JPS601978A - Remote control image pickup device - Google Patents

Remote control image pickup device

Info

Publication number
JPS601978A
JPS601978A JP58107851A JP10785183A JPS601978A JP S601978 A JPS601978 A JP S601978A JP 58107851 A JP58107851 A JP 58107851A JP 10785183 A JP10785183 A JP 10785183A JP S601978 A JPS601978 A JP S601978A
Authority
JP
Japan
Prior art keywords
image pickup
control
pan head
head system
subject
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP58107851A
Other languages
Japanese (ja)
Inventor
Tsuneaki Kadosawa
角沢 常明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP58107851A priority Critical patent/JPS601978A/en
Priority to US06/615,547 priority patent/US4566036A/en
Publication of JPS601978A publication Critical patent/JPS601978A/en
Pending legal-status Critical Current

Links

Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/66Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661Transmitting camera control signals through networks, e.g. control via the Internet

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Accessories Of Cameras (AREA)

Abstract

PURPOSE:To change easily the installing location and number of sets of image pickup devices in response to an image pickup object by converting a position of an image pickup means and an object into a coordinate system and calculating the object position information and the image pickup means in this coordinate system to control the image pickup means. CONSTITUTION:A tracking controller 1 is a means to output position information of the moving object 8 by allowing the operator to observe a monitor television receiver or the like (not shown) and to operate a joy stick 1a and the position information of the object 8 outputted from the tracking controller 1 is inputted to a control operating device 3a for universal head system A, a control operating device 3b for universal head system B and a control operation device 3c for universal system C via communication lines 2a, 2b and 2c, respectively. The control operating devices 3a, 3b and 3c operate respectively a universal head system control signal and outputs the result to universal heads 5a, 5b and 5c via control cables 4a, 4b and 4c. Further, the additional universal head system is extended with similar constitution.

Description

【発明の詳細な説明】 本発明は、遠隔操作撮像装置に関する。[Detailed description of the invention] The present invention relates to a remotely controlled imaging device.

一般に、円状又は楕円状の競技用フィールドや競馬場等
において、雲台に撮像機を塔載した複数の雲台システム
をそれぞれ異なる位置に配置し、フィールド等上を移動
する被写体を追跡して撮影を行なう。この場合、各雲台
システムにそれぞれ操作者を配置し、各操作渚が当該雲
台システムの雲台の左右方向の移動(以下、パンという
。)や上下方市の移動(以下、チルトという。)、及び
撮像機のスームやフォーカス等の制御を行なったり、或
いは、複数の雲台システムのうちの1台を主雲台システ
ムに定めてこの主雲台システムに操作者を配置し、制御
される主雲台システムの動きの変化をカム等によって副
雲台システムに伝達して制御を行っている。従って、前
者の場合には、各雲台システムにそれぞれ操作者が必要
であり、また後者の場合には、雲台システムを別の場所
に移動させた場合、カム等を取替える゛必要があり、コ
ストの上昇を招く欠点がある。
Generally, on a circular or elliptical competition field, racetrack, etc., multiple pan head systems each having an imager mounted on a pan head are placed at different positions to track a subject as it moves over the field, etc. Take pictures. In this case, an operator is assigned to each pan head system, and each operator moves the pan head of the pan head system in the left/right direction (hereinafter referred to as panning) or vertically (hereinafter referred to as tilting). ), and control the zoom, focus, etc. of the imaging device, or designate one of the plurality of pan head systems as the main pan head system and place an operator in this main pan head system to control the zoom, focus, etc. Control is performed by transmitting changes in the movement of the main pan head system to the sub pan head system using cams, etc. Therefore, in the former case, each trip head system requires an operator, and in the latter case, when the trip head system is moved to another location, it is necessary to replace the cam etc. It has the disadvantage of increasing costs.

本発明は、上記従来例の欠点に鑑み、雲台システムであ
る撮像手段と被写体の位置を座標系に置き換え、この座
標系における撮像手段と被写体の位置情報を演算して、
撮像手段を制預弔ずる遠隔操作撮像装置を提供すること
にある。
In view of the drawbacks of the conventional example, the present invention replaces the positions of the imaging means, which is a pan head system, and the subject with a coordinate system, and calculates the positional information of the imaging means and the subject in this coordinate system,
An object of the present invention is to provide a remote-controlled imaging device that controls imaging means.

以下、図面を参照して本発明の一実施例を説明する。第
1図は、それぞれ雲台5aと撮像機6a、″雲台5bと
撮像機6b、雲台5Cと撮像機6Cより成る雲台システ
ムA,B,Cを遠隔制御する場合の本発明の一実施例の
構成図であり、第2図は、雲台システムA,r3,Cを
平坦な競技トラック7の近傍に配置した場合の配置図で
ある。
Hereinafter, one embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows one example of the present invention in the case of remotely controlling pan head systems A, B, and C, each consisting of a pan head 5a, an imager 6a, a pan head 5b and an imager 6b, and a pan head 5C and an imager 6C. This is a configuration diagram of the embodiment, and FIG. 2 is a layout diagram when the pan head systems A, r3, and C are arranged near a flat competition track 7.

第」図において、追跡コントローラ1は、移動する被写
体8(第2図)の位置(後述)を、操作者が不図示のモ
ニタ用テレビ等を観察して、ジョイスチツク1aを操作
し、被写体8の位置情報を出力するもので゛あり、この
追跡コントローラ1により出力された被写体8の位置情
報は、それぞれ通信線2al2b,2Cを介して、雲台
システムA用の制呻演算装置3a,雲台システムB用の
制御演算装置3b,雲台システムC用の制御演算装置3
Cに入力される。制御演算装置3a,3b,3C7ぱ、
それぞれ後述する雲台システム制御信号を演算しその結
果を制御ケーブル4.a,’4b,4cを介して雲台5
a+5b+5Cに出力ずる。なお、追加の雲台システム
は、上記と同様な構成により増設することができる。
2, the tracking controller 1 determines the position (described later) of a moving subject 8 (FIG. 2) by an operator observing a monitor television (not shown) or the like, operating a joystick 1a, and moving the subject 8 (described later). The position information of the subject 8 outputted by the tracking controller 1 is sent to the pan head system A's suppressing calculation device 3a and the pan head system A's pan head system A through communication lines 2al2b and 2C, respectively. Control calculation device 3b for system B, control calculation device 3 for pan head system C
It is input to C. Control calculation devices 3a, 3b, 3C7,
The pan head system control signals, which will be described later, are calculated and the results are sent to the control cable 4. Pan head 5 via a, '4b, 4c
Output shifted to a+5b+5C. Note that an additional pan head system can be added using the same configuration as above.

上記実施例の作動を第2図を参照して説明すると、まず
雲台システムA,B,C及び競技トラツク7を含むX−
Y座標系を設定する。従って雲台システムA,B,Cの
X−Y座標における位置情報は、それぞれA(XA’,
YA),B(XB,YB)IC(Xc,Yc,)で表わ
すことができ、この値は一定である。ここで、配置した
雲台システムA.,B,Cの高さをそれぞれI−1,,
I−IB,I−1cとし、更に平坦な競技トラック7上
を移動する被写体8の高さを無視すれば被写体8の位置
情報は(x,y)で表わすことができる。
The operation of the above embodiment will be explained with reference to FIG. 2. First, the X-
Set the Y coordinate system. Therefore, the position information in the X-Y coordinates of the pan head systems A, B, and C is A(XA',
YA), B(XB, YB) IC(Xc, Yc,), and this value is constant. Here, the pan head system A. ,B,C are respectively I-1,,
I-IB, I-1c, and if the height of the subject 8 moving on the flat competition track 7 is ignored, the position information of the subject 8 can be expressed as (x, y).

雲台システムA,B,Cを第2図の位置に配置する際に
、それぞれ制御演算装置3a,3b,3cに上記の位置
を記憶させる。つぎに撮像機(1a,5b,6Cにより
移動する被写体8を同時に追跡して撮影を行う場合、操
作者はモニタ用テレビ等を観察しながら、ジョイスナッ
ク1aを操作し、追跡コントローラ1にアナログ信号(
X,Y)を入力する。そして追跡コントローラ1で処理
された被写体8の位置情報(X,Y)は、通信線2a,
2”+2Cを介してそれぞれ制御演算装置3a,3b,
3cに伝達される。
When placing the pan head systems A, B, and C at the positions shown in FIG. 2, the above positions are stored in the control/arithmetic units 3a, 3b, and 3c, respectively. Next, when simultaneously tracking and photographing a moving subject 8 using the imaging devices (1a, 5b, 6C), the operator operates the joy snack 1a while observing a monitor TV, etc., and sends an analog signal to the tracking controller 1. (
(X, Y). The position information (X, Y) of the subject 8 processed by the tracking controller 1 is transmitted through the communication line 2a,
2”+2C to the control calculation devices 3a, 3b, respectively.
3c.

次に、雲台システムAの動作を説明すると、fltlj
御演算装置3aは、雲台システムAのx−y座a系Kオ
’dル位t(XA,YA)及び被写体B(X,Y)から
、雲台5aの左右方向の移動角度、すなわちパン角PA
NAを Y−YA PANA−糧ロー1−+QA X−XA により算出する。ここでQAは、雲台5aのノくン角の
中心方向である。また演算装置aatま、雲台システム
八と被写体7との距離DAを DA−岳仄エ下]y習7 により算出し、次いで雲台5aの」二下方向の移動角度
、すなわちチノレト角TILTAを I−IA TILTA−論]? DA により算出する。このように算出さJtたデータQ末、
制御ケーブル4aを介して雲台5aに伝’,%J,it
、雲台システム八が制御される。雲台システムB,C及
び追加される雲台システムにつ(・ても同様な演算によ
りパン角、チルト角、被写体までの距肉■を算出するこ
とかで・き、それぞれ?llIIllすることカ−でき
る。
Next, to explain the operation of pan head system A, fltlj
The control arithmetic unit 3a calculates the horizontal movement angle of the pan head 5a from the x-y position a system K position t (XA, YA) of the pan head system A and the subject B (X, Y), i.e. Pan corner PA
NA is calculated by Y-YA PANA-Row 1-+QAX-XA. Here, QA is the direction toward the center of the nozzle angle of the pan head 5a. In addition, the arithmetic unit aat calculates the distance DA between the pan head system 8 and the subject 7 using DA-Yakusei 7, and then calculates the downward movement angle of the pan head 5a, that is, the tip angle TILTA. I-IA TILTA- theory]? Calculated by DA. Thus calculated Jt data Q end,
Transmitted to the pan head 5a via the control cable 4a',%J,it
, eight head systems are controlled. For pan head systems B and C and any additional pan head systems, the pan angle, tilt angle, and distance to the subject can be calculated using similar calculations. -I can.

次に撮像機6a+6b+60のズーム及びフオーカスの
制御について説明すると、例えレイ雲台ゾステムAにつ
いて算出された対被写体距IliIDA、被写イ本8の
高さl,撮像機6aのズームノくラメータZAにより、
撮像機6aにより撮影さ)tだ画面中の被写体8の大き
さ(高さ)LA、 LA−−●ZA DA で表わすこと・ができ、従って、撮像機6a6ま、LA ZA−−・DA l を算出すれば、ズーム制御力ζ可n旨となる。■伎影画
面内の被写体の大きさ■,Aが一定となるような撮影を
行う場合には、LA/l&ま一定となり、従ってDAを
算出すればズニム制御が可能となる。
Next, the zoom and focus control of the image pickup device 6a+6b+60 will be explained. For example, based on the distance to the object IliIDA calculated for the ray pan head ZOSTEM A, the height l of the object 8, and the zoom parameter ZA of the image pickup device 6a,
The size (height) of the object 8 in the screen photographed by the image pickup device 6a can be expressed as LA, LA--●ZA DA, and therefore, the image pickup device 6a6, LA ZA--・DA l If , the zoom control force ζ is calculated. (2) When photographing is performed such that the size of the object in the image screen (2) and A are constant, LA/l& will be constant, and therefore, if DA is calculated, it becomes possible to control the size of the subject.

更に、撮像機6aのフォーカス制御レま、撮像゛機6a
が無限大でピントが合って(・るとき力・ら距++SD
Aに焦点を合わせるときの、撮像機6aのレンズの前へ
の送り出し量Iは、 kf2 ■=? 1)A−fA で表わすことができ、DAの算出により容易に実現可能
となる。ここで『Aは、撮像機6aの移動するレンズの
焦点距離、kは定数である。
Furthermore, the focus control of the imaging device 6a, the focusing control of the imaging device 6a,
is infinite and in focus (・force・distance +SD
The amount I of the lens of the image pickup device 6a when focusing on A is kf2 ■=? 1) It can be expressed as A-fA, and can be easily realized by calculating DA. Here, ``A is the focal length of the moving lens of the image pickup device 6a, and k is a constant.

前記実施例では、被写体8の位置(x,y)を追跡コン
1・ローラ1に入力ずるために、ショイスチツク1aを
イ史用したが、ロークリエンコーダに置換えることが可
能であり、また競技トラックをテレビ画面上に表わし、
ライトペンなどの受光素子を画面上の被写体の位置に押
し当てて入力することも可能である。
In the above embodiment, the controller 1a was used to input the position (x, y) of the subject 8 to the tracking controller 1/roller 1, but it can be replaced with a low-return encoder. Display the track on the TV screen,
It is also possible to input by pressing a light receiving element such as a light pen against the position of the subject on the screen.

更に、前記実施例では、説明を容易にずるために、競技
トランクが平坦な場合、すなわち被写体がX−Y座標系
上にある場合を例にしたが、競技トラソクが傾斜してい
る場合は、被写体の位置をx−y−z座標系に設定すれ
ばよい。競技トラック面が一定の曲率を有する場合には
、Z方向の位置情報は、XとYの関数となり、従って、
雲台システムAと被写体との距離DAAは、 DAA一(X−XA)2−1−(Y−YA)2→−巨(
x,y)−4−’h)2で算出することができる。
Furthermore, in the above embodiment, in order to simplify the explanation, the case where the competition trunk is flat, that is, the subject is on the X-Y coordinate system, was used as an example, but if the competition trunk is inclined, The position of the subject may be set in the x-y-z coordinate system. If the competition track surface has a constant curvature, the position information in the Z direction is a function of X and Y, and therefore,
The distance DAA between the camera platform system A and the subject is: DAA1 (X-XA)2-1-(Y-YA)2→-Giant (
x,y)-4-'h)2.

以上説明したように、被写体と撮像手段の位置を座標系
に置き換えて、撮像手段の遠隔制御を行うので、単一の
操作者を配備ずればよく、又撮像手段を配置替えしても
当該演算装置内の位置情報を変更すればよいので、撮像
装置の設置位置や台数を撮映対象に応じて容易に変える
ことができ、加えて安価な遠隔制御J+θ像装置が央現
可能どなる。
As explained above, since the positions of the subject and the imaging means are replaced with a coordinate system and the imaging means is remotely controlled, it is only necessary to deploy a single operator, and even if the imaging means is rearranged, the relevant calculations cannot be performed. Since it is only necessary to change the positional information within the apparatus, the installed position and number of imaging apparatuses can be easily changed depending on the object to be imaged, and in addition, an inexpensive remote-controlled J+θ imaging apparatus can be centrally displayed.

【図面の簡単な説明】[Brief explanation of drawings]

第1図は、本発明の一実施例の構成図、第2図は、第1
図の雲台システムをX−Y座標系に配置した場合の配置
図である。 1・・・追跡コントローラ 3a,31〕,3c・・・制御演算装置8・・・被写体 A,B,C・・雲台システム(撮像手段)−426−
FIG. 1 is a configuration diagram of one embodiment of the present invention, and FIG. 2 is a diagram of the first embodiment of the present invention.
It is a layout diagram when the pan head system shown in the figure is arranged in an X-Y coordinate system. 1... Tracking controllers 3a, 31], 3c... Control calculation device 8... Subjects A, B, C... Pan head system (imaging means) -426-

Claims (1)

【特許請求の範囲】[Claims] 被写体を少な《とも1以上の撮像手段により追跡して撮
影を行う遠隔操作撮像装置において、前記被写体の位置
と前記撮像手段の位置とを座標系に置き換え、この座標
系における被写体の位置情報と各撮像手段の位置情報と
により当該各撮像手段を操作するようにしたことを特徴
とずる遠隔操作撮像装置。
In a remote-controlled imaging device that tracks and photographs a subject using at least one imaging means, the position of the subject and the position of the imaging means are replaced with a coordinate system, and the position information of the subject in this coordinate system and each 1. A remote control imaging device characterized in that each imaging device is operated based on position information of the imaging device.
JP58107851A 1983-06-07 1983-06-17 Remote control image pickup device Pending JPS601978A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP58107851A JPS601978A (en) 1983-06-17 1983-06-17 Remote control image pickup device
US06/615,547 US4566036A (en) 1983-06-07 1984-05-31 Remote control apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58107851A JPS601978A (en) 1983-06-17 1983-06-17 Remote control image pickup device

Publications (1)

Publication Number Publication Date
JPS601978A true JPS601978A (en) 1985-01-08

Family

ID=14469664

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58107851A Pending JPS601978A (en) 1983-06-07 1983-06-17 Remote control image pickup device

Country Status (1)

Country Link
JP (1) JPS601978A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6295521A (en) * 1985-10-23 1987-05-02 Towa Eng:Kk Remote photographing device for moving object
JPS6313475A (en) * 1986-07-03 1988-01-20 Yamaguchi Shinema:Kk Follow-up controller for television camera
JPS63118134A (en) * 1986-11-05 1988-05-23 Canon Inc Photographing device
JP2009506594A (en) * 2004-08-30 2009-02-12 トレース オプティック テクノロジーズ ピーティーワイ リミテッド Camera control method and apparatus

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6295521A (en) * 1985-10-23 1987-05-02 Towa Eng:Kk Remote photographing device for moving object
JPS6313475A (en) * 1986-07-03 1988-01-20 Yamaguchi Shinema:Kk Follow-up controller for television camera
JPS63118134A (en) * 1986-11-05 1988-05-23 Canon Inc Photographing device
JP2009506594A (en) * 2004-08-30 2009-02-12 トレース オプティック テクノロジーズ ピーティーワイ リミテッド Camera control method and apparatus
US8723956B2 (en) 2004-08-30 2014-05-13 Trace Optic Technologies Pty Ltd Method and apparatus of camera control

Similar Documents

Publication Publication Date Title
JP3792901B2 (en) Camera control system and control method thereof
US4581647A (en) Computerized automatic focusing control system for multiple television cameras
EP1619897B1 (en) Camera link system, camera device and camera link control method
JP4770493B2 (en) Remote indication system and remote indication method
EP0893919B1 (en) Camera control system
US20110254914A1 (en) Immersive viewer, a method of providing scenes on a display and an immersive viewing system
US20050264655A1 (en) Camera controller
US20130314547A1 (en) Controlling apparatus for automatic tracking camera, and automatic tracking camera having the same
JP2008085930A (en) Video conference apparatus
JP2008311804A (en) Imaging apparatus and method
US7800654B2 (en) Image pickup apparatus
JP2004128997A (en) Device, method and program for video remote control, and recording medium with the program recorded thereon
JP2021525043A (en) Control methods and devices for time-lapse photography, imaging systems and programs
JP4243883B2 (en) Remote head system
JP2006086671A (en) Imaging apparatus having automatic tracking function
JPS601978A (en) Remote control image pickup device
JP2000341574A (en) Camera device and camera control system
JP2992617B2 (en) Method for determining shooting position of remote control camera and camera remote control system
JP3817309B2 (en) Camera control system
JP2012049781A (en) Remote control system, remote control method, bidirectional communication system and bidirectional communication method for imaging apparatus
JP4195844B2 (en) Movable moving body imaging device
JPS6231272A (en) Universal head controller
JPH08181902A (en) Camera control system
US6995798B1 (en) Viewfinder control unit and television camera
JP3873262B2 (en) Remote head system