IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0099019
(2008-04-07)
|
등록번호 |
US-8624976
(2014-01-07)
|
우선권정보 |
EP-07106105 (2007-04-13) |
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
12 |
초록
▼
The invention relates to a method for moving a maneuverable part of a pan-tilt camera from a first pan-tilt position, having a first pan coordinate and a first tilt coordinate, to a second pan-tilt position, having a second pan coordinate and a second tilt coordinate. The maneuverable part is moved
The invention relates to a method for moving a maneuverable part of a pan-tilt camera from a first pan-tilt position, having a first pan coordinate and a first tilt coordinate, to a second pan-tilt position, having a second pan coordinate and a second tilt coordinate. The maneuverable part is moved by inverting the maneuverable part of the camera and panning to the second pan coordinate. The first pan coordinate is part of a pan-tilt coordinate system and the second pan coordinate is part of a complementary pan-tilt coordinate system, which represents positions of the inverted maneuverable part. The maneuverable part is moved from the first tilt coordinate to the second tilt coordinate. The first tilt coordinate is part of the pan-tilt coordinate system and the second tilt coordinate is part of the complementary pan-tilt coordinate system. The invention also relates to a corresponding device and a corresponding computer program.
대표청구항
▼
1. A method implemented in a pan-tilt camera for achieving a 360 degree continuous panning capability by moving a maneuverable part of the pan-tilt camera from a first pan-tilt position, having a first pan position and a first tilt position, to a second pan-tilt position, having a second pan positio
1. A method implemented in a pan-tilt camera for achieving a 360 degree continuous panning capability by moving a maneuverable part of the pan-tilt camera from a first pan-tilt position, having a first pan position and a first tilt position, to a second pan-tilt position, having a second pan position and a second tilt position, the maneuverable part being configured to pan in a geometric pan plane, comprising: receiving an input to move the pan-tilt camera;identifying a position of a mechanical pan stop;determining whether the position of the mechanical pan stop would be located in a path to be used by the maneuverable part of the pan-tilt camera when moving from the first pan-tilt position to the second pan-tilt position; and if so,moving the maneuverable part from the first pan position to the second pan position, by inverting the maneuverable part of the camera by tilting the maneuverable part passing a normal of said geometric pan plane, and panning to the second pan position, wherein the first pan position is part of a pan-tilt coordinate system and the second pan position is part of a complementary pan-tilt coordinate system representing positions of the inverted maneuverable part. 2. A method as claimed in claim 1, further comprising moving the maneuverable part from the first tilt position to the second tilt position. 3. A method according to claim 1, wherein the inverting comprises passing the normal of the geometric pan plane once. 4. A method as claimed in claim 2, wherein the moving of the maneuverable part from the first pan position and the first tilt position to the second pan position and the moving of the maneuverable part from the first tilt position to the second tilt position are performed substantially simultaneous. 5. A method as claimed in claim 1, further comprising: capturing an image by the pan-tilt camera;freezing the image while moving the maneuverable part from the first pan-tilt position to the second pan-tilt position; andunfreezing the image in response to reaching the second pan-tilt position. 6. A method as claimed in claim 5, wherein moving the maneuverable part of the pan-tilt camera from the first pan-tilt position to the second pan-tilt position occurs automatically in response to identifying the mechanical pan stop. 7. A method as claimed in claim 1, wherein: the first pan-tilt position is the position of the identified mechanical pan stop; andidentifying the position of the mechanical pan stop includes physically encountering the mechanical pan stop during a continuous movement of the maneuverable part of the pan-tilt camera. 8. A method as claimed in claim 1, further comprising: rotating the image captured by the pan-tilt camera 180 degrees by using digital image processing algorithms in response to completing the moving of the maneuverable part from the first pan-tilt position to the second pan-tilt position. 9. A method as claimed in claim 1, wherein the second pan-tilt position is a position specified by a user controlling the maneuverable part of the pan-tilt camera. 10. A method as claimed in claim 1, wherein the second pan-tilt position is a position predicted based on the movement of the pan-tilt camera prior to identifying the mechanical pan stop. 11. A method as claimed in claim 10, wherein: the second pan coordinate is determined based on a pan speed of the maneuverable part prior to identifying the mechanical pan stop and an estimated time for moving the maneuverable part from the first pan-tilt position to the second pan-tilt position; andthe second tilt coordinate is determined based on a tilt speed of the maneuverable part prior to identifying the mechanical pan stop and an estimated time for moving the maneuverable part from the first pan-tilt position to the second pan-tilt position. 12. A non-transitory computer-readable medium having instructions for causing a computer to execute a method comprising: moving a maneuverable part of a pan-tilt camera from a first pan-tilt position, having a first pan position and a first tilt position, to a second pan-tilt position, having a second pan position and a second tilt position, the maneuverable part being configured to pan in a geometric pan plane and provide a 360 degree continuous panning capability, wherein the computer-readable medium contains instructions corresponding to the steps of:receiving an input to move the pan-tilt camera; identifying a position of a mechanical pan stop;determining whether the position of the mechanical pan stop would be located in a path to be used by the maneuverable part of the pan-tilt camera when moving from the first pan-tilt position to the second pan-tilt position; and if so,moving the maneuverable part from the first pan coordinate to the second pan position, by inverting the maneuverable part of the camera by tilting the maneuverable part passing a normal of said geometric pan plane, and panning to the second pan position, wherein the first pan position is part of a pan-tilt coordinate system and the second pan coordinate is part of a complementary pan-tilt coordinate system representing positions of the inverted maneuverable part. 13. A non-transitory computer-readable medium as claimed in claim 12, further having instructions for causing a computer to execute a method comprising moving the maneuverable part from the first tilt coordinate to the second tilt coordinate. 14. A non-transitory computer-readable medium as claimed in claim 12, wherein the moving of the maneuverable part from the first pan position and the first tilt position to the second pan position and the moving of the maneuverable part from the first tilt position to the second tilt position are performed substantially simultaneous. 15. A non-transitory computer-readable medium as claimed in claim 12, further having instructions for causing a computer to execute a method comprising: capturing an image by the pan-tilt camera;freezing the image while moving the maneuverable part from the first pan-tilt position to the second pan-tilt position; andunfreezing the image in response to reaching the second pan-tilt position. 16. A non-transitory computer-readable medium as claimed in claim 12, wherein: the first pan-tilt position is the position of the identified mechanical pan stop; andidentifying the position of the mechanical pan stop includes physically encountering the mechanical pan stop during a continuous movement of the maneuverable part of the pan-tilt camera. 17. A non-transitory computer-readable medium as claimed in claim 16, wherein moving the maneuverable part of the pan-tilt camera from the first pan-tilt position to the second pan-tilt position occurs automatically in response to identifying the mechanical pan stop. 18. A non-transitory computer-readable medium as claimed in claim 12, further having instructions for causing a computer to execute a method comprising: rotating the image captured by the pan-tilt camera 180 degrees by using digital image processing algorithms in response to completing the moving of the maneuverable part from the first pan-tilt position to the second pan-tilt position. 19. A non-transitory computer-readable medium as claimed in claim 12, wherein the second pan-tilt position is a position specified by a user controlling the maneuverable part of the pan-tilt camera. 20. A non-transitory computer-readable medium as claimed in claim 12, wherein the second pan-tilt position is a position predicted based on the movement of the pan-tilt camera prior to identifying the mechanical pan stop. 21. A non-transitory computer-readable medium as claimed in claim 20, wherein: the second pan coordinate is determined based on a pan speed of the maneuverable part prior to identifying the mechanical pan stop and an estimated time for moving the maneuverable part from the first pan-tilt position to the second pan-tilt position; andthe second tilt coordinate is determined based on a tilt speed of the maneuverable part prior to identifying the mechanical pan stop and an estimated time for moving the maneuverable part from the first pan-tilt position to the second pan-tilt position. 22. A non-transitory computer-readable medium as claimed in claim 12, wherein the medium is a digital storage medium. 23. A pan-tilt camera comprising a stationary part,a maneuverable part configured to pan in a geometric pan plane and provide a 360 degree continuous panning capability,a mechanical stop connected to the stationary part,a processor configured to receive an input to move the pan-tilt camera; to identify a position of the mechanical pan stop; to determine whether the position of the mechanical pan stop would be located in a path to be used by the maneuverable part of the pan-tilt camera when moving from the first pan-tilt position to the second pan-tilt position; and if so, to move the maneuverable part from a first pan position to a second pan position, by inverting the maneuverable part of the camera by tilting the maneuverable part passing a normal of said geometric pan plane, and panning to the second pan position, wherein the first pan position is part of a pan-tilt coordinate system and the second pan position is part of a complementary pan-tilt coordinate system representing positions of the inverted maneuverable part.
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