JP4124682B2 - Camera control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to an operation device for an automatic photographing camera in production of a television program, production of a movie, remote video conference, and the like.In placeRelated.
[0002]
[Prior art]
Conventionally, motion cameras, crane cameras, and other robot cameras automatically control or remotely control the movement of the camera relative to the subject using a joystick, special operating device, or PC keyboard in order to obtain a richly expressive image. Camera work is performed to control and freely change the shooting angle, distance, position, etc. with respect to the subject. In the motion control camera, a program for operating the camera is created in advance so that a desired camera work can be obtained, and the camera is operated based on this program.
[0003]
As a special example, there is a product called Motion Control Camera MILO of Mark Roberts in the UK, and the software attached to this device uses a personal computer (hereinafter referred to as “PC”) and uses computer graphics (hereinafter simply referred to as “computer graphics”). The camera work can be simulated by “CG” (see Non-Patent Document 1). According to the motion control camera, for example, the motion control camera is virtually moved on the monitor screen of the personal computer, such as moving in a straight line from the point A to the point B, and further moving on the arc from the point B to the point C. As a result of the movement, an image that will be taken by the motion control camera is created by CG, and the camera work can be examined while viewing the image.
[0004]
[Non-Patent Document 1]
IMAGICA Tokusatsu Group MC-MILO Introduction Site "TECHNICICAL INFORMATION-Technical Information"
<URL: http://www.imagica.co.jp/ve/sfx/index.html#techinfo>
[0005]
[Problems to be solved by the invention]
However, in the conventional camera operation device, no device that can operate the camera based on the position of the subject is known as an actual operating device. With conventional camera operation devices, for example, shooting by moving around the subject and moving the camera based on the subject position, such as shooting while dollying in or out of the subject Is often done. However, it has been difficult for conventional camera operating devices to shoot while managing the relative position of the subject and the camera based on the position of the subject. In particular, when a camera body is mounted on the end of a long arm like a crane camera, it is difficult to sense the position of the camera body sensuously, and it is impossible to operate as expected.
[0006]
In addition, data such as how the camera has moved is only required for applications such as post-compositing the background of a captured image with CG or repeatedly capturing images with the same camera work and then performing multiple composition of images later. Instead, a robot camera (motion control camera) that can repeatedly operate with the same camera work based on the data is required.
[0007]
In such an application, camera work is determined in advance, and then actual shooting is started. In the process of determining camera work, the camera work and the subject's 3D position are taken into account. You have to decide on a specific camera work. For example, when shooting around a subject at a distance of 2 m and attempting to combine CG later, when using a conventional camera operating device such as a joystick, the distance between the subject and the camera is set. It is difficult to take a desired picture by operating the camera after accurately grasping.
[0008]
Further, in the method of calculating the trajectory of the camera on the program and driving the camera based on the calculation result, a desired camera work can be obtained if an appropriate program can be created. However, as the number of joints of each axis driving the robot camera increases, the calculation becomes more complicated, and the solution is not necessarily limited to one. Therefore, the work of an experienced operator is indispensable, and it takes time to create a program.
[0009]
  Therefore, an object of the present invention is to make it easy for anyone without being aware of the length of each axis constituting the series of actuators provided to form various movements of an actual robot camera and the degree of freedom of movement. Camera operation device that can realize accurate camera operation based on the position of the subject with simple operationPlaceIt is to provide.
[0010]
[Means for Solving the Problems]
  In order to solve such a problem, the invention according to claim 1 is arranged to face a virtual subject that is independent from the subject, corresponding to the relative position between the subject and a robot camera that photographs the subject. A model camera that can be arbitrarily operated by a camera, a model motion detection unit that holds the model camera and detects the movement of the model camera operated by the camera, and the model camera detected by the model motion detection unit In response to the movement, a robot camera control means for controlling the movement of the robot camera so that the robot camera is operated on the subject, and an image display means for displaying an image taken by the robot camera. WithThe camera operation device includes a position detection mechanism that detects a distance between the virtual subject and the model camera.The configuration.
[0011]
  In this camera operation device, the movement of the model camera operated by the camera is detected by the model motion detection means, and the robot camera is operated on the subject by the robot camera control means in response to the detected movement of the model camera. The image taken by the camera operated robot camera is displayed on the image display meansAt the same time, the positional relationship between the virtual subject and the model camera is detected by the position detection mechanism.
[0014]
  Claim2The invention according to claim 1 is the camera operation device according to claim 1, wherein the position detection mechanism is a tension wire stretched between the virtual subject and the model camera.
[0015]
According to this configuration, the distance between the virtual subject and the model camera is detected by the tension wire stretched between the two.
[0016]
  Claim3The invention according to claim1In the camera operation device according to claim 1, the position detection mechanism is a non-contact position detection mechanism, and the model camera is operated so that the virtual subject and the model camera are held at a preset relative position. A force feedback mechanism that applies an operation reaction force to the movement is provided.
[0017]
In this camera operation device, the relative position between the virtual subject and the model camera is detected by the non-contact type position detection mechanism, and the reaction force is applied to the operator by the force feedback mechanism based on the detected relative position.
[0018]
  Claim4The invention according to claim 1 to claim 13In the camera operation device according to any one of the above, the model motion detection means includes an impact buffer on each motion axis for detecting the movement of the model camera, and the virtual subject and the model camera are connected by the shock buffer. It is characterized in that a mechanical operation reaction force is loaded on each of the motion axes so as to be held at a preset relative position.
[0019]
In this camera operation device, a mechanical operation reaction force is applied to the movement of the model camera by an impact buffer provided on each operation axis for detecting the movement of the model camera.
[0020]
  Claim5The invention according to claim 1 to claim 13In the camera operation device according to any one of the above, the model motion detection means or the robot camera control means detects the motion of the model camera and detects the motion of the model camera from the motion detection signal output from the model motion detection means. Signal correction means for correcting by removing error components based on disturbance is provided.
[0021]
In this camera operating device, signals corrected by removing signal components based on disturbances in the motion of the model camera are output to the respective drive axes of the robot camera by the signal correcting means provided in the model motion detecting means or the robot camera control means. .
[0022]
  Claim6The invention according to claim 1 to claim 15In the camera operating device according to any one of the above, the model camera is a camera capable of photographing the virtual subject.
[0023]
According to this camera operation device, a virtual subject is photographed by a model camera, and an image photographed by the model camera can be displayed by the image display means together with an image photographed by the robot camera.
[0024]
  Claim7The invention according to claim 1 to claim 16In the camera operating device according to any one of the above, the model camera and the model motion detection unit are integrally configured and formed in a similar shape to the robot camera.
[0025]
In this camera operating device, the model camera is integrated with the model motion detecting means and formed in a similar shape to the robot camera, and the operator operating the model camera can easily move the robot camera linked to the model camera. Be grasped.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on the embodiment of the camera operating device of the present invention shown in FIGS. In addition, in each figure, the same code | symbol was attached | subjected to the same member, the part, and the site | part.
[0029]
FIG. 1 is a schematic view showing a camera operating device according to the first embodiment of the present invention.
1 includes a robot camera 2, a virtual subject 4 arranged in front of an operator 3, a model camera 5, a model motion detection device 6, a robot camera control device 7, a monitor (image). Display means) 8.
[0030]
The robot camera 2 is arranged so as to face the subject 1 and is configured to actually photograph the subject 1. The robot camera 2 includes a camera lens 2a for photographing the subject 1, an image pickup device for outputting the photographed image as an image signal, and a camera body 2a having a mechanism for controlling the magnification of the focus, the zoom, and the like. A camera driving device 2b that holds the camera body 2a and moves the camera body 2a in order to change a camera angle, a distance between the camera body 2a and the subject 1, and the like. The camera driving device 2b includes a support arm 2b that holds the camera body 2a.₁The supporting arm 2b₁2b for supporting₂, Support 2b₂And wheel 2b_ThreeMobile pedestal 2b with a lower part_FourIt is comprised from. As a specific example of the robot camera 2, there is a camera device that can operate the movement of a subject such as a crane camera or a motion control camera by automatic control or remote control and can photograph the subject.
The “subject” refers to an object that is actually photographed by the robot camera.
[0031]
In this robot camera 2, the camera body 2 a is provided with a drive shaft for rotating, moving forward or backward of the photographing lens in order to adjust the focus, zoom magnification, and the like. Furthermore, the support arm part 2b which comprises the camera drive device 2b₁, Support 2b₂, And moving base 2b_FourIn these places, drive shafts are provided for various operations such as rotating, advancing, and retreating the camera body, and for moving the entire robot camera 2. Each drive shaft is provided with an actuator (not shown), and this drive shaft is driven by operating this actuator in accordance with a control signal output from the robot camera control device 7. By driving each drive shaft, adjustments such as focus and zoom magnification in the camera body 2a and rotation, advance, retreat, and movement of the camera body in the camera drive device 2b are performed, and these operations are combined. Thus, desired camera work is realized.
[0032]
The virtual subject 4 is arranged in front of the operator 3 independently of the subject 1 and is a target of camera operation by the model camera 5, and the model camera 5 operates based on the position of the virtual subject 4. Is done. The virtual subject 4 may have a shape similar to that of the subject 1 or may not have a similar shape. In particular, if the virtual subject 4 is a similar shape (miniature) having the same shape as the subject 1 in which the subject 1 is miniaturized as it is, the operation of the camera by the operator 3 and the effect of the operation when the model camera 5 is operated. This is useful because it allows you to understand the camerawork more intuitively and understand the camerawork.
[0033]
Note that “operating the camera”, “operating the model camera”, or “camera operation” refers to an operation of moving the camera or the model camera toward the subject 1 or the virtual subject 4. For example, pan (horizontal pan, vertical pan), sushi, tilt, roll, through, follow, snake, arc, dolly in, dolly out, track up, track back, zoom in, zoom out, focus in, focus out, etc. This refers to performing various types of camera work. Also, “arbitrarily” operating the camera means operating freely according to the operator's intention.
[0034]
At this time, as shown in FIG. 2, if the virtual subject 4a is mounted so as to be movable up and down in the axial direction of the column 4b (the direction of the arrow A in FIG. 2), the height position of the virtual subject 4a can be adjusted. It is possible to study the camera angle of the model camera 5 that moves the virtual subject 4a up and down and operates the virtual subject 4a, which is useful for studying camera work.
[0035]
The model camera 5 is independent from the subject 1 (see FIG. 1), and corresponds to the relative position between the subject 1 and the robot camera 2 and corresponds to the virtual subject 4 (see FIG. 2) arranged in front of the operator 3. ). As shown in FIG. 2, the model camera 5 is operated with respect to the virtual subject 4 by the hand 3 a of the operator 3, and operations such as rotation, forward movement, backward movement, and movement are performed according to the intention of the operator 3. Is.
[0036]
The model camera 5 may have a different form from the camera body 2a of the robot camera 2 or may have the same form. In particular, when the model camera 5 has a shape similar to the shape of the camera body 2a, for example, the camera body 2a of the robot camera 2 is downsized, the operator 3 who operates the model camera 5 The model camera 5 can be operated sensuously integrated with the movement of the camera body 2a of the camera 2 and the camera work can be confirmed and examined in a sensibly understandable manner.
[0037]
The model motion detection device 6 is a device that holds the model camera 5, detects the movement of the model camera 5 operated by the camera, and outputs an electrical signal related to the detected movement of the model camera 5. For example, it has an operation axis that moves according to each movement such as rotation, forward movement, backward movement, and movement of the model camera 5, and by detecting the movement of this movement axis, the movement of the model camera is converted into an electrical signal, It is a device that outputs the electrical signal to the robot camera control device 7 through a signal transmission line 6a (see FIG. 1).
[0038]
The model motion detection device 6 can detect the movement of the model camera 5 and can output a signal related to the movement to the robot camera control device 7 (see FIG. 1) through the signal transmission line 6a. It may have a different form from the camera driving device 2b or may have the same form. In particular, the model motion detection device 6 preferably has the same form as the camera drive device 2b of the robot camera 2 as shown in FIG. For example, as shown in FIG. 2, the support arm 6b that holds the model camera 5 is used.₁The support arm 6b₁6b for supporting₂, Support 6b₂Wheel 6b for moving and moving_ThreeWith moving base 6b at the bottom_FourAre the main constituent members, and these constituent members are the supporting arm portions 2b of the camera driving device 2b of the robot camera 2.₁, Support 2b₂, Mobile base 2b_FourIt is effective if they are configured so as to have the same form and movement corresponding to the above. That is, the support arm portion 6b constituting the model motion detection device 6₁, Support 6b₂, Mobile base 6b_FourAnd moving base 6b_FourWheel 6b_ThreeIf the movement axis of each movement (revolution, forward movement, backward movement, movement, etc.) has the same movement as the respective drive axes of the constituent members constituting the camera drive device 2b of the robot camera 2, the operation is performed. The movement of the model camera 5 operated by the person 3 and the movement of the camera driving device 2b of the robot camera 2 are linked with the same degree of freedom. At this time, if the movement of the movement axis of each component of the model movement detection device 6 is detected by an encoder provided on each movement axis, the movement (rotation, forward movement) of the model camera 5 operated by the operator 3 is detected. , Retreating, moving, etc.) can be accurately detected, and the detected motion of the motion axis can be output to the robot camera control device 7 as a detection signal.
[0039]
The robot camera control device 7 controls the movement of the robot camera 2 so that the robot camera 2 is operated on the subject 1 in accordance with the movement of the model camera 5 detected by the model motion detection device 6. It is. For example, the robot camera control device 7 sends detection signals from the model motion detection device 6 regarding movements (displacements, displacement speeds, etc.) of the motion axes detected by the encoders provided in the model camera 5 and the model motion detection device 6. This is a device that is input through a signal transmission line 6a (see FIG. 1) and outputs a control signal for controlling the movement of each drive shaft of the robot camera 2 to the robot camera 2 through the signal transmission line 7a based on the detection signal.
[0040]
As shown in FIG. 1, the monitor 8 (image display means) displays an image of the subject 2 photographed by the robot camera 2, and the operator 3 checks and examines the camera work based on the displayed image. Is for. As the monitor 8, for example, various devices such as a CRT monitor, a liquid crystal monitor, and a projector can be used.
[0041]
Next, a camera operation method using this camera operation device will be described.
In the camera operation apparatus shown in FIG. 1, an operator 3 arbitrarily operates a model camera 5 with respect to a virtual subject 4, and a robot is operated with respect to the subject 1 in conjunction with the movement of the operated model camera 5. An image of the subject 1 actually taken by the camera 2 can be confirmed on the monitor 8. At this time, when the model camera 5 or the miniature operation device (the model camera 5 and the model motion detection device 6) is moved, each motion axis of the model motion detection device 6 is moved along with the movement. Then, a detection signal relating to the movement of each motion axis is output from the encoder attached to each motion axis, and is input to the robot camera control device 7 through the signal transmission line 6a.
[0042]
The robot camera control device 7 to which the detection signal related to the movement of each motion axis of the model motion detection device 6 is input receives a control signal for driving each drive axis of the robot camera 2 corresponding to each motion axis of the model motion detection device 6. The signal is output to the robot camera 2 through the signal transmission line 7a. Then, in the robot camera 2 to which the control signal is input, each drive shaft is driven based on the control signal. As a result, the robot camera 2 is operated on the subject 1 in conjunction with the movement of the model camera 5.
[0043]
The image of the subject 1 actually photographed by the robot camera 2 is connected to the camera body 2a of the robot camera 2 and processes a signal based on the photographed subject 1 image to display the image on the monitor 8. (Not shown) is displayed on the monitor 8. The operator 3 can check and examine the result of the camera work based on the operation of the model camera 5 operated by himself / herself while viewing the image displayed on the monitor 8 in real time. At this time, the movement of the model camera 5 and the movement of the robot camera 2 have a one-to-one correspondence.
[0044]
Further, as shown in FIG. 2, a tension wire (a wire made of a high-strength material having a small elongation rate with respect to a tensile force) 21 (position detection mechanism) is stretched between the model camera 5 and the virtual subject 4a. Also good. This tension wire 21 has an advantage that the model camera 5 can be operated while managing the distance between the virtual subject 4a and the model camera 5. Here, the length of the tension wire 21 is kept constant, the distance between the virtual subject 4a and the model camera 5 is fixed to the length, and the model camera 5 is moved in an arc shape around the virtual subject 4a. By doing so, it is possible to realize a camera work that moves the robot camera 2 in an arc shape while maintaining an accurate distance around the subject 1 corresponding to the movement of the model camera 5. Thus, the distance (shooting distance) between the subject 1 and the robot camera 2 can also be managed, which is effective for studying camera work based on the position of the subject 1. That is, since the model camera 5 is under tension by the tension wire 21, an operation proportional to the distance between the virtual subject 4 and the model camera 5 is performed on the hand 3 a of the operator 3 who operates the model camera 5. A reaction force is applied, so that the operator 3 can operate the model camera 5 while sensing the distance between the virtual subject 4 and the model camera 5 based on the position of the virtual subject 4. The “operation reaction force” refers to a force presented to the operator's fingers or the like in a direction opposite to the movement of the model camera or the like.
[0045]
Further, the tension wire 21 may be stretched between the model camera 5 and the virtual subject 4a, and the tension wire 21 may be wound into the model camera 12. According to such a structure, after confirming an image on the monitor 8 and determining an appropriate shooting distance, as shown in FIG. 3, the fixing switch 31 is pushed, the winding of the tension wire 21 is stopped, and the tension wire 21 is By moving the model camera 5 while maintaining the length, the movement of the model camera 5 with respect to the position of the virtual subject 4 is restricted to a circular movement, and in conjunction with this, the subject 1 in the robot camera 2 is controlled. An arc-shaped camera work centering on can be easily realized. At this time, if the tension wire 21 is pivotally supported on the support column 4b, it is preferable because the arcuate camera operation of the model camera 5 with the support column 4b as an axis becomes easy. When the management of the distance between the virtual subject 4 and the model camera 5 (the distance between the subject 1 and the robot camera 2) is unnecessary, the operation can be performed with the tension wire 21 removed.
[0046]
Next, a camera operating device according to the second embodiment of the present invention will be described.
The camera operating device according to the second embodiment is disposed opposite to the subject 1 and is disposed in front of the operator 3 separately from the robot camera 2 that actually photographs the subject 1 and the subject 1. The virtual subject 4, the model camera 5 disposed opposite to the virtual subject 4, the model motion detection device 6 that holds the model camera 5 and detects the movement of the model camera 5, and the model motion detection device 6 The main components are a robot camera control device 7 that controls the movement of the robot camera 2 based on the movement of the model camera 5 detected by the above-mentioned method, and a monitor (image display means) 8 that displays an image taken by the robot camera 2. In this case, it has the same configuration as the camera operating device according to the first embodiment. Therefore, in these configurations and operations, illustration and description of the matters already described with respect to the first embodiment are omitted.
[0047]
The camera operating device according to the second embodiment includes a non-contact position detection mechanism and a force feedback mechanism.
[0048]
The non-contact type position detection mechanism can detect the relative position of the model camera 5 with respect to the virtual subject 4 without contacting the model camera 5. Specific examples include an ultrasonic sensor, an infrared sensor, a gyro sensor, and the like. As shown in FIG. 4, the non-contact type position detection mechanism is connected to the ultrasonic transmitter 41, the ultrasonic receiver 42, and the ultrasonic transmitter 41 and the ultrasonic receiver 42 by signal transmission lines 41a and 42a, respectively. The position detecting device 43 is configured.
[0049]
In this non-contact type position detection mechanism, an ultrasonic wave is transmitted from the ultrasonic transmitter 41 based on a transmission signal output from the position detector 43 through the signal transmission line 41a. The transmitted ultrasonic wave is received by the ultrasonic receiver 42. A signal related to the received amount, phase, and the like of the received ultrasonic waves is input from the ultrasonic receiver to the position detection device 43 through the signal transmission line 42a. In the position detection device 43, the three-dimensional coordinate positions of the virtual subject 4 and the model camera 5 are measured in real time based on signals related to the received amount, phase, etc. of the received ultrasonic wave input from the ultrasonic receiver 42, A relative position between the virtual subject 4 and the model camera 5 is detected.
[0050]
In the present invention, the non-contact position detection mechanism is not limited to the ultrasonic sensor, and an optical sensor, an infrared sensor, a gyro sensor, or the like can be used as an alternative. Furthermore, a position detection mechanism using an image processing technique may be used. As a result, the position of the model camera can also be measured.
[0051]
The force feedback mechanism increases or decreases the operating resistance of the model camera 5 in accordance with the detected distance between the virtual subject 4 and the model camera 5, and the virtual subject 4 and the model camera 5 are held at predetermined positions. Refers to a device or system that controls as described above. For example, when the distance between the virtual subject 4 and the model camera 5 is greater than or less than a preset distance, a driving device such as a motor attached to the model camera 5 is activated to transmit the operation to the hand. Increase the force, vibration, etc., increase the operating resistance applied to the operator's hand, and reduce the operating resistance when the distance between the virtual subject and the model camera approaches the preset distance A mechanism that controls the movement of the camera. More specifically, the model camera 5 is operated based on a sensor that detects each movement and position of the model camera 5 such as rotation, forward movement, and backward movement, and the movement and position of the model camera 5 detected by the sensor. A computer that calculates the strength of the operating reaction force to be applied to the operator's finger, an electromagnetic actuator that is driven via a drive circuit in accordance with the strength of the operating reaction force obtained by the calculation of the computer, and the electromagnetic Instead of an electromagnetic actuator, a mechanism having a device that generates an operation reaction force by an actuator, a vibration element built in the model operation device is driven, and it is turned on / off instantaneously based on the calculation result of the computer. Various mechanisms such as a mechanism for presenting a force sensation to the model operating device can be mentioned.
[0052]
In the second embodiment shown in FIG. 4, the force feedback mechanism includes a force feedback control device 44, a signal transmission line 44a for transmitting a control signal from the force feedback control device 44 to the model motion detection device 6, and a model camera. 5 and an actuator (not shown) mounted on each motion axis of the model motion detection device 6.
[0053]
In the force feedback mechanism, a signal related to the relative position between the model camera 5 and the virtual subject 4 is input from the position detection device 43 through the signal transmission line 43a. Based on the input signal, a control signal for operating the actuator is signaled so that the model camera 5 and the virtual subject 4 are held at a preset relative position by the arithmetic processing in the force feedback control device 44. It is output through the transmission line 44a. Then, the actuators mounted on the drive shafts of the model camera and the model motion detection device 6 are actuated by the output control signal, and the reaction force of the operation is presented to the finger of the operator 3 by force sense such as torque and vibration. The Thus, the operator 3 can accurately operate the model camera 5 while feeling an operation reaction force, and the virtual subject 4 and the model camera 5 are held at a preset relative position.
[0054]
The camera operating device according to the second embodiment is based on the relative position between the virtual subject 4 and the model camera 5 detected by the non-contact type position detection mechanism, and is set to a preset relative position by the force feedback mechanism. The model camera 5 and the virtual subject 4 are held. Accordingly, although not shown in FIG. 4, the relative position between the subject 1 and the robot camera 2 is changed by the robot camera 2 that moves in conjunction with the movement of the model camera 5, as in the first embodiment. Retained. Then, camera work can be confirmed and examined based on the position of the subject 1 while grasping an accurate three-dimensional relative position.
[0055]
Next, a camera operating device according to a third embodiment of the present invention will be described.
As shown in FIG. 5, the camera operating device according to the third embodiment of the present invention actually shoots the subject 1 except that a small camera 51 is mounted on the model motion detecting device 6 instead of the model camera. The robot camera 2, the virtual subject 4, the model motion detection device 6, the robot camera control device 7, and the monitor (image display means) 8 that are the main constituent elements have the same configuration as that of the first embodiment. Have. Therefore, in these configurations and operations, illustration and description of the matters already described with respect to the first embodiment are omitted.
[0056]
As shown in FIG. 5, the camera operation device according to the third embodiment includes a small camera 51 capable of photographing a virtual subject 4 instead of a model camera mounted on the model motion detection device 6. The tension wire 21 is connected to the virtual subject 4.
[0057]
In the camera operating device according to the third embodiment, when the small camera 51 is operated on the virtual subject 4 by the operator 3 (see FIG. 1), a signal related to the image captured by the small camera 51 is The signal is input to the display device 52 through the signal transmission line 51. The input signal is processed in the display device 52, and a signal related to the image of the virtual subject 4 is output to the monitor 8a through the signal transmission line. On the monitor 8a, an image of the virtual subject 4 photographed by the small camera 51 is displayed.
[0058]
At this time, similarly to the embodiment shown in FIG. 2, the operator 3 can operate the model camera 5 while managing the distance between the small camera 51 and the virtual subject 4 by the tension wire 21. That is, since the small camera 51 is in a state of being loaded with tension by the tension wire 21, an operation reaction proportional to the distance between the virtual subject 4 and the small camera 51 is placed on the hand of the operator 3 who operates the small camera 51. As a result, the operator 3 can operate the small camera 51 while sensing the distance between the virtual subject 4 and the small camera 51 with reference to the position of the virtual subject 4.
[0059]
In the third embodiment, the image of the virtual subject 4 photographed by the small camera 51 can be operated while actually being projected on the monitor 8a. As in the first embodiment, the operator 3 operates the robot camera 2 on the subject 1 in conjunction with the operation of the small camera 51. An image of the subject 1 photographed by the robot camera 2 is displayed on the monitor 8a. Thus, the operator 3 can confirm the image captured by the small camera 51 together with the image captured by the robot camera 2. Therefore, the operator 3 can examine camera work with a sense that is easier to understand.
[0060]
Here, in FIG. 5, the image of the virtual subject 4 photographed by the small camera 51 is displayed on the monitor 8 a, but the image of the virtual subject 4 photographed by the small camera 51 and the robot camera 2. If the image of the subject 1 is displayed in parallel on the same screen of the monitor 8a, or the images are switched and displayed, it becomes easy to compare and contrast the camera operations of both, and the operator can sense the camera work. It is effective because it can be easily grasped and confirmed and examined. In particular, in camera operations involving movements of the photographing lens such as focus and zoom, movements such as forward and backward, the camera lens of the small camera 51 is actually operated to perform camera operations such as focus and zoom. Correspondingly, the lens focus, zoom magnification, and the like in the camera body 2a of the robot camera 2 are controlled. The operator can confirm and examine the camera work by comparing the camera work by operating the small camera 51 and the camera work by operating the robot camera 2 while operating the small camera 51. It is.
[0061]
Further, in the first to third embodiments, the model motion detection device 6 having a form and function similar to the camera drive device 2b of the robot camera 2 and the camera body 2a of the robot camera 2 are similar. An apparatus (hereinafter referred to as “miniature operation apparatus”) combined with a model camera 5 having a form and a movement (focus, zoom magnification adjustment, etc.) has a form and function similar to those of the robot camera 2. Therefore, the movement of the model camera 5 moves with the same degree of freedom as the robot camera 2. Then, when the operator 3 operates the model camera 5 with respect to the virtual subject, the camera work in which the robot camera 2 is operated with the same movement with respect to the subject 1 can be realized. In the monitors 8 and 8a, It is effective because it is possible to easily and intuitively grasp and examine the camera work while viewing the image of the subject 1 photographed by the robot camera 2. Further, in such a miniature operating device, the detected signal relating to the movement of each motion axis corresponds to the motion of each drive axis of the robot camera 2 in a 1: 1 ratio, so that the motion of the robot camera 2 is determined by the operator. It is possible to perform the same camera operation on the subject 1 in conjunction with the operation of the model camera 5 accurately in a 1: 1 relationship.
[0062]
In this miniature operating device, if the motion axis that moves in accordance with the motion of the model camera 5 and the model motion detection means 6 that holds the model camera 5 has the same degree of freedom of motion as the drive shaft of the robot camera 2. In addition to detecting the movement of the model camera 5 to be operated, the operator can move the model camera 5 with the same degree of freedom as the movement of the robot camera 2 while assuming the actual movement of the robot camera 2. . Since the camera work can be grasped by the image taken by the robot camera 2 operated by the camera with respect to the subject 1 corresponding to the movement of the model camera 5, it is effective.
[0063]
In the camera operating device of the present invention, an impact buffering device may be provided on the operation axis for detecting the movement of the model camera 5. This shock absorbing device imposes a mechanical operation reaction force on the movement of the model camera. For example, the operator intends by shaking the finger of the operator who operates the model camera or shaking of the model motion detection means. When disturbance of the movement of the model camera different from the camera operation occurs, the movement of the movement of the model camera is suppressed and the model camera is held at a predetermined position. The shock absorber is a spring, electrorheological fluid, etc. that relaxes the movement of the movement axis provided on each axis of the model movement detection means, suppresses the disturbance of movement of the model camera, and the movement axis is smooth. This means that a mechanical operating reaction force is applied to the motion axis so that it moves in a straight line. Also, the disturbance of the movement of the model camera refers to the movement of the model camera different from the camera operation intended by the operator, caused by the shaking of the finger of the operator who operates the model camera or the shaking of the model motion detection means. .
[0064]
Further, in the first to third embodiments, as shown in FIGS. 6A and 6B, the detection signal output from the model motion detection device 6 operates the model camera 5. An error component based on unintended movement of the operator 3 is included. Therefore, if a drive signal corrected by removing this error component is output to the robot camera 2, a smoother movement of the robot camera 2 can be realized thereby, and the robot camera 2 intended by the operator 3 can be moved. Camera work by movement can be realized accurately. That is, the movement of the model camera different from the camera operation intended by the operator is caused by an erroneous operation such as shaking or excessive movement of the finger of the operator 3 who operates the model camera 5, an unexpected vibration of the model motion detection device 6, or the like. Arise. For example, as shown in FIGS. 6A and 6B, the model motion detection device 6 that detects the movement of the model camera 5 detects the model camera 5 or the model motion detection. A detection signal 61a relating to the displacement of each motion axis of the apparatus 6 and a detection signal 61b relating to the displacement speed of the motion axis are output. In the output detection signal 61a and detection signal 61b, a component based on an unintended movement of the operator 3 (for example, the disturbance component 62a or 62b shown in FIGS. 6A and 6B) is superimposed. It is a signal. Therefore, if the robot camera control device 7 or the model motion detection device 6 is provided with signal correction means, and the signal correction means performs correction for removing the error component, the model camera 5 intended by the operator 3 can be accurately obtained. Signals 63a and 63b based on the movement of If the movement of the robot camera 2 is controlled by the signals 63a and 63b, it is preferable in that a smooth movement of the robot camera 2 can be realized.
[0065]
As the signal correction means, for example, a low-pass filter may be used to appropriately set the cutoff frequency and attenuate and remove the disturbance component.
[0066]
In the first to third embodiments, if the control signal (data) is stored in the robot camera control device 6 and can be read as necessary, the control signal (data) is the same depending on the control signal. The operation can be repeatedly performed by the robot camera 2, and is particularly effective when it is applied to a motion control camera to capture an image that requires repeated reproducibility.
[0067]
【The invention's effect】
  As described above, the camera operating device of the present inventionIn placeAccording to this, the following effects can be obtained.
[0068]
  Claim 1 to7Since the model camera can be operated on the basis of the virtually set subject position according to the invention described in any one of the above, no one is conscious of the length of each axis constituting the actuator of the actual robot camera and the degree of freedom of movement. However, camera operations based on the position of the subject can be easily realized with simple operations. In addition, if the degrees of freedom of the motion axes of the model camera and the model motion detection device correspond to the drive axes of the robot camera on a one-to-one basis, the robot camera control means generates control signals for the drive axes of the robot camera. It is possible to greatly reduce the computation time.
[0069]
  Claims1If the positional relationship between the virtual subject and the model camera is detected by the position detection mechanism and this positional relationship is compared with the positional relationship between the subject and the robot camera, the subject and the robot It is possible to study camera work in which the positional relationship with the camera is accurately reflected in the positional relationship between the virtual subject and the model camera.
[0070]
  And claims2According to the invention, the distance between the virtual subject and the model camera is detected by the tension wire stretched between them, and the distance between the virtual subject and the model camera is controlled by the detected distance. it can. Then, if the length of the tension wire is kept constant, the distance between the virtual subject and the model camera is fixed to the length, and the model camera is moved in an arc around the virtual subject, this model It is possible to realize a camera work that moves the robot camera in an arc shape while maintaining an accurate distance around the subject corresponding to the movement of the camera.
[0071]
  Furthermore, the claims3According to the present invention, the reaction force is applied to the operator by the force feedback mechanism according to the relative position of the virtual subject and the model camera detected by the non-contact type position detection mechanism, and the distance between the subject and the robot camera is increased. The relative position is held at a preset relative position, and camera work based on the position of the subject can be facilitated.
[0072]
  Claims4According to the present invention, when the movement of the model camera different from the camera operation intended by the operator occurs, the movement of the model camera is suppressed and the model camera is held at a predetermined position. It can be realized, and the movement of the robot camera linked to the movement of the model camera can be made smooth.
[0073]
  Claims5According to the invention which concerns on this, smooth movement of a robot camera is realizable.
[0074]
  Claim6According to the invention, a virtual subject is photographed by a model camera, an image photographed by a robot camera is displayed, and camera work can be examined while confirming the movement of the model camera based on the image.
[0075]
  Claim7According to the invention, since the model camera and the model motion detection means are integrated and formed in a similar shape to the robot camera, the operator who operates the model camera can easily move the robot camera sensuously. It is possible to confirm and study camera work by grasping the above.
[0077]
Therefore, the present invention relates to an operation device for an automatic photographing camera such as a robot camera, a crane camera, or a motion control camera in television program production, movie production, remote video conference, etc., and sets a virtual subject position. By using a miniature model operating device with reference to the camera, the camera work can be easily determined based on the position of the subject.
[0078]
In addition, the present invention makes it possible to realize the desired camera operation drawn on the head by a cameraman in a robot camera, a crane camera, etc., and in particular, in a motion control camera, it is possible to study sensory camera work in front of the subject. Therefore, it is possible to efficiently produce an expressive program.
[0079]
  In particular, the camera operating device of the present inventionIsWhen using a motion control camera as a robot camera and examining the camera work of the motion control camera, it is useful when checking and examining the camera work while viewing the actual captured image taken by the camera. Furthermore, it is useful when the operation of each drive axis in the camera work is recorded and the same camera work is reproduced by the motion control camera based on the record.
[0080]
Also, if the movement of each drive axis of the robot camera or the movement of the model camera at this time is accumulated as data, the camera work of the motion control camera is controlled based on that data, and the same camera work can be reproduced repeatedly. It is effective for producing images by CG composition, multiple composition, etc.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a camera operating device according to a first embodiment of the present invention.
FIG. 2 is an enlarged schematic view showing a suitable example of a model camera and a virtual subject in the first embodiment.
FIG. 3 is an enlarged schematic view showing a suitable example of a model camera in the first embodiment.
FIG. 4 is a schematic diagram showing a camera operating device according to a second embodiment of the present invention.
FIG. 5 is a schematic diagram for explaining a third embodiment of the present invention.
6A and 6B are diagrams for explaining correction of a model camera motion detection signal, in which FIG. 6A is a diagram showing an original signal related to the displacement of the model camera and a corrected signal, and FIG. It is a figure which shows a signal and the correct | amended signal.
[Explanation of symbols]
1 …… Subject
2 ... Robot camera
2a …… Camera body
2b: Camera drive device
2b₁...... Supporting arm
2b₂…… Prop
2b_Three……Wheel
2b_Four...... Movement base
3 …… Operator
3a …… Hand
4 …… Virtual subject
4a …… Virtual subject
4b …… Prop
5,12 …… Model camera
6. Model motion detection device
6a …… Signal transmission line
6b₁...... Supporting arm
6b₂…… Prop
6b_Three……Wheel
6b_Four...... Movement base
7 …… Robot camera control device
7a: Signal transmission line
8, 8a …… Monitor (image display means)
21 …… Tension wire
31 …… Fixed switch
41 …… Ultrasonic transmitter
41a …… Signal transmission line
42 …… Ultrasonic receiver
42a: Signal transmission line
43 …… Position detection device
43a …… Signal transmission line
44 …… Force feedback controller
44a …… Signal transmission line
51 …… Small camera
61a, 61b ...... Detection signal
62a, 62b ... Disturbance component
63a, 63b ...... Control signal

Claims (7)

Corresponding to the relative position between the subject and the robot camera that shoots the subject, a model camera that can be arbitrarily operated by the camera is disposed opposite to the virtual subject that is independent from the subject, and
Model movement detection means for holding the model camera and detecting the movement of the model camera operated by the camera;
Robot camera control means for controlling the movement of the robot camera so that the robot camera is operated on the subject in response to the movement of the model camera detected by the model motion detection means;
In a camera operation device comprising image display means for displaying an image photographed by the robot camera ,
A camera operation device comprising a position detection mechanism for detecting a distance between the virtual subject and the model camera. The camera operating device according to claim 1 , wherein the position detection mechanism is a tension wire stretched between the virtual subject and the model camera. The position detecting mechanism is a non-contact position detecting mechanism, and a force that applies an operation reaction force to the movement of the model camera so that the virtual subject and the model camera are held at a preset relative position. The camera operating device according to claim 1 , further comprising a feedback mechanism. The model motion detection means includes an impact buffer on each motion axis for detecting the movement of the model camera, and the impact buffer is configured so that the virtual subject and the model camera are held at a preset relative position. The camera operating device according to any one of claims 1 to 3 , wherein a mechanical operation reaction force is applied to each of the motion axes by the operation of the camera operating device. The model motion detection unit or the robot camera control unit detects a motion of the model camera and corrects the motion detection signal output from the model motion detection unit by removing an error component based on the disturbance of the motion of the model camera camera operation device according to any one of claims 1 to 3, characterized in that it comprises a correcting means. The model camera, a camera operating device according to any one of claims 1 to 5, wherein said that the virtual object is a camera capable of photographing. The camera according to any one of claims 1 to 6 , wherein the model camera and the model motion detection unit are integrally configured and are formed in a similar shape to the robot camera. Operating device.

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