JP2011101300A - Photographing device and remote operation support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a photographing device which make an object of a video image photographed with a camera of head mounting type easy to be recognized and visible even when the head moves or shakes at high speed in the camera, and to provide a remote operation support system. <P>SOLUTION: The photographing device 1 includes: a wearing unit 10 which is worn to the head; a photographing unit 20 which photographs the object; an angular velocity sensor unit 30 which detects angular velocity of the head; and a video display control part 63 which lowers a frame rate of the video image of the object when the video image of the object photographed by the photographing unit 20 is displayed based on the angular velocity of the head detected by the angular velocity sensor unit 30. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a photographing device that displays an image photographed by a camera mounted on a head on a display device, and a remote work support system using the photographing device.

  Since the head-mounted camera mounted on the head can obtain a wearer's experience video, for example, the wearer's experience video is transmitted to the instructor and an appropriate instruction is received from the instructor. Used in remote work support systems and daily life support systems that record the wearer's experience video and present the recorded experience video in a timely manner to remind the wearer of past experiences. ing. In addition, the head-mounted camera does not bother the wearer's hand in order to obtain the experience image, and thus there is an advantage that the wearer can use the hand freely.

  Such head-mounted cameras are disclosed in, for example, Patent Document 1 and Patent Document 2. The imaging device disclosed in Patent Document 1 is configured to be worn on the photographer's head, and can be worn on the photographer's head and imaging means for generating image data. The biometric information for detecting biometric information related to the movement of the photographer when observing the subject and used for editing the image data. Detection means, image data recording means for recording the image data in association with the time information at which the image data was generated, and biometric information recorded in association with the time information at which the image data was generated And biometric information recording means. The biological information detecting means includes angular velocity detecting means for detecting an angular velocity of a photographer's head as the biological information, and the editing process includes cutting, blur correction, and recording time of recorded image data. Is at least one of stretching and electronic zooming. The cutting is performed on a specific image that cannot be subjected to blur correction or the like when the blur correction or the like cannot be performed. With such a configuration, the imaging apparatus disclosed in Patent Document 1 can perform editing processing reflecting the intention of the photographer after shooting.

  In addition, a head-mounted video display device disclosed in Patent Document 2 includes a display unit that displays video, a distance detection unit that detects a distance from the head-mounted video display device to a work object, and the display. A display control unit for adjusting a display size of a reference image of the work object to be displayed on the unit, and the reference image is attached with scale ratio information of the reference image with respect to an actual size of the work object. The display control unit adjusts the display size of the reference video to be displayed on the display unit based on the distance detected by the distance detection unit and the scale ratio information attached to the reference video. is there. With such a configuration, the head-mounted video display device disclosed in Patent Document 2 can display a reference image having a size suitable for work without imposing a burden on the worker or the instructor. Patent Document 2 also discloses a remote work support system using this head-mounted video display device.

JP 2005-252732 A JP 2008-123257 A

  By the way, in a head-mounted camera, the shooting direction of the camera moves with the movement of the head, so if the head moves or shakes at high speed, for example, the video shot by the camera also flows and shakes. . For this reason, an observer who sees the video taken by this camera is difficult to recognize the subject of the video and is difficult to see or drunk. In particular, such a situation may occur remarkably when a wearer who wears a head-mounted camera on the head shows affirmation or denial by a whirling motion by reciprocating movement of the head.

  The present invention has been made in view of the above circumstances, and its purpose is to shoot with this head-mounted camera even if the head moves or shakes at high speed. It is an object of the present invention to provide a photographing apparatus capable of easily recognizing and viewing a subject of a recorded video and a remote work support system using the photographing apparatus.

  As a result of various studies, the present inventor has found that the above object is achieved by the present invention described below. That is, an imaging display device according to an aspect of the present invention includes a head-mounted imaging unit that includes an installation unit that is mounted on a head and an imaging unit that images a subject, and an angular velocity detection that detects the angular velocity of the head. And the frame rate of the subject image when the subject image captured by the imaging unit of the head-mounted imaging unit is displayed based on the angular velocity of the head detected by the angular velocity detection unit. And a video display control unit for lowering.

  In the photographic display device having such a configuration, the angular velocity of the head is detected by the angular velocity detector, and the frame rate of the video of the subject to be displayed is lowered based on the detected angular velocity of the head. For this reason, the imaging apparatus having such a configuration makes it easy to recognize the subject of the video imaged by the imaging unit due to a decrease in the frame rate even when the head moves or shakes at high speed. can do.

  In another aspect, in the above-described photographing apparatus, preferably, the video display control unit is configured to detect the head when the angular velocity of the head detected by the angular velocity detection unit is equal to or higher than a predetermined angular velocity. It is to lower the frame rate of the subject image when displaying the image of the subject photographed by the photographing unit of the wearable photographing unit.

  According to this configuration, it is possible to provide an imaging device that reduces the frame rate of the image of the subject for display when the angular velocity of the head is equal to or higher than the predetermined angular velocity.

  In another aspect, in the above-described photographing apparatus, preferably, the angular velocity detection unit detects a vertical angular velocity of the head, and the video display control unit is the angular velocity detection unit. Subject photographed by the photographing unit of the head-mounted photographing unit when it is determined that the head has reciprocated in the vertical direction from 1 Hz to 5 Hz based on the detected vertical angular velocity of the head. Lowering the frame rate of the video of the subject when displaying the video.

  According to this configuration, even when the wearer reciprocates the head in the vertical direction from 1 Hz to 5 Hz, the subject of the video imaged by the imaging unit can be easily recognized and easily seen due to the decrease in the frame rate. it can. In particular, it can be dealt with when the wearer shows affirmation by a reciprocating motion of the head in the vertical direction.

  In another aspect, in the above-described imaging device, preferably, the angular velocity detection unit detects a horizontal angular velocity of the head, and the video display control unit is the angular velocity detection unit. When the head is reciprocated in the horizontal direction from 1 Hz to 5 Hz based on the detected horizontal angular velocity of the head, the subject photographed by the photographing unit of the head-mounted photographing unit Lowering the frame rate of the video of the subject when displaying the video.

  According to this configuration, even when the wearer reciprocates the head in the horizontal direction at 1 Hz to 5 Hz, the subject of the video imaged by the imaging unit can be easily recognized and easily seen due to the decrease in the frame rate. it can. In particular, it is possible to deal with a case where the wearer shows a negative result by a reciprocating motion of the head in the horizontal direction.

  In another aspect, in the above-described imaging devices, preferably, the video display control unit is configured to display the video of the subject captured by the imaging unit of the head-mounted imaging unit. The video frame rate is reduced to any frame rate within the range of 0.1 fps to 5 fps. Note that fps is frames / second, which is the number of frames per second.

  According to this configuration, since the frame rate of the subject video is lowered to any frame rate in the range of 0.1 fps to 5 fps as in the case of a substantially still image, the subject of the video taken by the photographing unit is reduced. , More surely, easy to recognize and easy to see.

  In another aspect, in the above-described imaging devices, preferably, the video display control unit thins out a frame of the subject image captured by the imaging unit of the head-mounted imaging unit, Lowering the frame rate of the subject image when the subject image captured by the imaging unit of the head-mounted imaging unit is displayed.

  According to this configuration, the frame rate of the image of the subject for display is reduced by thinning out the frame of the subject image captured by the imaging unit, so that the frame rate of the imaging unit is maintained and the head moves at high speed. Even if the subject is shaken or shaken, the image of the subject whose frame rate has been lowered does not become a blurred image, and the subject of the image taken by the photographing unit can be easily recognized and easily viewed.

  According to another aspect, in the above-described imaging devices, preferably, the imaging unit of the head-mounted imaging unit includes an imaging element that converts an optical image of the subject into an electrical signal, and the imaging element And an optical system for forming an optical image of the subject on the light receiving surface, and the image pickup device is a CMOS image sensor.

  The CMOS image sensor is obtained by sequentially scanning the image signal of each pixel. For this reason, when the head moves at high speed or shakes, the image is easily distorted. According to the above configuration, the angular velocity of the head is detected by the angular velocity detection unit, and the frame rate of the subject image displayed on the display unit is reduced based on the detected angular velocity of the head. Even if the element is a CMOS image sensor, it is possible to easily recognize and view the subject of the video imaged by the imaging unit.

  In another aspect, the above-described imaging apparatus preferably further includes a display unit that displays an image of the subject imaged by the imaging unit of the head-mounted imaging unit.

  According to this configuration, it is possible to provide an imaging apparatus that further includes a display unit that displays an image of a subject captured by the imaging unit of the head-mounted imaging unit.

  In another aspect, in the above-described imaging device, preferably, the display unit is provided in the head-mounted imaging unit.

  According to this configuration, the angular velocity of the head is detected by the angular velocity detection unit, and the frame rate of the subject image displayed on the display unit is reduced based on the detected angular velocity of the head. Even in the case of being provided in the part-mounted imaging unit, the wearer can easily recognize and view the subject of the video imaged by the imaging unit. In addition, the sickness of the wearer is reduced or prevented.

  In another aspect, in the above-described imaging device, preferably, the head-mounted imaging unit further includes a transmission unit that transmits a light image of the subject with a predetermined transmittance, and the display unit includes: It is provided in the transmission part of the head-mounted imaging unit and displays the subject image superimposed on the optical image of the subject.

  According to this configuration, it is possible to reduce the loss of the wearer's field of view, and the wearer can view the outside world in the wearer's field of view and the display on the display unit together.

  Further, in another aspect, in the above-described imaging devices, the image is preferably captured by the imaging unit of the head-mounted imaging unit, and before the image display control unit lowers the frame rate of the subject image. It is further provided with a recording unit for recording the video of the subject.

  According to this configuration, since the video of the subject before the frame rate of the subject video is lowered is recorded in the recording unit, even if the head moves or shakes at high speed, a more accurate subject Video can be recorded.

  Further, in another aspect, in the above-described imaging device, preferably, the imaging apparatus further includes a communication unit that transmits and receives a communication signal, and a communication control unit that controls transmission and reception of the communication unit, The video of the subject whose frame rate has been lowered by the video display control unit is transmitted to the communication unit.

  According to this configuration, for example, an image of a subject with a reduced frame rate can be transmitted to a device provided outside the image capturing device, such as a remote support device. Further, according to this configuration, since the frame rate is lowered, it is possible to reduce the communication load in the communication unit and the communication network.

  In another aspect, in the above-described photographing display device, preferably, a sound input unit that converts sound into a sound signal, a sound output that converts sound signal into sound, and a communication unit that transmits and receives communication signals; A communication control unit that controls transmission / reception of the communication unit, wherein the communication control unit transmits the sound signal converted by the sound input unit to the communication unit and outputs the sound. Outputting a sound signal received by the unit to the sound output unit.

  According to this configuration, the wearer can communicate with an external system such as a remote work support system by voice. In particular, it is possible to cope with the wearer's movement caused by communication.

  A remote operation support system according to another aspect of the present invention is a remote operation support system including an imaging device and a remote operation support device that is communicably connected to the imaging device via a communication network. The imaging device is any one of the above-described imaging devices, and the remote operation support device receives an image of a subject received through the communication network and captured by the imaging unit of the head-mounted imaging unit. And an instruction receiving unit that receives an instruction from the instructor and transmits the instruction to the photographing apparatus via the communication network.

  Since the remote operation support system having such a configuration includes any of the above-described imaging devices, the user's head (wearer or operator) of the imaging device may move or shake at high speed. However, due to the decrease in the frame rate, the user (instructor) of the remote operation support device can easily recognize and view the subject of the video imaged by the imaging unit.

  The photographing apparatus and the remote operation support system according to the present invention make it easy to recognize a subject of an image photographed by this camera even when the wearer's head moves or shakes at high speed. it can.

It is a figure which shows the structure of the remote operation assistance system concerning embodiment. It is an external appearance perspective view which shows the structure of the imaging device concerning embodiment. It is a sectional side view of the display unit in the imaging device concerning an embodiment. It is a block diagram which shows the electrical structure of the imaging device concerning embodiment. It is a flowchart which shows operation | movement of the imaging device in the remote operation assistance system of this embodiment. It is a time chart which shows the process which reduces the frame rate in this embodiment.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted suitably.

  FIG. 1 is a diagram illustrating a configuration of a remote operation support system according to the embodiment. FIG. 2 is an external perspective view showing the configuration of the photographing apparatus according to the embodiment. FIG. 3 is a side sectional view of the display unit in the photographing apparatus according to the embodiment. FIG. 4 is a block diagram illustrating an electrical configuration of the imaging apparatus according to the embodiment.

  The remote operation support system according to the embodiment images a subject in a predetermined direction of the worker so that an instructor in a different place away from the worker can observe the image of the photographed subject. The instruction of the instructor referring to the image of the subject is provided to the worker. Such a remote work support system S is used by a worker W as shown in FIGS. 1 to 4, for example, a work target in a predetermined direction of the worker W, for example, the line of sight of the worker W, etc. The instructor A receives the image of the subject photographed by the photographing device 1 via the network (communication network) NT, and the photographing device 1 that shoots the subject and transmits the image of the photographed subject. The received instruction is displayed so that the received image of the subject is displayed, the instruction of the instructor A referring to the image of the object is received, and the instruction of the received instruction A is output from the photographing apparatus 1. And a remote support device 5 that transmits an instruction of the person A to the photographing device 1 via the network NT.

  The remote support device 5 is provided at a location distant from the photographing device 1 and is connected to the photographing device 1 through the network NT so as to be able to exchange data with the photographing device 1. 1, a main server computer device (hereinafter abbreviated as “main server PC”) 6, a support record server computer device (hereinafter abbreviated as “support record server PC”) 7, and a content server. And a computer device (hereinafter abbreviated as “content server PC”) 8.

  The network NT is, for example, a communication network such as a telephone network, a digital communication network, and a wireless communication network, and data is transmitted using a predetermined communication protocol. In the present embodiment, the network NT is a public network NTa such as a public telephone network (fixed telephone network), a digital communication network such as ISDN, and a mobile telephone network (cellular phone network), and an Ethernet (registered trademark), for example. And a local area network (LAN; private network) NTb. The public network NTa configures the Internet by using an Internet protocol such as FTP (File Transfer Protocol) or TCP / IP (Transmission Control Protocol / Internet Protocol) as a communication protocol, and the private network NTb is, for example, the Internet A protocol is used to construct an intranet. The photographing apparatus 1 is communicably connected to the public network NTa, and the main server PC 6, the support recording server PC 7, and the content server PC 7 of the remote support apparatus 5 are private so that they can exchange data with each other. The network NTb is communicably connected, and the public network NTa and the private network NTb are communicably connected.

  The main server PC 6 displays the video of the subject received from the photographing apparatus 1 via the network NT, accepts the instruction of the instructor A referring to the video of the subject, and sends the received instruction of the instructor A to the network NT. Is a server computer that transmits to the imaging device 1 via, for example, a computer 61 that controls the entire main server PC 6, and an input device such as a keyboard 62 a or a mouse 62 b for receiving and inputting an instruction from the instructor A 62 and an output device 63 such as a display 63a for displaying an image, for example.

  In the present specification, when referring generically, it is indicated by a reference symbol without a suffix, and when referring to an individual configuration, it is indicated by a reference symbol with a suffix.

  The computer 61 includes a communication interface circuit (network card) similar to a network interface unit 68 (to be described later) in the photographing apparatus 1 for communicably connecting to the network NT (private network NTb). Control of transmitting the instruction of the instructor A received (input) from the keyboard 62a and the mouse 62b to the photographing apparatus 1 via the network NT while displaying the video of the subject received via the network NT on the display 63a. Do. The instruction from the instructor A is received by the photographing apparatus 1 via the network NT and displayed on a display unit 40 described later in the photographing apparatus 1.

  The support recording server PC 7 stores and records support data exchanged between the photographing apparatus 1 and the remote support apparatus 5 and provides support data corresponding to the request to the client apparatus according to the request of the client apparatus. It is. The support storage server PC7 uniquely displays the subject video by the photographic video apparatus 1 with date / time information such as date and time under the control of the computer 61 or by monitoring the communication signal transmitted through the private network NTb. The support data is recorded in association with each other, and the instruction of the worker A by the remote support device 5 is recorded as support data in association with date / time information such as date and time. As described above, the support record server PC 7 stores and records support data as a history of the remote work support system S.

  The remote operation support system S of the present embodiment is configured so that not only video but also sound such as voice can be exchanged between the image capturing device 1 and the remote support device 5. As will be described later, the device 1 includes earphones 51L and 51R as a sound input / output unit 50 and a microphone 52. The main server PC 6 further includes a microphone 62c as an input device 62, and a speaker as an output device 63. 63b is further provided. Then, the computer 61 outputs a sound such as a sound received from the photographing apparatus 1 via the network NT (a sound collected by the microphone 52) from the speaker 63b and receives (inputs) an instruction from the microphone 62c. Control is performed to transmit the instruction A (voice instruction) to the photographing apparatus 1 via the network NT. The voice instruction of the instructor A is received by the photographing apparatus 1 via the network NT and output from the earphones 51L and 51R in the photographing apparatus 1. Further, the support recording server PC7 records the sound by the photographing device 1 as support data in association with date / time information according to the control of the computer 61 or independently, and also gives the voice instruction of the worker A by the remote support device 5 It is recorded as support data in association with date and time information.

  In the remote work support system S according to the present embodiment, the instruction from the instructor A includes not only data such as text data and voice instructions directly input to the remote support device 5 by the worker W, but also work objects, for example. Support content such as video and audio that assists the work when the worker W performs work, such as a reference video representing work, a work manual showing work procedures, and an instruction manual showing how to handle the product. Information). The content server PC 8 is a server computer that stores the support content and provides support content corresponding to the request to the client device according to the request of the client device. The computer 61 of the main server PC 6 receives an instruction (content selection instruction) for selecting the support content of the instructor A from the keyboard 62a and the mouse 62b, and sends the support content corresponding to the content selection instruction via the network NT. The content server PC8 is controlled so as to be transmitted to. Under the control of the computer 61, the content server PC8 transmits support content corresponding to the content selection instruction to the photographing apparatus 1 via the network NT and provides the support apparatus with the support content.

  An imaging device 1 that is preferably used in combination with such a remote support device 5 is worn on the head of the worker W, photographs a subject that is substantially along the line of sight of the worker W (wearer), and A head-mounted imaging device (camera) that transmits a photographed subject image to the remote support device 5 via the network NT. For example, as shown in FIGS. 2 to 4, a mounting unit 10 and an imaging unit 20, an angular velocity sensor unit 30, a display unit 40, a sound input / output unit 50, and a control unit 60.

  The mounting unit 10 is a device for mounting on the head of the worker W, and in the present embodiment, has a structure imitating glasses for correcting vision. That is, the mounting unit 10 of the present embodiment includes a pair of left and right temples 11L and 11R, a bridge 12, a pair of left and right nose pads 13L and 13R, and a pair of left and right transparent members 14L and 14R. .

  The temples 11L and 11R are elongate rod-shaped members made of, for example, an elastic material, and have an ear-hook portion that is hung on the ear of the wearer (here, worker W) at one end. The end portion has a holding portion that is fixed to and held by the transparent members 14L and 14R via the rotating portions 11La and 11Ra, and is hooked on the ear or the temporal region of the worker W. This is for adjusting the holding position on the head and the mounting position. For fixing the temples 11L, 11R and the transparent members 14L, 14R, for example, fixing means such as bonding with an adhesive or screwing with screws is used. In addition, the photographing apparatus 1 rotates the temples 11L and 11R in the directions of arrows P and Q having different rotation directions by the rotation of the rotation units 11La and 11Ra, so that the temples 11L and 11R become the transparent members 14L and 14R. By keeping it along, it can be folded compactly when not in use.

  The bridge 12 is a short bar-like member for connecting the pair of left and right transparent members 14L and 14R to each other, and is fixed to the transparent members 14L and 14R at both ends by means similar to the means for fixing the temples 11L and 11R. . The pair of left and right transparent members 14 </ b> L and 14 </ b> R are held by the bridge 12 in a relative positional relationship with a predetermined interval.

  The nose pads 13 </ b> L and 13 </ b> R are members for holding the mounting unit 10 on the face of the wearer (here, the worker W), and are connected to the bridge 12 through each leg.

  The transparent members 14L and 14R are made of a material transparent to visible light such as a resin such as polycarbonate or polyethylene terephthalate, or glass, and the like, and have a rectangular shape with rounded corners such as the outer shape of an eyeglass lens for correcting vision. It is a plate-shaped member. Of course, the transparent members 14L and 14R do not have to have an adjustment power for correcting vision from the viewpoint of the original function of the photographing apparatus 1, but may have an adjustment power for correcting vision. In this embodiment, a substantially U-shaped cutout portion 14Rs for fitting the eyepiece optical system 41 of the display unit 40 to the transparent member 14R corresponding to the right eye is formed on one of the transparent members 14L and 14R. Yes.

  These temples 11L and 11R, the bridge 12 and the nose pads 13L and 13R constitute a so-called spectacle frame. The spectacle frame is hooked on the wearer, and the transparent members 14L and 14R are in a predetermined state (see FIG. It is mounted at a predetermined distance and a predetermined position.

  In the present embodiment, the mounting unit 10 is configured to fix and hold the transparent members 14L and 14R by the temples 11L and 11R and the bridge 12, but includes a pair of left and right rims, and through these rims. The transparent members 14L and 14R may be configured to be fixed and held. Each rim is, for example, an annular or semi-annular member having an inner groove, and the transparent members 14L and 14R are fixed and held by fitting the outer peripheral portions of the transparent members 14L and 14R into the ring or semi-ring. It is.

  The photographing unit 20 is a device that photographs a subject such as a work object or an external scene around the wearer (worker W in this case), and is attached to the wearer (worker W) so that the wearer is substantially horizontal in front. When viewed in the direction, the optical axis is fixedly held with respect to the mounting unit 10 so that the optical axis substantially coincides with the line of sight of the wearer. As a result, the photographing unit 20 can photograph within the wearer's front visual field. In the present embodiment, the photographing unit 20 is externally attached to one end of the display unit main body 45, and the display unit main body 45 is fixedly attached to the transparent member 14R of the mounting unit 10 via the eyepiece optical system 41. Thus, the mounting unit 10 is fixedly held. Thus, in this embodiment, the imaging unit 20 functions as a camera within the field of view of the wearer (here, worker W) and is held by the mounting unit 10, so that the imaging device 1 is configured in a compact manner. Also, the operator W becomes hands-free and can perform work using both hands. Note that the mechanism that holds the photographing unit 20 fixedly to the mounting unit 10 so as to substantially coincide with the optical axis may be a structure that allows the photographing unit 20 to be detachable. With this configuration, the photographing unit 20 can be appropriately changed.

  For example, as illustrated in FIG. 4, the photographing unit 20 includes a photographing optical system 21, an imaging element 22, an analog front end 23, and a video control unit 24.

  The photographing optical system 21 is an optical system for forming an optical image (light image) of a subject on the light receiving surface of the image sensor 22. The photographing optical system 21 may be a single focus optical system or a variable magnification optical system having a zoom function for zooming. Further, the photographing optical system 21 may be configured to have an autofocus (AF) function.

  The image sensor 22 performs photoelectric conversion into image signals of R (red), G (green), and B (blue) components in accordance with the amount of light in the optical image of the subject formed on the light receiving surface by the photographing optical system 21. And output to the analog front end 23. For example, a CCD type color image sensor, a CMOS type color image sensor, or the like is used for the imaging element 22. In the present embodiment, a CMOS color image sensor is used, and the CMOS color image sensor is, for example, each color transmission filter corresponding to each light of R (red) light, G (green) light, and B (blue) light. Is a color area photographing sensor arranged in a checkered pattern in pixel units (pixel units), and subject light images formed by the photographing optical system 21 are R (red) light, G (green) light, B ( Blue) This is photoelectrically converted into an image signal of each component of light (a signal composed of a signal sequence of pixel signals received in units of pixels). The CMOS image sensor is configured to read out each pixel signal in order from a plurality of pixels arranged two-dimensionally in a predetermined order. More specifically, for example, when a CMOS type image sensor is configured with pixels of m rows and n columns, pixel signals of each column from the pixels of 1 row and 1 column to 1 row and n columns are along the row direction. When sequentially read and read up to 1 row and n column, it returns to the first column of the next row in order to read out the image signal of the next row, and similarly, the pixel signals of each column from the 1st column to the nth column of the next row The pixel signals are sequentially read out in the direction, and such pixel signal reading is executed up to m rows and n columns. For this reason, in the CMOS image sensor, there is a predetermined time difference between the readout time of the first pixel and the readout time of the last pixel.

  The analog front end 23 controls the driving of the image sensor 22 based on a predetermined reference clock, performs a known analog signal process on the image signal obtained by the image sensor 22, converts the image signal into a digital video signal, and controls the video. It is a circuit that outputs to the unit 24.

  The video control unit 24 performs well-known image processing such as black level correction processing, pixel interpolation processing, white balance adjustment processing, gamma (γ) correction processing, shading correction processing, and the like on the video signal input from the analog front end 23. It is the circuit which applies. The video control unit 24 writes the video signal input from the analog front end 23 in the image memory 61 in the control unit 60 in synchronization with the image signal readout clock in the CMOS type color image sensor. That is, the video signal is once written from the analog front end 23 to the image memory 61, and when predetermined image processing is performed, the video signal is read from the image memory 61 to the video control unit 24 and subjected to each image processing. . Then, the video signals subjected to these image processes are written again in the image memory 61 and stored (stored).

  The angular velocity sensor unit 30 is a device that detects the angular velocity of the head of the wearer (here, the worker W) and outputs the detection result to the control unit 60. In this embodiment, the angular velocity sensor unit 30 includes, for example, a vertical angular velocity sensor unit 31 that is a circuit for detecting a vertical angular velocity in the head of the wearer (worker W) and the wearer (worker W). And a horizontal angular velocity sensor unit 32 that is a circuit for detecting a horizontal angular velocity in the head. More specifically, the angular velocity sensor unit 30 includes a triaxial piezoelectric vibration gyro sensor that can detect a triaxial angular velocity, and is built in a display unit main body 45 that is fixedly attached to the mounting unit 10. Has been. Here, it is also possible to calculate the head direction by integrating the angular velocity detected by the angular velocity sensor unit 30.

  The display unit 40 is a device that displays a predetermined image (video), and displays the instruction of the instructor A transmitted from the remote support device 5 via the network NT. As described above, the instruction by the instructor A includes not only data such as text data directly input by the instructor A directly to the remote support device 5, but also support of the work when the worker W performs the work. Supporting content by the content server PC 8 such as video and audio is also included. In the present embodiment, the display unit 40 also functions as an electronic viewfinder of the photographing unit 20 and can display an image photographed by the photographing unit 20. When an image of a subject photographed by the photographing unit 20 is displayed on a separate display device, the operator W can use the display device to view a region (subject) photographed by the photographing unit 20. However, the operator W who is the photographer of the photographing unit 20 does not need to change the direction of the head in order to see the region (subject) photographed by the photographing unit 20. Therefore, it is possible to accurately recognize the region (subject) that the operator W is photographing with the photographing unit 20 without having to deflect the line of sight.

  The display unit 40 may be configured as a separate body without being attached to the mounting unit 10, but displays the instruction of the instructor A within the field of view of the operator W, and the operator W refers to the instruction of the instructor A. In the present embodiment, the mounting unit 10 is attached to one transparent member 14R so that the work can be performed. For example, as shown in FIGS. 2 to 4, the display unit 40 includes an eyepiece optical system 41, an image generation unit 42, an illumination optical system 43, a light source unit 44, the image generation unit 42, and an illumination. The optical system 43 and the light source unit 44 are accommodated, and a display unit main body 45 that is a casing attached to the eyepiece optical system 41 is provided. As described above, the photographing unit 20 is externally attached to one end of the display unit main body 45, the angular velocity sensor unit 30 is built in, and the eyepiece optical system 41 extends from the bottom to the outside. Further, the cable 46 extends from the other end of the display unit main body 45, and the photographing unit 20, the angular velocity sensor unit 30, the display unit 40, the sound input / output unit 50, and the control unit 60 can exchange data with each other. Thus, the cable 46 is electrically connected.

  The light source unit 44 is a device that emits light of a predetermined wavelength, and is, for example, a point light source composed of a white light emitting diode (hereinafter abbreviated as “white LED”) including a predetermined wavelength color.

  The illumination optical system 43 is a device that receives the light emitted from the light source unit 44 and generates illumination light that illuminates the image generation unit 42 from the incident light emitted. For example, in this embodiment, the diffusivity depends on the direction. Is different, and includes a unidirectional diffuser plate 43a that diffuses the incident emitted light in one direction, and a condenser lens 43b that condenses the light diffused by the unidirectional diffuser plate 43a. More specifically, for example, in the present embodiment, the unidirectional diffusion plate 43a diffuses the emitted light incident from the light source unit 44 at about 40 degrees in a direction perpendicular to the paper surface of FIG. 3 and the paper surface of FIG. It diffuses at about 0.2 degree in the direction parallel to the.

  The image generation unit 42 is an apparatus that generates the image by illuminating the illumination light of the illumination optical system 43 and modulating the intensity of the illumination light for each RGB in accordance with the image signal of the VRAM 64 in each pixel. A transmissive LCD device (transmissive liquid crystal display device) is provided.

  The eyepiece optical system 41 is a device for guiding the image generated by the image generation unit 42 to the eyes of the wearer (worker W), and includes, for example, an optical prism 41a and a reflection unit 41b. .

  The optical prism 41a is a member made of a material transparent to visible light such as glass or transparent resin, for example, and is a parallel flat plate formed such that a pair of main surfaces facing each other are substantially parallel. The upper end portion (upper surface portion) of the optical prism 41a is the incident surface of the image light generated by the image generation unit 42 on the upper surface, and the thick portion 411 so that most of the image light can be collected inside. Is formed. The thick portion 411 is formed in a wedge shape with the front side (opposite to the eyepiece surface) protruding so as to become thicker upward. The lower end portion (bottom surface portion) of the optical prism 41a is formed with an inclined portion 412 that is cut obliquely, and the inclined portion 412 is provided with a reflecting portion 41b. The optical prism 41a causes the image light incident from the upper end portion thereof to be reflected a plurality of times therein, and guides the image light to the reflection portion 41b. More specifically, the optical prism 41a repeats total reflection of the image light incident from the upper end portion thereof alternately on the pair of main surfaces, and guides the image light to the reflection portion 41b.

  The reflection unit 41b is an optical element that reflects the image light guided by the optical prism 41a to the rear surface side (eyepiece surface side) in cooperation with the inclined portion 412 of the optical prism 41a. Films, hologram optical elements, and the like. In the present embodiment, the reflection section 41b is a hologram optical element (HOE) that generates a hologram. For example, since both wavelength selectivity and angle selectivity are relatively high, the volume phase type reflection hologram optical element is used. is there. A volume phase type hologram optical element is constituted by a so-called free-form surface that is optically axisymmetric and has a positive optical power. The reflection type hologram optical element is configured to diffract image light having a predetermined wavelength, and the light source unit 44 emits light having a predetermined wavelength corresponding to the diffraction wavelength of the reflection type hologram optical element. Composed. More specifically, in the present embodiment, the reflection type hologram optical element is manufactured so as to diffract image lights having wavelengths of 465 nm ± 10 nm, 520 nm ± 10 nm, and 635 nm ± 10 nm corresponding to RGB (red, green, and blue), In response to this, the light source unit 44 includes an RGB integrated white LED having center wavelengths of 465 nm, 520 nm, and 635 nm. Examples of the photosensitive material for the reflection type hologram optical element include a photopolymer, a silver salt material, gelatin dichromate, and the like. In particular, a photopolymer is preferable because it can be manufactured by a dry process.

  The cutout portion 14Rs of the transparent member 14R has a shape corresponding to the shape of the optical prism 41a so that the optical prism 41a can be fitted without any gap, and the cutout portion 14Rs of the transparent member 14R has an eyepiece optical system. When 41 is fitted, the transparent member 14R and the eyepiece optical system 41 are integrated into a single plate, and the reflecting portion 41b provided on the inclined portion 412 is sandwiched between the optical prism 41a and the transparent member 14R. Buried. Thus, the transparent member 14R and the optical prism 41a constitute a cemented optical prism in which the reflecting portion 41b is embedded in two transparent materials. For this reason, when the reflection part 41b does not touch external air and the reflection part 41b is a hologram optical element, it becomes possible to maintain the performance of a hologram stably.

  The image light guided by the optical prism 41a is reflected by the reflecting portion 41b. More specifically, in this embodiment, the image light is diffracted by the reflective hologram optical element and guided to the optical pupil E as a virtual image. The wearer (worker W) can view the image (hologram image) by causing the image light of the optical pupil E to enter the pupil. As described above, in the display unit 40, the video based on the video signal of the VRAM 64 is displayed on the transmissive LCD device of the video generation unit 42, and the video obtained by the transmissive LCD device of the video generation unit 42 is displayed by the eyepiece optical system 41. A virtual image can be observed as if it was projected directly onto the eyeball of the wearer (worker W) and as if the image was magnified and projected in the air.

  Further, since the transparent member 14R cancels (cancels) refraction at the inclined portion 412 of the optical prism 41a, the wearer (worker W) can see the external light without being substantially distorted. Further, as described above, the volume phase type reflection type hologram optical element diffracts only light having a specific wavelength at a specific incident angle, and therefore hardly affects external light. The wearer (worker W) can see the outside world almost as usual through the reflection type hologram optical element and the optical prism 41a of the portion 41b. As described above, the volume phase type reflection hologram optical element functions as a combiner optical element that synthesizes reflected light in a specific wavelength region and transmitted light in other wavelength regions. With such a configuration, the visible light transmittance of the external light in the display unit 40 can be secured to about 85% or more, the external light transmittance is high, and the wearer (worker W) is see-through and the external environment is good. Thus, the workability of the wearer (worker W) can be improved. In the present embodiment, the eyepiece optical system 41 is disposed on the transparent member 14R corresponding to the right eye so that an image displayed on the display unit 40 can be observed with the right eye, and at the same time, the outside world can be viewed with the right eye. Can be observed (of course, the left eye can observe the outside world).

  In the present embodiment, the eyepiece optical system 41 is configured to reflect the image light inside the optical prism 41a and guide it to the optical pupil E by the volume phase type reflection hologram optical element of the reflection portion 41b. Therefore, the thickness of the transparent member 14R can be approximately the same thickness as a normal eyeglass lens (for example, about 3 mm), and is small and lightweight. Since the reflection is total reflection in the present embodiment, the wearer (operator W) views the outside world without substantially reducing the transmittance of outside light through the pair of main surfaces of the transparent member 14R. be able to.

  The sound input / output unit 50 is a circuit for inputting and outputting sound, and includes a pair of left and right earphones 51L and 51R that output sound, and a microphone 52 that collects sound. The microphone 52 is attached to the tip of a substantially L-shaped arm 53 extending from the temple 11L of the mounting unit 10 to collect the voice of the worker W when the mounting unit 10 is mounted by the worker W. . The voice of the operator W is collected by the microphone 52 of the sound input unit 50, and the voice data of the voice is transmitted from the photographing apparatus 1 to the remote support apparatus 5 via the network NT. The main server PC 6 of the remote support apparatus 5 The sound of the sound data is output from the speaker 63b. On the other hand, the voice of the instructor A is collected by the microphone 62c in the main server PC 6 of the remote support apparatus 5, and the voice data of this voice is transmitted from the remote support apparatus 5 to the photographing apparatus 1 via the network NT. The sound of this sound data is output from one earphone 51L, 51R. Alternatively, audio support content is transmitted from the content server PC8 to the image capturing apparatus 1 via the network NT, and the audio support content is output from the earphones 51L and 51R of the image capture apparatus 1. Note that the earphones 51L and 51R of the photographing apparatus 1 may be only one. Thus, the remote work support system S of the present embodiment can give a voice instruction to the worker W, and for example, sound such as voice can be exchanged between the photographing apparatus 1 and the remote support apparatus 5. The worker W and the instructor A can communicate by voice. In particular, when communication is performed by voice, the operator W (wearer) can easily perform a whispering operation by the voice instruction of the instructor A. In such a case, the remote work support system S of the present embodiment will be described later. In this case, the remote work support system S of the present embodiment is effective.

  The control unit 60 is a circuit that governs overall control of the photographing apparatus 1. The control unit 60 may be attached to the mounting unit 10 such as the photographing unit 20, the angular velocity sensor unit 30, and the display unit 40, but reduces the weight of the portion attached to the head of the operator W in the photographing apparatus 1. Therefore, in the present embodiment, the mounting unit 10 is provided separately from the mounting unit 10 without being attached to the mounting unit 10, and as described above, the photographing unit 20, the angular velocity sensor unit 30, and the display unit 40 are provided by the cable 46. The sound input / output unit 50 is electrically connected. For example, as shown in FIGS. 1, 2, and 4, the control unit 60 includes an image memory 61, a control unit 62, a VRAM 64, a sound input processing unit 65, a sound output processing unit 66, and a power switch 67. And the network IF unit 68. The image memory 61, the control unit 62, the VRAM 64, the sound input processing unit 65, the sound output processing unit 66, the power switch 67, and the network IF unit 68 have a substantially rectangular parallelepiped shape. Housed in a housing 69. The power switch 67 is disposed in the housing 69 so that its operation part faces the outside of the housing 69, and the network IF unit 68 has a housing so that its connector part faces the outside of the housing 69. 69.

  The image memory 61 includes, for example, a volatile storage element such as a RAM (Random Access Memory) and its peripheral circuits, and is used as a work area of the video control unit 24 in the photographing unit 20 as described above.

  The VRAM 64 is a so-called video RAM that includes a RAM and its peripheral circuits, and has at least a video signal storage capacity corresponding to the number of pixels of the video generation unit 42 in the display unit 40. This is a buffer memory for buffering a video signal that constitutes a video to be reproduced and displayed by the generation unit.

  The sound input processing unit 65 is a circuit that performs predetermined signal processing such as amplification and noise cut on the sound signal input from the microphone 52 in the sound input / output unit 50 and outputs the signal to the control unit 62.

  The sound output processing unit 66 is a circuit that performs predetermined signal processing such as amplification and noise cut on the sound signal input from the control unit 62 and outputs the signal to the earphones 51L and 51R in the sound input / output unit 50. is there.

  The power switch 67 is a switch circuit that activates the photographing apparatus 1 in order to operate the photographing apparatus 1. When the power switch 67 is turned on (switched on), for example, power is supplied from a power source such as a battery to each unit that requires power in the photographing apparatus 1.

  The network IF unit 68 is a communication interface circuit for performing communication between the imaging device 1 and the remote support device 5 via the network NT, and uses the data input from the control unit 62 as a communication protocol of the network NT. It accommodates in the corresponding communication signal, transmits the accommodated communication signal to the network NT, receives the communication signal addressed to the photographing apparatus 1 from the network NT, extracts the data accommodated in the received communication signal, and controls it. The data is converted into a format that can be processed by the unit 62, and the converted data is output to the control unit 62.

  The control unit 62 is a circuit that controls each unit of the imaging device 1 according to the function. For example, the control unit 62 may be various predetermined programs such as a control program for controlling the units of the imaging device 1 according to the function. ROM (Read Only Memory) that is a nonvolatile storage element that stores various kinds of predetermined data such as data necessary for execution of the predetermined program, and predetermined arithmetic processing by reading and executing the predetermined program And a CPU (Central Processing Unit) that performs control processing, a RAM that serves as a working memory of the CPU that stores data generated during the execution of the predetermined program, and a microcomputer that includes these peripheral circuits Is done. The control unit 62 may include a rewritable nonvolatile memory element such as an EEPROM (Electrically Erasable Programmable Read Only Memory). The control unit 62 functionally includes a video display control unit 63.

  The video display control unit 63 controls the video to be displayed on the display unit 40. In the present embodiment, the video display control unit 63 is based on the angular velocity of the head of the worker W (wearer) detected by the angular velocity sensor unit 30. The frame rate of the subject image when the subject image captured by the imaging unit 20 is displayed is reduced. For example, an angular velocity determination unit 631 and a frame rate control unit 632 are functionally provided. Configured.

  The angular velocity determination unit 631 determines whether the angular velocity of the head of the worker W (wearer) detected by the angular velocity sensor unit 30 satisfies a predetermined condition, and notifies the frame rate control unit 632 of the determination result. To do.

  The frame rate control unit 632 lowers the frame rate of the video generated by the photographing unit 20 from the default frame rate according to the determination result notified from the angular velocity determination unit 631. The frame rate to be lowered may be fixed or may be variable according to the angular velocity of the head. The control unit 62 transmits the subject image with the frame rate lowered from the network IF unit 68 to the remote support device 5 via the network NT.

  More specifically, for example, the angular velocity determination unit 631 determines whether or not the angular velocity of the head of the worker W detected by the angular velocity sensor unit 30 is equal to or higher than a predetermined angular velocity, and the determination result is used as a frame rate. The frame rate control unit 632 notifies the control unit 632 that, when the determination result indicates that the angular velocity of the head of the worker W detected by the angular velocity sensor unit 30 is greater than or equal to a predetermined angular velocity, The frame rate of the video generated at 20 is lowered from the default frame rate. The predetermined angular velocity, which is a threshold value, is determined by, for example, statistics or the like from the viewpoint that it becomes difficult to recognize and difficult to see a subject of an image taken by a camera attached to the head when the head moves or shakes at high speed. For example, the angular velocity is 90 degrees or more per second. The frame rate control unit 632 reduces the frame rate of the subject image by thinning out the frame of the subject image captured by the imaging unit 20, for example. For this reason, it becomes possible to maintain the frame rate of the photographing unit 20, and even if the head moves or shakes at high speed, the image of the subject whose frame rate has been lowered becomes a blurred image. Therefore, the subject of the video imaged by the imaging unit 20 can be easily recognized and viewed.

  Further, for example, the angular velocity of the head of the worker W (wearer) may be the angular velocity in the vertical direction of the head of the worker W detected by the vertical angular velocity sensor unit 31, and the angular velocity determination unit 631 may Based on the vertical angular velocity of the head of the worker W (wearer) detected by the vertical angular velocity sensor unit 31, the head of the worker W reciprocates in the vertical direction of 1 Hz to 5 Hz (for example, 3 Hz). (Reciprocating motion) is determined and the determination result is notified to the frame rate control unit 632. The frame rate control unit 632 detects the determination result by the vertical angular velocity sensor unit 31. When the angular velocity of the head of the worker W (wearer) indicates that a reciprocating motion of 1 Hz to 5 Hz (for example, a reciprocating motion of 3 Hz) in the vertical direction of the head of the worker W is performed. The frame rate of the video generated by the imaging unit 20 may be one of decreasing from the default frame rate. In the vertical direction, if the reciprocation of the head is less than 1 Hz, the subject can be recognized without lowering the frame rate. If the reciprocation of the head is more than 5 Hz, the head in the head movement direction can be recognized. Since the amount of movement of the part is small, the image flow is small, so that the subject can be recognized without lowering the frame rate. With this configuration, even when the operator W reciprocates the head in the vertical direction at 1 Hz to 5 Hz, when the display is performed due to a decrease in the frame rate, the image captured by the imaging unit 20 is displayed. The subject can be easily recognized and viewed. In particular, it is possible to cope with a case where the worker W indicates affirmation by a whirling motion by a reciprocating motion in the vertical direction of the head.

  Further, for example, the angular velocity of the head of the worker W (wearer) may be the horizontal angular velocity of the head of the worker W detected by the horizontal angular velocity sensor 32, and the angular velocity determination unit 631 Based on the vertical angular velocity of the head of the worker W (wearer) detected by the horizontal angular velocity sensor unit 32, the head of the worker W is reciprocated in the horizontal direction at 1 Hz to 5 Hz (for example, 3 Hz). (Reciprocating motion) is determined and the determination result is notified to the frame rate control unit 632. The frame rate control unit 632 detects the determination result by the horizontal angular velocity sensor unit 32. When the angular velocity of the head of the worker W (wearer) indicates that a reciprocating motion of 1 Hz to 5 Hz (for example, a reciprocating motion of 3 Hz) in the horizontal direction of the head of the worker W is performed. The frame rate of the video generated by the imaging unit 20 may be one of decreasing from the default frame rate. The horizontal direction is the same as the vertical direction. If the reciprocation of the head falls below 1 Hz, the subject can be recognized without lowering the frame rate, and the reciprocation of the head exceeds 5 Hz. Since the moving amount of the head in the head moving direction is small, the image flow is small, so that the subject can be recognized without reducing the frame rate. With this configuration, even when the worker W is reciprocated in the horizontal direction from 1 Hz to 5 Hz, the subject of the video imaged by the imaging unit 20 is recognized when displaying due to a decrease in the frame rate. Easy to see and easy to see. In particular, it is possible to cope with a case where the operator W (wearer) indicates a negative result by a whirling motion by a reciprocating motion of the head in the horizontal direction.

  The default frame rate is a frame rate at which a subject image is substantially felt as a moving image, and is, for example, 30 fps, 24 fps, or 15 fps. Preferably, the frame rate control unit 632 reduces the frame rate of the video in the range of 0.1 fps to 5 fps when the frame rate of the video generated by the photographing unit 20 is lowered from the default frame rate. The rate is lowered (for example, 1 fps, 2 fps, 3 fps, etc.). By configuring in this way, the frame rate of the subject video is lowered to any frame rate within the range of 0.1 fps to 5 fps at which the subject video feels almost like a still image. The subject of the video imaged by 20 can be more easily recognized and easily seen. On the other hand, if the frame rate is lower than 0.1 fps, the immediacy as a video is impaired, and an undesirable video is generated. On the other hand, if the frame rate is higher than 5 fps, it is difficult to recognize the image of the subject and it is difficult to see, which is not preferable. From the viewpoint that the immediacy of the image and the reliable recognition of the subject can be performed, it is more preferably 0.5 fps to 3 fps.

  In the present embodiment, the image display control unit 63 in the mounting unit 10, the image capturing unit 20, the angular velocity sensor unit 30 and the control unit 60 of the image capturing apparatus 1 is respectively the mounting unit, the image capturing unit, the angular velocity detection unit, and the image display. The display unit 63a corresponds to an example of a control unit, and the display 63a of the remote support device 5 corresponds to an example of a display unit and a second display unit. And since the display unit 40 of the imaging device 1 functions as an electronic viewfinder of the imaging unit 20, in this embodiment, the display unit 40 of the imaging device 1 also corresponds to an example of a display unit.

  Next, the operation of this embodiment will be described. FIG. 5 is a flowchart showing the operation of the photographing apparatus in the remote operation support system of this embodiment. FIG. 6 is a time chart showing processing for reducing the frame rate in the present embodiment. 6A shows a video signal (camera video signal) shot by the shooting unit 20, and FIG. 6B shows a video signal (display for display) displayed on the display 63a or the display unit 40 from the camera video signal. FIG. 6C shows a display video signal. FIG. 6C shows a trigger (video control trigger) for extracting a video signal. The horizontal axis of FIG. 6 is time, and the frame at time 0 is set as frame (1), and a number n is assigned to each frame and is indicated by (n).

  The photographing apparatus 1 in the remote work support system S of the present embodiment operates as shown in FIG. 5 with respect to the frame rate control. That is, in FIG. 5, in step S <b> 11, the angular velocity sensor unit 30 detects the angular velocity of the head of the worker W (wearer), and the detection result is output to the control unit 60. In the control unit 60, in step S12, when the detection result is input from the angular velocity sensor unit 30, it is determined whether or not the detection result satisfies a predetermined condition. For example, as described above, it is determined whether or not the detection result is equal to or higher than a predetermined angular velocity. Further, for example, it is determined whether or not the head of the worker W has performed a predetermined reciprocating motion in the vertical direction or the horizontal direction based on the detection result. As a result of this determination, if the detection result satisfies a predetermined condition (Y), the process of step S13 is executed. On the other hand, if the detection result does not satisfy the predetermined condition (N), the process of step S14 Is executed.

  In step S13, the frame rate of the video signal is lowered. For example, when the frame rate is lowered by the thinning process, as shown in FIG. 6, each frame (frame (1) to frame (n)) of the camera video signal shown in FIG. ) Is extracted at the timing corresponding to the video control trigger shown in FIG. 6 (frame (1), frame (6), frame (11),... In this example shown in FIG. 6), and the frame is thinned out from the camera video signal. Each frame of the display video signal shown in FIG. 6C is generated. In the example shown in FIG. 6, the frame rate is lowered to 1/5, for example, from 15 fps to 3 fps.

  In step S14, a display video signal is generated with a default frame rate (initial value). In this case, the display video signal is usually a camera video signal, and the frame rate of the display video signal and the frame rate of the camera video signal are the same, but they may be different.

  In step S <b> 15, the display video signal generated in this way is transmitted from the imaging device 1 to the remote support device 5. In the remote support device 5, when this display video signal is received, an image based on the display video signal is displayed on the display 63a. Thereby, the instructor A can refer to the subject in the front visual field of the worker W (wearer), and can observe the work target, for example. In the present embodiment, the display video signal generated in this way is also displayed on the display unit 40 of the photographing apparatus 1. As a result, the worker W (wearer) can see the area photographed by the photographing unit 20.

  In step S16, it is determined whether or not such frame rate control has ended. If the result of this determination is that control has ended (Y), the process ends and control ends. If not (N), the process returns to step S11.

  As described above, in the remote operation support system S and the photographing apparatus 1 according to the present embodiment, the angular velocity of the head is detected by the angular velocity sensor unit 30, and the output device 63 of the remote assistance device or the like based on the detected angular velocity of the head. The frame rate of the subject image displayed on the display unit 40 of the photographing apparatus 1 is lowered. For this reason, the remote work support system S and the imaging device 1 of the present embodiment can capture images captured by the imaging unit 20 due to a decrease in the frame rate even when the head moves or shakes at high speed. The subject can be easily recognized and viewed.

  In the present embodiment, a CMOS image sensor is used for the image sensor 22 of the photographing unit 20. As described above, the CMOS image sensor is obtained by sequentially scanning the image signal of each pixel. For this reason, when the head moves at high speed or shakes, the image is easily distorted. However, in the present embodiment, as described above, the angular velocity of the head is detected by the angular velocity sensor unit 30, and the frame rate of the image of the subject for display is lowered based on the detected angular velocity of the head. Even when the image sensor 22 of the photographing unit 20 is a CMOS image sensor, the subject of the video photographed by the photographing unit 20 can be easily recognized and viewed when displayed. As described above, the remote operation support system S and the imaging apparatus 1 of the present embodiment are effective when the imaging element 22 of the imaging unit 20 is a CMOS image sensor.

  In the present embodiment, the display unit 40 functions as an electronic viewfinder of the photographing unit 20 and is attached to the mounting unit 10 together with the photographing unit 20. Even in such a configuration, in the present embodiment, the angular velocity of the head is detected by the angular velocity sensor unit 30, and the frame rate of the image of the subject to be displayed is lowered based on the detected angular velocity of the head. Therefore, the worker W (wearer) can easily recognize and view the subject of the video imaged by the imaging unit 20. In addition, the sickness of the worker W is reduced or prevented. Moreover, it is effective when the display unit 40 functions as an electronic viewfinder of the photographing unit 20 and the display unit 40 and the photographing unit 20 are integrally configured as in the present embodiment.

  In the present embodiment, the eyepiece optical system 41 of the display unit 40 is attached to the transparent member 14 </ b> R of the mounting unit 10. In such a configuration, the transparent member 14R transmits the optical image of the subject with a predetermined transmittance, and the eyepiece optical system 41 of the display unit 40 is provided by the eyepiece optical system 41 of the display unit 40 provided on the transparent member 14R. The image of the subject can be displayed superimposed on the optical image of the subject. For this reason, in such a configuration, the loss of the view of the worker W (wearer) is reduced, and the worker W views the outside world in the view of the worker W and the display of the display unit 40 together. Can do. Therefore, the imaging device 1 of this embodiment is effective for work support.

  In the present embodiment, the control unit 62 that functions as a communication control unit that controls transmission / reception of the network IF unit 68 transmits the video of the subject whose frame rate has been lowered by the frame rate control unit 632 of the video display control unit 63 to the network. The data is transmitted to the IF unit 68. For this reason, in such a configuration, it is possible to transmit the video of the subject whose frame rate has been lowered to the remote support device 5 provided outside the photographing apparatus 1, and because the frame rate has been lowered. The communication load in the network IF unit 68 and the network NT can be reduced. Therefore, in such a configuration, when the head moves or shakes at a high speed in the remote support device 5 provided outside the photographing device 1, the bit is not dropped and the image quality is more accurately. An image can be presented.

  In the present embodiment, the photographing apparatus 1 includes the display unit 40 so that an image can be displayed. However, when the instruction from the instructor A is provided to the worker W only by voice, the display unit 40 is displayed. The unit 40 may not be provided.

  In the present embodiment, the angular velocity sensor unit 30 uses a three-axis piezoelectric vibration gyro sensor, and the vertical angular velocity and the horizontal angular velocity of the head are detected thereby. One of the angular velocity and the angular velocity in the horizontal direction may be used. With such a configuration, it is possible to cope with a case where the head moves or shakes at high speed in one direction.

  In the present embodiment, the three-axis piezoelectric vibration gyro sensor is used as the angular velocity sensor unit 30, but the present invention is not limited to this, and other angular velocity sensors may be used. In addition, in order to detect the angular velocity of the head, for example, the position and posture of the head are detected by a magnetic sensor called a Pohimass sensor, or the inclination of the head is detected by a horizontal sensor using a pendulum. The angular velocity of the part may be calculated. In particular, the horizontal sensor can easily detect the vibration in the vertical direction at low cost, and the photographing apparatus 1 is configured to cope with the case where the head moves or shakes at high speed in the vertical direction. It is effective.

  Further, in the present embodiment, the photographing apparatus 1 is photographed by the photographing unit 20 before being lowered by the frame rate control unit 632 of the video display control unit 63 as shown by the broken line in FIG. A recording unit 70 that records the subject image may further be provided. The recording unit 70 includes, for example, a memory card such as a hard disk or a flash memory. In this embodiment, since the image of the subject before the frame rate of the subject image is reduced is stored in the image memory 61, such a configuration can be easily realized. With this configuration, the subject image before the reduction of the frame rate of the subject image is recorded in the recording unit 70, so even if the head moves or shakes at high speed, it is more accurate. It is possible to record a video of a simple subject.

  Further, the photographing apparatus 1 uses the network IF unit 68 to display not only the subject image after the frame rate is lowered but also the subject image before the subject frame rate is lowered from the photographing apparatus 1 to the remote support device 5. The support recording server PC7 may be configured to store and record the video of the subject before the frame rate is lowered. For example, the video of the subject before the frame rate is lowered is transmitted at an appropriate timing all together for a predetermined time. By configuring in this way, the subject image before the frame rate of the subject image is lowered is recorded in the support recording server PC 7, so even if the head moves or shakes at high speed, Accurate video of the subject can be recorded.

  In order to express the present invention, the present invention has been properly and fully described through the embodiments with reference to the drawings. However, those skilled in the art can easily change and / or improve the above-described embodiments. It should be recognized that this is possible. Therefore, unless the modifications or improvements implemented by those skilled in the art are at a level that departs from the scope of the claims recited in the claims, the modifications or improvements are not covered by the claims. To be construed as inclusive.

S Remote Work Support System 1 Imaging Device 5 Remote Support Device 6 Main Server Computer Device 7 Support Recording Server Computer Device 8 Content Server Computer Device 10 Mounting Unit 20 Imaging Unit 30 Angular Velocity Sensor Unit 31 Vertical Angular Velocity Sensor Unit 32 Horizontal Angular Velocity Sensor Unit 40 Display Unit 41 Eyepiece Optical System 41a Optical Prism 41b Reflector 50 Sound Input / Output Unit 60 Control Unit 63 Video Display Control Unit 631 Angular Velocity Determination Unit 632 Frame Rate Control Unit 70 Recording Unit

Claims (14)

A head-mounted imaging unit comprising an installation unit to be mounted on the head and an imaging unit for imaging the subject;
An angular velocity detector for detecting the angular velocity of the head;
Video display for lowering the frame rate of the subject image when the subject image captured by the imaging unit of the head-mounted imaging unit is displayed based on the angular velocity of the head detected by the angular velocity detection unit And a control unit. The video display control unit displays a video of the subject imaged by the imaging unit of the head-mounted imaging unit when the angular velocity of the head detected by the angular velocity detection unit is equal to or higher than a predetermined angular velocity. The imaging apparatus according to claim 1, wherein a frame rate of the video of the subject in a case is lowered. The angular velocity detection unit detects an angular velocity in a vertical direction of the head,
When the video display control unit determines that the head has reciprocated in the vertical direction from 1 Hz to 5 Hz based on the angular velocity in the vertical direction of the head detected by the angular velocity detection unit, The imaging apparatus according to claim 1, wherein a frame rate of the subject video when the video of the subject photographed by the photographing unit of the wearable photographing unit is displayed is reduced. The angular velocity detection unit detects a horizontal angular velocity of the head,
When the video display control unit determines that the head reciprocates in the horizontal direction from 1 Hz to 5 Hz based on the horizontal angular velocity of the head detected by the angular velocity detection unit, 4. The photographing apparatus according to claim 1, wherein a frame rate of the subject image when the image of the subject photographed by the photographing unit of the wearable photographing unit is displayed is lowered. 5. The video display control unit is configured to display a frame rate of the subject image in the range of 0.1 fps to 5 fps when displaying a subject image captured by the imaging unit of the head-mounted imaging unit. The imaging apparatus according to claim 1, wherein the imaging apparatus is reduced to a frame rate. The video display control unit thins out a frame of the video of the subject photographed by the photographing unit of the head-mounted photographing unit, thereby obtaining a subject image photographed by the photographing unit of the head-mounted photographing unit. 6. The photographing apparatus according to claim 1, wherein a frame rate of an image of the subject when displaying is lowered. The imaging unit of the head-mounted imaging unit includes an imaging device that converts an optical image of the subject into an electrical signal, and an optical system that forms the optical image of the subject on a light receiving surface of the imaging device. ,
The imaging apparatus according to claim 1, wherein the imaging element is a CMOS image sensor. The imaging apparatus according to any one of claims 1 to 7, further comprising a display unit that displays an image of a subject imaged by the imaging unit of the head-mounted imaging unit. The imaging apparatus according to claim 8, wherein the display unit is provided in the head-mounted imaging unit. The head-mounted imaging unit further includes a transmission unit that transmits the optical image of the subject with a predetermined transmittance,
The imaging apparatus according to claim 9, wherein the display unit is provided in a transmission unit of the head-mounted imaging unit, and displays the subject image superimposed on the optical image of the subject. The recording apparatus according to claim 1, further comprising: a recording unit that records an image of the subject before being lowered by the image display control unit and shot by the imaging unit of the head-mounted imaging unit. The imaging device according to any one of claims 1 to 10. A communication unit that transmits and receives communication signals; and a communication control unit that controls transmission and reception of the communication unit;
The photographing according to any one of claims 1 to 11, wherein the communication control unit causes the communication unit to transmit the video of the subject whose frame rate has been lowered by the video display control unit. apparatus. A sound input unit that converts sound into a sound signal; a sound output that converts sound signal into sound; a communication unit that transmits and receives communication signals; and a communication control unit that controls transmission and reception of the communication unit;
The communication control unit causes the sound signal converted by the sound input unit to be transmitted to the communication unit, and outputs the sound signal received by the communication unit to the sound output unit in order to output sound. The imaging apparatus according to claim 1, wherein the imaging apparatus is characterized. A remote work support system comprising a photographing device and a remote work support device communicably connected to the photographing device via a communication network,
The imaging device is the imaging device according to any one of claims 1 to 13,
The remote operation support device receives a command from an instructor by receiving a second display unit that displays an image of a subject received by the imaging unit of the head-mounted imaging unit and received via the communication network. A remote work support system comprising: an instruction receiving unit that transmits an instruction to the photographing apparatus via the communication network.

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