CN1192249C - Automatic-tracing lighting equipment, lighting controller and tracing apparatus - Google Patents

Abstract

Automatic tracking lighting equipment for automatically tracking a target to be illuminated. A spotlight is supported for pivoting in horizontal and vertical directions on a ceiling surface. A horizontal drive mechanism changes the horizontal angle of the spotlight and a vertical drive mechanism changes the vertical angle of the spotlight. A CCD camera picks up the image of a target area to be illuminated. An image recognition unit processes the image from the CCD camera to recognize the target to be illuminated and to specify its coordinates. A coordinate calculation unit calculates how far to move the spotlight based on a distance of the target to be illuminated. A movable control unit converts the output of the coordinate calculation unit into drive signals for the horizontal drive mechanism and for the vertical drive mechanism and outputs drive signals to pivot the spotlight in a desired direction.

Description

Automatic tracking illumination equipment, lighting controller and tracking equipment

The present invention relates in such as places such as banquet hall, hall or stages, can automatically to follow the tracks of performing artist or other object and to automatic tracking illumination equipment, lighting controller and the tracking equipment of its strary lighting in the air.

Usually, as being used for from the illuminated moving target of motion tracking people and to the automatic tracking illumination equipment of its strary lighting for example, Japan discloses a kind of such light fixture among the publication SOH 6433803.Wherein, illuminated target people carries the transmitter of a ultrasound wave or radiowave, it is provided with 20 receiving sensors on the ceiling surface of the surround with 15m * 75m area, determine this transmitter, promptly from the direction of illumination determining from the received signal of receiving sensor to carry this transmitter people's position and make light fixture from this people of motion tracking.

In having the automatic tracking illumination equipment of said structure,, need on the ceiling surface of surround some receivers to be set and to put the position relation between the receiver in this surround of the workability variation that makes equipment in order in order to determine the position of transmitter exactly.

Simultaneously as is generally known, lighting controller is the direction of control light fixture, and this light fixture is used for people or other object strary lighting of moving before the lights and makes lighting position with the position of following the tracks of illuminated people of moving as the illuminated people of target.

There is one the operator is positioned near the illuminated district (promptly at traditional lighting control devices, make the operator be positioned at the place that can look at this lighting position at least straight) structure, direct-view by the required illuminated district that obtains, with operation illuminations such as remote manipulators, and continue operation the lighting position of target illumination position and light fixture coincide mutually.

In another kind of traditional lighting controller, has a kind of structure, in this structure, a camera is fixed on the light body section of light fixture so that the shooting direction of the illumination direction of light fixture and camera is parallel to each other, the operator continues operating result need not be by the direct-view in required illuminated district, but observe image being shot by the touch pad of the display device that is located at display image etc. by camera the lighting position of target illumination position and light fixture is coincide mutually.

In another traditional lighting controller, has a kind of structure, in this structure, taking the fixing camera of direction for one is arranged near the light fixture, when observing image being shot and operator with this camera and import a target illumination position, illumination direction moves on to the target illumination position of appointment from current lighting position.

But, in the lighting controller in above-mentioned lighting controller with remote manipulator operation, the operator must be positioned at need the surround near, and before lighting position arrives the target illumination position, when observing lighting position, operate continuously.There is a problem in this structure, and promptly the operator need have certain technology, and work load has all added to the operator.

Has the light body section that camera is fixed to light fixture so that the shooting direction of the illumination direction of light fixture and camera is parallel to each other and controls according to image being shot by this camera in the lighting controller of structure of this illumination direction, the operator needn't be positioned at required illuminated district near, but before lighting position arrived the target illumination position, the operator must similarly operate continuously with above-mentioned situation.The problem that this structure exists is that work load has all added to the operator.

Control in the lighting controller of illumination direction at the image of the camera that utilizes photography direction to be fixed, before lighting position arrives the target illumination position, just do not need continued operation in case import target illumination position, operator, but before implementing control the installation site of necessary input point light source, camera etc.Therefore must measure these installation sites, the problem that causes like this is to make extensive work must be used for initial setting.

In addition, in recent years, the tracking equipment that is used to follow the tracks of tracked object is automatically taken the image of bride or other object by the TV camera, and automatically object is carried out strary lighting according to moving of object in such as the banquet hall in wedding hall and hotel.This tracking equipment is divided into two classes substantially, and a class is followed the tracks of uncertain object, the object that another kind of tracking is determined.

Should before kind equipment will be presented at feature (for example, the CF) storage of the tracked object on the display screen of the image that shows that filming apparatus is taken in advance, and detect and the most similar position of above-mentioned object features by the image that detects continuous input.Its concrete grammar is so-called model coupling.Model coupling is that storage comprises the view data as the district of the tracked object of model, the image of input continuously is divided into and the identical piece of model size, calculate the model of each pixel and the absolute value of each interblock difference, this absolute value and choose the position of comparing the piece with minimum this accumulated value with tracked object space adds up.

This back kind equipment is attached to signal, cromogram or the zone of reflections etc. of the infrared transmitter on the tracked object or chooses the position that these signals detect tracked object with so-called digitizing solution by detecting with position-detection sensor.

For example, Japan publication HEI 6-260002 discloses a kind of structure, and this structure receives the infrared light of the infrared transmitter that carries from tracked object and measures the position of tracked object and the illumination direction of reference mark light source with the light receiving element that is installed in the position-detection sensor on the pointolite main body.In addition, Japanese publication HEI 5-46041 discloses a kind of structure, this structure after being attached to reflecrtive marks such as the zone of reflections on this object, by digitizing from the image of filming apparatus, choose the position that luminance point is measured tracked object.

According to the tracking equipment of the use model of prior art coupling, can measure the difference between the pixel value of the model that is correspondingly positioned at same coordinate and piece.Therefore, when the alteration of form of tracked object (for example, tracked object is a people), and the growth that the accumulated value of the absolute value of difference can be harmful between the tram, cause tracking failure so sometimes to tracked object.In addition, in environment, be prone to the problem that tracking accuracy descends with the object existence similar of some profiles to tracked object.

In order to solve these problems of model coupling, proposed a kind ofly to be used to choose the chromatic information of tracked object and to have for example method as the eigenwert of frequency curve.This method feature is, this frequency curve does not depend on shape, and chromatic information has corresponding tolerance to illumination change etc.But distance between tracked object and illumination and angle when changing in tracing process, chromatic information change, and therefore, the chromatic information of storage can not be selected so that cause follows the tracks of difficulty.

On the other hand, when using infrared transmitter when making the signal mark with the invisible infrared light of people, utilizing the feature of the tracking of measuring mark position is to increase output power, and when infrared luminous energy is stabilized reception, can stably follow the tracks of.But, the problem of existence be by tracked object itself or other object produce be marked with the time be invisible, so some marks (infrared transmitter) must be appended to tracked object in case this problem takes place.In addition, based on certain environment for use, what promptly exist is to have such as the light source of the infrared assembly of distance measuring equipment or the halogen lamp rather than the infrared transmitter of camera, when the infrared light from non-infrared transmitter be harmful to when following the tracks of, will cause the tracking of tracked object to be failed.

Have again, when with zone of reflections etc. during as reflecrtive mark, occur in the surround under the situation of a plurality of bright spots in the existence because of other reflecting object, only the method for determining object space with the brightness binary data possibility that tracked object mistake is differentiated becomes big, simultaneously this method shortage practicality that becomes.

The present invention proposes in view of the above problems, an object of the present invention is to propose an automatic tracking illumination equipment that has improved operability.

In addition, the present invention improves at foregoing problems, another object of the present invention is to propose one the operator need be positioned near the lighting position by observing the lighting controller that lighting position is determined the target illumination position and lighting position moved into the target illumination position by the target illumination position before specifying on the display device, therefore alleviated the operator burden, cancelled the needs of the installation site of importing light fixture, camera etc. and when initial setting, do not had workload substantially.

In addition, the present invention improves at foregoing problems, and another purpose of the present invention provides a tracking equipment of can high precision stably following the tracks of tracked object.

To achieve these goals and address the above problem, a first aspect of the present invention comprises: a directive lighting device; A drive unit that changes the illumination direction of this lighting device; An image capturing device when changing its image taking direction with illumination direction one, is used at the direction photographic images identical with illumination direction.An image identification device is used for image, the illuminated target of discriminating according to this image capturing device, and determines the coordinate of illuminated target; A calculation element is used for calculating amount of movement along illumination direction from the amount of movement of the illuminated target of image identification device; With a control device, be used for driving according to the result of calculation accessory drive of calculation element.Therefore, this equipment also is applicable to had not both had the illuminated target that transmitter does not have similar device yet.In addition, thus do not need some receptacles to be set or similar device has improved operability on the ceiling surface yet.Simultaneously, in the initial setting stage, the illumination direction of lighting device can be visually coincide with the coordinate of the illuminated target of image identification device.

Second aspect of the present invention comprises: a directive lighting device; A drive unit that is used to change the illumination direction of this lighting device; One is arranged in the lighting space so that can take the image capturing device of an interior image of the lighting space of lighting device; An image identification device is used for image, the illuminated target of discriminating from this image capturing device, and determines the coordinate of illuminated target; A calculation element is used for from the coordinate of the illuminated target of image identification device and lighting space, the position relation between lighting device and the filming apparatus, calculates the amount of movement along illumination direction; With a control device, be used for driving according to the result of calculation accessory drive of calculation element.Therefore, this equipment also applicable to illumination direction for example through the reflection of a catoptron and the light fixture that changes, and this equipment can be controlled a plurality of lighting devices.

The 3rd aspect of the present invention comprises: a directive lighting device; First drive unit that is used to change the illumination direction of lighting device; One is arranged in the lighting space so that can take the image capturing device of an interior image of the lighting space of lighting device; Second drive unit that is used to change the image taking direction of image capturing device; A storage device that is used for the image taking direction of store images filming apparatus; An image identification device is used for image, the illuminated target of discriminating from this image capturing device, and determines the coordinate of illuminated target; One second calculation element is used for calculating from the amount of movement of the illuminated target of image identification device the amount of movement of second drive unit; One first calculation element, the image taking direction calculating lighting device of image capturing device that is used for the position relation between this image capturing device and lighting device in the result of calculation, lighting space from second calculation element and is stored in storage device is along the amount of movement of illumination direction, a first control device is used for controlling according to the result of calculation of first calculation element driving of first drive unit; With a second control device, be used for controlling the driving of second drive unit according to the result of calculation of second calculation element.Therefore, filming apparatus can use does not have a camera lens of wide-angle, can make the image that is positioned at illuminated target at a distance clearly be taken, differentiate and operate with being convenient to image like this.

Based on third aspect present invention, a fourth aspect of the present invention comprises: a plurality of image capturing devices, therefore, second calculation element is from the image taking direction calculating of these a plurality of image capturing devices illuminated Three-dimension Target coordinate in lighting space.Like this, even the bottom surface of lighting space is not at ordinary times, illuminated target also can be taken exactly.

In order to solve aforesaid problem, a lighting controller is proposed according to a fifth aspect of the invention, comprising: a light fixture from light source luminescent; One is used to make the driver part of this light fixture around an axle rotation; An image capturing device that can rotate around the axis is used at image taking district photographic images and output image; A display device that shows this image; With an input media that is used in reference to the point that is shown in the display image that shows on the display device.This lighting controller comprises an amount of spin calculating unit, be used at from the strary lighting of the indication point of relative distance between the position on the display image that is transfused to device indication and this display image origin position, calculate the amount of spin of this light fixture, then rotate this light fixture according to this amount of spin, driver part.

In addition, propose a lighting controller according to a sixth aspect of the invention, this controller comprises: the light fixture from light source luminescent; A driver part that makes light fixture around planar axes and sloping shaft rotation; An image capturing device that can rotate around the axis is used for photographic images and output image in the image taking district; A display device that shows this image; With the input media that be shown some image on of an indicated number on this display device, this lighting controller contains an amount of spin calculating unit, at the strary lighting of along continuous straight runs from the indication point of relative distance between the position on the display image that is transfused to the device indication and this display image origin position, calculate the amount that this light fixture rotates around planar axes, with at vertically from the strary lighting of the indication point of relative distance between the position on the display image that is transfused to device indication and this display image origin position, calculate the amount that this light fixture rotates around sloping shaft, then driver part rotates this light fixture according to the amount of spin that calculates.

In addition, according to a seventh aspect of the invention, described image capturing device is installed on this light fixture with the form that is parallel to light fixture emission optical axis, and with rotation of this light fixture.

And, according to an eighth aspect of the invention, said amount of spin calculating unit doubles by position on the display image of input media indication and the relative distance between this display image origin position with the proportionality constant of determining, so that calculate the relative distance of point-to-point transmission on the projection plane that is formed on image capturing device formation, and then calculate the amount of spin of this image capturing device, and calculate the amount of spin of this light fixture according to the focal length of the relative distance on this projection plane and this image capturing device.

In addition, according to a ninth aspect of the invention, constant calculations parts by the position of fixing a point really based on lighting space on the display image before rotating with rotate after determine a definite amount of spin of the relative distance between the position of point on the display image, by rotating this image capturing device to calculate this constant ratio and this definite amount of spin is provided.

In addition, according to the tenth aspect of the invention, provide a focal length modifier that is used for changing this image capturing device focal length, and set a plurality of proportionality constants according to reformed focal length.

In addition, according to an eleventh aspect of the invention, after rotate surround on display image, the operator will determine that with input media position a little imports.

In addition, according to a twelfth aspect of the invention, comprising: an image selecting device, be used for surround on display image rotate from this display image before, choose an image that comprises in the definite district that determines the some position; Indexing unit is used for after this rotation, in a district of approximate this image of retrieval from definite district that this display image is chosen; With position calculating apparatus after the rotation, the position of be used for the lighting space on the display image is retrieved the position rotation of distinguishing from this display image after, calculating this definite point.

In order to realize aforementioned purpose, a tracking equipment is provided according to a thirteenth aspect of the invention, this equipment comprises: the image capturing device of a photographic images in determining the district; A mark detecting apparatus is used for being attached to mark on the tracked object according to first video signal detection that this image capturing device sends; Follow the tracks of the object setting device for one, be used for setting a district that comprises tracked object from second vision signal of this image capturing device as following the tracks of object areas; An eigenwert storage device is used to store the eigenwert by the tracking object areas of following the tracks of the setting of object setting device; An object selecting device, calculating are stored in the similarity of the tracked object features value in the eigenwert storage device because of second vision signal from this image capturing device and obtain the location of a tracked object based on result of calculation; With a position detecting device, be used for detecting position by the tracked object of this mark detecting apparatus and/or the continuous vision signal of importing of this object selecting device.Mark can be detected situation under, even the shape of tracked object or color change, this object also can be followed the tracks of with being stabilized.Mark can not be detected situation under, use the eigenwert such as color, shape of tracked object that this object is followed the tracks of.Therefore, can guarantee the continuous precise of tracked object is followed the tracks of.

In addition, on the basis aspect the present invention the 13, according to a fourteenth aspect of the invention, mark and this infrared transmitter and vision signal synchronized transmissions are set with infrared transmitter.Use this structure, mark can not be subjected to choose from the influence of the infrared light of non-this infrared transmitter with being stabilized, and therefore tracked object can be followed the tracks of accurately.

In addition, on the basis aspect the present invention the 13, according to a fifteenth aspect of the invention, when mark detecting apparatus can not detect this mark, position detecting device used this object screening device.Use this structure, need not carry out time-consuming object and choose when this mark is detected, therefore, the position of tracked object can be by high speed detection.

In addition, on the basis aspect the present invention the 13, according to a sixteenth aspect of the invention, when mark detecting apparatus detected the mark of a plurality of settings, position detecting device used this object selecting device.Use this structure, when only detecting a mark, need not carry out time-consuming object and choose.Therefore, when having the mark of a plurality of settings, the position of tracked object can be by high speed detection, and carries out object and choose and can improve the tracking reliability.

In addition, on the basis aspect the present invention the 13, according to a seventeenth aspect of the invention, position detecting device obtains the position of tracked object by the position of the detected mark of mark detecting apparatus utilization setting, and exports the result of object selecting device.Can improve the tracking reliability like this.

And, on the basis aspect the present invention the 13, according to an eighteenth aspect of the invention, an eigenvalue correction device is set, is stored in the eigenwert in the eigenwert storage device in order to position, correction according to the tracked object that detects by position detecting device.Like this, can improve the tracking reliability.

In addition, in the present invention's the 13 to ten eight aspect on the basis of any, according to a nineteenth aspect of the invention, an image taking direction adjusting apparatus of regulating the shooting aspect of image capturing device is set, and this regulating device is regulated the image taking direction of image capturing device according to the output of position detecting device.Like this, tracked object can be tracked in wide region.

In addition, in aspect the present invention the 13 to the 19 on the basis of any one aspect, according to a twentieth aspect of the invention, the light fixture that is installed separately with image capturing device has directivity and can change its illumination direction, and the position that the tracked object that a position-based pick-up unit detects is housed control this light fixture illumination direction illumination control apparatus in case this light fixture to tracked object strary lighting.Thus, can be to tracked object high precision tracking and stable strary lighting.

Description of drawings.

Fig. 1 is the synoptic diagram of the automatic tracking illumination equipment of expression first embodiment;

Fig. 2 is the skeleton view of the above-mentioned automatic tracking illumination equipment appearance of expression;

Fig. 3 is the view that concerns between expression CCD camera image taking plane of the said equipment and the actual illumination space;

Fig. 4 is the detail drawing that concerns between expression above-mentioned CCD camera image taking plane and the actual illumination space;

Fig. 5 is the synoptic diagram of the automatic tracking illumination equipment of expression second embodiment;

Fig. 6 is the side view of position relation between above-mentioned automatic tracking illumination equipment of expression and the illuminated target;

Fig. 7 is the view on the image taking plane of the above-mentioned CCD camera of expression;

Fig. 8 is the pointolite of expression the said equipment and the planimetric map of the relation of the position between the illuminated target;

Fig. 9 is the side view of position relation between above-mentioned pointolite of expression and the illuminated target;

Figure 10 is the perspective view of the above-mentioned pointolite of expression on the baseplane;

Figure 11 is the synoptic diagram of the automatic tracking illumination equipment of expression the 3rd embodiment;

Figure 12 is the side view of position relation between above-mentioned automatic tracking illumination equipment of expression and the illuminated target;

Figure 13 is the perspective view of above-mentioned automatic tracking illumination equipment on the baseplane;

Figure 14 is the synoptic diagram of the automatic tracking illumination equipment of expression the 4th embodiment;

Figure 15 is the perspective view of CCD camera on the baseplane of the said equipment;

Figure 16 is the side view of position relation between above-mentioned CCD camera of expression and the illuminated target;

Figure 17 is the process flow diagram of expression model matching process base program example;

Figure 18 is the synoptic diagram of expression lighting controller the 5th example structure of the present invention;

Figure 19 is the skeleton view of light fixture, image capturing device and driver part;

Figure 20 is the front view of expression display device and display image;

Figure 21 is the synoptic diagram that concerns between expression lighting space and the projection plane;

Figure 22 is the synoptic diagram that concerns between expression projection plane and the display image;

Figure 23 is the front view of display image that is used to illustrate the establishing method of proportionality constant;

Figure 24 is the synoptic diagram of explanation lighting controller the 6th example structure of the present invention;

Figure 25 is the front view of explanation display device and display image;

Figure 26 is the synoptic diagram of explanation lighting controller the 7th example structure of the present invention;

Figure 27 is after rotating light fixture on the display image, obtains to determine the front view of display image of the computing method of some position at lighting space;

Figure 28 is the synoptic diagram of explanation lighting controller the 8th example structure of the present invention;

Figure 29 is the block scheme of expression the 9th embodiment;

The key diagram of Figure 30 the foregoing description operation;

The key diagram of Figure 31 the foregoing description basic element of character operation;

Figure 32 is the block diagram of expression the tenth embodiment basic element of character;

Figure 33 is the figure of explanation the foregoing description operation;

Figure 34 is the figure of explanation the foregoing description operation;

Figure 35 is the key diagram of the 11 embodiment operation;

Figure 36 is the key diagram of the 12 embodiment operation;

Figure 37 is the key diagram of the 13 embodiment operation;

Figure 38 is the key diagram of the 14 embodiment operation;

Figure 39 is the key diagram of the foregoing description operation;

Figure 40 is the block diagram of the 15 embodiment;

Figure 41 is the key diagram of the foregoing description operation;

Figure 42 is the block diagram of the 16 embodiment;

Figure 43 is the key diagram of the foregoing description operation;

Figure 44 is the key diagram of the foregoing description operation.

Below in conjunction with description of drawings the present invention.

(first embodiment)

As illustrated in fig. 1 and 2, the automatic tracking illumination equipment of present embodiment comprises: a pointolite 1 that is arranged on the ceiling plane 13 as lighting device is used for following the tracks of in the illuminated target 8 of lighting space 9; One in the horizontal direction with the vertical direction support 2 of strong point light source 1 rotationally; A horizontal drive apparatus 3a who changes pointolite 1 illumination direction horizontal angle (PAN) to rotate this support 2 in the horizontal direction; One to change the vertical drive 3b of pointolite 1 illumination direction vertical angle (TILT) at vertical direction run-on point light source 1; One is arranged on pointolite 1 next door, as image capturing device and with the small ccd camera 4 of pointolite 1 illumination direction equidirectional photographic images; Image as the image identification device is differentiated parts 5, is used for differentiating a for example people's illuminated target 8 from the image of image capturing device, and determines the coordinate of illuminated target 8; Coordinate calculating unit 6 as calculation element is used for from the amount of movement of amount of movement calculation level light source 1 on illumination direction of image discriminating parts 5 illuminated target 8 coordinates; With a movable control assembly 7 as control device, be used for the result of calculation from coordinate calculating unit 6 be transformed into the motor of horizontal drive apparatus 3a and vertical drive 3b drive signal, and this signal is exported to horizontal drive apparatus 3a and vertical drive 3b.

Operation below with reference to Fig. 3 and 4 these automatic tracking illumination equipment of explanation.There is a horizontal angle and a vertical angle of pointing in the Y direction of pointing in the directions X on the image taking plane 42 of supposing CCD camera 4.In the present embodiment, for the purpose of simplified illustration, only introduce directions X.

At first, image differentiates that parts 5 are by the image of conventional images treatment technologies such as model coupling, color-match processing from the CCD camera.

Figure 17 is the process flow diagram of the base program example of the traditional model matching process of explanation.Image differentiates that parts 5 for example carry out Flame Image Process according to this process flow diagram with the model coupling.Image differentiates that parts 5 usefulness A/D Transformation Program (step 1) will be transformed into digital signal from the vision signal of CCD camera input, choose predetermined eigenwert (model) (step 2) from the image that obtains then.Afterwards, image is differentiated parts 5 with the eigenwert and stored object eigenwert (standard jig) comparison in advance chosen, and calculates the similarity (step 3) between them.When the similarity that obtains surpassed setting, the coordinate of this object was determined (step 4).

Image differentiates that parts 5 detect the image taking plane 4 of illuminated target 8 at CCD camera 4 by the pattern of a kind of like this procedure identification subject (illuminated target 8) ₂Interior from image taking plane 4 ₂The displacement at center.

Secondly, coordinate calculating unit 6 passes through illumination target 8 from image taking plane 4 ₂The amount of movement on the illumination direction of pointolite 1 is calculated in the displacement at center.When the current illumination direction (direction A among Fig. 3 and 4) of pointolite 1 is in the image taking face 4 of CCD camera 4 ₂Approximate center the time, illuminated target 8 is from image taking plane 4 ₂The displacement at center is set at n _xFor illumination direction and the illuminated object 8 that makes pointolite 1 coincide, need θ in the horizontal direction _pAngle amount of movement transfer point light source 1.Suppose the camera lens 4 of ccd video camera 4 ₁Focal length be f, pointolite 1 angle of critical deformation amount θ in the horizontal direction then _PBecome

θ _P＝tan ^-1(n _x/f)

Similarly, in vertical direction, can obtain the angle of critical deformation amount of pointolite 1 on illumination direction with similar methods.

In addition, movable control assembly 7 is transformed into the drive signal of horizontal drive apparatus 3a with the result of calculation of coordinate calculating unit 6, and this signal is delivered to horizontal drive apparatus 3a.For example, when the motor of horizontal drive apparatus 3a and vertical drive 3b by from the time such as the detected value servo driving of potentiometric sensor loopback, movable control assembly 7 from the detected value of the corresponding sensor of required rotational angle, the drive signal that output is used for the motor of horizontal drive apparatus 3a and vertical drive 3b, thereby the motor of operant level drive unit 3a and vertical drive 3b

Through above-mentioned a series of processing procedures, when along with the moving of illuminated target 8, illuminated target 8 image taking plane 4 from CCD camera 4 ₂Center when being moved, movable control assembly 7 continuous drive horizontal drive apparatus 3a and vertical drive 3b to be eliminating position deviation, though the illumination direction and the illuminated object 8 of pointolite 1 matches.Then, repeat above-mentioned processing procedure, pointolite 1 can be followed the tracks of and strary lighting illuminated object 8.

(second embodiment)

As shown in Figure 5, the automatic tracking illumination equipment of present embodiment comprises: on ceiling 13 that is arranged on lighting space 9 as the pointolite 1 of lighting device, be used for to the illuminated target 8 that is positioned at lighting space 9 for example the people follow the tracks of and strary lighting; One in the horizontal direction with the vertical direction support 2 of strong point light source 1 rotatably; The horizontal drive apparatus 3a of run-on point light source 1 in the horizontal direction; Vertical drive 3b at vertical direction run-on point light source 1; A small ccd camera 4, this CCD camera 4 is as being arranged on locational image capturing devices different with pointolite 1 position on the ceiling 13 and photographic images in lighting space 9; Image as the image identification device is differentiated parts 5, by the image of handling 4 shootings of CCD camera, the coordinate of determining illuminated target 8; Coordinate calculating unit 6 as calculation element is used for the amount of movement of amount of movement calculation level light source 1 on illumination direction according to image discriminating parts 5 illuminated targets 8; With a movable control assembly 7 as control device, be used for the result of calculation of coordinate calculating unit 6 is transformed into the used drive signal of motor of horizontal drive apparatus 3a and vertical drive 3b, and this output signal is exported to horizontal drive apparatus 3a and vertical drive 3b.

Positive operation with reference to the automatic tracking illumination equipment of figure 6 to 10 explanations.Be simplified illustration, this is the situation of approximate center that CCD camera 4 is set in the ceiling surface 13 of lighting space 9 as shown in Figure 6.

In the initial setting up stage, by pointolite 1 and CCD camera 4 being installed in the assigned position on the ceiling 13, thereby run-on point light source 1 and assigned position counted optical illumination, and illumination direction is coincide with differentiate the position that parts 5 obtain illuminated target by image in lighting space 9, parameters such as the installation site of pointolite 1 and CCD camera 4, setting angle can obtain.Then, in normal operational phase, coordinate calculating unit 6 is from the amount of movement of the amount of movement calculation level light source 1 of the illuminated target of the parameter that obtains based on the starting stage.So do not need coordinate, thereby saved staff's working time at initial setting stage checkpoint light source 1 and CCD camera 4 from the design drawing.

When obtaining the coordinate of pointolite 1 and CCD camera 4 from design drawing, the actual installation position of pointolite 1 and CCD camera 4 is from the offset of design drawing sometimes.Move because of the installation site and to cause that pointolite 1 illumination direction moves, therefore just need to adjust the installation site of pointolite 1 and CCD camera 4 or reset coordinate.But according to the automatic tracking illumination equipment of present embodiment, the illumination direction of pointolite 1 was adjusted in the initial setting stage visually.Therefore, the skew of installation site can be reduced on the relative design drawing in actual installation position, and the illumination direction that so just makes pointolite 1 is with higher precision Be Controlled.

In normal operational phase, image differentiates that parts 5 at first handle image from CCD camera 4 with existing image processing techniquess such as model coupling, colored couplings, so that differentiate illuminated target 8 and determine its coordinates.As a result of, as shown in Figure 7, obtained illuminated target 8 and be set in image taking plane 4 ₂In coordinate (X _T1, Y _T1, 0).In this situation, think that a seat plane (surface level) that illuminated target 8 is positioned at lighting space 9 goes up its Building Z mark and be decided to be 0.The coordinate of also setting CCD camera 4 is (0,0,0, Z), and the coordinate of pointolite 1 is (X _s, Y _s, Z _s).

CCD camera 4 is on image taking plane 4 ₂Coordinates in interior coordinate and the actual illumination space 9 can be represented with the simple proportional relation.Suppose that the proportionality constant in directions X and Y direction is respectively K _XAnd K _Y, the coordinate (X of illuminated target in actual illumination space 9 then _t, Y _t, 0) can represent by following equation:

X _t＝K _t×X _t1

Y _t＝K _y×Y _t1

In this situation, when in actual illumination space 9 as shown in Figure 8, when the position relation of 8 of pointolite 1 and illuminated targets is obtained, can be from them both coordinate calculate the horizontal angle and the vertical angle of pointolite 1.The coordinate of pointolite 1 is (X _s, Y _s, Z _s), therefore the coordinate of the illuminated target of seeing from pointolite 18 is expressed as (X _t-X _s, Y _t-Y _s,-X _s).Be projected in the subpoint (X on the bottom surface of lighting space 9 from pointolite 1 _s, Y _s, 0) can be expressed as following equation to the distance L of illuminated target 8:

L＝((X _t-X _s) ²+(Y _t-Y _s) ²) ^1/2

Utilize distance L, the horizontal angle θ of pointolite 1 _PWith vertical angle θ _tCan be expressed as following equation:

θ _P＝cos ^-1((Y _t-Y _s)/L)

θ _t＝tan ^-1(Z _s/L)

In above-mentioned method, coordinate calculating unit 6 is from the level angle θ of the amount of movement calculation level light source 1 of illuminated target 8 _pWith vertical angle θ _tAmount of movement; Movable control assembly 7 is this horizontal angle θ _pWith vertical angle θ _tBe transformed into respectively horizontal drive apparatus 3a and vertical drive 3b drive signal, and this signal is outputed to horizontal drive apparatus 3a and vertical drive 3b.Then, horizontal drive apparatus 3a and vertical drive 3b are in the horizontal direction with horizontal angle θ _pIn vertical direction with vertical angle θ _tRun-on point light source 1, the illumination direction of result points light source 1 are controlled to such an extent that coincide with illuminated target 8.When image differentiates that parts 5 detect the skew of illuminated target 8 coordinates in next processing cycle, coordinate calculating unit 6 is according to the amount of movement of the amount of movement calculation level light source 1 of illuminated target 8, movable control assembly 7 is according to the result of calculation controlling level drive unit 3a and the vertical drive 3b of coordinate calculating unit 6, thereby makes pointolite 1 follow the tracks of illuminated target 8.Repeat this processing procedure, pointolite 1 just can be followed the tracks of moving of illuminated target 8.

(the 3rd embodiment)

As shown in figure 11, the automatic tracking illumination equipment of present embodiment comprises: one as the pointolite 1 of lighting device, be used for following the tracks of and the illuminated targets 8 of strary lighting at lighting space 9; One in the horizontal direction with the vertical direction support 2 of strong point light source 1 rotationally; As horizontal drive apparatus 3a of first drive unit and vertical drive 3b, be used for respectively in the horizontal direction and vertical direction run-on point light source 1; Small ccd camera 4 as image capturing device is used for taking the image of lighting space 9 illuminated targets 8; One as the turntable 10 of second drive unit, be used to make ccd video camera 4 to follow the tracks of moving of illuminated object 8; One as the reservoir part 11 of storage device, be used for storing the image taking direction of CCD camera 4; A coordinate of differentiating illuminated target 8 and definite illuminated targets 8 as the image discriminating parts 5 of image identification device, by the conventional images treatment technology from the image of CCD camera 4; One as the coordinate calculating unit 6 of first and second calculation elements, be used for from image differentiate parts 5 illuminated target 8 amount of movement and be stored in the image taking direction calculating pointolite 1 of CCD camera 4 reservoir part 11 and the amount of movement of CCD camera 4; One as the movable control assembly 7 of first control device, use with the result of calculation of coordinate calculating unit 6 be transformed into the motor of horizontal drive apparatus 3a and vertical drive 3b drive signal, and this signal is exported to horizontal drive apparatus 3a and vertical drive 3b; With one as the movable control assembly 12 of second control device, be used for the result of calculation of coordinate calculating unit 6 be transformed into turntable 10 drive signal, also this signal is exported to turntable 10.

The operation of this automatic tracking illumination equipment will be illustrated in conjunction with Figure 11 to 13.

Here, because movable control assembly 12 makes the image taking direction of CCD camera 4 identical with tracked target 8 according to the result of calculation of carrying out with the coordinate calculating unit 6 of the first embodiment similar operations, so will not illustrate to this.

Now, the present image of CCD camera 4 shooting direction exists in the reservoir part 11.The horizontal angle θ of CCD camera 4 _Mp(t) and vertical angle θ _Mp(t) calculate as the Y direction shown in Figure 12 of reference and the amount of movement of horizontal direction shown in Figure 13 relatively by the turntable 10 that adds up, and image taking direction (θ _Mp(t), θ _Mt(t)) can represent by following equation:

θ _mp(t)＝Δθ _mp+θ _mp(t-1)

θ _mp(t)＝Δθ _mt+θ _mt(t-1)

Here, θ _Mp(t-1) and θ _Mt(t-1) be the horizontal angle and the vertical angle of CCD camera 4 in the last processing cycle respectively, and Δ θ _MpWith Δ θ _MtBe respectively the horizontal angle amount of movement and the vertical angle amount of movement of CCD camera 4 in the pre-treatment cycle.

As shown in figure 13, when pointolite 1 and CCD camera 4 are projected on the bottom surface of lighting space 9, be projected in point (0,0,0) on this bottom surface to the distance L of illuminated target 8 from CCD camera 4 _mThe vertical angle θ of available CCD camera 4 _Mt(t) represent with following equation:

L _m＝Z _m/tan(θ _mt(t))

In addition, the coordinate (X of illuminated target 8 _t, Y _t, 0) equation below available represents:

X _t＝L _m·cos(θ _mp(t))

Y _t＝L _m·sin(θ _mp(t))

Here, the coordinate of postulated point light source 1 is (X _s, Y _s, Z _s) coordinate of the illuminated target 8 then seen from pointolite 1 becomes (X _t-X _s, Y _t-Y _s,-Z _s), and be projected in point (X on the bottom surface of lighting space 9 from the coordinate of pointolite 1 _s, Y _S, 0) to the distance L of illuminated target 8 _sEquation below available is represented:

L _s＝((X _t-X _s) ²+(Y _t-Y _s) ²) ^1/2

Utilize this distance L _s, the horizontal angle θ of pointolite 1 _SpWith vertical angle θ _StCan represent by following equation respectively:

θ _sp＝cos ^-1((Y _t-Y _s)/L _s)

θ _st＝tan ^-1(Z _s/L _s)

As the horizontal angle θ that obtains pointolite 1 like this _SpWith vertical angle θ _StThe time, movable control assembly 7 is with horizontal angle θ _SpWith vertical angle θ _StBe transformed into the drive signal of horizontal drive apparatus 3a and vertical drive 3b respectively, and similarly this signal is exported to horizontal drive apparatus 3a and vertical drive 3b with first embodiment, so that run-on point light source 1 on the direction of needs, and make the illumination direction of pointolite 1 follow the tracks of illuminated target 8.Carry out above-mentioned processing repeatedly, pointolite 1 can be followed the tracks of illuminated target 8.

According to this embodiment, the image taking direction of CCD camera 4 can be followed the tracks of illuminated target 8, and therefore, the camera lens of CCD camera 4 can use non-wide-angle lens.Therefore, even the position is far, the image of illuminated target 8 also can clearly be taken, and like this, can easily differentiate illuminated target 8 when carrying out Flame Image Process.

Owing to use similar method,, the illumination direction of pointolite 1 and the position of differentiating the illumination target that parts 5 get with image coincide, so will not illustrate to this in the initial setting stage with second embodiment.

(the 4th embodiment)

According to present embodiment, the automatic tracking illumination equipment of the 3rd embodiment is provided with two CCD cameras as image capturing device, in order to take illuminated target in lighting space.

As shown in figure 14, this automatic tracking illumination equipment comprises: the pointolite 1 as lighting device is used for illuminated target 8 strary lightings to lighting space 9; One in the horizontal direction with vertical direction on the support 2 of strong point light source 1 rotationally; As a horizontal drive apparatus 3a and a vertical drive 3b of first drive unit, be used for respectively in the horizontal direction and vertical direction run-on point light source 1; Two CCD camera 4a and 4b as image capturing device are in order to take the image of illuminated target 8 in lighting space 9; As the turntable 10a and the 10b of second drive unit, use so that corresponding C CD camera 4a and 4b follow the tracks of moving of illuminated target 8; Image as the image identification device is differentiated parts 5a and 5b, is used to use existing image processing techniques to differentiate illuminated target 8 from the image of CCD camera 4a and 4b, and detects the coordinate of illuminated target 8; As the coordinate calculating unit 15a and the 15b of second calculation element, be used for from differentiating that by figure the amount of movement of the illuminated target 8 that parts 5a and 5b detect calculates the amount of movement of CCD camera 4a and 4b respectively; As the movable control assembly 12a and the 12b of second control device, be used for exporting the signal that is used for driving respectively turntable 10a and 10b according to the result of calculation of coordinate calculating unit 15a and 15b; Reservoir part 11 as storage device is used to store the image taking direction of CCD camera 4a and 4b; A three-dimensional coordinate calculating unit 14 is used for detecting coordinate respectively according to coordinate calculating unit 15a and 15b, calculates the three-dimensional coordinate of illuminated target 8; Coordinate calculating unit 6 as first calculation element is in order to according to the result of calculation of three-dimensional coordinate calculating unit 14 be stored in the CCD camera 4a of reservoir part 11 and the illumination direction of the image taking direction calculating pointolite 1 of 4b; With a movable control assembly 7, be transformed into the drive signal of horizontal drive apparatus 3a and vertical drive 3b and this signal is exported to horizontal drive apparatus 3a and vertical drive 3b in order to result of calculation with coordinate calculating unit 6 as first control device.

Operation below in conjunction with this automatic tracking illumination equipment of Figure 14 to 16 explanation.Here since CCD camera 4a and 4b and turntable 10a and 10b respectively with the similar processing procedure operation of the first and the 3rd embodiment, so they will not illustrate. CCD camera 4a and 4b synchronous operation in it should be noted that in above-mentioned series of processes process.

In this stage, the coordinate of setting CCD camera 4a and 4b be (0,0, Z _M1) and (X _M2, Y _M2, Z _M2), CCD camera 4a has horizontal angle θ _M1pWith vertical angle θ _M1t, CCD camera 4b has horizontal angle θ _M2pWith vertical angle θ _M2t, represent the straight line of the image taking direction of CCD camera 4a to represent so by following equation:

X＝t·cos(θ _m1t)·sin(θ _m1p) …(A1)

Y＝t·cos(θ _m1t)·cos(θ _m1p) …(A2)

Z＝-t·sin(θ _m1t)+Z _m1 …(A3)

And represent the straight line of the image taking direction of CCD camera 4b to represent by following equation:

X＝r·cos(θ _m2t)·sin(θ _m2p)+X _m2 …(A4)

Y＝r·cos(θ _m2t)·cos(θ _m2p)+Y _m2 …(A5)

Z＝-r·sin(θ _m2t)+Z _m2 …(A6)

Here, t and r are the coefficients of representing respective straight.Because therefore the coordinate (Xt, Yt, Zt) that the intersection point of two straight lines has illuminated target 8, equates to find the solution above-mentioned equation by the two straight line coordinates of setting from equation (1) to (6), coefficient t can be obtained by following equation:

t＝(X _m2·cos(θ _m2t)-Y _m2·sin(θ _m2p))/[cos(θ _m1t)

×(sin(θ _m1p)·cos(θ _m2p)-cos(θ _m1p)·sin(θ _m2p))]

When above-mentioned equation substitution equation (1) to (3), the coordinate of illuminated target 8 (Xt, Yt, Zt) can be drawn by following equation:

Xt＝t·cos(θ _m1t)·sin(θ _m1p)

Yt＝t·cos(θ _m1t)·cos(θ _m1p)

Zt＝-t·sin(θ _m1t)+Z _m1

By using the intersection point of two straight lines that obtain by above-mentioned processing, be the coordinate (Xt of illuminated target 8, Yt, Zt), processing subsequently is similar to second embodiment, the horizontal angle of coordinate calculating unit 6 calculation level light sources 1 and the amount of movement of vertical angle, movable control assembly 7 is transformed into the drive signal of horizontal drive apparatus 3a and vertical drive 3b with the result of calculation of coordinate calculating unit 6, and this signal is outputed to horizontal drive apparatus 3a and vertical drive 3b.Then, horizontal drive apparatus 3a and vertical drive 3b are based on the direction run-on point light source 1 of this drive signal at needs.So, repeating this processing procedure, the illumination direction of pointolite 1 is just followed the tracks of moving of illuminated target 8.

When the stack of the only in height different and vertical direction of the installation coordinate of CCD camera 4a and 4b, promptly work as X _M2=0 and Y _M2=0 o'clock, coefficient t can obtain from the equation shown in following, therefore, two straight-line intersections, the coordinate of promptly illuminated target 8 can similarly be obtained.

t＝cos(θ _m2t)×(Z _m1-Z _m2)/

(sin(θ _m1t)·cos(θ _m2t)-cos(θ _m1t)·sin(θ _m2t)

Three-dimensional coordinate calculating unit 14 calculates the three-dimensional coordinate of illuminated target 8, and coordinate calculating unit 6 is based on the amount of movement of this three-dimensional coordinate calculation level light source 1.Therefore, even in the bottom surface of lighting space 9 when unsmooth, illuminated target 8 also can correctly be followed the tracks of.

Owing to use similar method,, differentiate that by image parts 5a and 5b make the illumination direction of pointolite 1 and the position of illuminated target coincide, visually so will not illustrate to it in the initial setting stage with second embodiment.

Below in conjunction with the lighting controller of Figure 18 to 23 explanation fifth embodiment of the invention,,, the 8th embodiment is described in conjunction with Figure 28 in conjunction with Figure 26 and 27 explanations the 7th embodiment in conjunction with Figure 24 and 25 explanations the 6th embodiment.

(the 5th embodiment)

Figure 18 is the synoptic diagram of explanation lighting controller.Figure 19 is the skeleton view of light fixture, image capturing device and driver part.Figure 20 is the front view of explanation display device and display image.Figure 21 is the synoptic diagram that concerns between expression lighting space and projection plane.Figure 22 is the synoptic diagram that concerns between expression projection plane and the display image.Figure 23 is a front view that is used to illustrate the display image of proportionality constant establishing method.

In Figure 18, label 51 expression light fixtures.Light fixture 51 is provided with a light source 51b on its lamp main body 51a, light fixture is penetrated the width of cloth on illumination to one platform.

Driver part 52a rotates light fixture 51 in the horizontal direction, and driver part 52b rotates light fixture 51 at above-below direction.Driver part 52a and 52b basis drive from the drive signal of the input of CPU (central processing unit) 54 described below.Light fixture 51 and driver part 52a and 52b are arranged on the rear portion of stage equipment chamber.

As shown in figure 19, be installed in the outside surface of the illumination main element 51a of light fixture 51 as the camera 53 of image capturing device, make its image taking direction and light fixture 51 illumination direction parallel, the CCD camera in the present embodiment belongs to the NTSC system.Camera 53 at the image area continuously shot images, and outputs to CPU (central processing unit) 54 with photographic images with the specific time interval of 1/30 second or 1/10 second.Camera 53 is provided with single or multiple camera lenses, and the focal length of camera 53 is known.

CPU (central processing unit) 54 has an image input display unit 54a, an amount of spin calculating unit 54b and a constant calculations parts 54c.According to present embodiment, one has the personal computer that is inserted in the video board that is used to import the NTSC system signal in its expansion slot and is used as CPU (central processing unit) 54.

Image input display unit 54a will output to display device 55 from the photographic images of camera 53 inputs, to show this image on display screen.

Display device 55 is made of CRT monitor etc.And as shown in figure 20, it is provided with the photographic images viewing area A of a demonstration display image 53 described below and the operation image area B of an operation lighting controller.

Input media 56 is the alignment devices such as Genius mouse or control lever, is used for moving the mouse that is presented on the display device 55.Make mouse be arranged in the artistic illustration of operation image area B or be arranged in the display image S3 that display screen photographs images viewing area A shows and knock input media 56 and the operation of carrying out lighting controller is selected.In addition, display image S3 is corresponding with the image storage district of a storer (not shown) of CPU (central processing unit) 54, for example, and the corresponding bit of pixel.

When the operator selects with input media 56 and knock among the display device 55 photographs images viewing area A point on the display image S3, amount of spin calculating unit 54b calculates light fixture 51 around planar axes with around the amount of spin of sloping shaft, so that illumination is applied to by the position in the real space of the indication of the beating position on the image and along with drive signal is delivered to driver part 52a and 52b and exported this amount of spin.Constant calculations parts 54c calculates the proportionality constant that is used to calculate amount of spin.

Input media 56 and display device 55 are connected to CPU (central processing unit) 54, and CPU (central processing unit) 54 is connected to driver part 52a and 52b.Camera is connected to CPU (central processing unit) 54.

Make when the operator specifies point on the display image S3 below in conjunction with Figure 21 and 22 explanations are a kind of, with this central point (hereinafter being called lighting point) of specifying corresponding light fixture 51 emission light zones and the point of this appointment identical around the amount of spin of the planar axes of light fixture 51 with around the computing method of the amount of spin of the sloping shaft of light fixture.

Figure 21 represents the planimetric map watched from the stage superjacent air space, wall C and people D is wherein arranged or by (this space hereinafter are called lighting space) such as objects of optical illumination.

The every bit of the lighting space of being taken by camera 53 is focused at a little 0 (position in the camera 53) and projects to have radius f and leaves with focal distance f on the ideal image shooting face S1 of this point 0.The image that is projected on this ideal shooting face S1 also is projected on the projecting plane S2 that is positioned at camera 53CCD surface.As shown in figure 22, be projected on the display image S3 of image in the A of the photographic images viewing area of display device 55 on the projection plane S2, be shown to determine that ratio amplifies or dwindles.Subsequently, the picture size in the projection plane S2 is assumed to be conversion corresponding to proportionality constant than Kx and Ky to the ratio of the picture size in the display image S3 of display device 55.To illustrate that hereinafter conversion is than Kx and Ky.

Take above-mentioned relation between face S1, projecting plane S2 and the display image S3 about lighting space, ideal image, the image crossing point 0 and the ideal image that constitute the right shoulder of people D of angle Dx with the optical axis L of corresponding point 0 are taken face S1, are projected in the S2 of projecting plane apart from initial point 0 ' n _βThe position of [mm] is presented in the display image S3 apart from initial point 0 with the enlargement ratio of Kx " the Xb[point] the position.Initial point 0 ' is the point midway of projecting plane S2, initial point 0 " be the center of projecting plane S3, initial point 0 ' and 0 " with lighting space in lighting point corresponding.In addition as shown in figure 20, the coordinate in the display image S3 upper left corner is (0,0), the coordinate in the upper right corner be (Xf, Yf), screen initial point 0 " the center coordinate be (Xf/2, Yf/2).

Suppose, as shown in figure 20, the some P on the display image S3 of display device 55 (Xp, Yf/2 is specified by the operator, then the initial point 0 of the display image S3 shown in Figure 22 " and specified point P between relative distance X _βCan obtain by following formula.Should be noted that this relative distance is added positive sign by the absolute distance of giving point-to-point transmission or negative sign is represented a kind of relativeness.

Equation (1):

$X_{\mathrm{\β}}=\mathrm{Xp}-\left(\frac{\mathrm{Xf}}{2}\right)$

The conversion of supposing directions X is more known than Kx, then changes than the relative distance X on Kx and the display image S3 from this _β, the relative distance n of last 2 correspondences of projecting plane S2 _βCan draw by equation (2):

$\mathrm{n\β}=\left(\frac{1}{\mathrm{kx}}\right)X_{\mathrm{\β}}$

According to above-mentioned equation, with so that lighting 51 turns to the amount of spin β around planar axes of a position the lighting space corresponding with P point on the display image S3 from current location _xDraw by following equation (3):

${\mathrm{\β}}_X={\tan }^{-1}\left(\frac{n_{\mathrm{\β}}}{f}\right)$

$={\tan }^{-1}\left(\frac{X_{\mathrm{\β}}}{K_X\·f}\right)----\left(1\right)$

Following formula has illustrated planar axes amount of spin β on the directions X _xWith on display image S3 from initial point 0 " the relative distance X of along continuous straight runs _βBetween relation.But, similar at Y direction updip inclined shaft amount of spin and the relation between vertically relative distance on the display image S3 to above-mentioned relation.

In constant calculations parts 54C, calculate the method for conversion below in conjunction with Figure 23 explanation than Kx and Ky.Conversion is the numerical value that depends on focal distance f than Kx and Ky.But unless its variation, focal distance f is a constant, and therefore, the initial setting before starting the lighting controller operation calculates the conversion ratio in the stage usually.

At first, constant calculations parts 54C is with predetermined amount of spin d _xRotate the planar axes of light fixture 51.Afterwards, by the image that camera 53 is taken, it has before the rotation and display image S3 shown in Figure 23 A, as with the amount of spin α around planar axes _xRotate light fixture 51 and cause that the result that camera 53 rotates becomes display image S3 shown in Figure 23 B.

Then, constant calculations parts 54C require the operator carry out an input with indication with amount of spin α _xBefore the rotation, the position is at the initial point 0 of display image S3 " point that shows, after this rotates, the position that this point shows in the image.Promptly be at Figure 23 A, before rotating, initial point 0 " summary of indication is to the point of person neck right-hand side displacement, at initial point 0 " point that is shown is moved to initial point 0 among Figure 23 B " and left-hand side.Like this, the operator by input media 56 indication slightly to being presented at initial point 0 " the right-hand side transfer point Q (X of the people's of left-hand side neck _q, Y _q).Should be noted that in this situation that camera 53 only rotates around planar axes, so Y _qKeep (Y invariably _f/ 2).

Subsequently, in the following manner from amount of spin α _x, initial point 0 " and display image S3 on some Q between relative distance, and focal distance f draws conversion and compares Kx.

At first, initial point 0 " and display image S3 on some Q between relative distance X _αAs follows:

$\mathrm{X\α}=\mathrm{Xq}-\left(\frac{X_f}{2}\right)----\left(2\right)$

Then, amount of spin α _xWith the angle β that is shown among Figure 22 _xCorresponding, relative distance n _αWith the relative distance n that is shown among Figure 22 _βCorresponding.Like this, according to display image S3 on relative distance X _α[point] is corresponding is positioned at relative distance n on the S2 of projecting plane _α[mm], focal distance f and amount of spin α _x, can obtain conversion than Kx by following formula:

$\mathrm{Kx}=\frac{\mathrm{X\α}}{n_{\mathrm{\α}}}$

$\mathrm{n\α}=f\·\tan {\mathrm{\α}}_x$

$K_x=\frac{\mathrm{X\α}}{f\·\tan {\mathrm{\α}}_x}----\left(3\right)$

Constant calculations parts 54C calculating also keeps this numerical value.To similar around the planar axes rotation, these constant calculations parts 54C is with amount of spin α _yRotate light fixture 1 to calculate and to keep this conversion to compare Ky around sloping shaft.

$\mathrm{Ky}=\frac{y_{\mathrm{\α}}}{f\·{\tan \mathrm{\α}}_Y}----\left(4\right)$

That is to say, by rotating light fixture 1 and camera 53 around planar axes or sloping shaft with predetermined amount of spin, and draw identical point in how many lighting spaces on display image S3 rotation and move, then can obtain representing the conversion that concerns between amount of spin than relative distance on Kx, Ky, the projection plane S2 and the relative distance on the display image S3.

Below the operation of the lighting controller of the said structure that is used for initial setting stage and operational phase will be described respectively.

In the initial setting stage, the image of being taken with specific time interval by camera 53 is shown as the display image S3 in the viewing area A of photographic images shown in Figure 20, operator's operation is shown in the operation image area B in Figure 20 display device 55, so that set up the setting pattern of conversion than Kx and Ky.Constant calculations parts 54C is earlier with amount of spin α _xThe rotational plane axle also requires on operator's input picture with amount of spin α _xBe displayed on the initial point 0 of display image S3 before the rotation " point located, the position that after rotation, is shown.When the operator knocks among the image display area A this position on the display image S3 with input media 56, initial point 0 " and can be obtained by the relative distance between the beating position, and and then can be from this relative distance and amount of spin α _xCalculate with X side in opposite directions conversion accordingly compare K _x

Then, these constant calculations parts 54C is with amount of spin α _yRotate sloping shaft, and require on operator's input picture with amount of spin α _yBe displayed on initial point 0 before rotating " point located, the position that this position is shown after this rotation.When the operator knocks when being shown in the image 20 among the image display area A this position on the display image S3 with input media 56.Initial point 0 " and can be obtained by the relative distance between the beating position, and then compare K with the conversion of Y directional correlation _YCan be by this relative distance and amount of spin α _yObtain

Constant calculations parts 54C calculates conversion as stated above and compares K _XAnd K _Y, and K is compared in conversion _XAnd K _YThe subsequent calculations that is used for amount of spin calculating unit 54b.

The following describes the operation of lighting controller in the operational phase.

In this operational phase, the image that camera 53 is taken with specific time interval is shown as and is shown in the display image S3 among the A of photographic images viewing area among Figure 20, initial point 0 " be the center of the display image S3 corresponding with lighting point.When the operator knocked desired location on the display image S3 with input media 56, amount of spin calculation element 54b calculated input position and initial point 0 on directions X and the Y direction " between relative distance, and will be somebody's turn to do apart from substitution equation (5) and (6) calculating around the amount of spin of planar axes with around the amount of spin of sloping shaft.Then, amount of spin calculating unit 54b will have the drive signal of amount of spin information and export to driver part 52a and 52b, and driver part 52a, 52b be according to this drive light fixture 51, thereby rotate light fixture 51 around planar axes and sloping shaft.

As mentioned above, in the operational phase, selected and when knocking point on the display image 53 of display device 55 as the operator with input media 55, calculated around the amount of spin of planar axes and sloping shaft, this position becomes the center of display image S3 like this, thereby rotates this light fixture 51.After this, this position of corresponding strary lighting, position on the selected display image S3 of light fixture 51 and input media 56 with and periphery in lighting space.

(the 6th embodiment)

Figure 24 is the synoptic diagram of expression lighting controller.Figure 25 is the preceding diagrammatic sketch of expression display device and display image.It should be noted that those identical parts in the described lighting controller relevant, in Figure 24, mark, and these identical parts are not described in detail with identical label with aforementioned the 5th embodiment.This second enforcement lighting controller and the described lighting controller difference of aforementioned the 5th embodiment and feature such as following structure.

That is, first feature structure provides a focal length modifier 53a that can change the focal length of camera 53.

Second feature structure is as described below.In the 5th embodiment constant calculations parts 54c only keep one group the conversion ratio, and this conversion this change according to parameters such as focal lengths.Therefore, in the 6th embodiment, be provided with corresponding to a plurality of conversions ratios of focal length and by the operator and select for use.

The 3rd feature structure is at operation image area B display image label shown in Figure 25, and by selecting label to select the focal length corresponding with each label, thus setting and selected conversion ratio corresponding to camera lens.

In having the lighting controller of said structure, set according to focal length at initial setting stage, conversion beguine, in the operational phase, along with suitably selecting focal length, can carry out the control of lighting position.Therefore,, can and be presented on the maximum magnitude of display image S3, like this, use input media 56 select target lighting position more subtly the image taking in the close limit by increasing focal length.On the other hand, by reducing focal length, image can be taken in wide region and show on display image S3, though the selected precision in position reduces like this, the operator can be in wide region along with image watched the selected target lighting position.

(the 7th embodiment)

Figure 26 is the synoptic diagram of expression lighting controller.Figure 27 is the preceding diagrammatic sketch of a display image.It should be noted that and in Figure 26, use same label to represent, and identical parts are not elaborated those identical parts with the described lighting controller of aforementioned the 5th embodiment.The feature of this 3rd embodiment lighting controller is different with the described lighting controller of aforementioned the 5th embodiment, and its feature is as described below.

This feature structure is image selecting device 54d, indexing unit 54e to be set in CPU (central processing unit) 54 and to rotate back position calculating apparatus 54f.

54C is compared K by the conversion of its calculating at the constant calculations parts _XAnd K _YRotate before the light fixture 51, image selecting device 54d is at the initial point 0 with the display image S3 shown in Figure 27 A " be from display image S3 selection memory image E1 also in the regulation zone at center.

Shown in Figure 27 B, indexing unit 54e passes through from constant calculations parts 54c with amount of spin α _xOr amount of spin α _yRotating the zone of the image E2 in the regulation zone of choosing among the display image S3 that obtains behind the light fixture 51 retrieves near the figure coupling of image E1.

Rotate back position calculating apparatus 54f and calculate the central point Q (X that is retrieved and distinguishes _q, Y _q) and it is outputed to constant calculations parts 54C.

Like this, the initial point 0 of constant calculations parts 54C from the display image S3 " and by the relative distance and the amount of spin α that rotate between the Q point that back position calculating apparatus 54f calculates _xAnd α _yCalculate conversion and compare K _XAnd K _YTherefore, the operator need not import one and be presented at display image S3 initial point 0 before rotating light fixture 51 " position of point on the image that is shown after the rotation located, so just can easily set to change and compare K _XAnd K _Y

When comparing K by the conversion of equation (3) expression _XThe substitution equation can draw when (1):

${\mathrm{\β}}_x={\tan }^{-1}\left(\frac{X_{\mathrm{\β}}}{K_X\·f}\right)$

$={\tan }^{-1}\left(\frac{X_{\mathrm{\β}}}{\left(\frac{X_{\mathrm{\α}}}{f\·\tan {\mathrm{\α}}_x}\right)\·f}\right)$

$={\tan }^{-1}(X_{\mathrm{\β}}\·\frac{\tan {\mathrm{\α}}_x}{X_{\mathrm{\α}}})----\left(5\right)$

Above-mentioned equation neither comprises focal distance f and does not also comprise conversion and compare K _XAs shown in figure 22, the X of directions X is gone up in equation (5) expression by display image S3 _β[point], on the portable lighting direction, obtain amount of spin β _XEquation.Similarly, on the Y direction, draw following formula:

${\mathrm{\β}}_y={\tan }^{-1}(Y_{\mathrm{\β}}\·\frac{\tan {\mathrm{\α}}_y}{X_{\mathrm{\α}}})----\left(6\right)$

Therefore, but the tan α in the constant calculations parts 54C calculation equation (5) _y/ X _αWith tan α _y/ Y _αAs constant, keep this numerical value and compare K with the numerical value and the conversion that replace focal distance f _X, K _YCalculate the amount of spin of light fixture 51.When adopting this method, this calculating need not used focal length, therefore can use the camera of not knowing its focal length.

According to present embodiment, light fixture 1 and camera 3 compare K by the rotation of calculating in addition _XAnd K _YIn case, with α _xAnd α _yThe amount of spin of degree rotates around planar axes or sloping shaft, obtains going up the transient change of some positions apart from corresponding information with display image S3.But this configuration is not restrictive, and their are rotated repeatedly, and makes the variation total amount of rotating the relative distance on total amount and the display image S3 corresponding and obtain changing and compare K _XAnd K _Y

According to present embodiment, the numerical value that draws with said method is used as conversion and compares K _XAnd K _YBut this ratio is not limited to this value, and they can for example be the functions of proofreading and correct the aberration that produces between ideal image face S1 and the projecting plane S2.Even this mode makes display image S3 also not have aberration in its marginal portion, therefore select location more accurately.

According to the content of present embodiment, a CRT monitor is as 55, one Genius mouses of display device, and control lever etc. are as input media 56.But they are not limited to these devices, for example can be with LCD as display device 55, with touching panel as input media 56.In this case, the advantage of this configuration is that entire equipment can be miniaturized.

According to the content of present embodiment, the inspection white, quiet clothes are put 54e with display image S3 regulation district in retrieve and image E1 be similar to the zone of figure matching process from obtaining after light fixture 51 rotates.But this method is not limited to figure coupling, it so long as retrieval to be similar to the method in zone of image E1 just passable.Therefore, also can adopt characteristic quantity and the attention retrieval zone approximate of choosing image E1 with this characteristic quantity.

(the 8th embodiment)

Figure 28 is the synoptic diagram according to the lighting controller of eighth embodiment of the invention.It should be noted that those parts identical with the mark of the same numeral among Figure 26, and these identical parts are not specified with the parts of the described lighting controller of aforementioned the 5th embodiment.

At Figure 18, among the embodiment shown in 24 and 26, image capturing device 53 is parallel to the outside surface that optical axis that light fixture 51 penetrates light is installed in the main body 51a of light fixture 51, and as shown in figure 28, in the present embodiment, image capturing device 53 and light fixture 51 are separated from each other setting rotationally respectively.

Lighting controller shown in Figure 28 comprises: driver part 52c, 52d are in order to respectively around planar axes (aspect horizontal) and sloping shaft (in vertical direction) rotating image filming apparatus 53; Direction calculating parts 54g is in order to the amount of spin that passes through computed image filming apparatus 53, the horizontal angle and the vertical angle of computed image filming apparatus 53; With coordinate calculating unit 54h, according to the result of calculation of direction calculating parts 54g calculate illuminated target coordinate, and this coordinate result of calculation is exported to amount of spin calculating unit 54b.

The operation of this lighting controller will be described below in conjunction with Figure 12,13.Light fixture 51 and image capturing device 53 are corresponding with pointolite 1 and CCD camera 4 among Figure 12,13 respectively.

The horizontal angle θ of image capturing device 53 _Mp(t) and vertical angle θ _Mt(t) be to be the angle of benchmark with the Y direction that is shown in Figure 12 and the horizontal direction that is shown in Figure 13, these numerical value direction of passage calculating units 54g is transfused to and draws from input media 56.

As shown in figure 13, when light fixture 51 and image capturing device 53 are projected on the bottom surface of lighting space 9, be projected in point (0,0,0) on this baseplane to the distance L of illuminated target 8 from image capturing device 53 _mThe vertical angle θ of usable image filming apparatus 53 _Mt(t) represent with following equation.

L _m＝Z _m/tan(θ _mt(t))

And, the coordinate (X of illuminated target 8 _t, Y _t, 0) and available following equation represents.This target coordinate calculates and exports to amount of spin calculating unit 54b by coordinate calculating unit 54h.

X _t＝L _m·cos(θ _mp(t))

Y _t＝L _m·sin(θ _mp(t))

In this case, the coordinate of supposing light fixture 51 is (X _s, Y _s, Z _s), then the coordinate of the illuminated target 8 of watching from light fixture 51 becomes (X _t-X _s, Y _t-Y _s,-Z _s), be projected in the point (X on the baseplane of lighting space 9 from light fixture 51 _s, Y _s, 0) and to the distance L of illuminated target 8 _sCan represent by following equation:

Ls＝((X _t-X _s) ²+(Y _t-Y _s) ²) ^1/2

Use this distance L _s, the horizontal angle θ of light fixture 51 _SPWith vertical angle θ _StCan represent by following equation:

θ _sp＝cos ^-1((Y _t-Y _s)/Ls)

θ _st＝tan ^-1(Zs/Ls)

At the horizontal angle θ that draws light fixture 51 like this _SPWith vertical angle θ _StAfter, starting driver part 52a, 52b forwards light fixture 51 to the direction of illuminated target.

Introduce the preferred embodiment of tracking equipment of the present invention below in conjunction with accompanying drawing.

(the 9th embodiment)

Figure 29 represents the block diagram of tracking equipment of the present invention.This tracking equipment is provided with the monochromatic CCD camera 60 and the colored CCD camera of image capturing device, and comprises: Signal Processing Element 62 is used to handle the vision signal from CCD camera 10; Digitizing parts 63 are used for the output of digitizing from Signal Processing Element 62; Image storage parts 64 are used for the output from digitizing parts 63, with the form storage of IR view data; Signal Processing Element 66 is used to handle the vision signal from CCD camera 65; Image storage parts 67 are used for the output from signal processing element 66 is stored with color image data; Main control unit 80 is used to control above-mentioned parts and processing hereinafter described; Store control assembly 68, be used for instruction control image storage parts 64 and 67 according to main control unit 80; And eigenwert reservoir part 69, be used to store eigenwert based on the tracked object of coloured image acquisition.At this moment, the front surface at monochromatic CCD camera 60 is provided with the only infrared transmission light filter 61 of transmitted infrared light.

According to this tracking equipment, the infrared transmitter 91 that serves as a mark is pre-installed on the tracked object 90, and select from the infrared light of infrared transmitter 91 outputs with the processing that detects tracked object space and characteristics of image according to chosen initial setting and the tracked object 90 that stores by the image of comprehensively taking according to CCD camera 60, the coloured image of taking from CCD camera 65 detects the processing of tracked object space and the position of exporting tracked object 90.Repeat these handling procedures, just follow the tracks of tracked object serially.At this moment, infrared transmitter 91 is made of infrared light emitting diode (hereinafter being called infrared LED) that a peak is arranged near infrared region (for example, the 890nm wavelength) or similar device.When the DC electric current flow through this infrared LED, it was luminous all the time.Like this, according to this tracking equipment, even this mark can be detected situation under during in the shape of tracked object 90 and change color, tracked object 90 also can be tracked, and this mark can not be detected situation under follow the tracks of tracked object 90 according to coloured image, like this, tracked object 90 can be followed the tracks of continuously.At this moment, above-mentioned main control unit 80 is made of microcomputer.

In order to carry out aforesaid operations, the startup of an indicators track and the operating switch of end 70 are connected to main control unit 80.Obviously, operating switch 70 can be made into tracking starting switch separately and follow the tracks of end switch.In addition, according to the tracking equipment of present embodiment, the lens focus of CCD camera 60 and CCD camera 65, CCD sizes etc. are basic identical, and CCD camera 60 and 65 photographic images in roughly the same zone.

Introduce the operation of main control unit 80 below in conjunction with Figure 30.

At first, when operating switch 70 indicators track start (step 1), confirm whether indicators track finishes (step 2) to operating switch 70.When obtaining following the tracks of the indication of end, this is followed the tracks of and finishes (step 3).In the time must not following the tracks of the indication of end, confirm whether initial setting is carried out (step 4).When initial setting was not carried out as yet, the step of feature (color, shape etc.) that is used to store the image of tracked target 90 was performed as the program of initial setting.

At this moment, when carrying out initial setting, main control unit 80 indications store control assembly 68 and deposit image storage parts 67 (step 5) in from CCD camera coloured image of 65 inputs and with it.Then, the vision signal CLVD that is taken by CCD camera 65 is divided into red (R), green (G), blue (B) (converting rgb signal to) three-primary colours composition in Signal Processing Element 66, and analog to digital conversion (below be called A/D conversion) or the like, then deposit image storage parts 67 in as color image data.After this color image data deposits image storage parts 67 in, store control assembly 68 result is informed main control unit.For the i.e. intrinsic eigenwert of the selected tracked object in the district (storage area) of a regulation 90 in the initial position of the tracked object 90 of for example screen center, main control unit 80 is read and is arranged in the data on the image storage parts 67 storage area appropriate address and handles this data, thereby calculates the eigenwert of tracked object and deposit the result in eigenwert reservoir part 69 (step 6).View data itself or a histogram suit as eigenwert in use image storage parts 67 storage areas.According to present embodiment, ((i, j), (i, j), B (i, j)) is stored and makes a model G R view data itself.It should be noted that (i, j), (i, j), (i is respectively when upper left corner coordinate is set at (0,0) j) to B to G to R, and (i j) locates the R composition, and the analog value of G composition and B composition, size of sample are I * J (that is, 0≤j＜I, 0≤j＜J) at coordinate.

When initial setting was finished, main control unit 80 execution detected from the program of the infrared light of infrared transmitter 91 outputs that are attached to tracked object 90.

Passing infrared light sees through the vision signal IRVD that light filter 11 taken by the CCD camera carry out A/D conversion or the like in Signal Processing Element 62.Afterwards, in digitizing parts 63, be digitized, and deposit image storage parts 64 (step 7) in as the IR view data with the threshold value of stipulating.At this moment, according to this tracking equipment, the sensitivity of monochromatic CCD, the output characteristics that infrared light sees through the sensitivity of light filter 61 and infrared transmitter 91 constitutes respectively that (annotate: A and B represent relative sensitivity with the characteristic curve shown in A, B and the C respectively among Figure 31, C represents to be listed as mutually output), infrared light is with the sensitivity input CCD camera 60 shown in the D part among Figure 31.Therefore, the light that has only 700nm to 1000nm wavelength is by transmission, thereby the district that only has above wavelength can be selected through digital processing.When the process that the IR view data is deposited in image storage parts 64 is finished, store control assembly 68 with result notification main control unit 80, and main control unit 80 calculates the mark on the screens, is promptly detected the position (step 8) of infrared transmitter 91 by mark detecting apparatus.

Main control unit 80 carry out be used for 64 digitizings of split image reservoir part the so-called mark of IR view data handle to detect this mark, calculate the area of centre of gravity place (center) and each marked area, and the storage center of gravity and the area that draw.When infrared optical transmitting set 91 is in the visual field of CCD camera 60, generally select the object areas of a district as the proposition that has mark.When infrared optical transmitting set 91 was blocked in the back of other object or be in outside the visual field of CCD camera 60, this district was not selected.In addition, because of infrared light supply or the catoptrical influence except that infrared transmitter 91, have a plurality of districts and be selected sometimes.If there is the object areas of a plurality of propositions to be selected, then obviously not that the object areas because of those propositions of the output light of infrared transmitter 91 will be excluded according to following program.

Program 1: when the area of the object areas of choosing proposition was in given size, this area of choosing was as the object areas of a proposition.

Program 2: the distance when between the center of gravity of the object areas that the distance of centre of gravity of the object areas that proposes is chosen in advance hour, the object areas of this proposition is selected as the object areas of a proposition.

That is to say that main control unit is chosen this zone based on the center of gravity in the district that is selected as tracked proposition object in program 1 according to the light of red place optical transmitting set 91 in the program 2.Promptly be, main control unit 80 obtains displacement X, Δ Y from the screen center corresponding with the center of gravity (center) of selected area, and tracking signal output is done in displacement.

When not selecting the district to exist, promptly when mark (infrared transmitter 91) was not detected in the step 8, main control unit 80 indications stored coloured images of control assembly 68 inputs (step 10).

^*Subsequently, the vision signal CLVD that is taken by CCD camera 65 converts three-primary colours signal (being converted into rgb signal) in Signal Processing Element 66, carries out A/D conversion or the like and deposits image storage parts 67 in the form of color image data.When the process that deposits image storage parts 67 in when color image data is finished, store control assembly 68 with result notification main control unit 80.Then, main control unit 80 is carried out the program of a screen piece of retrieval, and this screen piece has and the similar eigenwert of eigenwert that is stored in tracked object 90 in the eigenwert reservoir part 69 at initial setting in the stage.Promptly be, the view data that main control unit is read each screen piece from image storage parts 67, calculate the eigenwert similar to initial setting, with the eigenwert of the eigenwert of each screen piece and (being stored in the eigenwert reservoir part 69) tracked object 90 relatively, in the initial setting stage thus calculate an evaluation of estimate and carry out the object that obtains the position (screen piece) that has tracked object 90 and choose program (step 11).When view data is used as eigenwert, carry out the calculating of evaluation of estimate coordinate (X, Y) with the stack summation of absolute difference between the view data (model) of tracked target 90 and the corresponding coordinate of screen piece (input picture) the place pixel value.At this moment, suppose that (i, the numerical value of the R that j) locates are Rin (I for coordinate at input picture, j), the input picture coordinate (I, j) numerical value of locating the G composition be Gin (I, j), at input picture coordinate (I, j) numerical value of locating the B composition be Bin (I, j), at model coordinate (i, j) numerical value of locating the R composition is Rtp (i, j), the model coordinate (I, j) numerical value of locating the G composition is Gtp (i, j), the model coordinate (I, j) numerical value of locating the B composition be Btp (i, j), with the skew of screen piece when the upper left corner is initial point be X, Y, then the evaluation of estimate coordinate draws according to following formula:

Wherein, the screen piece image similar more to template image then should be worth more little.

$\mathrm{cor}(x,y)=\underset{i=0}{\overset{I-1}{\mathrm{\Σ}}}\underset{j=0}{\overset{J-1}{\mathrm{\Σ}}}\left(\right|\mathrm{Rin}(x+i,y+j)-\mathrm{Rtp}(i,j)|+|\mathrm{Gin}(x+i,y+j)-\mathrm{Gty}(i,j)|$

$+|\mathrm{Bin}(x+i,y+j)-\mathrm{Bty}(i,j)|)$

Be offset X, Y by above-mentioned equation for generation minimum value screen piece and this screen piece that all screen pieces calculate like this, the position that tracked object exists can be known.Then, the center that main control unit 80 moves to screen by the top-left position from screen is moved this off-set value (promptly carrying out position probing) and is drawn offset X, Δ Y, and with this side-play amount as tracking signal output (step 12).

In the step 12 or after going on foot offset X in 9, Δ Y output, main control unit 80 turns back to the step 2 with flow process and confirms that whether instruction trace finishes, and repeats above program and continue to follow the tracks of up to following the tracks of the instruction that finishes and be issued.

In other words, the infrared transmitter 91 that serves as a mark is detected based on the IR image from the video signal generating of CCD camera 60, and when infrared optical transmitting set 91 can not be detected, this program was carried out according to the coloured image from the vision signal of CCD camera 65.Therefore, when infrared optical transmitting set 91 can be detected, tracked object 90 was can high reliability tracked.When infrared optical transmitting set 91 can not be detected, the tracking of tracked object 90 continued by the coloured image program.Based on the tracking of coloured image program as long as follow the tracks of effective in the short time, just can carry out sufficient tracking characteristics, when infrared optical transmitting set 91 was detected again, the tracking error that produces through the coloured image program can be eliminated, therefore, tracked object 90 can be tracked accurately.

(the 9th embodiment)

The present embodiment tracking equipment is characterised in that by detecting the mark similar to the 8th embodiment follows the tracks of tracked object, and when this mark can not be detected, follow the tracks of tracked object based on the eigenwert of input picture, this mark is made of infrared transmitter.This infrared transmitter discontinuously with vision signal synchronized transmissions from image capturing device.In other words, having under the situation about existing, improving the tracking accuracy of this tracking equipment by control from the light emissioning cycle of infrared transmitter 91 from the infrared light except that infrared transmitter 91 (noise).

Figure 32 is the parts block diagram of expression present embodiment tracking equipment feature, will introduce the operating feature of this tracking equipment below.

One is come freedom that the vision signal of the image capturing device 79 of the light activated monochromatic CCD camera formation in the infrared light district is imported into synchronous selecting device 78 and A/D conversion equipment 74.Then, synchronous selecting device 78 is from choosing the vertical synchronizing signal shown in Figure 32 A this vision signal.This vertical synchronizing signal (pulse signal) produces the time of a field of its representative image with 1/60 second interval.The vertical synchronizing signal of choosing like this is sent to synchronized transmissions device 73 and is launched as radiowave.Should be noted that common modulating system such as FM or AM from the system of synchronized transmissions device 73 emitting radio wave, this output can be hanged down to tens meters degree.From the synchronizing signal (vertical synchronizing signal) of synchronized transmissions device 73 emission by synchronous receiving trap 92 demodulation of infrared transmitter 91 and be imported into infrared LED drive unit 93.Infrared LED drive unit 93 produces one and is interrupted the infrared LED drive signal, and the level of this signal is changed between the high level of each pulse of synchronizing signal and low level, and output signal, shown in Figure 33 B.Therefore, infrared LED 94 opens and closes with the cycle synchronisation ground of the field of image capturing device 79 respectively.Like this, when image capturing device 79 is taken the image of infrared transmitters 91, in a certain in the whole field duration of the infrared light image of infrared LED 94, be taken, and this infrared light image is not taken in next fully.

Converted to digital signal from image capturing device 79 and the vision signal that is imported into A/D conversion equipment 74 by this A/D conversion equipment 74, this digital signal once is input to an image storage device 75.At this moment, image storage device 75 stores a field data.Sort memory is called as field memory, and it can be the storer that is generally used for digital processing in televisor or the like.The data that are stored in the image storage device 75 are read out and are transfused to Image differentiation device 76 at next picture.Image differentiation device 76 passes through between the data of image storage device 75, and promptly last picture image and the difference that obtains between the image are at present chosen the changing unit of this image.

For example shown in Figure 34 A, though when the infrared light 91 ' that comprises from infrared transmitter 91, when being present in shown in Figure 33 A among the E with noise contribution N from the infrared light of non-infrared transmitter 91, (infrared transmitter 91 is closed) has only noise composition N to exist in the image shown in Figure 33 A among the F.Therefore, choose by utilizing Image differentiation device 76 that the difference between image can obtain the image shown in Figure 34 C among image among the E (Figure 34 A) and the F (Figure 34 B), like this, only the infrared light 91 ' from infrared transmitter 91 can serve as a mark detected.In other words, usually be under the situation that the noise contribution N that contains from the infrared light of non-infrared transmitter 91 throws light on all the time, even and when flash of light, it also can with the field synchronization flash of light of image capturing device 79.Therefore handle through differential with Image differentiation device 76 and can eliminate noise contribution N, so just have only infrared LED 94 to be selected.

Particularly in the moment that starts illumination, the differential between continuous two of the infrared light 91 ' through being similar to motor synchronizing infrared LED 94 is handled may select level and smooth noise light mistakenly.Therefore, carry out differential again at follow-up two and handle, and determine this only only when double selection from the infrared light 91 ' of infrared LED 94.

Like this, this tracking equipment only detects infrared LED 94 luminous of the image that comes self-contained interference noise and specifies lighting position.Therefore, by this position of guiding such as pointolite just can be followed the tracks of and strary lighting the people.

(the 11 embodiment)

The basic structure of present embodiment tracking equipment and basic operation and the 9th embodiment broadly similar, so its characteristic operation will be illustrated in conjunction with Figure 35.

When the object areas that has a proposition that serves as a mark in the 8th step at least is detected, whether the main control unit 80 of this tracking equipment confirms a plurality of mark detected (step 9), when having a mark similarly with the 8th embodiment, selection is similar to the center of gravity of choice area of the 8th embodiment as from the infrared light of infrared transmitter 91, is used to obtain the position probing of shifted by delta X, Δ Y from screen center to the choice area center of gravity and exports this shifted by delta X, Δ Y (step 10).When detecting a plurality of mark in the step 9, the main control unit instruction stores control assembly 68 input color images (step 11).Then, the main control unit object of carrying out the evaluation of estimate coordinate that is used to calculate each screen piece (X, Y) of similar the 8th embodiment is chosen program (step 12).Then, according to this evaluation of estimate coordinate (X, Y) with by the position of the proposition mark found out, most likely the position of mark draws according to following program.

Program 1:

When not having the mark of proposition in the screen piece, this screen piece is got rid of from the object areas that proposes.

Program 2:

Evaluation of estimate coordinate (X, Y) is got rid of from the object areas of this proposition greater than any screen piece of setting.

Program 3:

In remaining screen piece, the screen piece of the position of the most close tracked object 90 that is selected in previous program is selected.

Then, main control unit 80 draws the screen piece chosen and its skew X, Y through said procedure 1 to 3, carries out by shifting to the position probing (step 13) that screen center draws offset X, Δ Y and export this offset X, Δ Y as tracking signal from the top-left position of screen with this off-set value again.

When not choosing the district when existing, promptly when in the step 8, not having mark (mark of proposition) detected, with the 8th embodiment identical operations (step 10 is to the step 12) execution in the step 14 to step 16.

In the step 10,13 and 16 behind output offset amount Δ X, the Δ Y, main control unit 80 similar the 8th embodiment make flow process turn back to the step 2 confirming following the tracks of whether indicate end, and repeat aforesaid program and continue to follow the tracks of until following the tracks of and finish to be instructed to.

In other words, when infrared optical transmitting set 91 can be detected, this tracking equipment carried out the IR Flame Image Process, can not be detected or when a plurality of proposition marks are detected when infrared optical transmitting set 91, carry out Color Image Processing.Therefore, when infrared optical transmitting set 91 was can be independent detected, this tracking can be carried out highly reliably, even when infrared optical transmitting set 91 can not be detected, this tracking is continued by Color Image Processing.In addition, when a plurality of proposition marks were detected, most likely the mark of the proposition of mark was selected as mark through Color Image Processing.Therefore, the reliability of this tracking can improve.

(the 12 embodiment)

The basic structure of present embodiment tracking equipment and basic operation and the 9th embodiment broadly similar, so its peculiar operation will be illustrated in conjunction with Figure 36.

When an abstract tagma as the mark that proposes was detected in the step 8, the main control unit 80 of this tracking equipment carried out position probing (step 9) according to the IR image, afterwards, and instruction coloured image input (step 10).Then main control unit 80 carries out that the object similar to the 8th embodiment chosen processings, (X Y) (goes on foot 11) in order to the evaluation of estimate coordinate that calculates each screen piece.According to the position of this evaluation of estimate and found proposition mark, the mark position of concrete maximum likelihood draws according to following program.

Program 1:

When not having the mark of proposition in the screen piece, this screen piece is deleted from the object areas that proposes.

Program 2:

Evaluation of estimate coordinate (X, Y) is deleted from the object areas that proposes greater than any screen piece of setting.

Program 3:

In remaining screen piece, the screen piece of close tracked object space that is selected in previous program is selected.

Then, main control unit 80 draws screen piece and its skew X, the Y that chooses through said procedure 1 to 3, carry out again by shifting to the position probing that screen center draws offset X, Δ Y (step 12) from the top-left position of screen, and export this offset X, Δ Y as tracking signal with this off-set value.

When not choosing the district when existing, promptly when in the step 8, not having mark (mark of proposition) detected, carry out going on foot in 13 to 15 with the 8th embodiment identical operations (step 10 is to the step 12).Be outputted as tracking signal from offset X, the Δ Y of the screen center of screen piece with minimum evaluation of estimate.

In the step 12 and 15 after output offset amount Δ X, the Δ Y, whether main control unit 80 makes flow process turn back to similar the 8th embodiment ground of steps 2 to confirm to follow the tracks of and finish to be instructed, and repeats aforesaid program and continue to follow the tracks of until following the tracks of end and instructed.

In other words, even when this mark is detected, this tracking equipment is by the processing to IR image and coloured image, and comprehensively their result calculates the position of tracked object, has therefore improved the tracking reliability.

(the 13 embodiment)

The basic structure of present embodiment tracking equipment is similar to the 12 embodiment substantially with basic operation, and its distinctive operation will be illustrated in conjunction with Figure 37.

In the step 12 to 15 behind output offset amount Δ X, the Δ Y, this stores the eigenwert (view data) that is determined the screen piece that comprises the step 12 or go on foot tracked object 90 in 15 with the main control unit 80 with equipment and replaces in starting stage stored object eigenwert, promptly upgrade eigenwert (step 16), and make flow process get back to the step 2 whether to be instructed confirm to follow the tracks of finishing, and repeat aforementioned program and continue to follow the tracks of until following the tracks of and finish to be instructed.

As mentioned above, this tracking equipment carries out the processing of IR image or coloured image, and upgrades the eigenwert of tracked object 90 according to this result.Therefore, even when model information is destroyed in the Color Image Processing program, upgrades this eigenwert and just can improve this tracking reliability.

(the 14 embodiment)

Figure 38 represents the block scheme of present embodiment tracking equipment.The basic structure of this tracking equipment is similar to the 8th embodiment substantially with basic operation, and it is characterized in that, be provided with the motor that a turntable 71, turntable 71 have control plane axle (in the horizontal direction) and two axles of sloping shaft (in vertical direction), CCD camera 60 and 65 is positioned on the turntable 71, and turntable 71 is according to rotating on plane and vergence direction from the control signal (tracking signal) of main control unit 80.

The operation of this tracking equipment main control unit will be described as follows in conjunction with Figure 39, because the step 1 is identical with the 12 embodiment to the operation in step 15, so will not illustrate.

According to this tracking equipment, in the step 12 or go on foot in 15, main control unit 80 calculates the position of tracked object 90 and output offset X, the Δ Y from screen center.Based on this output, main control unit 80 is controlled turntables 71, is made the tracked object 90 that departs from Δ X, Δ Y from screen center be moved to screen center's (step 16) then.This moment, Δ X and Δ Y were corresponding with in-plane and vergence direction respectively, therefore, carried out FEEDBACK CONTROL with Δ X and Δ Y as deviation.Should be noted that from the control signal of main control unit 80 output can by the turntable with continuous propagation function 71 that provides and to make data transfer start or stop the data transfer of carrying out by continuous transmission or control performed.

In the step 16 behind the control turntable 71, whether main control unit 80 makes flow process turn back to the step 2 and is instructed confirm to follow the tracks of finishing, and repeats aforementioned program thereafter and continues to follow the tracks of.

It goes up the CCD camera 60 installed and 65 turntable 71 according to the position control of tracked object 90 for this tracking equipment control, so can follow the tracks of tracked object 90 in the angle of broad.

Obviously, turntable 71 can be installed on the tracking equipment of any other embodiment.

(the 15 embodiment)

Figure 40 represents the block scheme of present embodiment tracking equipment.The basic structure of this tracking equipment is identical substantially with the 13 embodiment, it is characterized in that, turntable 71 is provided with a pot, the output of the control signal of current attitude origin Autonomous Control unit 80, and be provided with because of with the turntable 71 controlled light fixture 72 of interlocking to tracked object 90 strary lightings.At this moment, light fixture 72 has directivity and is arranged on the position of leaving turntable 71.

Below in conjunction with Figure 41 the operation of this tracking equipment is described, will not illustrates for the operation of the step 1 identical to the step 15 with the 11 embodiment.

In the step 12 or go on foot in 15, the position that main control unit 80 calculates tracked object 90, and output is from offset X, the Δ Y of screen center.

Then, main control unit 80 is from turntable 71 readings and plane and the corresponding current potential evaluation of vergence direction angle of rotation, and draws the attitude of turntable 71 and then draw the CCD camera 60 of connection and 65 attitude (step 16).Then in the step 17, main control unit is from optical axis and the intersection point of baseplane or the intersection point of this optical axis and specified altitude of the Attitude Calculation CCD camera of the position of CCD camera 60 or CCD camera 65 and CCD camera 60 and 65, afterwards, carry out the coordinate converse routine with direction from intersection point and this light fixture of position calculation of light fixture 72.In addition, be similar to step 16 main control units, the 80 control turntables 71 (step 18) of the 14 embodiment subsequently.Thereafter, main control unit control light fixture 72 is so that tracked object 90 (step 19) is pointed in illumination.

After going on foot 19 processing, whether main control unit 80 makes flow process turn back to the step 2 to finish to be instructed to confirm to follow the tracks of.Repeat above-mentioned processing then, then when tracked movement of objects, this tracked object 90 can be by continuous strary lighting.

Obviously, turntable 71 and light fixture 72 can be installed in the tracking equipment of any other embodiment.

(the 16 embodiment)

According to present embodiment, two groups of camera devices that are made of light activated monochromatic CCD camera (hereinafter claiming " infrared camera ") and colored CCD camera (hereinafter claiming " colored camera ") to the infrared light district are arranged on the turntable.By calculating the three-dimensional coordinate of tracked object, can the mark that no matter proposes be detected by infrared camera, and the position of tracked object can be detected high-precisionly.

Figure 42 represents the block diagram of the 16 embodiment tracking equipment.As shown in FIG., this tracking equipment is provided with first and second infrared camera 103A and the 103B; First and second colored camera 104A and the 104B; Have the motor of control plane axle (in the horizontal direction) and sloping shaft (in vertical direction) diaxon and support the first camera turntable 105A of the first infrared camera 103A and the first colored camera 104A in the horizontal direction with vertical direction rotationally; The first camera turntable 105A with control plane machine 104A; Have control plane axle (in the horizontal direction) and sloping shaft (in vertical direction) diaxon motor and support the second camera turntable 105B of the second infrared camera 103B and the second colored camera 104B rotationally in the horizontal direction with on the vertical direction.In addition, at lighting space the pointolite 101 of illuminated target (tracked object) strary lighting is supported rotationally with the pointolite turntable 102 that vertical direction is had a motor of control plane axle (in the horizontal direction) and sloping shaft (in vertical direction) diaxon in the horizontal direction.

In addition, this tracking equipment is provided with first image and differentiates parts 106A, imports this first image from the vision signal of the first infrared camera 103A and the first colored camera 104A and differentiates parts 106A; Differentiate parts 106B with second image, import this second image from the vision signal of the second infrared camera 103B and the second colored camera 104B and differentiate parts 106B.These images differentiate that parts 106A deposits identical 26S Proteasome Structure and Function with the 106B tool, differentiate that with first image parts 106A is that example describes, it can utilize existing image processing techniques according to differentiating the mark that proposes and detect coordinate from the vision signal of infrared camera 103A, and it can utilize existing image processing techniques according to differentiating the tracked object that proposes and detect coordinate from the vision signal of colored camera 104A.In the present embodiment, more preferably,, only when can not being detected by infrared camera, the mark that proposes carries out based on detection from the tracked object of the vision signal of colored camera.

In addition, this tracking equipment is provided with three-dimensional coordinate calculating unit 107, and this calculating unit 107 selects a location coordinate the most consistent of one as institute's reconnaissance in the location coordinate of being differentiated the proposition point that parts 106A and 106B detect by first and second images; The first coordinate calculating unit 108A calculates the amount of movement (operating parameter on direction) of the first infrared camera 103A and the first colored camera 104A according to the result of calculation of three-dimensional coordinate calculating unit 107; The second coordinate calculating unit 108B calculates the amount of movement (operating parameter on direction) of the second infrared camera 103B and the second colour TV camera 104B according to the result of calculation of three-dimensional coordinate calculating unit 107; And first and second removable control assembly 109A and 109B, drive and control the first and second camera turntable 105A, 105B in order to result of calculation according to the first and second coordinate calculating unit 108A and 108B.

Have, this tracking equipment is provided for the reservoir part 111 of storing spot light source 101 illumination directions again; The 3rd coordinate calculating unit 112, amount of movement (operating parameter on direction) according to the result of calculation calculation level light source 101 that is stored illumination direction data that parts 111 store and three-dimensional coordinate calculating unit 107, and the 3rd movable control assembly 113, drive and reference mark light source turntable 102 according to the result of calculation of the 3rd coordinate calculating unit 112.

Operation below in conjunction with Figure 43 and 44 these automatic tracking illumination equipment of explanation.

At first, when the tracking startup is operated switch order (step 1), confirm whether instruction trace finishes (going on foot 2) to operating switch.When following the tracks of end by instruction, this is followed the tracks of and finishes (going on foot 3).On the other hand, when following the tracks of end by instruction, what affirmation proposed marks whether by the first infrared camera 103A detection (step 4).When the mark of at least one proposition is detected (step 4: be), confirm marking whether of proposition by the second infrared camera 103B detection (step 5).When the mark that proposes is also detected by the second infrared camera 103B (step 5: be), be chosen as institute reconnaissance (step 6) by the most consistent coordinate combination in the position in the coordinate of the proposition mark of the first and second infrared camera 103A and 103B detection.

On the other hand, in the step 5, (the step 5: not), then calculate the location coordinate (step 7) of the tracked object of the proposition that is detected by the second colored camera 104B when the mark of any proposition is not detected by the second infrared camera 103B.The most consistent location coordinate combination is chosen as a selected element (step 8) in the coordinate of the coordinate of the proposition mark that is detected by the first infrared camera 103A and the proposition object that is detected by the second colored camera 104B.

In addition, in the 4th step, (the step 4: not), confirm to propose to mark whether to be detected (step 9) when any proposition mark is not detected by the first infrared camera 103A by the second infrared camera 103B.When at least one proposition mark is detected by the second infrared camera 103B (step 9: be), calculate the location coordinate (going on foot 10) of the tracked proposition object that is detected by the first colored camera 104A.The most consistent location coordinate combination is chosen as a selected element (step 11) in the coordinate of the coordinate of the proposition mark that is detected by the second infrared camera 103B and the proposition object that is detected by the firstth colored camera 104A.

On the other hand, in the 9th goes on foot, (the step 9: not), calculate when any proposition mark is not detected by the second infrared camera 103B by the location coordinate (step 12) of the tracked object of the proposition of the first and second colored camera 104A and 104B detection.And be chosen as a selected element (step 13) by the most consistent coordinate combination in the position in the proposition object coordinate of the first and second colored camera 104A and 104B detection.

As mentioned above, choose result's (step 6) according to the first and second infrared cameras; Choose result's (step 8) by the first infrared camera 103A and the second colored camera 104B; The second infrared camera 103B and the first colored camera 104A choose result's (step 11); And first and second colored camera 104A and 104B choose result's (step 13); Detection is by the position of reconnaissance (step 14), and with three-dimensional coordinate calculating unit 112 definite its location coordinate.

In proposing point by the determining of reconnaissance, for example, to determine in the proposition mark that is detected by the first and second infrared camera 103A and 103B by the explanation of reconnaissance, as described below.Substantially the same method is used to go on foot 8, in step 11 and step 13.

At first, from three-dimensional position coordinate P and computation process in front, determine the possible turnover zone SP (referring to Figure 44) that movement of objects speed is determined.Suppose from the image of the picture signal of the first infrared camera 103A and differentiate that the two selected screen position coordinates that propose marks are L1 and L2, and differentiate that from the image of the second infrared camera 103B picture signal two selected screen position coordinates that propose marks are R1 and R2.By the gauge point of these propositions of combination, just draw P (L1R1), P (L1R2), P (L2R1), 4 three-dimensional coordinates that calculate of P (L2R2) so.For each three-dimensional position coordinate, confirming whether it is in may turnover zone within the SP, and considers the consistance of moving direction etc., just can select the optimum as selected element.In example shown in Figure 43, because 3 points except that some P (L2R1) have exceeded possibility turnover zone SP, so the gauge point P (L2R1) that proposes is chosen as selected element.

As mentioned above, according to this embodiment,, infrared camera and colored camera constitute two groups of camera devices on the turntable by being installed in.By calculating the three-dimensional coordinate of tracked object, the position of this object can be detected accurately, and particularly when the mark of any proposition can not be detected by infrared camera, the position of tracked object also can be detected accurately.

In the present embodiment, have only when the mark that proposes can not be detected by infrared camera, just according to from the vision signal of colored camera to tracked object detection, but it does not limit the scope of n.Can be independent of based on the detection of the proposition mark of infrared camera based on object detection and to carry out from the vision signal of colored camera, in addition, the determining and can carry out of selected element based on the result that chooses of the colored camera of choosing the result prior to infrared camera.

As above said, a first aspect of the present invention comprises: a directive lighting device; A drive unit that is used to change the illumination direction of this lighting device; An image capturing device, be used for its image taking direction with when illumination direction changes together at the direction photographic images consistent with illumination direction; An image identification device is used for basis and differentiates illuminated target from the image of image capturing device, and determines the coordinate of illuminated target; A calculation element is used for according to the amount of movement on the amount of movement compute illumination direction of the illuminated target of image identification device; With a control device, be used for driving according to the result of calculation accessory drive of this calculation element.Therefore, this configuration also can be handled the illuminated target of not only not having transmitter but also not having like effectively.In addition, do not need to be provided with receiver etc. on ceiling, this has just improved operability.Have, in the initial setting stage, the illumination direction of lighting device is visually matched with the coordinate of the illuminated target of image identification device again.The need that this configuration can be removed the coordinate of input lighting device and image capturing device from exist, and therefore can save labour and working time.Have again, by when the method for the coordinate of starting stage input lighting device and image capturing device, because the displacement meeting of the installation site of this lighting device and image capturing device produces error on the illumination direction of lighting device.But, according to the present invention, in the initial setting stage, the illumination direction of lighting device visually coincide with the coordinate of the illuminated target of image identification device.Therefore, in the working time, the displacement of installation site can be absorbed, and makes lighting device follow the tracks of illuminated target with higher precision.

A second aspect of the present invention comprises: a directive lighting device; A drive unit that is used to change the lighting device lighting direction; An image capturing device that is arranged in the lighting space, so as can be in the lighting space of lighting device photographic images; An image identification device is used for differentiating illuminated target according to the image from image capturing device, and determines the coordinate of illuminated target; A calculation element, be used for according to the coordinate of the illuminated target of image identification device and in lighting space the relation of the position between lighting device and the image capturing device, calculate the amount of movement on illumination direction; With a control device, be used for driving according to the result of calculation accessory drive of calculation element.Therefore, this configuration is controllable device also, for example, a light fixture through mirror reflects change illumination direction, it is a plurality of lighting devices of may command also.In addition, this configuration makes lighting device higher precision follow the tracks of illuminated target by the installation site skew that similar first aspect present invention ground absorbs lighting device and image capturing device.

A third aspect of the present invention comprises: a directive lighting device; One in order to change first drive unit of this lighting device lighting direction; An image capturing device that is arranged in the lighting space, so as can be in the lighting space of this lighting device photographic images; Second drive unit in order to the image taking direction that changes this image capturing device; Storage device in order to the image taking direction that stores this image capturing device; An image identification device is differentiated illuminated target in order to basis from the image of this image capturing device, and determines the coordinate of illuminated target; One second calculation element calculates the amount of movement of second drive unit in order to the amount of movement according to illuminated target in the image identification device; One first calculation element, be used for result of calculation, the position of the lighting device in image capturing device and lighting space relation and be stored in amount of movement on the illumination direction of image taking direction calculating lighting device of the image capturing device in the storage device according to second calculation element; A first control device is used for controlling first drive unit according to the result of calculation of first calculation element; With a second control device, in order to control second drive unit according to the result of calculation of second calculation element.Therefore, this configuration can make non-wide-angle lens be used for image capturing device, thus make away from illuminated target clearly taken and be easy to carry out image and differentiated.In addition, this configuration absorbs the installation site deviation of lighting device and image capturing device like that and makes lighting device follow the tracks of illuminated target with degree of precision by similar first aspect present invention.

A fourth aspect of the present invention comprises a plurality of image capturing devices, and like this, second calculation element is according to illuminated Three-dimension Target coordinate in the image taking direction calculating lighting space of a plurality of image capturing devices.Therefore, though when the bottom surface of lighting space not at ordinary times, this configuration also can correctly be caught illuminated target.

In addition, because lighting controller of the present invention is pressed above-mentioned formation.According to a fifth aspect of the invention, the amount of spin calculating unit is according to the position and the amount of spin of the calculating of the relative distance between this display image origin position to the light fixture of specified point strary lighting that are transfused on the display image of device appointment, and driver part rotates this light fixture according to this amount of spin.Therefore, even be near the lighting position as the operator, the operator also can be along with watching the lighting position on the display image to determine this target illumination position, and as long as by specifying a target illumination position just this lighting position can be moved on to this target illumination position.Therefore, the effect that this configuration produces is, the needs of the installation site of a kind of elimination that illumination work is added to the operator is provided input light fixture and image capturing device or the like, and be not required to be the lighting controller of initial setting cost work substantially.

According to a sixth aspect of the invention, the amount of spin calculating unit calculates according to the relative distance of along continuous straight runs between the position on the display image that is transfused to the device appointment and this display image origin position and is used for the amount of spin of the light fixture of this specified point of strary lighting around planar axes, calculate the light fixture be used for this specified point of strary lighting according to vertically relative distance between the position on the display image that is transfused to the device appointment and this display image origin position and rotate this light fixture around the amount of spin of sloping shaft with according to this driver part of this amount of spin.Therefore, even when the operator is positioned near this lighting position, along with this lighting position of watching on the display image, the operator can determine this target illumination position, as long as by specifying a target illumination position, lighting position just can be moved to this target illumination position.Therefore, the effect of this configuration generation is to be provided with a lighting controller of illumination work being given the operator.

According to a seventh aspect of the invention, the optical axis that the picture-taking device is parallel to the radiant light of light fixture is installed on the light fixture, and rotates with light fixture.Therefore, except that the of the present invention the 5th or the effect of the 6th aspect, the effect of this structure is to have disposed a kind of like this lighting controller, it adds to the operator with illumination work, no longer need to import light fixture, the installation site of picture-taking device etc. does not need a large amount of work of initial setting.

According to an eighth aspect of the invention, except the effect of the either side of the present invention the 5th to the 7th aspect, the amount of spin calculating unit enlarges position on the display image be transfused to the device appointment and the relative distance between this display image origin position with the proportionality constant of regulation, be formed in the image capturing device relative distance of point-to-point transmission on the projecting plane so that calculate, and then calculate the amount of spin of light fixture around axle according to the focal length of relative distance on this projecting plane and image capturing device.The effect that therefore this configuration produces is that lighting controller has been eliminated the needs of the installation site of importing light fixture and image capturing device etc. and needn't have been spent the labour substantially and carried out initial setting.

According to a ninth aspect of the invention, except the effect of eighth aspect present invention, these constant calculations parts rotate light fixture with the amount of spin of regulation, and calculate this constant ratio according to the relative distance between this position and the amount of spin of regulation on position of rotating the regulation point of lighting space on the preceding display image and the rotation back display image.Therefore, the effect that this configuration produces is, can provide one to make the lighting controller that the operator can the preset proportion constant.

According to the tenth aspect of the invention, except that the effect of the present invention the 8th or the 9th aspect, the focal length modifier changes the focal length of image capturing device, and sets up a plurality of proportionality constants corresponding with this focal length.Therefore, the effect that this configuration produces is, a lighting controller can be set, this lighting controller can be when increasing focal length, be presented in the gamut of display image by photographic images in close limit and with it and intended target lighting position accurately, with can be when reducing focal length, make the operator can be by be shown as display image at the wide region photographic images and with it along with in a wide region, watching this photographic images to specify this target illumination position simultaneously.

According to an eleventh aspect of the invention, except the effect of the present invention the 9th or the tenth aspect, the constant calculations parts rotate this light fixture with the amount of spin of regulation, and require the operator to import before rotation, be displayed on the point on the image at initial point place of display image, the position that after rotation, is shown, and calculate proportionality constant according to the amount of spin of relative distance between input position and display image initial point and regulation.Therefore, the effect of this configuration generation is that a lighting controller that allows that proportionality constant is set easily and need not carry out initial setting substantially can be set.

According to a twelfth aspect of the invention, remove outside the effect of the present invention the 9th or the tenth aspect, before the lighting space of display image rotates from display image, choose an image in the regulation district that comprises regulation point position of image selecting device, after rotating, the zone of indexing unit one of retrieval and image approximate in the regulation district that display image is chosen.And the lighting space on the display image be retrieved from display image the position in district rotate the rotation of position of back computational rules point after position calculating apparatus.Therefore, the effect of this configuration is, can be provided with one and need not any special operational and proportionality constant is set easily and need not carries out the lighting controller of initial setting substantially.

In addition, because the tracking equipment of the present invention of said structure comprises: an image capturing device that is used for photographic images in the regulation zone according to a thirteenth aspect of the invention; A mark detecting apparatus is attached to mark on the tracked object according to first video signal detection from this image capturing device; Follow the tracks of the object setting device for one, be used for comprising the zone of tracked object as following the tracks of object areas in second vision signal setting from image capturing device; An eigenwert storage device is used to store the eigenwert by the tracking object areas of following the tracks of the setting of object setting device; Object selecting arrangement, according to calculate from second vision signal of image capturing device be stored in the eigenwert storage device in the relevant similarity of the eigenwert of tracked object and the position that draws tracked object according to result of calculation; With a position detecting device, be used for detecting the position of tracked object in the vision signal of importing continuously by mark detecting apparatus and/or object selecting device.Use this configuration, even when mark can be detected, when the shape of tracked object or change color, also can follow the tracks of tracked target with being stabilized.When this mark can not be detected, the eigenwert of color, shape etc. of utilizing tracked object was to tracked object tracking.Therefore, the effect of this configuration generation is that tracked object can guarantee that high precision is reliably followed the tracks of continuously.

According to a fourteenth aspect of the invention, and based on a thirteenth aspect of the present invention, this mark is made of infrared transmitter.This infrared transmitter and vision signal synchronized transmissions.Use this configuration, this mark can not be subjected to from the interference of the infrared light of non-infrared transmitter and stably tracked, and the effect that therefore this configuration produces is, tracked object is can high precision tracked.

According to a fifteenth aspect of the present invention based on a thirteenth aspect of the present invention, when mark detecting apparatus can not detect this mark, position detecting device used the object selecting device.Use this configuration, when mark is detected, need carry out time-consuming object and choose, the effect that therefore this configuration produces is that the detection of the position of tracked object can be carried out at a high speed.

Based on a thirteenth aspect of the present invention according to a sixteenth aspect of the invention, when mark detecting apparatus detected the mark of a plurality of propositions, position detecting device used the object selecting device.Use this configuration, when having only a mark detected, time-consuming object is not chosen and need be carried out.Therefore, the effect that this configuration produces is, the position of tracked object is can high speed detected, when having the mark of a plurality of propositions, chooses the reliability that can improve tracking by carrying out object.

And based on a thirteenth aspect of the present invention, according to a seventeenth aspect of the invention, the position detecting device utilization is labeled the position that the output result of the position of the proposition mark that pick-up unit detects and object selecting device draws tracked object.Therefore, the result of this configuration generation has improved the tracking reliability.

And, based on a thirteenth aspect of the present invention, according to an eighteenth aspect of the invention, an eigenwert updating device is set, be used for upgrading the eigenwert that is stored in the eigenwert storage device according to the tracked object space that detects by position detecting device.Therefore, the effect of this configuration generation is to improve the reliability of tracking.

And based on the present invention's the 13 to the tenth eight aspect, and according to a nineteenth aspect of the invention, an image taking direction adjustment device of adjusting the image taking direction of this image capturing device is set, and the image taking direction of this image taking direction adjustment device is according to the output adjustment of position detecting device.Therefore, the effect of this configuration generation is to follow the tracks of tracked object in wide region.

And based on the present invention 19 aspects, the 13 aspect to the and according to the present invention the 20 aspect, the light fixture that is arranged with this image capturing device branch have directivity and can change its illumination direction and be hinged with an illumination control apparatus be used for the tracked object that detects according to position detecting device the position, control the illumination direction of this light fixture, so that light fixture strary lighting tracked target.Therefore, the effect of this configuration generation is that tracked object can be followed the tracks of and strary lighting positively accurately.

Claims (28)

1, tracking illumination equipment comprises automatically:

A directive lighting device; A drive unit that is used to change the illumination direction of described lighting device; Image capturing device that in lighting space, is provided with so as can be in the described lighting space of described lighting device photographic images; An image identification device is used for from differentiating illuminated target from the image of described image capturing device, and determines the coordinate of this illuminated target; A calculation element is used for the amount of movement that calculates described illumination direction according to the coordinate and the relation of the position between lighting device described in the described lighting space and described image capturing device of illuminated target described in the described visual identification device; With a control device, be used for controlling the driving of described drive unit according to the result of calculation of described calculation element.

2, tracking illumination equipment comprises automatically:

A directive lighting device; One first drive unit is used to change the illumination direction of described lighting device; An image capturing device that is located in the lighting space, so as can be in the described lighting space of described lighting device photographic images; One second drive unit is used to change the image taking direction of described image capturing device; A storage device is used to store the image taking direction of described image capturing device; An image identification device is used for differentiating illuminated target from the image from described image capturing device, and determines the coordinate of described illuminated target; One second calculation element is used for calculating according to the amount of movement of illuminated target described in the described image identification device amount of movement of described second drive unit; One first calculation element, be used for result of calculation, the position relation of the described lighting device in described image capturing device and the described lighting space and the amount of movement of image taking direction calculating on the illumination direction of described lighting device that is stored in image capturing device described in the described storage device according to described second calculation element; A first control device is used for controlling described first drive unit according to the result of calculation of described first calculation element; With a second control device, be used for controlling described second drive unit according to the result of calculation of described second calculation element.

3, automatic tracking illumination equipment as claimed in claim 2, it is characterized in that comprising a plurality of described image capturing devices, therefore described second calculation element is according to illuminated Three-dimension Target coordinate described in the described lighting space of image taking direction calculating of said a plurality of image capturing devices.

4, a lighting controller comprises:

Light fixture from source emissioning light; The driver part that this light fixture is rotated around an axle; An image capturing device that can rotate around the axis is used at image taking district photographic images and output image, a display device that shows this image; With an input media, be used to specify the point on the display image that is presented on the display device, this lighting controller contains an amount of spin calculating unit, be used for according to the amount of spin that calculates by the relative distance between the position on the display image of input media appointment and this display image origin position the light fixture of this specified point strary lighting, thereby driver part rotates this light fixture according to this amount of spin.

5, lighting controller as claimed in claim 4 is characterized in that described image capturing device is parallel to the luminous optical axis of this light fixture and is installed on this light fixture, and rotates with this light fixture.

6, lighting controller as claimed in claim 4, it is characterized in that described amount of spin calculating unit increases position on this display image be transfused to the device appointment and the relative distance between this display image origin position so that calculate the relative distance of point-to-point transmission in the projecting plane that forms in this image capturing device with the proportionality constant of regulation, and then calculate the amount of spin of this image capturing device, and calculate the amount of spin of this light fixture according to the focal length of the relative distance in this projecting plane and this image capturing device.

7, lighting controller as claimed in claim 6, it is characterized in that being provided with constant calculations parts be used for according to before rotation in the position of the regulation point of this lighting space on this display image and rotate this image capturing device at the specific amount of spin of the relative distance between the position of regulation point on this display image after the rotation and calculate described proportionality constant and described specific amount of spin.

8, lighting controller as claimed in claim 6 is characterized in that being provided with a focal length modifier that changes the focal length of described image capturing device, sets a plurality of proportionality constants corresponding to the focal length that changes.

9, lighting controller as claimed in claim 7 is characterized in that being provided with a focal length modifier that changes the focal length of described image capturing device, sets a plurality of proportionality constants corresponding to the focal length that changes.

10, lighting controller as one of claim 7-9 is characterized in that after the rotation of said lighting space on this display image that the operator imports the position of this regulation with this input media.

11, lighting controller as one of claim 7-9 is characterized in that comprising: an image selecting device is used for lighting space on this display image and chooses image in the regulation district that contains regulation point position from this display image before rotating; An indexing unit, in the described regulation district that is used for choosing from display image after rotating the zone of retrieval and this image approximate; With position calculating apparatus after the rotation, be used for the position of this regulation point of position calculation in the back retrieval district from this display image of lighting space rotation on this display image.

12, a lighting controller comprises:

Light fixture from source emissioning light; A driver part that rotates this light fixture around planar axes and sloping shaft; The image capturing device that can sway is used for photographic images and output image in the image taking district; A display device that is used to show this image; With an input media, be used in and specify a point on the display image that shows on the display device, this lighting controller contains an amount of spin calculating unit, be used for according to calculated by the relative distance of along continuous straight runs between the position on this display image of this input media appointment and this display image origin position light fixture to this specified point strary lighting around the amount of spin of planar axes and between according to the position on this display image of this input media appointment and this display image origin position vertically relative distance calculate the light fixture of this specified point strary lighting amount of spin around sloping shaft, thereby driver part is according to this amount of spin rotation light fixture.

13, lighting controller as claim 12 is characterized in that described image capturing device is parallel to the luminous optical axis of this light fixture and is installed on this light fixture, and rotates with this light fixture.

14, lighting controller as claim 12, it is characterized in that described amount of spin calculating unit increases position on this display image be transfused to the device appointment and the relative distance between this display image origin position so that calculate the relative distance of point-to-point transmission in the projecting plane that forms in this image capturing device with the proportionality constant of regulation, and then calculate the amount of spin of this image capturing device, and calculate the amount of spin of this light fixture according to the focal length of the relative distance in this projecting plane and this image capturing device.

15, lighting controller as claim 14, it is characterized in that being provided with constant calculations parts be used for according to before rotation in the position of the regulation point of this lighting space on this display image and rotate this image capturing device at the specific amount of spin of the relative distance between the position of regulation point on this display image after the rotation and calculate described proportionality constant and described specific amount of spin.

16, lighting controller as claim 14 is characterized in that being provided with a focal length modifier that changes the focal length of described image capturing device, sets a plurality of proportionality constants corresponding to the focal length that changes.

17, lighting controller as claim 15 is characterized in that being provided with a focal length modifier that changes the focal length of described image capturing device, sets a plurality of proportionality constants corresponding to the focal length that changes.

18, lighting controller as one of claim 15-17 is characterized in that after the rotation of said lighting space on this display image that the operator imports the position of this regulation with this input media.

19, lighting controller as one of claim 15-17 is characterized in that comprising: an image selecting device is used for lighting space on this display image and chooses image in the regulation district that contains regulation point position from this display image before rotating; An indexing unit, in the described regulation district that is used for choosing from display image after rotating the zone of retrieval and this image approximate; With position calculating apparatus after the rotation, be used for the position of this regulation point of position calculation in the back retrieval district from this display image of lighting space rotation on this display image.

20, tracking equipment comprises:

The image capturing device of a photographic images in the regulation district; A mark detecting apparatus is used for according to the mark that is attached to from first video signal detection of said image capturing device on the tracked object; Follow the tracks of the object setting device for one, be used for setting a district that contains tracked object from second vision signal of described image capturing device as following the tracks of object areas; An eigenwert storage device is used to store the eigenwert by the tracking object areas of described tracking object setting device setting; An object selecting device, be used for according to calculating from second vision signal of said image capturing device and be stored in the relevant similarity of the tracked object features value of said eigenwert storage device, and draw the position of tracked object existence according to a result of calculation; And position detecting device, be used for utilizing said mark detecting apparatus and or said object selecting device detect the position of tracked object in the vision signal of input continuously.

21, tracking equipment as claim 20 is characterized in that this mark is provided by infrared transmitter, said infrared transmitter and this vision signal synchronized transmissions.

22, tracking equipment as claim 20 is characterized in that when this mark detecting apparatus can not detect this mark, and position detecting device uses the object selecting device.

23, tracking equipment as claim 20 is characterized in that when this mark detecting apparatus detects the mark of a plurality of propositions this position detecting device uses this object selecting device.

24, tracking equipment as claim 20 is characterized in that the position detecting device utilization is labeled the position that the output result of the position of the proposition mark that pick-up unit detects and object selecting device draws tracked object.

25, tracking equipment as claim 20 is characterized in that being provided with an eigenwert modifier, is used for being stored in according to the location updating of the tracked object that is detected by this position detecting device the eigenwert of eigenwert storage device.

26, one as each tracking equipment of claim 20 to 25, it is characterized in that being provided with the image taking direction that an image taking direction adjustment device is used to adjust image capturing device, the image taking direction of described image taking direction adjustment device is adjusted according to the output of this position detecting device.

27, one as each tracking equipment of claim 20 to 25, it is characterized in that the light fixture that is arranged with this image capturing device branch has directivity and can change its illumination direction, with a illumination control apparatus, thereby make the tracked object of light fixture strary lighting according to this light fixture illumination direction of position control of the tracked object of this position detecting device detection.

28, tracking equipment as claim 26, it is characterized in that the light fixture that is arranged with this image capturing device branch has directivity and can change its illumination direction, with a illumination control apparatus, thereby make the tracked object of light fixture strary lighting according to this light fixture illumination direction of position control of the tracked object of this position detecting device detection.

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