets a speed higher than the predetermined speed range as a speed outside the predetermined speed range, and derives the acceleration when driving the specified movement angle at that speed. As with the example described in the processing of S3003 in the acceleration calculation processing at a different speed in Fig. 9, if the predetermined speed range is set to 25 to 30 degrees/s and v1 is set to 31 degrees/s as a speed higher than that speed range, the system control unit 1006 will obtain 0.787 s as the acceleration time ta1 and 39.385 degrees/ ^s2 as the acceleration a1. Then, the system control unit 1006 selects to use the obtained acceleration, and ends this processing.

After this process is completed, the process returns to the drive calculation process for the shot motion in Figure 5, and the speed and acceleration derived in this process are used.

In this way, according to the imaging device 1000 of the second embodiment, in an imaging device equipped with a PTZ shot operation function, the conditions for driving with acceleration/deceleration control that increases the acceleration as much as possible and avoids speeds lower than a predetermined speed, taking into consideration the motor torque characteristics and the load characteristics of the mechanical drive system, are increased. This makes it possible to further reduce the occurrence of vibrations, noise, and speed unevenness when driving in a shot operation.

Here, the condition for having a power margin is when there are no other moving parts, but this is not limited to this. For example, if there are fans or heaters installed in addition to the moving parts, the upper limit of acceleration can be changed depending on the power usage of those devices.

[Third embodiment]
The third embodiment will be described below with reference to Figures 11 and 12. The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

11(a) and (b) are diagrams showing acceleration/deceleration control during a shot operation of the imaging device 1000 of the third embodiment. FIG. 11(a) shows acceleration/deceleration control of the tilt drive unit 1005, and FIG. 11(b) shows acceleration/deceleration control of the pan drive unit 1004. In FIG. 11(a) and (b), vr indicates a predetermined speed range. Also, in FIG. 11(a) and (b), the solid line indicates acceleration/deceleration control at a speed v0 obtained with a reference acceleration a0, the dashed line indicates acceleration/deceleration control when a predetermined speed range is avoided with a high speed v1, and the dashed line indicates acceleration/deceleration control when a predetermined speed range is avoided with a low speed v2. a0 is the reference acceleration, d0 is the reference deceleration, ta0 is the acceleration time when v0 is used, tc0 is the constant speed time when v0 is used, and td0 is the deceleration time when v0 is used. Assume that the absolute values of acceleration a0 and deceleration d0 are equal. Also, a1 is the acceleration when v1 is used, d1 is the deceleration when v1 is used, ta1 is the acceleration time when v1 is used, tc1 is the constant velocity time when v1 is used, and td1 is the deceleration time when v1 is used. It is assumed that the absolute values of acceleration a1 and deceleration d1 are equal. It is also assumed that a2 is the acceleration when v2 is used, d2 is the deceleration when v2 is used, ta2 is the acceleration time when v2 is used, tc2 is the constant velocity time when v2 is used, and td2 is the deceleration time when v2 is used. It is also assumed that the absolute values of acceleration a2 and deceleration d2 are equal. And t0 indicates the movement time.

As shown in FIG. 11(a), the tilt drive unit has a speed v0 calculated using a reference acceleration a0 that is outside the specified speed range, but the pan drive unit has a speed v0 calculated using a reference acceleration a0 that is within the specified speed range. Acceleration and deceleration control for the pan drive unit to avoid the specified speed range includes acceleration and deceleration control at a speed higher than the specified speed range shown by the dashed line and at a lower speed shown by the dashed line. When pan and tilt are driven simultaneously, if there is a large difference in the acceleration or deceleration times of the pan and tilt, an unnatural appearance will appear in the moving image. Therefore, in this third embodiment, the unnatural appearance of the moving image is reduced by setting acceleration and deceleration control to reduce the difference in the acceleration or deceleration times of the pan and tilt.

Figure 12 is a flowchart showing acceleration calculation processing at different speeds for the shot operation of the imaging device 1000. The flowchart in Figure 12 is executed as a subroutine when the system control unit 1006 executes the processing of S2011 in the flowchart of the drive calculation processing for the shot operation in Figure 5. While the pan drive is described below, it should be understood that the same applies to the tilt drive and zoom drive.

In S5001, the system control unit 1006 acquires the acceleration times of the other drive units. Here, the acceleration time of the tilt drive unit 1005 is acquired for processing by the pan drive unit 1004. For example, the system control unit 1006 acquires 0.6 s as the acceleration time of the tilt drive unit 1005. Then, the system control unit 1006 sets a speed lower than the specified speed range as a speed outside the specified speed range, and derives the acceleration and acceleration time at that time.

As in the example described in the processing of S3001 in the acceleration calculation processing at different speeds in Fig. 9, the movement angle specified in the shot operation is 50 degrees, the movement time is 2.4 seconds, and the reference acceleration a0 is 50 degrees/ ^s2 , and the speed v0 is 26.834 degrees/s, the acceleration time is 0.537 seconds, and the constant speed time tc0 is 1.327 seconds. Also, the predetermined speed range is set to 25 to 30 degrees/s, and v1 is set to 24 degrees/s as a speed lower than that speed range. In this case, the system control unit 1006 calculates the acceleration time ta1 to be 0.317 seconds and the acceleration a1 to be 75.789 degrees/ ^s2 .

In S5002, the system control unit 1006 sets a speed higher than the predetermined speed range as a speed outside the predetermined speed range, and derives the acceleration and acceleration time at that time.

9, the predetermined speed range is set to 25 to 30 degrees/s, and v1 is set to 31 degrees/s as a speed higher than the speed range. In this case, the system control unit 1006 calculates an acceleration time ta1 of 0.787 s and an acceleration a1 of 39.385 degrees/ ^s2 .

In S5003, the system control unit 1006 selects the derived acceleration that is closer to the acceleration time of the other drive unit. For example, if the acquired acceleration time of the tilt drive unit is 0.6 s, 0.787 s is closer than 0.317 s, so 31 degrees/s is selected as v1, which results in an acceleration time of 0.787 s, and this process ends.

After this process is completed, the process returns to the drive calculation process for the shot motion in Figure 5, and the speed and acceleration derived in this process are used.

Here, we have shown a method of deriving the acceleration time from two predetermined speeds and comparing which acceleration time is closer to the acceleration time of another drive unit, but it is also possible to find the acceleration of the drive unit based on the acceleration time of the other drive unit.

Figure 13 is a flowchart showing acceleration calculation processing at different speeds for the shot operation of the imaging device 1000. The flowchart in Figure 13 is executed as a subroutine when the system control unit 1006 executes the processing of S2011 in the flowchart of the drive calculation processing for the shot operation in Figure 5. While the pan drive is described below, the same applies to the tilt drive and zoom drive units.

In S6001, the system control unit 1006 acquires the acceleration times of the other drive units. Here, the acceleration time of the tilt drive unit is acquired for processing the pan drive unit. For example, 0.6 seconds is acquired as the acceleration time of the tilt drive unit.

In S6002, the system control unit 1006 derives the speed and acceleration from the movement angle and movement time of the pan drive unit and the acquired acceleration time.

速度ｖ０について解くと、次式のようになる。

From equations (1) and (2), the movement angle L0 can be expressed by the following equation.

Solving for the velocity v0 gives the following equation:

加速度ａ１は、式（１０）より、「３４．０８６度／ｓ²」となる。

For example, if the acceleration time ta0 is 0.6 s, the movement angle L0 is 90 degrees, and the movement time is 5 s, then from the above formula, the velocity v0 is calculated to be "20.455 degrees/S."

According to equation (10), the acceleration a1 is calculated to be "34.086 degrees/s ² ".

In S6003, the system control unit 1006 determines whether the derived speed is within a predetermined speed range. If it is determined that the speed is within the predetermined speed range, the system control unit 1006 advances the process to S5004. If it is determined that the speed is not within the predetermined speed range, the system control unit 1006 ends this process.

In S6004, the system control unit 1006 derives the acceleration at another speed v1 outside the specified speed range for the same movement angle and movement time. This process can be derived in the same manner as in FIG. 9, so a description thereof will be omitted. The system control unit 1006 then selects to use the determined acceleration, and ends this process.

After this process is completed, the process returns to the drive calculation process for the shot motion in Figure 5, and the speed and acceleration derived in this process are used.

In this way, according to the imaging device 1000 of the third embodiment, in an imaging device equipped with a PTZ shot operation function, when panning and tilting are driven simultaneously, the speed and acceleration of the acceleration and deceleration control are set so that the difference between the acceleration time and deceleration time of the panning and tilting is small, thereby reducing the sense of incongruity in the image during movement while reducing the occurrence of vibrations, sounds, and speed unevenness during driving in the shot operation.

[Fourth embodiment]
The fourth embodiment will be described below with reference to FIGS.

In the shot operation of the PTZ camera, the user of the client device 4000 may be able to select whether or not to avoid a specified speed range. Or, when the specified speed range is avoided, the user may be able to select the speed to avoid. For example, a speed lower or higher than the specified speed range may be selectable. Also, it may be possible to select between a method of widening the range of acceleration changes and prioritizing the use of a speed as far away from the specified speed range as possible, and a method of narrowing the range of acceleration changes so that the acceleration is not changed too much if the speed is a certain amount away from the specified speed range. This makes it possible to reduce the occurrence of vibrations, noise, and speed unevenness when driving in a shot operation according to the user's usage method.

Figures 14(a) and (b) are diagrams showing control commands for setting control (hereinafter also referred to as speed appropriate control) that avoids a specified speed range during the shot operation of the imaging device of the fourth embodiment. Reference numeral 2200 in Figure 14(a) is a command for setting whether the speed appropriate control is enabled or disabled during the shot operation, and reference numeral 2300 in the same figure (b) is a command for setting the mode of the speed appropriate control for the shot operation.

Reference number 2201 is a command identifier, and its value "0210" indicates that this is a command to enable or disable the speed appropriate control of the shot operation. Reference number 2202 is a parameter indicating whether to enable the speed control of the shot operation, with 1 specified if enabled and 0 specified if disabled. When the speed appropriate control is enabled by this command, the imaging device 1000 controls the speed of the shot operation so as to avoid a specified speed range using the method described in the drive calculation process of the shot operation in Figure 5. When the speed appropriate control is disabled, the shot operation is performed at a speed derived using the reference acceleration.

Reference number 2301 is a command identifier, and its value "0211" indicates that this is a command to set the operation mode in the speed appropriate control of the shot operation. Reference number 2302 is a parameter indicating the operation mode of the speed appropriate control of the shot operation, and when avoiding a specified speed range, 0 is specified when a speed lower than the specified speed range is set, and 1 is specified when a speed higher than the specified speed range is set. Here, as the operation mode of the speed appropriate control, it has been described that it is possible to select whether to avoid the specified speed range at a high speed or at a low speed, but this is not limited to this. For example, it may be possible to select a method of widening the acceleration change range and prioritizing the use of a speed as far away from the specified speed range as possible, and a method of narrowing the acceleration change range so that the acceleration is not changed much if the speed is a certain amount away from the specified speed range.

When the operation mode of the speed appropriate control is set to 0 by this command, the imaging device 1000 prioritizes using a speed lower than the specified speed range in the process of S2011 in the drive calculation process of the shot operation in FIG. 5. In this case, the acceleration is increased to the upper limit acceleration that can be driven using the method described above in FIG. 9 and FIG. 10, and the acceleration is derived using the low speed as a speed outside the specified speed range. On the other hand, when the operation mode of the speed appropriate control is set to 1, the imaging device 1000 prioritizes using a speed higher than the specified speed range in the process of S2011 in the drive calculation process of the shot operation in FIG. 5. In this case, the acceleration is derived using the high speed as a speed outside the specified speed range.

The client device 4000, which is an information processing device in this embodiment, is connected to the network 3000. This client device has a display unit such as a monitor, an input unit such as a mouse and keyboard, a system control unit, and a communication unit, and the entire client device is controlled by a CPU (Central Processing Unit) provided in the system control unit. The system control unit also receives video data and information about the imaging device from the imaging device via the communication unit. The system control unit in the client device 4000 also transmits control commands to the imaging device via the communication unit. The system control unit in the client device 4000 also displays the acquired video on the display unit and a GUI (graphical user interface) for performing various settings and operations on the imaging device.

Fig. 15 is a diagram showing a GUI displayed on the display device of the client device 4000 that issues shot operation instructions for the imaging device 1000 of the fourth embodiment. In Fig. 15, reference numeral 3100 indicates a shot operation window. Reference numeral 3101 indicates a pan target position input box, reference numeral 3102 indicates a tilt target position input box, reference numeral 3103 indicates a zoom target position input box, reference numeral 3104 indicates a movement time designation input box, and reference numeral 3105 indicates a shot operation execution button.

The client device 4000 displays a shot operation window 3100 on the display unit and accepts user input. The user inputs the designated positions of the shot operation into the pan designated position input box 3101, tilt designated position input box, and zoom designated position input box 3103 via the input unit. The user also inputs the movement time of the shot operation into the movement time designation box 3104. The user then presses the shot operation execution button 3105 via the input unit. When the shot operation execution button 3105 is pressed, the client device generates a shot operation control command shown in FIG. 3 based on the values input in the shot operation window 3100 and transmits it to the imaging device 1000. When the imaging device 1000 receives this command, it will perform the desired shot operation designated by the user.

Fig. 16 is a diagram showing a GUI displayed by an application executed on the client device 4000 that performs speed control settings for the shot operation of the imaging device 1000 of the fourth embodiment. In Fig. 16, reference numeral 3200 denotes a shot operation speed control setting window. Reference numeral 3201 denotes an input box for setting whether or not the speed appropriate control is enabled, reference numeral 3202 denotes an input box for setting the speed appropriate control mode, and reference numeral 3203 denotes a shot operation speed control setting button.

The client device 4000 displays a shot motion speed control setting window 3200 on the display and accepts user input. The user specifies whether to enable or disable speed suitability control in a speed suitability control box 3201 via the input unit. If speed suitability control is enabled, the user inputs the speed suitability control mode in a speed suitability control mode setting input box 3202. The user then presses the shot motion speed control setting button 3203. When the shot motion speed control setting button 3203 is pressed, the client device generates a command 2200 for setting the speed suitability control to be enabled or disabled, and a command 2300 for setting the mode of the shot motion speed suitability control, as shown in FIG. 14, based on the values entered in the shot motion speed control setting window 3200, and transmits them to the imaging device. When the imaging device receives this, it sets the speed control of the desired shot motion specified by the user.

All of these parameters may be entered by the user, or some or all of the parameters may be entered automatically.

In this way, according to the imaging device 1000 of this embodiment, in an imaging device equipped with a PTZ shot operation function, the user may be able to select whether or not to avoid a specific speed range in which sound, vibration, and speed unevenness may occur during the shot operation of the PTZ camera. Alternatively, the user may be able to select a setting mode for the speed and acceleration to be avoided. This makes it possible to reduce the occurrence of vibration, sound, and speed unevenness during driving during the shot operation while adapting to the user's usage method.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and variations are possible within the scope of the gist of the present invention. In particular, in the above embodiment, the imaging device has been described as having driving units for pan, tilt, and zoom, but the device can be applied to any configuration in which the imaging direction can be changed, so it is not necessary to have a driving unit for either pan or tilt.

Other Examples
The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

The invention is not limited to the above-described embodiment, and various modifications and variations are possible without departing from the spirit and scope of the invention. Therefore, the following claims are appended to disclose the scope of the invention.

1000: Imaging device, 1001: Imaging unit, 1002: Image processing unit, 1003: Zoom driving unit, 1004: Pan driving unit, 1005: Tilt driving unit, 1006: System control unit, 1007: Communication unit, 3000: Network, 4000: Client device

Claims (13)

An imaging device having a driving means for changing an imaging direction of an imaging unit,
an input means for inputting parameters including an imaging direction and a set time required for changing the imaging direction from the outside;
a control means for controlling the driving means based on the parameters input by the input means,
The control means
a derivation means for deriving a first speed in a constant speed movement section based on a difference between a current imaging direction of the imaging unit and an imaging direction indicated by a parameter input by the input means, the set time, and a first acceleration serving as a preset reference;
a determination means for determining whether the derived first speed is within a predetermined speed range to be avoided;
when the determining means determines that the first speed is not included in the predetermined speed range, the driving means is controlled so that the first speed becomes the first speed derived by the deriving means;
and a drive control means for deriving a second acceleration different from the first acceleration based on a second speed not included in the predetermined speed range when the determination means determines that the first speed is included in the predetermined speed range, and for controlling the drive means to achieve the second speed. 2. The imaging device according to claim 1, wherein the driving means includes at least one of a pan driving means for performing a panning operation of the imaging section and a tilt driving means for performing a tilting operation. 3. The image pickup apparatus according to claim 2, wherein the driving means further includes a zoom driving means for performing zoom driving of the image pickup section. The control means
When it is determined that the second acceleration is equal to or less than a predetermined acceleration, a speed lower than the predetermined speed range is set as the second speed;
4. The imaging device according to claim 1, wherein, when it is determined that the second acceleration is not equal to or less than the predetermined acceleration, a speed higher than the predetermined speed range is set as the second speed. The imaging device according to claim 4, characterized in that the control means sets the second speed by prioritizing a lower speed than a speed higher than the predetermined speed range. 5. The imaging device according to claim 4, wherein the control means increases the power required to drive the drive means when the second acceleration is equal to or greater than the predetermined acceleration, and sets the second speed to a speed lower than the predetermined speed range . the driving means includes a pan driving means for performing a panning operation of the imaging unit and a tilt driving means for performing a tilting operation,
2. The imaging apparatus according to claim 1, wherein the control means sets the second speed and the second acceleration so that a difference in acceleration time or a difference in deceleration time of the pan driving means and the tilt driving means is small. 7. The imaging device according to claim 1, wherein the control means controls the drive means by the derivation means, the determination means, and the drive control means in response to receiving an instruction from an external device to avoid the predetermined speed range. The imaging device according to any one of claims 1 to 6, characterized in that the control means controls the drive means using the derivation means, the determination means, and the drive control means in response to receiving an instruction from an external device for a second speed setting method that avoids the specified speed range. 2. The imaging apparatus according to claim 1, wherein the control means sets an externally set speed as the second speed. A communication means for communicating with the network,
11. The imaging apparatus according to claim 1, wherein the input unit inputs the parameters from a client device connected to the network via the communication unit. A method for controlling an imaging device having a driving means for changing an imaging direction of an imaging unit, comprising the steps of:
an input step of inputting parameters including an imaging direction of the imaging unit and a set time required for changing the imaging direction from an external device;
a control step of controlling the driving means based on the parameters input in the input step,
The control step includes:
a derivation step of deriving a first speed in a constant speed movement section based on a difference between a current imaging direction of the imaging unit and an imaging direction indicated by the parameters input in the input step, the set time, and a first acceleration serving as a preset reference;
a determination step of determining whether the derived first speed is within a predetermined speed range to be avoided;
When it is determined in the determining step that the first speed is not included in the predetermined speed range, the driving means is controlled so that the first speed becomes the first speed derived in the deriving step;
and a drive control step of deriving a second acceleration different from the first acceleration based on a second speed not included in the predetermined speed range, and controlling the drive means to achieve the second speed, when the determination step determines that the first speed is included in the predetermined speed range. A program for causing a processor of an imaging device having a driving means for changing the imaging direction of an imaging unit to execute each step of the control method described in claim 12.

Images