JP2021090171A - Control apparatus, method, program, and storage medium - Google Patents

Abstract

To provide a control apparatus which allows for quick restoration from a standby state.SOLUTION: The control apparatus comprises: a support unit for supporting an imaging unit; a drive unit for rotating the support unit; a rotation detection unit for detecting variation with the rotation of the support unit; and a control unit for controlling the drive unit. In a case where the imaging unit restores from a standby state to a normal state, if the variation detected by the rotation detection unit during the standby of the imaging unit is less than a predetermined value, the control unit controls the drive unit so as to rotate the support unit to a target position without an initial operation.SELECTED DRAWING: Figure 4

Description

The present invention relates to control devices, methods, programs and storage media.

Conventionally, there has been known a technique for shortening the recovery time by performing a recovery operation only when an impact of a predetermined value or more is detected when the camera is returned from the standby state (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-123247

An object to be solved by the present invention is to provide a control device capable of quickly returning from the standby state.

The present invention solves the above problems by the following solutions.

The control device according to the present invention includes a support unit that supports the imaging unit, a drive unit that rotates the support unit, a rotation detection unit that detects the amount of change accompanying the rotation of the support unit, and the drive unit. The control unit has a control unit to control, and when the image pickup unit returns from the standby state to the normal state, the change amount detected by the rotation detection unit during the standby of the image pickup unit is a predetermined value. If it is less than, the drive unit is controlled so as to rotate the support unit to the target position without performing the initialization operation.

The functional block diagram of the network camera in 1st Embodiment. The mechanical block diagram of the network camera in 1st Embodiment. The flowchart which shows the processing of the pan / tilt control part at the time of receiving a standby command in 1st Embodiment. The flowchart which shows the processing of the pan / tilt control part in the standby state in 1st Embodiment. The flowchart which shows the processing of the pan / tilt control part at the time of receiving a return command in 1st Embodiment. The flowchart which shows the processing of the pan / tilt control part in the standby state in 2nd Embodiment. The flowchart which shows the processing of the pan / tilt control part at the time of receiving a return command in 2nd Embodiment. The figure which shows the hardware composition of the network camera 100 in each embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The configuration shown in the following embodiments is only an example, and the present invention is not limited to the illustrated configuration.

(First Embodiment)
FIG. 1 is a functional block diagram of a network camera according to the present embodiment. The network camera 100 is connected to a client device (information processing device) (not shown) via the network 150 in a state in which it can communicate with each other. The user can send various commands from the client device to the network camera 100.

The image pickup unit 101 is composed of an image pickup lens including a focus lens, a zoom lens, and an image pickup element, and performs image pickup of a subject and conversion into an electric signal.

The pan drive unit 102 is composed of a mechanical drive system that performs a pan operation and a motor of the drive source, and is controlled by the pan / tilt control unit 106.

The tilt drive unit 103 is composed of a mechanical drive system that performs a tilt operation and a motor of the drive source, and is controlled by the pan / tilt control unit 106.

The blur detection unit 104 (rotation detection unit) is composed of an angular velocity sensor such as a gyro sensor and various filters for removing noise, and the angular velocity (change amount) in the Yaw (pan) direction and the Pitch (tilt) direction of the imaging unit 101. Is detected. An angular velocity sensor such as a gyro sensor may be arranged one by one for Yaw direction detection and one for Pitch direction detection in order to detect the Yaw direction and the Pitch direction of the imaging unit 101, or two or three axes at the same time. One sensor that can detect may be arranged. Further, the angular velocity sensor and the acceleration sensor may be integrated into one sensor capable of detecting 6 axes. The detected angular velocity information is acquired by the blur correction unit 107 and used for image blur correction of the image pickup unit 101. The blur detection unit 104 is also used to detect the rotation of the pan drive unit 102 and the tilt drive unit 103 during standby.

The image processing unit 105 performs image processing such as noise removal and gamma correction on the electric signal converted by the image pickup unit 101, generates image data, and transmits the image data to the system control unit 108. It also processes commands received from the system control unit 108. For example, when a zoom position change or focus position change instruction is received from the system control unit 108, the focus lens or zoom lens of the image pickup unit 101 is driven to the received position, and an image quality adjustment instruction is received. Adjusts the image quality. The image processing unit 105 also includes a pan / tilt control unit 106 and a blur correction unit 107.

The pan / tilt control unit 106 controls commands related to pan / tilt received by the image processing unit 105 from the system control unit 108, and controls the pan drive unit 102 and the tilt drive unit 103 based on the command instructions.

The blur correction unit 107 corrects the blur of the imaging unit 101 based on the blur information acquired from the blur detection unit 104. For blur correction, an electronic blur correction means for correcting the amount of blur by shifting the pixels of the image sensor may be used, or correction is performed by moving the lens of the correction optical system included in the image pickup unit 101. Optical blur correction means may be used. In this embodiment, an electronic blur correction means is used.

The system control unit 108 controls the entire network camera 100. The system control unit 208 distributes the generated image data to the client device at the time of non-figure via the communication unit 109. Further, the camera control command transmitted from the communication unit 109 is analyzed, and the command related to the image processing unit 105 is transmitted to the image processing unit 105. For example, when a command in the standby state (standby state) is received, an instruction to enter the standby state is given to the image processing unit 105, and when a return instruction command from the standby is received, an instruction to return is given as an image. The process is performed on the processing unit 105.

The communication unit 109 receives the camera control command transmitted from the client device and transmits it to the system control unit 108. It also sends a response to the camera control command to the client device.

The network camera 100 in this embodiment is not limited to the configuration shown in FIG. For example, a video output terminal such as SDI or HDMI (registered trademark), an audio input / output unit, or an external device input / output unit may be provided in the network camera 100. Further, the communication unit 109 may be connected by wire or wirelessly.

Subsequently, the mechanical configuration of the network camera 100 according to the present embodiment will be described with reference to FIG.

FIG. 2A is a view of the attached network camera 100 as viewed from the upper surface side, and FIG. 2B is a view of the attached network camera 100 as viewed from the side surface. In FIG. 2, 201 is a bottom case, 202 is a turntable (support portion), 203 is a camera head support (support portion), and 204 is a camera head (imaging portion).

With reference to FIG. 2, the vertical axis is defined as the vertical axis, and the axis orthogonal to the vertical axis is defined as the horizontal axis, and the operation of the pan / tilt movable portion will be described. In FIG. 2A, the clockwise direction is the positive direction of the pan angle and the counterclockwise direction is the negative direction of the pan angle about the vertical axis orthogonal to the paper surface. Further, in FIG. 2B, the clockwise direction is the positive direction of the tilt angle and the counterclockwise direction is the negative direction of the tilt angle about the axis orthogonal to the paper surface.

In FIG. 2, the pan drive unit 102 is composed of a bottom case 201 and a turntable 202, and the turntable 202 rotates in the horizontal direction about a vertical axis. The pan drive unit 102 of the present embodiment can rotate (rotate) from −170 degrees to +170 degrees in the pan direction.

The tilt drive unit 103 is composed of a camera head support column 203 and a camera head 204 provided on the turntable 202, and the camera head 204 rotates in the vertical direction about a horizontal axis. The tilt drive unit 103 of the present embodiment can rotate (rotate) from −20 degrees in the diagonally downward direction to 90 ° in the straight upward direction with the horizontal direction as 0 degrees.

As described above, the camera head 204 (imaging unit) is supported by the turntable 202 and the camera head support column 203 (supporting unit).

As described above, the network camera 100 of the present embodiment can shoot a wide range by changing the shooting direction by rotating the camera head in the horizontal direction and the vertical direction. The network camera 100 in this embodiment is not limited to the configuration shown in FIG. For example, it may be possible to drive 360 degrees endlessly in the pan direction. Further, the tilt direction may be driven by 180 degrees.

The position control of the pan drive unit 102 and the tilt drive unit 103 is performed by the number of drive steps of the motor (drive unit) which is the drive source. In order to perform position control, it is necessary to store a reference position that serves as a reference for position control before starting position control. The operation of storing the reference position is the initialization operation of the drive unit, and is performed when the reference position of the position control needs to be initialized, such as when the power of the device is turned on. A PI (PhotoInterrupt) sensor is installed at the reference position, and while checking the value of the PI sensor, the pan drive unit 102 and the tilt drive unit 103 are driven, and the position where the output of the PI sensor changes is used as a reference. Remember as a position.

The reference position may be the center position of the drive range of the pan drive unit 102 and the tilt drive unit 103, or may be the end position of the drive range. After the reference position is determined, accurate position control can be performed by driving the number of drive steps from the reference position.

When the communication unit 108 receives the command in the standby state, the network camera shifts to the standby state. In the standby state, since the imaging is not performed, the energization of the imaging unit 101 is cut off, and because the pan / tilt drive is not performed, the energization of the pan drive unit 102 and the tilt drive unit 103 is cut off.

In the present embodiment, the instruction to shift to the standby state or the instruction to return from the standby state is received from a client device (not shown) via the network 150, but is not limited thereto. For example, the network camera 100 may be provided with a serial communication unit, and a PC or controller may be directly connected to the serial communication unit to send and receive commands from the serial communication unit.

In the present embodiment, the blur detection unit 104 used for blur correction of the imaging unit 101 is used for rotating detection of the pan drive unit 102 and the tilt drive unit 103 in the standby state. The detection in the Yaw direction of the blur detection unit 104 is used for pan rotation, and the detection in the Pitch direction is used for tilt rotation.

Hereinafter, the initialization process of the pan / tilt drive unit when the standby command in the present embodiment is received will be described with reference to the flowcharts shown in FIGS. 3, 4, and 5.

FIG. 3 is a flowchart showing the processing of the pan / tilt control unit 106 when the standby command is received.

In step S301, the sequence of standby state command reception processing is started.

Next, in step S302, the pulse counter value of the current motor is stored as the position when the standby command is received.

Next, in step S303, the flag for moving to the standby position or not moving is confirmed. The standby position is near the end positions of the pan drive unit 102 and the tilt drive unit 103. By moving to this standby position, it is possible to clearly indicate to the person to be photographed that the image is not being taken from the appearance.

The user can set whether to move to the standby position during standby. The flag is set when it is set to move to the standby position, and the flag is cleared when it is set not to move to the standby position (the state shifts to the standby state with the position where the standby command is received).

If the flag for moving to the standby position is set, the process proceeds to step S304, and if the flag is not set, the process proceeds to step S305.

In step S304, the pan drive unit 102 and the tilt drive unit 103 are driven to the end positions. In the present embodiment, the pan drive unit 102 drives to −170 degrees, and the tilt drive unit 103 drives to −20 degrees.

In step S305, the pulse counter value of the motor is stored as the current position.

In step S306, the standby setting is performed. For example, the energization of the pan drive unit 102 and the tilt drive unit 103 is cut off. That is, the network camera 100 is shifted to the standby state. However, if the power supply to the drive unit is cut off, the pan drive unit 102 and the tilt drive unit 103 can be easily rotated by hand. Therefore, in the present embodiment, the blur detection unit 104 used for blur correction of the imaging unit 101 is used for rotating detection of the pan drive unit 102 and the tilt drive unit 103 in the standby state. Therefore, the setting of the blur detection unit 104 may be changed during standby. For example, if the gyro range can be changed, the range can be changed. In the standby state, it is assumed that the pan drive unit 102 or the tilt drive unit 103 is rotated by hand, so that detection is possible in a lower speed range than the range used by the blur correction means 107 in the normal state. .. For example, when the gyro range is set to ± 250 degrees / sec in the normal state, the angular velocity may be changed to ± 125 degrees / sec, which is smaller than that in the standby state.

Further, the sampling frequency for acquiring the gyro value may be changed. Normally, it is necessary to integrate the output value of the gyro to calculate the amount of blur, so the gyro sampling frequency can be controlled more accurately at higher frequencies. On the other hand, since the amount of blur is not calculated in the standby state, the frequency may be set low. For example, it can be 4 kHz in the normal state and 1 kHz in the standby state.

In step S307, the process when the standby command is received ends.

FIG. 4 is a flowchart showing the processing of the pan / tilt control unit 106 in the standby state. After the sequence shown in FIG. 3, the network camera 100 shifts to the standby state. The flowchart of FIG. 4 is a process after shifting to the standby state. It should be noted that this sequence is periodically called by a timer or the like, for example, at 1 kHz.

In step S401, the standby state sequence is started.

Next, in step S402, the gyro value of the blur detection unit 104 is acquired, and it is determined whether or not the acquired absolute value is equal to or greater than a predetermined value. Since the output (change amount) of the gyro signal has some variation even at rest, set a value larger than the variation. For example, when the variation at rest is about ± 30 LSB (Least Significant Bit), ± 50 LSB is set as a predetermined value. When the output of the gyro signal is -50LSB or less, or 50LSB or more, the process proceeds to step S403. On the other hand, if the output of the gyro signal is between −49LSB and 49LSB, the process proceeds to step S404. In the present embodiment, the predetermined value for pan and the predetermined value for tilt are the same value, but they may be different. Further, although it has a predetermined value for pan and a predetermined value for tilt, the predetermined value for pan and the predetermined value for tilt may be shared.

In step S403, since the absolute value of the output of the gyro signal is equal to or greater than a predetermined value, it is determined that the pan drive unit 102 or the tilt drive unit 103 has rotated, and the initialization flag is set.

In step S404, the process in the standby state ends.

FIG. 5 is a flowchart showing the processing of the pan / tilt control unit 106 when the return command is received in the standby state.

In step S501, the sequence of return command reception processing is started.

In step S502, it is determined whether the initialization flag is set. If it is determined that the initialization flag is set, the process proceeds to S503. If it is determined that the initialization flag is not set, the process proceeds to S506.

In step S503, the set initialization flag is cleared.

In step S504, the pan drive unit 102 and the tilt drive unit 103 are initialized. The initialization drives the pan drive unit 102 and the tilt drive unit 103 to detect the change position of the output of the PI sensor. Then, it is an operation of setting the pulse counter value to 0 with that position as a reference position.

In the present embodiment, the pan drive unit 102 and the tilt drive unit 103 are initialized at the same time, but when only the pan drive initialization flag is set, only the pan drive unit 102 is initialized. You can go. Further, when only the initialization flag for tilt drive is set, only the tilt drive unit 103 may be initialized.

In step S505, the pulse counter value is acquired as the current value. In this case, it becomes 0 because the initialization is performed.

In step S506, the driving amount to be driven at the time of return is obtained. The drive amount is obtained by the difference between the target position and the current position. The user can set which position to return to when returning. For example, the position when a standby command is received, the origin position, the preset position, and the like.

If the target position at the time of recovery is the position when the standby command is received and the output value of the gyro signal is less than the predetermined value in the standby state, the target position and the current position are the same, so the drive amount is It becomes 0. On the other hand, in the standby state, when the output value of the gyro signal is equal to or higher than a predetermined value, the driving amount is the difference between the target position and the reference position (current position) because it is initialized in step S503.

In step S507, the return setting from the standby state to the normal state is performed. That is, the network camera 100 is shifted from the standby state to the normal state. That is, the setting made in step S306 is returned to the original setting in the normal state. For example, if the power to the pan drive unit 102 and the tilt drive unit 103 is cut off, the energization is restarted. If the gyro range of the blur detection unit 104 or the gyro sampling timing has been changed, the original settings are restored.

In step S508, the pan drive 102 and the tilt drive unit 103 are driven based on the values calculated in step S506. When the value calculated in S506 is 0, the drive amount is 0, and as a result, the drive is not performed.

In step S509, the process at the time of receiving the return command is terminated.

As described above, in the present embodiment, in the standby state, when the value output by the blur detection unit 104 is equal to or higher than a predetermined value, the pan drive unit 102 or the tilt drive unit 103 is initialized and the value output by the blur detection unit 104 is performed. If is less than the predetermined value, the configuration is such that initialization is not performed.

As a result, when the pan drive unit 102 or the tilt drive unit 103 is moved during standby (standby), the initialization operation is performed at the time of recovery to eliminate the deviation between the pulse counter value and the actual position. be able to.

Further, if the pan drive unit 102 or the tilt drive unit 103 is not moved during standby, the pan drive unit 102 or the tilt drive unit 103 is not initialized, so that the recovery time from the standby operation can be shortened. Can be done.

Further, in the present embodiment, since the blur detection unit 104, which is a sensor for detecting blur, is also used for detecting rotation in the standby state, the configuration of the network camera 100 can be simplified. This makes it possible to reduce the size of the network camera 100.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 6 and 7. With respect to the same components as in the case of the first embodiment, by using the reference numerals already used, detailed description thereof will be omitted, and the differences from the first embodiment will be mainly described.

In the first embodiment, the pan drive unit 102 or the tilt drive unit 103 is initialized when the value output by the blur detection unit 104 is equal to or more than a predetermined value, but in the present embodiment, the pan drive unit 102 or the tilt is performed. The drive unit 103 is not initialized, but the amount of rotation is calculated. Since the process at the time of receiving the standby command is the same as that of the first embodiment, it is omitted.

FIG. 6 is a diagram showing a sequence of the pan / tilt control unit 106 of the present embodiment in the standby state. In the first embodiment, the sampling frequency of the blur detection unit 104 is changed to 1 kHz when the standby setting of S306 is set, but in the present embodiment, the sampling frequency is set to 4 kHz, which is the same as the normal time, in order to calculate the rotation amount. Do. Therefore, this sequence is periodically called at 4 kHz by a timer or the like.

Regarding the range of the gyro signal, the range may be set to a low speed range as in the first embodiment. The sampling timing may be other than 4 kHz, and the frequency may be further increased if there is a margin in the processing time. Regarding the same steps as in FIG. 4, the same number of steps as in FIG. 4 is added, and the description thereof will be omitted.

In step S601, the angular velocity obtained from the gyro of the blur detection unit 104 is integrated to convert it into an angle, and the angular velocity is added to the current value acquired in step S305. The added value is stored as the current position. The integration method may be a method in which a low-pass filter is configured with a digital filter, or a method in which the output value of the gyro is simply integrated and added in a detection period (for example, 250 μsec at 4 kHz). Further, a high-pass filter, a phase lead filter, a phase lag filter and the like may be added. In this way, by periodically integrating the gyro value and adding it to the current value, the current value is acquired even when the pan drive unit 102 or the tilt drive unit 103 is unintentionally rotating. It becomes possible. After the process of step S601, the process proceeds to step S404 to end the process in the standby state.

Next, the processing of the pan / tilt control unit 106 when the return command is received in the standby state will be described with reference to the flowchart of FIG. 7. Regarding the same steps as in FIG. 5, the same number of steps as in FIG. 5 will be added, and the description thereof will be omitted.

In FIG. 7, steps S505 are omitted from step S502 in FIG. In this embodiment, the current position is updated by integrating the output value of the gyro during standby. Therefore, even if the current position is changed from the time when the standby state command is received when returning from the standby state, the drive amount can be obtained by calculating the difference between the current position and the target position in step S506. ..

That is, it is not necessary to initialize the pan drive unit 102 or the tilt drive unit 103, and the return time can be shortened as compared with the case where the pan drive unit 102 or the tilt drive unit 103 is initialized and driven from the reference position to the target position.

Further, as in the first embodiment, when the target position is the position where the standby state command is received and the rotation of the pan drive unit 102 or the tilt drive unit 103 is not detected during standby, the target position and the current position are set. Since the difference is 0, the drive amount is 0. As a result, initialization is not required, and the recovery time can be shortened as compared with the case of initialization.

As described above, in the present embodiment, when the value of the blur detection unit 104 is equal to or more than the predetermined value in the standby state, the rotation angle is calculated by integrating the value of the blur detection unit 104, and when the value is less than the predetermined value, the rotation angle is calculated. , The configuration is such that the values of the blur detection unit 104 are not integrated. Therefore, even if the pan drive unit 102 or the tilt drive unit 103 is rotating during standby, the position deviation between the pulse counter value indicating the current position and the actual pan drive unit 102 or the tilt drive unit 103 does not occur. As a result, the initialization of the pan drive unit 102 or the tilt drive unit 103 can be omitted. That is, the return time can be shortened.

Further, if the pan drive unit 102 or the tilt drive unit 103 is not moved during standby, the pan drive unit 102 or the tilt drive unit 103 is not initialized as in the first embodiment, so that the standby operation is started. The recovery time can be shortened.

Further, in the present embodiment, a method of adding the integrated value of the gyro to the current value is proposed in step S601, but the present invention is not limited to this. For example, if the movable range of the pan drive unit 102 or the tilt drive unit 103 (pan drive unit: -170 degrees to 170 degrees, tilt drive unit -20 degrees to 90 degrees) is exceeded during addition, the initialization flag is set. It may be configured to be used. If the pan drive unit 102 or the tilt drive unit 103 is rotated by hand, the current value does not exceed the movable range, but if the location of the network camera 100 itself moves in the standby state, it may exceed the movable range. is there. In that case, there will be a discrepancy between the current position obtained by integrating the output value of the gyro signal and the actual position, but if you set the initialization flag and execute initialization when returning from the standby state, After returning, accurate position control can be performed.

Further, although the upper limit value and the lower limit value of the output value of the gyro signal are not mentioned in this embodiment, the initialization flag is set when the output value of the gyro signal becomes the detectable upper limit value or the lower limit value or less. It may be configured to be used. As a result, if the reliability of the current position obtained in step S601 is low, the pan drive unit 102 or the tilt drive unit 103 may be initialized when returning from the standby state, and accurate position control may be performed after the return. it can.

(Other embodiments)
A program (software) that realizes a part or all of the control in the present invention to realize the functions of the above-described embodiment may be supplied to the image pickup apparatus or the information processing apparatus via a network or various storage media. Then, the computer (or CPU, MPU, etc.) in the image pickup device or the information processing device may read and execute the program. In that case, the program and the storage medium that stores the program constitute the present invention.

FIG. 8 is a block diagram showing a configuration example of the hardware of the network camera 100 that executes the processing according to each of the above embodiments as a program.

The CPU 801 controls the entire network camera 100 by using the computer programs and data stored in the RAM 802 and the ROM 803, and also executes the processes according to each of the above embodiments. The CPU 801 controls the image pickup unit 805, the pan drive unit 806, the tilt drive unit 807, and the blur detection unit 808.

The RAM 802 has an area for temporarily storing computer programs and data loaded from the external storage device 804, data acquired from the outside via the I / F (interface) 809, and the like. Further, the RAM 802 has a work area used by the CPU 801 to execute various processes. That is, the RAM 802 can be allocated as a frame memory, for example, or various other areas can be provided as appropriate.

The ROM 803 stores setting data of the network camera 100, a boot program, and the like.

The image pickup unit 805 can be composed of an image pickup element such as a CCD or CMOS. An image signal is generated by photoelectric conversion of a subject image by an imaging optical system (not shown).

The external storage device 804 is an external storage device such as a USB memory or an SD card. The external storage device 804 stores a computer program for causing the CPU 801 to realize the processing according to each of the above embodiments. Further, each image as a processing target may be stored in the external storage device 804.

The computer programs and data stored in the external storage device 804 are appropriately loaded into the RAM 802 according to the control by the CPU 8001, and are processed by the CPU 801. A network such as a LAN or the Internet, or other devices such as a projection device or a display device can be connected to the I / F809, and the computer acquires and sends various information via the I / F809. Can be done. Reference numeral 810 is a bus connecting the above-mentioned parts.

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 modifications can be made within the scope of the gist thereof.

100 Network camera 101 Imaging unit 102 Pan drive unit 103 Tilt drive unit 104 Blur detection unit 105 Image processing unit 106 Pan / tilt control unit 107 Blur correction unit 108 System control unit 109 Communication unit

Claims (10)

A support part that supports the image pickup part and
A drive unit that rotates the support unit and
A rotation detection unit that detects the amount of change that accompanies the rotation of the support unit,
A control unit that controls the drive unit and
Have,
When the imaging unit returns from the standby state to the normal state, the control unit performs an initialization operation when the amount of change detected by the rotation detecting unit during the standby of the imaging unit is less than a predetermined value. A control device characterized in that the drive unit is controlled so as to rotate the support unit to a target position without performing the operation. In the control device according to claim 1,
When the image pickup unit returns from the standby state to the normal state, the control unit uses the support unit as a reference when the amount of change detected by the rotation detection unit during the standby state of the image pickup unit is equal to or greater than a predetermined value. A control device characterized in that the drive unit is controlled so as to rotate the support unit to a target position after performing an initialization operation for rotating the support unit to a position. In the control device according to claim 1 or 2.
A control device characterized in that the sampling frequency of the amount of change detected by the rotation detection unit is smaller in the standby state than in the normal state of the imaging unit. In the control device according to claim 1,
When the image pickup unit returns from the standby state to the normal state, the control unit responds to the change amount when the change amount detected by the rotation detection unit during the standby state of the image pickup unit is equal to or more than a predetermined value. A control device characterized in that the drive unit is controlled so as to rotate the support unit to the target position with a large amount of drive. In the control device according to claim 4,
When the amount of change detected by the rotation detection unit during the standby of the imaging unit reaches the detectable upper limit value or lower limit value of the rotation detection unit, the initialization of rotating the support unit to the reference position is performed. A control device characterized in that the drive unit is controlled so as to rotate the support unit to a target position after performing an operation. In the control device according to claim 4 or 5.
When the drive amount corresponding to the change amount detected by the rotation detection unit during the standby of the imaging unit exceeds the movable range of the support unit, an initialization operation for rotating the support unit to a reference position. A control device for controlling the drive unit so as to rotate the support unit to a target position after performing the above. In the control device according to any one of claims 1 to 6.
The rotation detection unit is a control device that also functions as a blur detection unit that detects blurring of the imaging unit. It is a method for controlling a drive unit that rotates a support unit that supports an image pickup unit.
A rotation detection step for detecting the amount of change due to the rotation of the support portion, and
A control step that controls the drive unit and
Have,
The control step performs an initialization operation when the imaging unit returns from the standby state to the normal state and the amount of change detected in the rotation detection step during the standby of the imaging unit is less than a predetermined value. A method characterized in that the drive unit is controlled so as to rotate the support unit to a target position without performing the method. A program for causing a computer to execute a method for controlling a drive unit that rotates a support unit that supports an image pickup unit.
A rotation detection step for detecting the amount of change due to the rotation of the support portion, and
A control step that controls the drive unit and
Have,
The control step performs an initialization operation when the imaging unit returns from the standby state to the normal state and the amount of change detected in the rotation detection step during the standby of the imaging unit is less than a predetermined value. A program characterized in that the drive unit is controlled so as to rotate the support unit to a target position without performing the program. A computer-readable storage medium that stores the program according to claim 9.

Images