| 摘要 |
PROBLEM TO BE SOLVED: To accurately control the direction of a camera even if a reference direction, etc., deviates by adding a correction angle represented by a specific expression to a calculated value of a rotational angle in the vertical direction. SOLUTION: The camera which is able to rotate horizontally and vertically is brought under rotation control by calculating a horizontal rotational angle and a vertical rotational angle for acquiring a target object. At this time, the correction angle T represented as T=Th1-Th2.cos(Pk)-Th3.sin(Pk) is added to the calculated value of the vertical rotational angle. In the equation, Th1 is the tilt angle of the camera in the horizontal rotational plane in an initial state, Th2 a value presented asβ.cos(α), Th3 a value presented asβ.sin(α), Pk the horizontal rotational angle of the camera,βthe tilt angle of the horizontal axis of rotation of the camera, andαthe angle between the projection of the axis of rotation on the horizontal plane and the reference direction on the horizontal plane. Consequently, even if the reference direction, etc., deviates, the direction of the camera can accurately be controlled.
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