JP2008131184A - Image input device - Google Patents

Abstract

A more versatile image input device is provided that can have various shapes and can be configured by combining various imaging devices and a pan head device.
Information indicating the moment of inertia of the imaging apparatus, with the axis of rotation passing through the center of gravity of the imaging apparatus and parallel to the rotational axis of rotation in the pan direction, and the center of gravity of the imaging apparatus are provided. As described above, at least one of the information indicating the moment of inertia of the imaging apparatus having an axis parallel to the rotation axis of rotation in the tilt direction as a rotation axis is stored, and the pan head apparatus reads out the stored information (step In step S603, parameters for controlling the motor are determined based on the read information (step S606), and the motor is controlled based on the determined parameters (step S610).
[Selection] Figure 6

Description

  The present invention includes an imaging device that captures a still image or a moving image, and a rotation mechanism that includes the motor that rotates the imaging device in a pan direction or a tilt direction, in which the imaging device is interchangeably mounted. The present invention relates to an image input device including a pan head device.

  In Patent Document 1, the pan / tilt mechanism of the pan / tilt head device is configured based on information indicating that the imaging device can be attached to the pan / tilt head device in a commutative manner and that the lens of the image pick-up device has. An image input device that determines a driving voltage and a driving speed of a stepping motor is disclosed. According to this, it is possible to easily change the control applied to the stepping motor constituting the pan / tilt mechanism of the pan / tilt head device, and to provide a highly versatile image input device compatible with an imaging device having various lenses. Can be provided.

JP-A-8-135889

  The driving torque of the motor (hereinafter referred to as pan / tilt motor) that constitutes the pan / tilt mechanism of the pan head device and the parameter (hereinafter referred to as motor control parameter) related to the control in the servo mechanism are the values of the movable part including the lens of the imaging device. It is determined only by the mass. However, this determination method is not necessarily appropriate. This is because the essential element for determining the motor control parameter is the moment of inertia of the movable part having the pan rotation axis and the tilt rotation axis of the pan head apparatus as the rotation axes. When determining the motor control parameter only by the mass of the movable part, the shape of the image input device and the combination of the imaging device and the pan / tilt head device should be such that the moment of inertia is almost proportional to the change of the mass of the movable part. There is a restriction that it must not. For example, when the mass of the movable part changes, it is difficult to satisfy the above constraints while changing its shape, so it is difficult to change its shape greatly. Therefore, it has been difficult to provide a more versatile image input device that can be configured with various shapes and combinations of various imaging devices and pan head devices.

  Accordingly, an object of the present invention is to provide a more versatile image input device that can have various shapes and can be configured by combining various imaging devices and a pan head device.

An image input device according to the present invention includes an imaging device that captures a still image or a moving image, and a rotation that includes the above-described imaging device and a motor that rotates the imaging device in a pan direction or a tilt direction. An image input device having a mechanism with a mechanism, wherein the image pickup device passes through the center of gravity of the image pickup device and has an axis parallel to the rotation axis of rotation in the pan direction as the rotation axis. At least one of information indicating the moment of inertia of the imaging apparatus and information indicating the moment of inertia of the imaging apparatus having an axis parallel to the rotation axis of rotation in the tilt direction passing through the center of gravity of the imaging apparatus. A first storage unit that stores the first storage unit that reads information stored in the first storage unit; and the first reading unit that reads the first storage unit. Record Motor control parameter determining means for determining a parameter for controlling the motor based on information stored in the means, and motor control means for controlling the motor based on the parameter determined by the motor control parameter determining means And.
The image input device of the present invention includes an imaging device that captures a still image or a moving image, an adapter device on which the imaging device is interchangeably mounted, and an adapter device that is interchangeably mounted on the imaging device. An image input device comprising: a pan head device including a rotation mechanism including a motor that rotates a system including the adapter device in a pan direction or a tilt direction, wherein the adapter device includes the imaging device. Information indicating the moment of inertia of the system consisting of the imaging device and the adapter device having a rotation axis that is parallel to the rotation axis of rotation in the pan direction, and the center of gravity of the system consisting of the adapter device and the adapter device, and The inertial mode of the system consisting of the imaging device and the adapter device with the axis of rotation passing through the center of gravity of the system consisting of the imaging device and the adapter device and parallel to the rotational axis of rotation in the tilt direction. Comprising a fourth storage means for storing at least one of the information indicating the event, the pan head device, a second reading means for reading the information stored in the fourth storage means, Based on the information stored in the fourth storage means read by the second reading means, the motor control parameter determining means for determining the parameters for controlling the motor and the motor control parameter determining means Motor control means for controlling the motor based on the parameters.

  According to the present invention, it is possible to provide a more versatile image input device that can have various shapes and can be configured by combining various imaging devices and pan head devices.

  The configuration of the image input apparatus 10 (100 to 140) of this embodiment will be described with reference to the block diagram of FIG.

  Reference numeral 100 (including 101 to 113) denotes a pan head device. Reference numeral 101 denotes a CPU (Central Processing Unit) that controls the entire pan head apparatus 100. A ROM (Read Only Memory) 102 stores programs and parameters that do not need to be changed.

  The ROM 102 stores information indicating the coordinates of the pan rotation axis 109 and the tilt rotation axis 112 (how to set the origin and coordinate axes will be described later). The ROM 102 also includes a pan rotation shaft 109 of a system (hereinafter referred to as a pan head movable unit) including a pan rotation shaft 109, a pan rotation table 110, a tilt motor 111, a tilt rotation shaft 112, and a tilt rotation table 113. Information indicating the moment of inertia with the axis of rotation is stored. Further, the ROM 102 stores information indicating the moment of inertia of the tilt rotation shaft 112 and the tilt rotation table 113 (hereinafter referred to as the tilt rotation table 113) as the rotation axis. Further, the ROM 102 stores a table of motor control parameter values according to the value of the moment of inertia with the pan rotation axis 109 or the tilt rotation axis 112 as the rotation axis.

  Reference numeral 103 denotes a RAM (Random Access Memory) that temporarily stores programs and data supplied from an external device or the like. Reference numeral 104 denotes a network interface for connecting to a network 160 such as a LAN (Local Area Network). Reference numeral 105 denotes an adapter interface (hereinafter referred to as an adapter I / F) for connection to the adapter 120.

  Reference numeral 106 denotes a motor driver. In the present embodiment, the control of the pan motor 108 and the tilt motor 111 is speed (rotation speed) servo control and will be described as being realized by a general PI control system. In this case, the operation amount is generally a current if the motor is a DC motor, for example, and a frequency if the motor is an ultrasonic motor, but the present invention is limited to the type of motor and the operation amount. Is not to be done. The motor driver 106 has a register accessible from the CPU 101. An example of the register is shown in FIG.

  Reference numeral 201 denotes a writable register, which is a pan motor command register for writing a command related to the operation of the pan motor 108. Commands include rotation start and rotation stop. Reference numeral 202 denotes a register that can only be read, and is a pan motor rotating / stopping register that indicates whether the pan motor 108 is rotating or stopped. Reference numeral 203 denotes a register that can only be read, and is a pan motor rotation angle register that indicates the current rotation angle of the pan motor 108 based on an output signal of a rotary encoder built in the pan motor 108. Reference numeral 204 denotes a register that can only be read, and is a pan motor rotational speed register that indicates the current rotational speed (rotational speed) of the pan motor 108 based on an output signal of a rotary encoder built in the pan motor 108.

  Reference numeral 205 denotes a readable / writable register, which is a pan motor target rotation angle register that sets a target angle at which the pan motor 108 that has started rotation stops. Reference numeral 206 denotes a readable / writable register that sets the maximum number of rotations of the pan motor 108 that has started rotating, and is a register that rotates the pan motor to the maximum. Reference numeral 207 denotes a readable / writable register, which is a pan motor proportional gain register that sets a proportional gain of the PI control system for the pan motor 108. 208 is a readable / writable register, and is a pan motor integral gain register for setting an integral gain of the PI control system for the pan motor 108.

  The register for the pan motor has been described above, but the motor driver 106 has the same registers 221 to 228 for the tilt motor. Needless to say, the registers are not limited to those as long as they are related to driving of the pan motor 108 or the tilt motor 111. Further, it is needless to say that the control of the pan motor 108 and the tilt motor 111 is not speed servo control but may be position (rotation angle) servo control, for example, and may not be a PI control system.

  A system bus 107 connects the units 101 to 106 and the like so that they can communicate with each other. A pan motor 108 transmits power through a pan rotation shaft 109 to rotate the pan turntable 110 in the pan direction. Reference numeral 109 denotes a pan rotation shaft that transmits the power of the pan motor 108 to the pan turntable 110. Reference numeral 110 denotes a pan turntable on which a tilt motor 111, a tilt rotation shaft 112, a tilt turntable 113, an adapter 120, and an imaging device 140 are mounted and rotates in the pan direction by the power transmitted from the pan motor 108.

  A tilt motor 111 transmits power through the tilt rotation shaft 112 and rotates the tilt turntable 113 in the tilt direction. A tilt rotation shaft 112 transmits the power of the tilt motor 111 to the tilt turntable 113. Reference numeral 113 denotes a tilt turntable on which the adapter 120 and the imaging device 140 are mounted and rotated in the tilt direction by the power transmitted from the tilt motor 111.

  Reference numeral 120 denotes an adapter for connecting the imaging device 140 and the pan / tilt head device 100. The adapter 120 has a shape that can be attached to the imaging device 140, and has a different shape for each model of the imaging device 140. The adapter 120 has a shape that can be mounted on the tilt turntable 113. The adapter 120 can be interchangeably attached to the tilt turntable 113. Reference numeral 121 denotes a head device interface (head device I / F) for connection to the head device 100. Reference numeral 122 denotes an imaging device interface (imaging device I / F) for connection to the imaging device 140.

  Reference numeral 123 denotes an inertial moment of the imaging device 140 or the like that passes through the center of gravity of a system including the imaging device 140 and the adapter 120 (hereinafter referred to as the imaging device 140 or the like) and that has an axis parallel to the pan rotation axis 109 as a rotation axis. The moment of inertia of the imaging device 140, etc. with the axis parallel to the tilt rotation axis 112 as the rotation axis, the mass of the imaging device 140, etc., and the center of gravity coordinates of the imaging device 140 (how to determine the origin and coordinate axes) Inertial moment etc. storage circuit such as an image pickup device for storing information indicating the following.

  Reference numeral 140 denotes an imaging device that captures still images or moving images. The imaging device can be attached to the adapter 120 in a replaceable manner. In FIG. 1, reference numeral 160 denotes a network such as a LAN for connecting the image input apparatus 10 and a personal computer (PC) 180. The PC 180 is a personal computer (hereinafter referred to as a PC) that is a control terminal of the image input apparatus 10. Based on the user's instruction, the PC 180 sends to the image input device 10 commands related to the control of the image input device 10, that is, commands related to pan / tilt operation, photographing, and the like.

  The method for determining the origin and coordinate axes of each coordinate stored in the ROM 102 and the inertial moment storage circuit 123 such as the imaging device will be described with reference to FIG. FIG. 3 is a front view (a) and a left side view (b) of the image input apparatus 10 when the pan head apparatus 100 is in the initial state. At this time, the surface in contact with the bottom surface of the adapter 120 of the tilt turntable 113 is in a horizontal plane.

  The origin is an arbitrary point on a common space for all coordinates. That is, while the imaging device 140 and the like are interchangeable with the pan head device 100, the coordinates of the pan rotation axis 109 and the tilt rotation shaft 112 stored in the ROM 102 of the pan head device 100 are also the same as the imaging device of the adapter 120. The barycentric coordinates of the imaging device 140 and the like stored in the inertia moment storage circuit 123 are also set as a common origin. In the present embodiment, the origin is assumed to be a point on the tilt turntable 113 in contact with the farthest left corner of the adapter 120 in the front view of FIG.

  The coordinate system is an orthogonal coordinate system in which the vertical direction is the z axis, the x axis is perpendicular to the tilt rotation axis 112, and the y axis is parallel to the tilt rotation axis 112.

Then, the pan rotation axis 109 (l _0p ) is x = x _0p , y = y _0p , the tilt rotation axis 112 (l _0t ) is x = x _0t , z = z _0t , and the barycentric coordinates of the imaging device 140 are g (x _g , y _g , z _g ). Here, x _0p , y _0p , x _0t , z _0t , x _g , y _g , and z _g are constants.

Information stored in the ROM 102 will be described with reference to FIG. FIG. 4A shows constants relating to the shape of the pan head apparatus 100 and the like. 401 (x _0p ) is the x coordinate of the pan rotation axis 109. 402 (y _0p ) is the y coordinate of the pan rotation axis 109. 403 (x _0t ) is the x coordinate of the tilt rotation axis 112. 404 (z _0t ) is the z coordinate of the tilt rotation axis 112. _Reference numeral 405 (i _0p ) denotes an inertia moment with the pan rotation axis 109 of the pan head movable unit as the rotation axis. _Reference numeral 406 (i _0t ) denotes an inertia moment about the tilt rotation shaft 112 of the tilt turntable 113 or the like as a rotation axis.

FIG. 4B is an example of a table (hereinafter referred to as a motor control parameter table) showing values of motor control parameters corresponding to the values of the moment of inertia with the pan rotation axis 109 or the tilt rotation axis 112 as the rotation axis. In the present embodiment, proportional gain and integral gain values are stored as motor control parameters according to the value of the moment of inertia. For example, 421 (g _p1 ) is a proportional gain value used when the value of the moment of inertia is i ₁ or more and less than i ₂ , and 422 (g _i1 ) is a value of the moment of inertia of i ₁ or more and less than i ₂ . This is the integral gain value used sometimes. Needless to say, the motor control parameters are not limited to these as long as they are parameters related to the control of the pan motor 108 and the tilt motor 111. Further, it is needless to say that the control of the pan motor 108 and the tilt motor 111 is not speed servo control but may be position (rotation angle) servo control, for example, and may not be a PI control system.

Information stored in the storage circuit 123 such as the moment of inertia of the imaging apparatus will be described with reference to FIG. _Reference numeral 501 (i _gp ) denotes an inertia moment of the imaging device 140 or the like that passes through the center of gravity of the imaging device 140 or the like and has an axis parallel to the pan rotation axis 109 as a rotation axis. Reference _numeral 502 (i _gt ) denotes an inertia moment of the imaging device 140 or the like that passes through the center of gravity of the imaging device 140 or the like and has an axis parallel to the tilt rotation axis 112 as a rotation axis. 503 (m) is the mass of the imaging device 140 and the like. Reference numeral 504 (x _g ) denotes the x coordinate of the center of gravity of the imaging device 140 or the like. 505 (y _g ) is the y coordinate of the center of gravity of the imaging device 140 or the like. 506 (z _g ) is the z coordinate of the center of gravity of the imaging device 140 or the like.

  The operation of the image input apparatus 10 will be described with reference to the flowcharts of FIGS. FIG. 6 is an operation flowchart of the CPU 101.

  In step S <b> 601, the CPU 101 waits for the imaging device 140 and the like to be mounted on the tilt turntable 112. If it is detected that the imaging device 140 or the like is mounted on the tilt turntable 112, the process proceeds to step S602. For example, the CPU 101 detects the mounting of the imaging device 140 on the tilt turntable 112 by communicating with the imaging device 140 via the adapter I / F 105, the pan head device I / F 121, and the imaging device I / F 122. be able to. Further, for example, it may be performed by providing a signal line that is connected to the adapter I / F 105 when the imaging device 140 or the like is mounted on the tilt turntable 113 and notifies the CPU 101 of the mounting of the imaging device 140 or the like (see FIG. 8). ).

In step S602, the CPU 101 transfers the moment of inertia i _{gp of} the imaging device 140 or the like from the imaging device or the like moment of inertia storage circuit 123 through the center of gravity of the imaging device 140 or the like and the axis parallel to the pan rotation axis 109 as the rotation axis. Moment of inertia i _{gt of} the imaging device 140 and the like, which passes through the center of gravity of the imaging device 140 and the like and whose axis is parallel to the tilt rotation axis 112, the mass m of the imaging device 140 and the x coordinate x of the center of gravity of the imaging device 140 and the like _g , y-coordinate y _g of the center of gravity of the imaging device 140 etc., and z-coordinate z _g of the center of gravity of the imaging device 140 etc. are read into the RAM 103, and the process proceeds to step S603.

In step S603, the CPU 101 reads from the ROM 102 the x coordinate x _{0p of} the pan rotation axis 109, the y coordinate y _0p of the pan rotation axis 109, the x coordinate x _{0t of} the tilt rotation axis 112, the z coordinate z _0t of the tilt rotation axis 112, The inertia moment i _0p with the pan rotation axis 109 of the pan / tilt head movable part as the rotation axis and the inertia moment i _0t with the tilt rotation axis 112 such as the tilt rotation table 113 as the rotation axis are read into the RAM 103 and the process proceeds to step S604.

In step S <b> 604, the CPU 101 calculates the moment of inertia of a system (hereinafter referred to as “pan movable portion”) including the imaging device 140 having the pan rotation shaft 109 as a rotation axis and the pan head movable portion according to the following equations (1) and (2). and I _p, the imaging device 140 such as a system consisting of rotatable tilt table 113, etc. to the tilt rotation shaft 112 rotating shaft (hereinafter, tilt movable portion) to calculate the value of the moment of inertia I _t of, the process proceeds to step S605.

  In step S605, the CPU 101 reads the motor control parameter table stored in the ROM 102 into the RAM 103, and proceeds to step S606.

  In step S606, the CPU 101 refers to the motor control parameter table, and sets the proportional gain and the integral gain corresponding to the value of the moment of inertia of the pan movable part calculated in step S604, respectively, in the pan motor proportional gain register of the motor driver 106. 207, write to the pan motor integral gain register 208. Further, the proportional gain and integral gain values corresponding to the value of the inertia moment of the tilt movable part calculated in step S604 are written in the tilt motor proportional gain register 227 and the tilt motor integral gain register 228 of the motor driver 106, respectively. Next, the process proceeds to step S607.

  In step S <b> 607, the CPU 101 determines whether the imaging device 140 or the like has been removed from the tilt turntable 113. When it is detected that the imaging device 140 or the like has been removed from the tilt turntable 113, the processing ends. That is, the process returns to step S601. Otherwise, the process proceeds to step S608.

  In step S <b> 608, the CPU 101 determines whether a pan / tilt command for instructing the pan / tilt operation of the pan / tilt head device 100 has been received from the PC 180. The pan / tilt command includes setting values for the pan motor target rotation angle register 205, pan motor maximum rotation number register 206, chill tilt motor target rotation angle register 225, and tilt motor maximum rotation number register 226 of the motor driver 106. When the CPU 101 receives a pan / tilt command, the CPU 101 proceeds to step S609. Otherwise, the process returns to step S607.

  That is, in steps S607 to S608, the CPU 101 waits for receipt of the pan / tilt command from the PC 180 while confirming that the imaging device 140 or the like is mounted on the tilt turntable 113, and receives the pan / tilt command. Then, it progresses to step S609.

  In step S609, the CPU 101 writes the target rotation angle and the maximum rotation number of the pan motor 108 instructed by the pan / tilt command received in step S608 to the pan motor target rotation angle register 205 and the pan motor maximum rotation number register 206, respectively. . Further, the target rotation angle and the maximum rotation number of the tilt motor 111 are written in the tilt motor target rotation angle register 225 and the tilt motor maximum rotation number register 226, respectively. Next, the process proceeds to step S610.

  In step S610, the CPU 101 writes a rotation start command instructing motor rotation start in the pan motor command register 201 and the tilt motor command register 221 of the motor driver 106, and the process proceeds to step S611.

  In step S611, the CPU 101 reads the values of the pan motor rotating / stopping register 202 and the tilt motor rotating / stopping register 222 of the motor driver 106, and determines whether the pan motor 108 and the tilt motor 111 are stopped. To do. If the motor is stopped, the process returns to step S607. Otherwise, it waits until the motor stops, and when the motor stops, it returns to step S607.

  FIG. 7 is an operation flowchart of the motor driver 106. The motor driver 106 controls the pan motor 108 and the tilt motor 111 independently. Hereinafter, only the control of the pan motor 108 will be described, and the control of the tilt motor 111 is the same as that of the pan motor 108 and will be omitted.

  In step S <b> 701, the motor driver 106 waits for a rotation start command to be written in the pan motor command register 201. When the rotation start command is written in the pan motor command register 201, the process proceeds to step S702.

  In step S702, the motor driver 106 starts outputting a drive signal to the pan motor 108, and proceeds to step S703. The motor driver 106 performs predetermined sequence control determined in advance according to the values of the pan motor target rotation angle register 205 and the pan motor maximum rotation speed register 206, specifically, acceleration control, constant speed control, and deceleration control. At this time, the values of the pan motor proportional gain register 207 and the pan motor integral gain register 208 are used as the proportional gain and integral gain values of the PI control system, respectively.

  In step S703, the motor driver 106 compares the rotation angle obtained from the output signal of the rotary encoder built in the pan motor 108 with the value of the pan motor target rotation angle register 205, and determines whether or not the target rotation angle has been reached. To do. If the target rotation angle has been reached, the process proceeds to step S704. Otherwise, it waits for reaching the target rotation angle, and when it reaches the target rotation angle, it proceeds to step S704.

  In step S704, the motor driver 106 stops outputting the drive signal to the pan motor 108, sets the value of the pan motor rotating / stopped register 202 to a value indicating that the motor is stopped, and ends the process. That is, the process returns to step S701.

  By the way, in the present embodiment, the ROM 102 has information indicating the moment of inertia with the pan rotation axis 109 of the pan head movable unit as the rotation axis and the moment of inertia with the tilt rotation axis 113 such as the tilt rotation table 113 as the rotation axis. The information shown is stored. However, the moment of inertia of the pan head moving part with the pan rotation axis 109 as the rotation axis and the moment of inertia of the tilt rotation table 113 with the tilt rotation axis 108 as the rotation axis, respectively, are imaged with the pan rotation axis 109 as the rotation axis. If the moment of inertia of the device 140 or the like or the moment of inertia of the imaging device 140 or the like having the tilt rotation axis 112 as a rotation axis is sufficiently smaller, these pieces of information need not be stored.

In this case, in step S603, the CPU 101 reads from the ROM 102 the x coordinate x _{0p of} the pan rotation axis 109, the y coordinate y _0p of the pan rotation axis 109, the x coordinate x _{0t of} the tilt rotation axis 112, and the z coordinate of the tilt rotation axis 112. z _0t is read into the RAM 103.

Further, in step S604, CPU 101 is the following equation (3) and (4), movable tilt of the rotating shaft and the moment of inertia I _p of the pan movable portion to the rotation axis, the tilt rotation shaft 112 a pan rotation shaft 109 to calculate the value of the moment of inertia I _t parts.

In this case, in step S <b> 602, the CPU 101 causes the inertia moment of the imaging device 140 or the like to pass through the center of gravity of the imaging device 140 or the like and to be parallel to the pan rotation axis 109 from the imaging device or the like inertia moment storage circuit 123. i _gp , the moment of inertia i _gt of the imaging device 140 or the like passing through the center of gravity of the imaging device 140 or the like and having an axis parallel to the tilt rotation axis 112 as a rotation axis is read into the RAM 103.

Also, step S603 is skipped. In step S604, the CPU 101 calculates the tilt moment of inertia I _p of the pan movable unit with the pan rotation axis 109 as the rotation axis and the tilt movement with the tilt rotation axis 112 as the rotation axis according to the following equations (5) and (6). to calculate the value of the moment of inertia I _t parts.

  In the present embodiment, information indicating the coordinates of the pan rotation axis 109 and the tilt rotation axis 112 is stored in the ROM 102, and the mass such as the imaging device 140 and the imaging device 140 are stored in the storage circuit 123 such as the imaging device inertia moment. The information indicating the center of gravity coordinates such as is stored. However, when the shape of the image input device 10 is such that the center of gravity of the imaging device 140 or the like always passes near the pan rotation shaft 109 or the tilt rotation shaft 112, these pieces of information need not be stored.

In this case, in step S <b> 602, the CPU 101 causes the inertia moment of the imaging device 140 or the like to pass through the center of gravity of the imaging device 140 or the like and to be parallel to the pan rotation axis 109 from the imaging device or the like inertia moment storage circuit 123. i _gp , the moment of inertia i _gt of the imaging device 140 or the like passing through the center of gravity of the imaging device 140 or the like and having an axis parallel to the tilt rotation axis 112 as a rotation axis is read into the RAM 103.

In step S603, the CPU 101 reads from the ROM 102 the inertia moment i _0p with the pan rotation axis 109 of the pan head movable unit as the rotation axis, and the inertia moment i _0t with the tilt rotation axis 112 such as the tilt rotation table 113 as the rotation axis. Are read into the RAM 103.

In step S604, the CPU 101 calculates the inertial moment _Ip of the pan movable unit with the pan rotation axis 109 as the rotation axis and the tilt movement with the tilt rotation axis 112 as the rotation axis according to the following equations (7) and (8). to calculate the value of the moment of inertia I _t parts.

  In the present embodiment, control of the pan motor 108 and the tilt motor 111 is speed (rotation speed) servo control, which is realized by a general PI control system, and proportional gain and integral gain are set as motor control parameters. This has been illustrated and described. However, the present invention is not limited by the type of motor, the type of control system, the type of parameter that is a motor control parameter, and the like.

  For example, the motor may be a DC motor, an ultrasonic motor, or a stepping motor. Further, the control system may be a closed loop or an open loop. Further, the parameter that is a motor control parameter may include, for example, a proportional gain, an integral gain, and a differential gain. Further, for example, in the case of a DC motor, a drive current value may be included, and in the case of a stepping motor, a drive voltage value or a drive current value may be included. When these are used as motor control parameters, the contents of the motor control parameter table stored in the ROM 102 are assumed to be included, and the motor driver 106 is provided with a register for setting these values.

  As described above, according to the present embodiment, various imaging devices and a pan head device that do not depend on other portions, only by defining the shapes and structures of the adapter 120 and the tilt turntable 113 as shapes and structures that can be attached to each other. Can be configured in combination. Therefore, it is possible to provide a more versatile image input device.

  In this embodiment, the image input device is configured by the imaging device 140, the adapter 120, and the pan head device 100. However, the imaging device can be directly attached to the pan head device without using the adapter. Form may be sufficient. In this case, the imaging device or the like inertia moment storage circuit 123 may be provided in the imaging device.

It is a block diagram which shows the structure of the image input device which concerns on embodiment of this invention. It is a figure which shows an example of the register structure of the motor driver which concerns on embodiment of this invention. It is a figure for demonstrating how to take the origin and coordinate axis of each coordinate memorize | stored in memory | storage circuits, such as ROM and imaging device, such as inertial moment, which concern on embodiment of this invention. It is a figure which shows an example of the information memorize | stored in ROM which concerns on embodiment of this invention. It is a figure which shows the information memorize | stored in memory circuits, such as an inertial moment etc. of the imaging device which concerns on embodiment of this invention. It is a flowchart for demonstrating operation | movement of CPU which concerns on embodiment of this invention. It is a flowchart for demonstrating operation | movement of the motor driver which concerns on embodiment of this invention. It is a figure for demonstrating an example of the detection method of the mounting to the tilt turntable of the imaging device which concerns on embodiment of this invention.

Explanation of symbols

10 Image Input Device 101 CPU
102 ROM
103 RAM
105 Adapter I / F
106 motor driver 107 system bus 108 pan motor 109 pan rotation shaft 110 pan rotation table 111 tilt motor 112 tilt rotation shaft 113 tilt rotation table 120 adapter 121 pan head device I / F
122 Imaging device I / F
123 Memory circuit for inertia moment etc. 140 such as imaging device Imaging device

Claims (10)

An imaging device that captures a still image or a moving image; and a pan / tilt head device provided with a rotation mechanism that includes the motor that rotates the imaging device in a panning direction or a tilting direction. An image input device having
The imaging apparatus is
Information indicating the moment of inertia of the imaging device passing through the center of gravity of the imaging device and having an axis parallel to the rotational axis of rotation in the pan direction, and rotation rotation in the tilt direction passing through the center of gravity of the imaging device First storage means for storing at least one of information indicating the moment of inertia of the imaging apparatus having an axis parallel to the axis as a rotation axis;
The pan head device
First reading means for reading information stored in the first storage means;
Motor control parameter determining means for determining a parameter for controlling the motor based on information stored in the first storage means read by the first reading means;
An image input apparatus comprising: motor control means for controlling the motor based on the parameter determined by the motor control parameter determination means. The first storage means further stores information indicating the mass of the imaging device and information indicating the position of the center of gravity of the imaging device,
The pan head device further includes second storage means for storing at least one of the position of the rotation axis of the rotation in the pan direction and the position of the rotation axis of the rotation in the tilt direction,
The motor control parameter determining means determines parameters for controlling the motor based on the information stored in the second storage means in addition to the information stored in the first storage means. The image input device according to claim 1, wherein:   The second storage means is further a part of the pan head device, and the rotation axis of the pan direction rotation of the part rotating about the rotation axis of the pan direction rotation is the rotation axis. Information indicating the moment of inertia, and a moment of inertia having the rotation axis of the rotation in the tilt direction of a part of the pan head device that rotates about the rotation axis of the rotation in the tilt direction as the rotation axis The image input apparatus according to claim 2, wherein at least one of the information indicating the information is stored. The pan head device is further a part of the pan head device, and a moment of inertia having the rotation axis of the pan direction rotation as a rotation axis of a portion rotating around the rotation axis of the pan direction rotation. And a moment of inertia that is a part of the pan head device and that rotates about the rotation axis of the rotation in the tilt direction as a rotation axis. A third storage means for storing at least one of the information;
The motor control parameter determining means determines parameters for controlling the motor based on the information stored in the third storage means in addition to the information stored in the first storage means. The image input device according to claim 1, wherein: An imaging device that captures a still image or a moving image, an adapter device in which the imaging device is interchangeably mounted, a system in which the adapter device is interchangeably mounted and the imaging device and the adapter device are panned Or an image input device having a pan head device including a rotation mechanism configured to include a motor that rotates in a tilt direction,
The adapter device is
Information indicating the moment of inertia of the system consisting of the imaging device and the adapter device, the axis of rotation being an axis parallel to the rotation axis of rotation in the pan direction, passing through the center of gravity of the system consisting of the imaging device and the adapter device, And the moment of inertia of the system composed of the imaging device and the adapter device with the axis of rotation passing through the center of gravity of the system consisting of the imaging device and the adapter device and having an axis parallel to the rotational axis of rotation in the tilt direction. A fourth storage means for storing at least one of the information;
The pan head device
Second reading means for reading information stored in the fourth storage means;
Motor control parameter determining means for determining a parameter for controlling the motor based on information stored in the fourth storage means read by the second reading means;
An image input apparatus comprising: motor control means for controlling the motor based on the parameter determined by the motor control parameter determination means. The fourth storage means further stores information indicating the mass of the system composed of the imaging device and the adapter device, and information indicating the center of gravity position of the system consisting of the imaging device and the adapter device,
The pan head device further includes fifth storage means for storing at least one of the position of the rotation axis of the rotation in the pan direction and the position of the rotation axis of the rotation in the tilt direction,
The motor control parameter determining means determines parameters for controlling the motor based on the information stored in the fifth storage means in addition to the information stored in the fourth storage means. 6. The image input device according to claim 5, wherein   The fifth storage means is further a part of the pan head device, and the rotation axis of the pan direction rotation of the part rotating about the rotation axis of the pan direction rotation is the rotation axis. Information indicating the moment of inertia, and a moment of inertia having the rotation axis of the rotation in the tilt direction of a part of the pan head device that rotates about the rotation axis of the rotation in the tilt direction as the rotation axis The image input apparatus according to claim 6, wherein at least one of the information indicating the information is stored. The pan head device is further a part of the pan head device, and a moment of inertia having the rotation axis of the pan direction rotation as a rotation axis of a portion rotating around the rotation axis of the pan direction rotation. And a moment of inertia that is a part of the pan head device and that rotates about the rotation axis of the rotation in the tilt direction as a rotation axis. Sixth storage means for storing at least one of the information,
The motor control parameter determining means determines parameters for controlling the motor based on information stored in the sixth storage means in addition to information stored in the fourth storage means. 6. The image input device according to claim 5, wherein   6. The image input apparatus according to claim 1, wherein the motor control means is a part of a servo control system, and the motor control parameter is a parameter related to servo control. The servo control system is realized by a method including any one of proportional control, integral control, and differential control, or a combination thereof,
The image input device according to claim 9, wherein the motor control parameter includes at least one of a proportional gain, an integral gain, and a differential gain in the servo control system.

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