JP2011109463A - Photographing apparatus and remote operation support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a photographing apparatus and a remote operation support system for reducing a user's getting worse in feeling such as visually induced motion sickness because of an image photographed by a camera even in the case of high-speed movement or shake of a head part in a head-mounting camera. <P>SOLUTION: The photographing apparatus 1 includes: an attachment unit 10 attached to the head part; a photographing unit 20 for photographing a subject; an angular velocity sensor unit 30 for detecting an angular velocity of the head part; and a video display control unit 63 for detecting a change in the photographing direction of the photographing unit 20 on the basis of an angular velocity of the head part detected by the angular velocity sensor unit 30 and restricting switching of videos of the subject in displaying a video of the subject photographed by the photographing unit 20 in the case that the detected change in the photographing direction of the photographing unit 20 is a reciprocal movement along a prescribed direction within a prescribed first time. <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, the observer who sees the video image | photographed with this camera may get sick feelings, such as video sickness, by the shake of this picked-up image | video. 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. An imaging device capable of reducing the feeling of sickness such as video sickness due to the recorded video and a remote work support system using the imaging device are provided.

  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 apparatus according to one aspect of the present invention detects a change in the imaging direction of a head-mounted imaging unit that includes a mounting unit that is mounted on a head and an imaging unit that images a subject. The photographing direction is detected by the photographing unit when the change in the photographing direction of the photographing unit detected by the photographing direction detecting unit and the photographing direction detecting unit is reciprocating along a predetermined direction within a predetermined first time. And a video display control unit that restricts switching of the video of the subject when the video of the subject is displayed.

  In the imaging apparatus having such a configuration, a change in the imaging direction in the imaging unit of the head-mounted imaging unit mounted on the head is detected by the imaging direction detection unit, and the detected change in the imaging direction is detected in a predetermined number. In the case of reciprocal movement along a predetermined direction within one hour, switching of the image of the subject photographed by the photographing unit is limited. By restricting the switching of the subject image, the subject image is displayed as, for example, a frame drop or a substantially still image, or is not displayed, for example, to reduce the feeling of sickness such as video sickness. be able to.

  In another imaging device, in the above-described imaging device, preferably, the reciprocating movement is performed by the imaging direction of the imaging unit detected by the imaging direction detection unit being different by about 180 degrees along the predetermined direction. Change in the direction more than once.

  According to this configuration, since the shooting direction is a simple determination condition for determining reciprocal movement when the shooting direction changes twice or more in a direction different by about 180 degrees along the predetermined direction, the shooting direction detection unit and the video display control are used. The unit can be realized by a relatively simple device and processing.

  In another imaging apparatus, in the above-described imaging apparatus, the predetermined first time is preferably 0.3 seconds to 3 seconds.

  In one example, when the head moves back and forth between about 0.3 seconds and 3 seconds, an observer who sees an image taken by a camera attached to the head feels sick, such as motion sickness. Prone. According to the above configuration, since the first time is set at any time in the time zone in which the person is likely to feel sick such as video sickness, such a situation is effectively suppressed or prevented. It becomes possible.

  In another imaging apparatus, in the above-described imaging apparatus, preferably, the video display control unit does not update a frame in the video of the subject for a predetermined second time, so that the video of the subject is recorded. Is to limit the switching.

  According to this configuration, since the frame in the subject video is not updated, the subject video becomes a substantially still image, and a relatively simple technique that does not update the frame in the subject video can cause a feeling of sickness such as video sickness. Can be reduced or prevented.

  In another imaging apparatus, in the above-described imaging apparatus, preferably, the video display control unit does not display the video of the subject for a predetermined second time, thereby switching the video of the subject. Is to limit.

  According to this configuration, the subject image disappears because the subject image is not displayed, and it is possible to reduce or prevent the feeling of sickness such as image sickness by a relatively simple method of not displaying the subject image. .

  In another imaging apparatus, in the above-described imaging apparatus, the predetermined second time is preferably longer than the first time and 1 second to 5 seconds.

  According to this configuration, it is possible to reduce or prevent the feeling of sickness such as video sickness by limiting the switching of the image of the subject during the second time, and after the elapse of the second time, The restriction on the switching of the subject image can be canceled and the original can be restored.

  In another imaging apparatus, in the above-described imaging apparatus, preferably, the predetermined direction is a vertical direction.

  According to this configuration, it is possible to cope with a feeling of sickness such as video sickness due to the vertical reciprocation of the wearer's head. In particular, it can be dealt with when the wearer walks or when the wearer shows affirmation by the reciprocating motion of the head in the vertical direction.

  In another imaging apparatus, in the above-described imaging apparatus, preferably, the predetermined direction is a horizontal direction.

  According to this configuration, it is possible to cope with the feeling of sickness such as video sickness due to the horizontal reciprocation of the wearer's head. 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 imaging apparatus, in the above-described imaging apparatus, preferably, the imaging direction detection unit includes a horizontal sensor.

  According to this configuration, since the horizontal sensor is used to detect the reciprocal movement in the vertical direction of the photographing direction, the reciprocating movement along the vertical direction in the photographing direction can be detected at a low cost with a relatively simple structure. .

  In another imaging apparatus, in the above-described imaging apparatus, it is preferable that the imaging direction detection unit includes an angular velocity sensor.

  According to this configuration, since the angular velocity sensor is used to detect the reciprocating movement along the predetermined direction in the photographing direction, the reciprocating movement along the predetermined direction in the photographing direction can be detected relatively compactly and accurately. Can do.

  In another imaging apparatus, in the above-described imaging apparatus, preferably, the imaging direction detection unit sets a corresponding point between two images of a subject image captured by the imaging unit as a corresponding point. It is provided with the corresponding point search part which detects the imaging | photography direction of the said imaging | photography part by extracting by a search process.

  According to this configuration, since the change in the shooting direction is detected by the image processing of the corresponding point search process, it is possible to configure the shooting direction detection unit by software without using a separate sensor component.

  In another imaging apparatus, in the above-described imaging apparatus, 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 An optical system that forms an optical image of the subject on the light receiving surface of the element, and the imaging element 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 or shakes at high speed, the image is easily distorted, and it is even more likely that the feeling of sickness such as image sickness is worsened. According to the above configuration, the change in the shooting direction of the shooting unit is detected by the shooting direction detection unit, and switching of the subject image displayed on the display unit is restricted based on the detected behavior of the shooting unit in the shooting direction. Therefore, even if the imaging element of the imaging unit is a CMOS image sensor, it is possible to reduce the feeling of sickness such as video sickness due to the video captured by the imaging unit.

  In another imaging apparatus, in the above-described imaging apparatus, it is preferable that the imaging apparatus further includes a display unit that displays a subject image captured 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 shooting direction of the shooting unit is detected by the shooting direction detection unit, and switching of the image of the subject displayed on the display unit is limited based on the detected shooting direction of the shooting unit. Even when the head part is provided in the head-mounted imaging unit, the wearer can reduce the feeling of sickness due to video shot by this imaging unit, You can check the area where you are shooting immediately.

  In another aspect, in the above-described imaging devices, preferably, 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, A communication control unit for controlling 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. Is output 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 of the above-described imaging devices, and the remote work support device is a subject received by the imaging unit of the head-mounted imaging unit that is received via the communication network. A second display unit for displaying the video and an instruction receiving unit for receiving an instruction from the instructor and transmitting 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, the restriction of the switching of the video can reduce the user (instructor) of the remote operation support apparatus from feeling sick due to the video captured by the imaging unit.

  The imaging apparatus and the remote operation support system according to the present invention are a head-mounted camera, and even if the head moves or shakes at high speed, the video captured by the camera causes video sickness and the like. It can be reduced that the patient feels bad.

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 in the remote operation assistance system concerning embodiment. It is a sectional side view of the display unit in the imaging device of the remote operation support system according to the embodiment. It is a block diagram which shows the electrical structure of the imaging device in the remote operation assistance system 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 for demonstrating operation | movement of the imaging device in the remote operation assistance system of this embodiment in case the reciprocating movement of an imaging | photography direction is a 1st aspect. It is a time chart for demonstrating operation | movement of the imaging device in the remote operation assistance system of this embodiment in case the reciprocating movement of an imaging | photography direction is a 2nd aspect. It is a time chart for demonstrating operation | movement of the imaging device in the remote operation assistance system of this embodiment in case the reciprocating movement of an imaging | photography direction is a 3rd aspect. It is a block diagram which shows the other electric structure of the imaging device in the remote operation assistance system concerning 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 illustrating a configuration of the imaging device in the remote operation support system according to the embodiment. FIG. 3 is a side sectional view of the display unit in the photographing apparatus of the remote operation support system according to the embodiment. FIG. 4 is a block diagram illustrating an electrical configuration of the imaging apparatus in the remote operation support system 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 161 that controls the entire main server PC 6 and an input device such as a keyboard 162a or a mouse 162b for receiving and inputting an instruction from the instructor A 162 and an output device 163 such as a display 163a 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 161 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 displaying the image of the subject received via the network NT on the display 163a and transmitting the instruction of the instructor A received (input) from the keyboard 162a and the mouse 162b to the photographing apparatus 1 via the network NT. 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 independently displays the video of the subject by the photographic video apparatus 1 with date / time information such as date and time under the control of the computer 161 or by monitoring (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 PC6 further includes a microphone 162c as an input device 162, and a speaker as an output device 163. 163b is further provided. Then, the computer 161 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 163b and receives (inputs) the instruction from the microphone 162c. 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 from the photographing apparatus 1 as support data in association with date / time information according to the control of the computer 161 or independently, and also gives the voice instruction of the worker A by the remote support apparatus 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 161 of the main server PC 6 receives an instruction (content selection instruction) for selecting support content of the instructor A from the keyboard 162a and the mouse 162b, and sends 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 161, the content server PC8 transmits support content corresponding to the content selection instruction to the image capturing device 1 via the network NT, and provides the support content to the image capturing device 1.

  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 that is transparent to visible light, such as a resin such as polycarbonate or polymethyl methacrylate, or glass, and have rounded corners such as the outer shape of a spectacle lens for correcting vision. It is a rectangular 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 detects the angular velocity of the head of the wearer (here, the worker W) in order to detect the shooting direction of the shooting unit 20 that is fixedly held with respect to the mounting unit 10, and the detection result Is output 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 biaxial piezoelectric vibration gyro sensor that can detect biaxial angular velocities, 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. As described above, in the present embodiment, since the acceleration sensor is used as a sensor for detecting reciprocation along a predetermined direction in the photographing direction, it is relatively compact and accurate in a predetermined direction in the photographing direction. It is possible to configure a sensor for detecting reciprocating movement along.

  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 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 163b. On the other hand, the voice of the instructor A is collected by the microphone 162c in the main server PC6 of the remote support device 5, and the voice data of this voice is transmitted from the remote support device 5 to the photographing device 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. Thus, since the switching of the video is limited to limit the observation in the video, the remote work support system S of the present embodiment is effective in such a case.

  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.

  In the present embodiment, when the video display control unit 63 displays the video of the subject photographed by the photographing unit 20, the change in the photographing direction of the photographing unit 20 detected by the angular velocity sensor unit 30 is a predetermined first time. In the case of reciprocal movement along a predetermined direction, the switching of the subject image when the subject image captured by the imaging unit 20 is displayed is limited. A unit 631 and an observation restriction control unit 632 are provided. The video display control unit 63 controls the video to be displayed on the display unit 40 when the video of the subject shot by the shooting unit 20 is displayed on the display unit 40, and the subject shot by the shooting unit 20. Is output to the remote support device 5, the video contained in the communication signal transmitted to the remote support device 5 is controlled.

  The photographing direction determination unit 631 detects the photographing direction of the photographing unit 20 based on the angular velocity of the head of the worker W (wearer) detected by the angular velocity sensor unit 30, and the photographing direction of the detected photographing unit 20 is detected. Is determined to reciprocate along a predetermined direction within a predetermined first time, and the determination result is notified to the observation restriction control unit 632.

  The observation restriction control unit 632 restricts switching of the video generated by the photographing unit 20 according to the determination result notified from the photographing direction determining unit 631. Note that the control unit 62 transmits the image of the subject whose switching is restricted from the network IF unit 68 to the remote support device 5 via the network NT.

  More specifically, for example, the imaging direction determination unit 631 determines that the imaging direction detected based on the angular velocity of the head of the worker W detected by the angular velocity sensor unit 30 is within the predetermined first time. It is determined whether or not it has changed two or more times in a direction different by about 180 degrees along the direction of, and notifies the observation limit control unit 632 of the determination result. When displaying the image of the photographed subject, the photographing direction detected based on the angular velocity of the head of the operator W detected by the angular velocity sensor unit 30 based on the determination result is the predetermined first time. In this case, the switching of the video generated by the photographing unit 20 is restricted when it changes twice or more in the direction different by about 180 degrees along the predetermined direction. For example, in the present embodiment, the observation restriction control unit 632 restricts switching of images generated by the photographing unit 20 by restricting frames in the subject image to predetermined frames set in advance. In the determination, the number of times the shooting direction changes in a direction different by about 180 degrees along the predetermined direction is the number of images shot by a camera attached to the head when the head moves or shakes at high speed. Is the number of times determined by, for example, statistics or the like from the viewpoint of whether or not the observer feels bad, for example, twice in this embodiment. As described above, the angular velocity sensor unit is used as a simple determination condition for determining that there has been a reciprocating movement along a predetermined direction when the photographing direction changes two or more times in a direction different by about 180 degrees along the predetermined direction. 30 and the image display control unit 63 can be realized by relatively simple devices and processing.

  The predetermined first time (determination time A) is set in advance. For example, when the head moves or shakes at high speed, the viewer views an image taken by a camera attached to the head. In this case, the time length is determined by, for example, statistics from the viewpoint of whether or not the observer feels bad. In one example, when the head moves back and forth between about 0.3 seconds and about 3 seconds, an observer who sees an image taken by a camera attached to the head feels sick like video sickness. It tends to get worse. When the time is less than about 0.3 seconds, the observer is perceived as a mere blur such as a so-called camera shake. On the other hand, when the time is longer than about 3 seconds, the observer has a sufficiently long reciprocation cycle. Difficult to get sick like sickness. For this reason, the predetermined first time is set to a time length of, for example, about 0.3 seconds to 3 seconds. Since the first time is set at any time in the time zone in which such mood sickness such as video sickness tends to get worse, it is possible to effectively suppress or prevent such a situation.

  For example, the switching of the video by the observation restriction control unit 632 may be limited by not updating the frame in the video of the subject for a predetermined second time. More specifically, for example, in this embodiment, the observation restriction control unit 632 does not update each data of the VRAM 64 during the second time, and the frame of the subject image at the start time of the second time is not updated. The VRAM 64 is controlled so that each data value is maintained as it is. Therefore, the frame in the subject image at the start time of the second time is maintained as it is, and is displayed on the display unit 40 or the display 163a of the remote support device 5 like a still image. Since the frame of the subject video is not updated in this way, the subject video becomes a substantially still image during the second time, and the mood of video sickness or the like is deteriorated by a relatively simple method of not updating the frame of the subject video. This can be reduced or prevented.

  Further, for example, the switching of the video by the observation limitation control unit 632 may be performed by not displaying the video of the subject for a predetermined second time. More specifically, for example, in the present embodiment, the observation restriction control unit 632 controls the VRAM 64 so that each data in the VRAM 64 is rewritten to a predetermined level of data value during the second time. . That is, during the second time, no object is displayed on the display unit 40 or the display 163a of the remote support device 5 in a single color display such as black or white, for example. In this way, it is possible to reduce or prevent the feeling of sickness such as video sickness by using a relatively simple method of erasing the subject image without displaying the subject image and not displaying the subject image.

  Further, for example, the switching of the video by the observation restriction control unit 632 may be limited to not transmitting a subject video signal to the remote support device 5, not outputting a subject video signal to the display unit 40, or subject video. The above signal may not be recorded in the VRAM 64.

  The predetermined second time (observation limit time B) is set in advance and is determined to exceed the predetermined first time (determination time A) so as not to make the patient feel sick, for example, video sickness. The duration is determined by, for example, statistics. For example, the predetermined second time is longer than the first time and is set to any time length from 1 second to 5 seconds. As described above, by restricting the switching of the subject image during the second time, it is possible to reduce or prevent the feeling of sickness such as image sickness and to limit the switching of the subject image. Since the time is provided, it is possible to release the restriction on switching of the image of the subject and return to the original state after the second time has elapsed. If the predetermined second time is less than 1 second, it is difficult and undesirable to reduce or prevent the feeling of sickness such as video sickness. On the other hand, when the predetermined second time exceeds 5 seconds, the immediacy of the video displayed on the display unit 40 and the video displayed on the remote support device 5 is impaired, and the video of the operator W is displayed on the instructor A. Since it is not provided in substantially real time and it becomes difficult to give an appropriate instruction, it is not preferable.

  Further, for example, the predetermined direction may be a vertical direction, and the imaging direction determination unit 631 is based on the vertical angular velocity in the head of the worker W (wearer) detected by the vertical angular velocity sensor unit 31. Then, a shooting direction (upward direction (+ direction) or downward direction (− direction) in the vertical direction) in the vertical plane of the shooting unit 20 is detected, and the detected shooting direction of the shooting unit 20 is a predetermined first time. Whether or not it has reciprocated along the vertical direction, and notifies the observation restriction control unit 632 of the determination result. The observation restriction control unit 632 In the case of displaying an image, the image of the subject when the shooting direction of the shooting unit 20 reciprocates along the vertical direction within a predetermined first time based on the determination result. It is intended to limit the switching. With this configuration, it is possible to cope with a feeling of sickness such as video sickness due to the vertical reciprocation of the wearer's head. In particular, it can be dealt with when the wearer walks or when the wearer shows affirmation by the reciprocating motion of the head in the vertical direction.

  In the present embodiment, the vertical angular velocity sensor unit 31 is configured by using one of the two-axis piezoelectric vibration gyro sensors, but may be configured by including a horizontal sensor. Thus, by using a horizontal sensor as a sensor to detect reciprocal movement in the vertical direction of the photographing direction, it is possible to detect reciprocating movement along the vertical direction in the photographing direction with a relatively simple structure at low cost. .

  Further, for example, the predetermined direction may be a horizontal direction, and the photographing direction determination unit 631 is based on the horizontal angular velocity at the head of the worker W (wearer) detected by the horizontal angular velocity sensor unit 32. Then, a shooting direction (right direction (+ direction) or left direction (− direction) in the horizontal direction) in the horizontal plane of the shooting unit 20 is detected, and the detected shooting direction of the shooting unit 20 is within a predetermined first time. The observation restriction control unit 632 notifies the observation restriction control unit 632 of the result of the reciprocation along the horizontal direction, and the observation restriction control unit 632 captures the image of the subject photographed by the photographing unit 20. When the shooting direction of the shooting unit 20 reciprocates along the horizontal direction within a predetermined first time based on the determination result, the image of the subject is cut off. It is intended to limit the recombination. With this configuration, it is possible to cope with a feeling of sickness such as video sickness due to the horizontal reciprocation of the wearer's head. 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 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 are respectively the mounting unit, the image capturing unit, the image capturing direction detecting unit, and the image. It corresponds to an example of a display control unit, and the display 163a 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 for explaining the operation of the photographing apparatus in the remote operation support system of the present embodiment when the reciprocating movement in the photographing direction is the first mode. FIG. 7 is a time chart for explaining the operation of the photographing apparatus in the remote operation support system of the present embodiment when the reciprocating movement in the photographing direction is the second mode. FIG. 8 is a time chart for explaining the operation of the photographing apparatus in the remote operation support system of the present embodiment when the reciprocating movement in the photographing direction is the third aspect. 6A, 7A, and 8A show the photographing direction, and FIGS. 6B, 7B, and 8B show the display of the remote support device 5. FIG. The mode of the display image displayed on 163a and the display unit 40 is shown. In addition, each arrow in FIGS. 6A, 7A, and 8A indicates a change direction (movement direction) of each shooting direction of the shooting unit 20 at each sampling time, and (+) indicates One direction along the predetermined direction is indicated, and (−) indicates the other direction that is 180 degrees different from the (+) direction.

  The photographing apparatus 1 in the remote operation support system S of the present embodiment operates as shown in FIG. 5 with respect to the control for limiting the switching of the subject image. That is, in FIG. 5, in step S11, the angular velocity of the head of the worker W (wearer) is detected by the angular velocity sensor unit 30 in order to detect the change direction (moving direction) of the photographing direction of the photographing unit 20, and this The detection result is output to the control unit 60 and stored in the control unit 60.

  Subsequently, when the detection result is input from the angular velocity sensor unit 30 in the control unit 60, the detection result is stored by the video display control unit 63 of the control unit 62 as described above. It is determined whether or not a predetermined condition is satisfied. For example, as described above, the change direction of the photographing direction of the photographing unit 20 detected based on the detection result is twice or more twice in the direction different by about 180 degrees along the predetermined direction within the predetermined first time. It is determined whether it has changed. More specifically, in the present embodiment, the change direction of the shooting direction of the shooting unit 20 detected based on the detection result differs by approximately 180 degrees along the vertical direction or the horizontal direction within the predetermined first time. It is determined whether the direction has changed twice.

  In this determination, in the present embodiment, as shown in FIG. 5, first, in step S12, the detection result is stored by the shooting direction determination unit 631 of the video display control unit 63 and detected based on the detection result. It is determined whether or not the change direction of the shooting direction of the shooting unit 20 has changed to a direction that differs by approximately 180 degrees along the vertical direction or the horizontal direction. As a result of this determination, when the change direction of the shooting direction of the shooting unit 20 changes in a direction different by about 180 degrees along the vertical direction or the horizontal direction (Y), the time at which the reversal of the current shooting direction is determined. When the process of step S13 is performed and the change direction of the shooting direction of the shooting unit 20 is not changed to a direction different by about 180 degrees along the vertical direction or the horizontal direction (N), step S14 is performed. The process is executed.

  Here, the change in the direction of change of the shooting direction of the shooting unit 20 in a direction different by approximately 180 degrees is, for example, the shooting direction of the previous shooting unit 20 detected based on the previous detection result and the current detection result. If the directions are determined to be different from each other by approximately 180 degrees, the shooting direction determination unit 631 determines that the previous detection and the current detection are performed. In the meantime, it is determined that the change direction of the shooting direction of the shooting unit 20 has changed once in a direction different by about 180 degrees. On the other hand, when these directions are not different from each other by about 180 degrees, the shooting direction determination unit 631 It is determined that there is no change in the direction in which the shooting direction of the shooting unit 20 changes by approximately 180 degrees between the previous detection and the current detection.

  In step S14, the observation restriction control unit 632 of the video display control unit 63 does not limit the switching of the subject image, and for example, 15 fps (15 frames per second), 24 fps (24 frames per second), and 30 fps (30 frames per second). A video signal of the subject (display video signal) is transmitted from the photographing device 1 to the remote support device 5 in order to display the subject video at the default frame rate. 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 163a. 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 subject image 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.

  Subsequently, in step S15, it is determined whether or not the operation of the actual photographing abandonment 1 is finished. If the result of this determination is that the operation is finished (Y), the processing is finished and the operation is finished. If not (N), the process returns to step S11.

  On the other hand, in step S13, the reversal of the shooting direction of the shooting unit 20 determined in step S12 by the shooting direction determination unit 631 of the video display control unit 63 is within the predetermined first time (in the determination time A). It is determined whether or not. As a result of this determination, when the reversal of the photographing direction of the photographing unit 20 is within the predetermined first time (Y), the process of step S21 is executed, while the reversal of the photographing direction of the photographing unit 20 is If it is not within the predetermined first time (N), the process of step S14 described above is executed.

  Here, the determination as to whether or not the reversal of the photographing direction of the photographing unit 20 is within the predetermined first time is, for example, the determination of the reversal of the previous photographing direction and the current photographing direction. When the difference between these times is within the predetermined first time, the imaging direction determination unit 631 causes the imaging unit 20 to reverse the imaging direction of the imaging unit 20 when the difference between these times is within the predetermined first time. If it is determined that the time difference is not within the predetermined first time, the reversal of the photographing direction of the photographing unit 20 is performed by the photographing direction determination unit 631 in the predetermined first time. It is judged that it is not within. In addition, when the time at which the previous reversal of the shooting direction is determined is not stored, it may be determined that this is the first reversal after the start of the photographing apparatus 1 and not within the predetermined first time.

  Subsequently, in step S21, the observation limit control unit 632 of the video display control unit 63 resets (initializes) a timer (for example, software timer) for measuring the predetermined second time (observation limit time B) to 0. After that, the timing starts (starts).

  Subsequently, in step S22, when displaying the video of the subject photographed by the photographing unit 20 by the observation restriction control unit 632, the video of the subject whose switching of the video is restricted to restrict the switching of the video of the subject. (Video signal for display) is transmitted from the photographing apparatus 1 to the remote support apparatus 5. For example, as described above, a video signal of the same frame or a video signal of a predetermined frame that does not display a subject is transmitted. In the remote support device 5, when this display video signal is received, a video in which switching of the video by the display video signal is restricted is displayed on the display 163a. Thereby, the instructor A observes the work object through the photographing device 1 of the worker W, for example, and the worker W (wearer) moves or shakes the head at high speed. However, by restricting the switching of the image of the subject, the instructor A is less likely to feel sick because of the image captured by the camera. In the present embodiment, the video of the subject whose switching of the video is restricted is also displayed on the display unit 40 of the photographing apparatus 1. As a result, even if the operator W (wearer) moves or shakes his / her head at high speed, the feeling of video sickness or the like caused by the captured image is reduced.

  Subsequently, in step S23, as in step S11, the angular velocity of the head of the operator W (wearer) is detected by the angular velocity sensor unit 30 in order to detect the change direction of the photographing direction of the photographing unit 20, and this detection is performed. The result is output to the control unit 60 and stored in the control unit 60.

  Subsequently, in step S24, as in step S12, the detection result is stored by the shooting direction determination unit 631 of the video display control unit 63, and the change in the shooting direction of the shooting unit 20 detected based on the detection result is stored. It is determined whether or not the direction has changed in a direction different by about 180 degrees along the vertical direction or the horizontal direction. As a result of this determination, when the change direction of the shooting direction of the shooting unit 20 changes in a direction different by about 180 degrees along the vertical direction or the horizontal direction (Y), the time at which the reversal of the current shooting direction is determined. When the process of step S25 is stored and the change direction of the shooting direction of the shooting unit 20 is not changed to a direction different by about 180 degrees along the vertical direction or the horizontal direction (N), step S26 is performed. The process is executed.

  In step S25, as in step S13, the reversal of the shooting direction of the shooting unit 20 determined in step S24 is performed within the predetermined first time (determination time A) by the shooting direction determination unit 631 of the video display control unit 63. Whether or not).

  As a result of this determination, when the reversal of the photographing direction of the photographing unit 20 is within the predetermined first time (Y), the process of step S21 is executed. Therefore, in this case (Y), the subject video switching restriction (observation restriction) is continued by executing the processing in step S21 and the subsequent steps, and the time measurement of the predetermined second time (observation restriction time B) is resumed. Be started.

  On the other hand, if the result of determination in step S25 is that the reversal of the shooting direction of the shooting unit 20 is not within the predetermined first time (N), the process of step S26 described above is executed.

  In step S26, the observation restriction control unit 632 of the video display control unit 63 determines whether or not the timer has timed out. That is, it is determined whether or not the predetermined second time (observation limit time B) has elapsed since the time when the switching of the subject image was limited.

  If the result of this determination is that the timer has not timed out (N), processing in step S22 is executed. Therefore, in this case (Y), the subject image switching restriction (observation restriction) is continued by executing the processing in step S22 and subsequent steps.

  On the other hand, if the result of determination in step S26 is that the timer has timed out (Y), the process of step S14 is executed. Therefore, in this case (Y), the subject video switching restriction (observation restriction) is released by executing the processing in step S14 and subsequent steps.

  In the remote operation support system S and the photographing apparatus 1 operating in this way, for example, as shown in FIG. 6A, the first reversal (1) occurs at the time t11 when the photographing direction of the photographing unit 20 is at time t11. The time interval T1 when the second inversion (2) occurs at the time t12 and the third inversion occurs at the time t13, and the second inversion (2) occurs from the first inversion (1). The time interval T2 (= t13-t12) in which the third inversion (3) occurs from (= t12-t11) and the second inversion (2) is longer than the predetermined first time (determination time A). In the aspect, the processes of Step S11, Step S12, Step S13, Step S14, and Step S15 described above are repeated, and the video of the subject is not limited by the switching as shown in FIG. 6B. ,示者 A and the operator W will continue to observe the image of the subject.

  Further, for example, in the remote operation support system S and the photographing apparatus 1 operating in this way, for example, as shown in FIG. 7A, the first reversal (1) occurs when the photographing direction of the photographing unit 20 is at time t21. Then, when the second inversion (2) occurs at time t22, the time interval T1 (= t22−t21) in which the second inversion (2) occurs from the first inversion (1) is the predetermined time. In the second mode that is shorter than the first time (determination time A), after the above-described processing of step S11, step S12, step S13, step S14, and step S15 is executed, step S11, step S12, and step S13 are performed. Each process is executed, and then each process of step S21 to step S26 is executed, and each process of step S14 and step S15 is executed. Thus, as shown in FIG. 7B, the video of the subject is limited to switching of the video of the subject from the inversion time t22 in the second inversion (2), and the instructor A and the operator W Will observe the video whose video switching is restricted until the observation time limit B elapses from the inversion time t22. When the observation time limit B has elapsed from the inversion time t22, the video switching restriction is released. The video of the subject returns to normal.

  Further, for example, in the remote operation support system S and the photographing apparatus 1 operating as described above, for example, as shown in FIG. 8A, the first reversal (1) occurs when the photographing direction of the photographing unit 20 is at time t31. Subsequently, the second inversion (2) occurs at time t32, and the third inversion occurs at time t33, and the second inversion (2) occurs from the first inversion (1). The time interval T1 (= t32−t31) and the time interval T2 (= t33−t32) in which the second inversion (2) to the third inversion (3) occur are longer than the predetermined first time (determination time A). In the short third mode, after the processes of step S11, step S12, step S13, step S14, and step S15 described above are performed, the processes of step S11, step S12, and step S13 are performed. Subsequently, each process of step S21 to step S25 is executed, and after each process of step S21 to step S25 is executed again, each process of step S26, step S14 and step S15 is executed. Thus, the subject image is limited by the second inversion (2) to the switching of the subject image from the inversion time t22, and again before the observation time limit B elapses from the inversion time t32. The reversal (3) is limited to the switching of the subject image from the reversal time t33, exceeds the reversal time t33 from the reversal time t32, and further until the observation time limit B elapses from the reversal time t33. It will continue to be restricted by the switching of the subject image. For this reason, the instructor A or the operator W observes the video whose switching is restricted from the reversal time t32 until the observation time limit B elapses from the reversal time t33. When the observation time limit B elapses from the reversal time t33, the video switching restriction is released, and the subject video is restored as usual.

  As described above, in the remote operation support system S and the photographing apparatus 1 of the present embodiment, the angular velocity of the head is detected by the angular velocity sensor unit 30 in order to detect the change in the photographing direction of the photographing unit 20, and the detected photographing unit. Based on the change in the shooting direction of 20, the switching of the image of the subject displayed on the output device 163 of the remote support device 5 or the display unit 40 of the shooting device 1 is restricted. For this reason, the remote work support system S and the photographing apparatus 1 of the present embodiment display the subject image as a frame drop or a substantially still image, for example, by restricting the switching of the subject image, or For example, it is possible to reduce the non-display and worsening of feeling sick such as video sickness.

  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 or shakes at high speed, the image is easily distorted, and it is even more likely that the feeling of sickness such as image sickness is worsened. 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 change in the photographing direction of the photographing unit 20 is detected based on the detected angular velocity of the head. Since the switching of the image of the subject to be displayed is limited based on the change in the shooting direction of the shooting unit 20 that has been performed, even when the image sensor 22 of the shooting unit 20 is a CMOS image sensor, It is possible to reduce the feeling of sickness such as video sickness caused by the video shot by the shooting unit 20. 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 this embodiment, the angular velocity of the head is detected by the angular velocity sensor unit 30, and the change in the photographing direction of the photographing unit 20 is detected based on the detected angular velocity of the head. Based on the detected shooting direction of the shooting unit 20, the switching of the video of the subject to be displayed is limited. Therefore, the worker W (wearer) is intoxicated by the video shot by the shooting unit 20. It is possible to reduce the worsening of the mood. 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 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 includes a vertical angular velocity sensor unit 31 and a horizontal angular velocity sensor unit 32, and the video display control unit 63 is based on the output of the angular velocity sensor unit 30. At least one of the case where the shooting direction reciprocates along the vertical direction within a predetermined first time and the case where the shooting direction of the shooting unit 20 reciprocates along the horizontal direction within a predetermined first time However, the angular velocity sensor unit 30 includes only the vertical angular velocity sensor unit 31, and the image display control unit 63 captures images based on the output of the angular velocity sensor unit 30. Limiting switching of the subject image when the shooting direction of the unit 20 reciprocates along the vertical direction within a predetermined first time. Further, the angular velocity sensor unit 30 includes only the horizontal angular velocity sensor unit 32, and the video display control unit 63 determines whether the photographing direction of the photographing unit 20 is predetermined based on the output of the angular velocity sensor unit 30. When the reciprocating movement is performed along the horizontal direction within the first time, the switching of the image of the subject may be limited.

  In particular, when the angular velocity sensor unit 30 includes only the vertical angular velocity sensor unit 31, a horizontal sensor is used as the vertical angular velocity sensor unit 31, so that the vertical direction in the photographing direction can be reduced with a relatively simple structure. It is possible to configure a sensor for detecting reciprocating movement along. This horizontal sensor is a pendulum type sensor, and detects the photographing direction in the vertical plane by the inclination of the pendulum (a wire rod having a weight suspended at one end and supported at the other end so that it can be displaced in the circumferential direction). Can do.

  Further, in the present embodiment, as indicated by a broken line in FIG. 4, the image is captured by the photographing unit 20 and is limited to the image of the subject before the image display control 63 of the image display control unit 63 restricts the switching of the object image. It may be configured to further include a recording unit 70 that records the section information together. 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 switching of the subject image is restricted is stored in the image memory 61, such a configuration can be easily realized. With this configuration, since the subject image before the switching of the subject image is restricted is recorded in the recording unit 70, 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. In addition, by recording the section information that is restricted by switching, it is also possible to skip the restricted part as necessary when observing the stored video at a later date, and select to observe without causing video sickness. It becomes possible.

  Furthermore, the photographing apparatus 1 transmits not only the subject image after the switching restriction but also the subject image before the subject switching restriction from the photographing apparatus 1 to the remote support device 5 using the network IF unit 68. The support recording server PC 7 may be configured to store and record the video of the subject before the switching restriction. For example, the video of the subject before the switching restriction is transmitted at an appropriate timing all together for a predetermined time. With this configuration, the subject image before the switching of the subject image is restricted 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 the above-described embodiment, the change in the shooting direction of the shooting unit 20 is detected based on the angular velocity of the head of the wearer (worker W) detected by the angular velocity sensor unit 30. It may be detected by extracting corresponding points between two images of the image of the subject that has been extracted by corresponding point search processing.

  FIG. 9 is a block diagram illustrating another electrical configuration of the imaging apparatus in the remote operation support system according to the embodiment. As shown in FIG. 9, the photographing apparatus 1A in such a remote work support system S includes an unillustrated mounting unit 10, a photographing unit 20, a display unit 40, a sound input / output unit 50, and a control unit 60A. It is configured with. The mounting unit 10, the photographing unit 20, the display unit 40, and the sound input / output unit 50 are the mounting unit 10, the photographing unit 20, the display unit 40, and the mounting unit 10 in the photographing apparatus 1 of the above-described embodiment described with reference to FIGS. Since it is the same as that of the sound input / output unit 50, its description is omitted.

  The control unit 60A is a circuit that performs overall control of the photographing apparatus 1A, and includes an image memory 61, a control unit 62A, a VRAM 64, a sound input processing unit 65, a sound output processing unit 66, and a power switch 67. And a network IF unit 68. The image memory 61, 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 are the control unit 60 of the photographing apparatus 1 according to the above-described embodiment described with reference to FIGS. The image memory 61, the VRAM 64, the sound input processing unit 65, the sound output processing unit 66, and the network IF unit 68 in FIG.

  The control unit 62A is a circuit that controls each unit of the photographing apparatus 1A according to the function, and is configured by, for example, a microcomputer. In addition to the function of the control unit 62 in the photographing apparatus 1 of the above-described embodiment described with reference to FIGS. 1 to 8, the control unit 62A further includes a photographing direction detection unit 80. The shooting direction detection unit 80 is a corresponding point search unit, and extracts a corresponding point between two images of a subject image shot by the shooting unit 20 by a corresponding point search process, whereby the shooting unit is detected. 20 shooting directions are detected.

  In the detection of the shooting direction of the shooting unit 20 by the corresponding point search process, the shooting direction detection unit 80 operates as follows. First, two images out of the video of the subject photographed by the photographing unit 20 are extracted. For example, when detecting the shooting direction of the shooting unit 20 in the current frame in the video of the subject shot by the shooting unit 20, the current frame and a predetermined frame set in advance from the current frame are temporally determined. The past frames that are traced back are extracted. For example, when the frame rate is 24 fps and the shooting direction of the shooting unit 20 is detected three times per second, the current frame and the previous frame in time by 8 frames are extracted. It is.

  Next, predetermined feature points set in advance from the image in the current frame are set. The predetermined feature point may be, for example, a specific position set in advance in the image (for example, the center position of the image), for example, and may be a specific target set in advance in the image. Also good. For example, the specific object is stored and registered in advance as an image of the specific object, and is searched from the image by pattern matching. Further, the predetermined feature point may be one or plural. From the viewpoint of shortening the processing time, it is preferable that the predetermined feature point is one, and from the viewpoint of more accurately detecting the shooting direction of the shooting unit 20, there are a plurality of the predetermined feature points. It is preferable that The predetermined feature point may be composed of a plurality of pixels.

  Next, the matching process searches for the position where the predetermined feature point in the image of the current frame exists in the image of the past frame. More specifically, a pixel having a pixel value that substantially matches a pixel value of a pixel that constitutes the predetermined feature point is searched from an image of a past frame, and the pixel value that substantially matches the pixel value in the past frame is determined. The position of the possessed pixel is the position in the past frame image corresponding to the predetermined feature point in the current frame image.

  Then, the shooting direction of the shooting unit 20 is obtained from the position of the predetermined feature point in the image of the current frame and the position of the pixel in the image of the past frame corresponding to the predetermined feature point. The shooting direction is detected.

  By configuring in this way, the remote operation support system S and the imaging apparatus 1A detect a change in the imaging direction of the imaging unit 20 by the image processing of the corresponding point search process, and thus, for example, a sensor component such as the angular velocity sensor unit 30 The photographing direction detecting unit can be configured by software without using a sensor.

  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, 1A 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, 60A Control unit 63 Video display control unit 631 Shooting direction determination unit 632 Observation restriction control unit 70 Recording unit 80 Shooting direction detection unit

Claims (16)

A head-mounted imaging unit comprising an installation unit to be mounted on the head and an imaging unit for imaging the subject;
A shooting direction detection unit that detects a change in the shooting direction of the shooting unit;
When the change in the shooting direction of the shooting unit detected by the shooting direction detection unit is a reciprocating movement along a predetermined direction within a predetermined first time, an image of the subject shot by the shooting unit is displayed. And a video display control unit for restricting switching of the video of the subject in the case. The reciprocating movement is characterized in that the photographing direction of the photographing unit detected by the photographing direction detecting unit changes two or more times in a direction different by about 180 degrees along the predetermined direction. The imaging device described in 1. The photographing apparatus according to claim 1, wherein the predetermined first time is 0.3 seconds to 3 seconds. The video display control unit restricts switching of the video of the subject by not updating a frame in the video of the subject for a predetermined second time. The imaging device according to claim 1. The video display control unit restricts switching of the video of the subject by not displaying the video of the subject during a predetermined second time period. The imaging device according to item. The photographing apparatus according to claim 1, wherein the predetermined second time is longer than the first time and is 1 second to 5 seconds. The photographing apparatus according to any one of claims 1 to 6, wherein the predetermined direction is a vertical direction. The photographing apparatus according to any one of claims 1 to 7, wherein the predetermined direction is a horizontal direction. The imaging apparatus according to claim 1, wherein the imaging direction detection unit includes a horizontal sensor. The imaging apparatus according to any one of claims 1 to 8, wherein the imaging direction detection unit includes an angular velocity sensor. The shooting direction detection unit detects a shooting direction of the shooting unit by extracting a corresponding point between two images of a subject image shot by the shooting unit by a corresponding point search process. The imaging apparatus according to claim 1, further comprising a search unit. 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 device according to claim 1, wherein the image sensor is a CMOS image sensor. The imaging device according to any one of claims 1 to 12, 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 13, wherein the display unit is provided in the head-mounted imaging unit. 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. 15. The photographing apparatus according to claim 1, wherein the photographing apparatus is characterized in that: 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 15,
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.

Images