JP2000324380A - Image pickup device and its method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain automatic panorama photographing, precise panorama synthesis, and cost down by providing a control part or a panorama controlling part for controlling the shutter of a camera and the rotation of a universal head, and automatically obtaining the optical information of a camera by the controlling part. SOLUTION: This device is provided with a pickup means, a universal head means, and a control means for controlling the image pickup means and the universal head means, and the control means decides the angle of rotation of the universal head means based on the optical information of the image pickup means. Then, the universal head means is rotated by each angle of rotation according to the decided angle of rotation, and a picture is image picked-up by the image pickup means. When a panorama mode is set, and start is instructed to a panorama controlling part 301 by a panorama operating part 302, the optical information of a camera part 100 is requested through a communication line 306 to a camera controlling part 108. The camera controlling part 108 replies the optical information of the camera part 100 such as the present focal distance or image pickup angle of view of a zoom lens.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an image pickup apparatus capable of picking up a 360 ° panoramic image using an electric pan head.

[0002]

2. Description of the Related Art Conventionally, a camera mounted between a tripod and a camera is rotated by a fixed angle, and the rotation is stopped at a desired position. There was an imaging aid for Since this rotates the image at a fixed angle, it is possible to capture images with much higher precision than if a human shakes an arbitrary angle by hand and captures several images, and it is possible to synthesize beautifully there were.

[0003]

However, in the above-mentioned conventional example, since the position of the pan head portion is merely used as an auxiliary tool during panoramic photographing, the pan head portion only rotates by a fixed angle and performs photographing. The shutter operation for this was done manually, and the rotation for the next shooting had to be operated by humans.

Also, when performing panoramic photographing, a 360 ° horizontal direction is photographed by dividing it into a plurality of images according to human feeling, and these images are synthesized, so that the number of pixels is large and the amount of information is large. Since the vertical direction is equivalent to a normal shooting of one image, the result of the synthesis becomes a very horizontally long image, and a horizontal and vertical image, that is, a vertically and horizontally imbalanced photograph is obtained.

[0005] Further, since information such as the focal length of the camera and the angle of view of the camera is not recognized, there is another problem that even if an incorrect designation is made, it cannot be known unless a captured image is displayed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and enables automatic panoramic photography, accurate panorama synthesis, and integration of a panorama control unit into a camera control unit to enable cost reduction, and to reduce the cost of the user. Improve operability,
It is an object of the present invention to provide an image pickup apparatus and an image pickup method in which a panorama control unit is integrated with a pan head control unit, so that any camera can perform automatic panorama shooting.

[0007]

The present invention can solve the above-mentioned problems by providing the following constitution.

(1) An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, and a control means for controlling the image pickup means and the pan head means, the control means comprising: Determining a rotation angle of the camera platform based on the optical information of the imaging device, and rotating the camera platform for each rotation angle according to the determined rotation angle to capture an image by the imaging device. An imaging device characterized by the above-mentioned.

(2) imaging means equipped with a zoom lens,
The imaging means is mounted, and has a pan head means for rotating the head, a control means for controlling the imaging means and the pan head means, and the control means is provided based on optical information of a zoom lens of the imaging means. An image pickup apparatus comprising: determining a rotation angle of a pan head unit; rotating the pan head unit for each rotation angle according to the determined rotation angle; and capturing an image by the imaging unit.

(3) The control means rotates the pan head means for each rotation angle according to the rotation angle determined by the control means, and causes the imaging means to capture an image.
The imaging apparatus according to any one of (1) and (2), wherein the imaging is repeated within a range where the rotation angle does not exceed 360 °.

(4) The image pickup apparatus according to any one of (2) and (3), wherein the zoom lens of the image pickup means performs zooming to a wide-angle side to perform image pickup.

(5) The imaging apparatus according to any one of (2) to (4), wherein zooming control of the zoom lens is performed by using the remaining storage capacity of the imaging means to perform imaging.

(6) The imaging means includes the control means, and is configured to be detachable from the pan head means together with the control means. An imaging device according to claim 1.

(7) The head unit includes the control unit, and is configured to be detachable from the imaging unit together with the control unit. An imaging device according to claim 1.

(8) Image pickup means for picking up an image, head means for mounting and rotating the image pickup means, and control means for controlling the image pickup means and head means, the control means comprising: When imaging is performed by the imaging unit while rotating the pan head unit, the number n of images required for imaging by rotating by 360 ° is determined based on the optical information of the imaging unit. The overlapping part of
Further, the imaging apparatus is characterized in that, in the first (first) and last (n-th) imaging, imaging is repeated so as to provide an overlap portion of the subject.

(9) The control means rotates the pan head means so as not to exceed a range of 360 ° when taking an image with the imaging means while rotating the pan head means, or
The image pickup apparatus according to the above (8), wherein the image pickup is repeated by rotating the camera platform so as to exceed a range of 360 °.

(10) The imaging method according to any one of (8) and (9), wherein the control unit secures an overlap portion of the first and last image captures larger than other overlap portions. apparatus.

(11) The above-mentioned (8) to (10), wherein the imaging means includes the control means, and is configured to be detachable from the pan head means together with the control means.
The imaging device according to any one of the above.

(12) The heads (8) to (10), wherein the pan head unit includes the control unit, and is configured to be detachable from the imaging unit together with the control unit.
The imaging device according to any one of the above.

(13) Image pickup means for picking up an image, pan head means for mounting and rotating the image pickup means, control means for controlling the image pickup means and the pan head means, and designation of the angle of view of the image pickup means Imaging angle of view designating means, wherein the control means rotates the camera platform means in accordance with the angle specified by the imaging angle of view designating means, and captures an image with the imaging means. Imaging device.

(14) The control unit (13), wherein the control unit rotates the pan head unit at an angle equal to or smaller than the angle designated by the imaging angle-of-view designation unit, and captures an image by the imaging unit. Imaging device.

(15) The control means rotates the pan head means at an angle designated by the imaging angle-of-view designating means or at an angle smaller than the angle, captures an image by the imaging means, and adjusts the rotation angle. (13) or (14), wherein imaging is repeated within a range not exceeding 360 °.
The imaging device according to any one of the above.

(16) Image pickup means for picking up an image, camera head means for mounting and rotating the image pickup means, control means for controlling the image pickup means and camera head means, and designation of the focal length of the image pickup means Having a focal length designating means, the control means calculates an imaging angle of view according to the focal length designated by the focal length designating means, and rotates the pan head means according to the imaging angle of view, An imaging device, wherein an image is captured by an imaging unit.

(17) The focal length designating means is 35 m
The focal length in terms of m film is input, the actual imaging angle of view is calculated from the focal length information in terms of 35 mm film, and the pan head means is rotated for each angle of the calculated imaging angle of view or less. The imaging device according to the above (16), wherein an image is captured by the imaging unit.

(18) The control means rotates the pan head means for each imaging angle of view calculated from the focal length designated by the focal length designation means or at an angle smaller than the angle of view. Image, and the rotation angle is 3
The imaging device according to any one of the above (16) or (17), wherein imaging is repeated within a range not exceeding 60 °.

(19) The control device according to any one of (13) to (18), wherein the control unit controls the rotation of the pan head unit so that the imaging unit sequentially repeats imaging. Imaging device.

(20) Image pickup means for picking up an image, head means for mounting and rotating the image pickup means, and control means for controlling the image pickup means and the head means, the control means comprising: Determining the rotation angle of the camera platform based on the optical information of the imaging means, and in the case of the imaging means equipped with a zoom lens, based on the optical information of the zoom lens; Rotating the pan head means for each rotation angle in accordance with the rotation angle to capture an image by the imaging means; repeating the imaging in a range where the rotation angle does not exceed 360 °; Performing a zooming operation and performing an image capturing operation, and controlling the zooming of the zoom lens by using the remaining storage capacity of the image capturing unit and performing an image capturing operation. .

(21) Image pickup means for picking up an image, head means for mounting and rotating the image pickup means, and control means for controlling the image pickup means and the head means, the control means comprising: A step of determining the number n of images to be taken by rotating the camera by 360 ° based on the optical information of the imaging means when performing imaging by the imaging means while rotating the pan head means; In step (a), an overlapping portion of the subject is provided, and in the first (first) and last (n-th) imaging, the imaging is repeated so as to provide the overlapping portion of the subject. Rotate so as not to exceed the range of
Rotating the camera platform so as to exceed the range of 360 ° to repeat imaging, and the control unit securing the overlap portion of the first and last imaging to be larger than other overlap portions. An imaging method characterized in that:

(22) Image pickup means for picking up an image, pan head means for mounting and rotating the image pickup means, control means for controlling the image pickup means and the pan head means, and designation of the angle of view of the image pickup means Imaging angle of view designating means, wherein the control means rotates the pan head means according to the angle specified by the imaging angle of view designating means, and captures an image by the imaging means; and The control means rotating the pan head means at an angle equal to or less than the angle designated by the imaging angle-of-view designation means, and capturing an image by the imaging means; and the rotation angle of the pan head means does not exceed 360 °. Repeating the imaging in the range, calculating an imaging angle of view according to the focal length designated by the focal length designation means, rotating the pan head means according to the imaging angle of view, and A step of image, the focal length specifying means, enter the focal length of 35mm equivalent,
Calculating an actual imaging angle of view from the 35 mm film equivalent focal length information, rotating the pan head means for each of the calculated imaging angle of view or each smaller angle, and capturing an image by the imaging means; Repeating the imaging in a range where the rotation angle of the pan head does not exceed 360 °; and controlling the rotation of the pan head and controlling the imaging unit to repeat the imaging sequentially. An imaging method characterized by including:

[0030]

Embodiments of the present invention will be described below.

FIG. 1 is a schematic side view showing an assembling configuration of a first embodiment of an imaging apparatus according to the present invention, FIG. 2 is a block diagram showing a configuration of the first embodiment, and FIG. FIG. 4 is an explanatory diagram showing the operation of the camera platform in the first embodiment, FIG. 5 is a flowchart showing the operation of the second embodiment, and FIG. FIG. 7 is a block diagram showing the configuration of the fourth embodiment, FIG. 8 is a block diagram showing the configuration of the fifth embodiment, and FIG. FIG. 10 is a schematic side view showing an assembly configuration of the embodiment, FIG. 10 is a block diagram showing the configuration of the sixth embodiment, FIG. 11 is a flowchart showing the operation of the sixth embodiment, and FIG. FIG. 13 is a flowchart showing the operation of the example, and FIG. 13 is a flowchart showing the operation of the eighth embodiment. It is a door.

(First Embodiment) In the first embodiment, in order to explain the present invention in an easy-to-understand manner, an explanation will be given separately for an imaging section, a pan head section and a panorama control section for controlling these sections.

In FIG. 1, reference numeral 100 denotes a camera unit serving as an image pickup unit; and 200, a head unit serving as a head unit having a rotation function. 2, 101 is a zoom lens,
An image pickup device (CC) 102 photoelectrically converts the formed optical image.
D, etc.), 103 is a signal processing unit for processing the captured electric signal, 104 is a storage unit for storing the signal-processed image, and 107 is for displaying the captured image or the stored image Display section (LCD: liquid crystal display), 1
Reference numeral 08 denotes a camera control unit, 109 denotes a camera operation unit, and 111 denotes a stepping motor for driving the zoom lens 101.

Reference numeral 201 denotes a stepping motor for rotating the pan head,
202 is a motor driver, and 203 is a pan head controller.
301 is a panorama control unit, 302 is a panorama operation unit, 3
A communication line 05 connects the camera control unit 108 and the panorama control unit 301, and a communication line 306 connects the camera platform control unit 203 and the panorama control unit 301.

In the camera unit 100, the optical image formed on the image sensor 102 by the zoom lens 101 is signal-processed by the signal processing unit 103 and displayed on the display unit 107. When a shutter operation is performed by the camera operation unit 109 or a shutter command is transmitted from the panorama control unit 301, the camera control unit 108 stores the currently captured image in the storage unit 104. In addition, when a rotation operation command is sent from the panorama control unit 301, the pan head control unit 203
To rotate the pan head 200.

In the present invention, the panorama mode is set,
When a start is instructed by the panorama operation unit 302 to the panorama control unit 301, optical information of the camera unit 100 is requested to the camera control unit 108 via the communication line 305. In response to this, the camera control unit 108 replies optical information of the camera unit 100 such as the current focal length of the zoom lens or the imaging angle of view.

The image pickup apparatus of the present invention repeats image pickup while rotating the camera platform 200, and is conveniently based on the angle of view of the camera. However, since the imaging angle of view can be easily calculated from the focal length information, there is no problem even if the focal length information is exchanged. Based on this optical information, a single rotation angle is calculated on the panorama control unit 301 in consideration of a necessary overlap portion. This overlap portion is necessary when combining images after imaging,
% Is sufficient. After the rotation angle is calculated, the panorama control unit 301 sets the pan head control unit 20 of the pan head unit 200
3 is instructed to rotate by a predetermined angle, and the pan head control unit 203 of the pan head unit 200 responds to the instruction.
02, the stepping motor 201 is rotated to a predetermined position. After the rotation is completed, the panorama control unit 301
Sends a shutter command to the camera control unit 108 of the camera unit 100 to store a captured image. This rotation operation and shutter operation are repeated a required number of times.

Next, the flow of control will be described in detail with reference to the flowchart of FIG.

First, when the panorama mode is set by the panorama operation unit 302 (S100), the camera unit 10
0 is set to the imaging mode (S101). Next, head section 200
Initialization such as setting the home position (S10)
2). Next, information on the optical system of the camera unit 100 is obtained (S103). According to the acquired optical information, the number of rotations of each image is calculated or the rotation angle is calculated (S13).
3). Since the image is taken so that the adjacent image contains the overlap by about 20%, it is determined to be about 80% of the image angle of view. When the rotation angle of how many times the image should be rotated is determined, the number of images required to image 360 ° is calculated (S134). The number of images n
If the rotation angle is ra, it is determined by 360 / ra. That is, for example, if the horizontal angle of view of the zoom lens is 55 ° and the rotation angle is 45 °, the number n of captured images is eight. Also,
The horizontal angle of view of the zoom lens is 40 ° and the rotation angle is 32 °
Then, the number n of captured images is eleven.

Here, if the value of 360 / ra is just an integer value, the overlap portion of all photographing will be the same amount. On the other hand, when the value of 360 / ra is not divisible and a decimal point is added, it indicates that the overlap portion of the first and last photographings is larger than the other overlap portion in the middle. By utilizing this fact, recalculation can be performed based on the number of captured images, the rotation angle can be calculated, the overlap amount can be made uniform, and the first and last overlap amounts can be intentionally increased.

The total rotation angle is ra * (n-1).
That is, it is a value obtained by multiplying the number of images one less than the number of imaged images by the rotation angle. Next, communication is performed with the camera unit 100, and it is checked whether or not the number of images n can be captured in the storage unit of the camera (S105). As a result, if the remaining number cannot be stored, a warning is displayed (S120). This is the preparation before imaging, and when the entire number of images can be stored in the camera unit 100, the operation of starting imaging is waited. When the shooting start button is pressed, shooting is started (S1
35), the camera platform 200 is rotated to the first image capturing position (S106). The imaging position of the first image is 1/1 of the total rotation angle.
2, that is, -ra * (n-1) / 2. Where-
(Minus) indicates Home Position HP (See Fig. 4)
Is 0 °, one direction is +, and the opposite direction is −, for the sake of convenience.

At this time, there is no particular limitation on the rotation angle of the camera platform 200, and it may be started from any position as long as it exceeds 360 ° and can be rotated any number of times. But head 2
When there is a restriction that rotation cannot be performed more than 360 ° in 00, it is necessary to adjust the rotation angle necessary for imaging to the rotatable range of the camera platform 200.

When the camera platform 200 reaches the first image capturing position, a shutter command is sent to the camera unit 100 to release the shutter of the camera, and image capturing and storage are performed (S1).
07). Next, it is confirmed whether or not the imaging of the final image has been completed (S109). If the imaging has not been completed yet, the camera platform 200 is rotated to the next imaging position by the rotation angle input in S107 (S110). After the rotation, the previous storage operation previously performed by the camera unit 100 in response to the shutter command is terminated, and the camera unit 100 confirms whether the next imaging and storage is possible (S111). If the previous storage operation of the camera unit 100 has not been completed and the preparation for the next imaging and storage has not been completed yet, S111 is performed until the preparation is completed.
Repeat and wait. When the camera unit 100 is ready for the next storage, the flowchart in FIG.
The next imaging and storage operations are performed (S107). This is repeated for the number of image pickups, and after the last image pickup is completed, the camera platform 20
0 is returned to the home position HP (S112), and the processing ends.

Next, the operation of the camera platform will be described with reference to FIG.

For example, when the horizontal angle of view of the zoom lens is 55 °
Assuming that the rotation angle is 45 °, the number of captured images is eight as described above. At this time, the total rotation angle of the camera platform 200 is 315 ° (= 45 * 7). As a result, the image pickup position of the first image is −− with the home position HP set to 0 °.
157.5 °. This is the direction of the symbol A shown in FIG. Since the angle of view of the zoom lens is 55 °, a range of 55 ° width (27.5 ° left and right) is imaged around the direction of A. In FIG. 4, a hatched area is first imaged. Next, the second image is captured at the position B by rotating the rotation angle by 45 °. Since the angle of view in the horizontal direction is 55 ° and the rotation angle is 45 °, there is an overlap amount of 10 ° (18%) here.

Further, the image is taken at a rotation angle of 45 °, and this operation is repeated. The last image of the eighth image is taken at the position H shown in FIG. 4, and the image taking at 360 ° is completed. .

In this case, the overlap amount of the first (first) and last (eighth) sheets is 10 ° as in the other cases.

Similarly, if the horizontal angle of view of the lens is 55 ° and the rotation angle is 46 °, the normal overlap amount is 9 °.
° (16%), but the first (first) and last (eighth) overlap amounts are larger by 17 ° (3%).
1%).

In the present embodiment, the description has been made based on the horizontal angle of view. However, when the camera unit 100 is set in the vertical position,
Since the rotation direction of the camera platform 200 coincides with the direction of the vertical angle of view for the camera unit 100, the panoramic shooting is set to the vertical position mode, and the image pickup angle of view in the vertical position is obtained from the optical information. Etc. will be calculated.

In the above description, the acquired optical information has been described as the imaging angle of view. However, even the focal length information of the zoom lens can be easily converted to the imaging angle of view. The focal length of the zoom lens 101 is f, and the image sensor (C
Assuming that the horizontal effective area of the CD) 102 is w and the vertical effective area is h, the horizontal imaging angle of view Ha and the vertical imaging angle of view Va are as follows.

[0051]

That is, the focal length is 5 in 35 mm film conversion.
With a 0 mm lens, the horizontal angle of view is about 40 ° and the vertical angle of view is about 27 °. Similarly, a lens having a focal length of 28 mm in terms of 35 mm film has a horizontal angle of view of about 65 mm.
°, and the vertical angle of view is about 46 °.

This calculation may be performed according to Joseki, but the focal length of the lens is from several mm to several hundred m at most.
m, a calculation table may be prepared and used.

Thus, when the focal length information of the zoom lens 101 is acquired as the optical information, the angle of view, the rotation angle, and the number of images can be calculated in the same manner.

(Second Embodiment) In the first embodiment, the image pickup section, the camera platform section, and the panorama control section are described separately for easy understanding.

In the second embodiment, when a panoramic image is taken, if the lens is on the telephoto side, the angle of view in the up-down (top-down) direction becomes narrow. The zoom lens 101 is moved to the wide-angle side by the stepping motor 111 so as to increase the angle, and thereafter, imaging is performed.

In the flowchart of FIG. 5, after the panorama mode is set in S100, the zoom lens 101 is moved to the wide-angle side (S132) to perform photographing.

(Third Embodiment) In the third embodiment, when the panorama shooting mode is set, it is checked whether or not a necessary number of shots are possible in order to continuously shoot a number of shots and stored. When the remaining number of sheets in the unit 104 is small, the zoom lens 101 is operated to the wide-angle side, and the imaging angle of view of the lens is adjusted so as to fit in the remaining number.

In the flowchart of FIG. 6, S100
After the panoramic image capturing mode is set, the optical information of the zoom lens is obtained (S103), the rotation angle and the number of images to be captured are calculated (S133, S134), and the number of images that can be captured is compared with the remaining number of images that can be captured in the storage unit 104 to determine whether image capturing is possible. Check (S1
05). If the image can be captured, the process proceeds to panoramic image capturing (S1).
35 and later). When the number of remaining images is small and imaging cannot be performed, a rotation angle necessary for imaging 360 ° from the remaining number and the angle of view at that time are calculated (S14).
1). Based on this, the zoom lens is operated so as to match the imaging angle of view (S142). If the imaging angle of view is set to a value that is approximately 10% to 20% larger than the rotation angle, an overlap portion can be secured. At this time, it is checked whether or not the zoom lens can be moved with respect to the calculated imaging angle of view.
Hereafter), if it is beyond the zoom-out possible range of the zoom lens, it is determined that 360 ° panoramic shooting is not possible, a warning is displayed, and the process is ended (S120).

(Fourth Embodiment) A fourth embodiment will be described below with reference to the block diagram of FIG.

In the first to third embodiments, the imaging unit, the pan head unit, and the panorama control unit are described separately for easy understanding. However, in the fourth embodiment, the imaging unit is used for the imaging unit. The example which integrated the panorama control part is shown.

Reference numeral 158 denotes a camera control unit including a panorama control unit, and 159 denotes a camera operation unit including a panorama operation unit.

In the fourth embodiment, the panorama mode can be set and the panorama shooting can be started by the camera operation unit 159. Also, the camera control unit 158
, The rotation angle and the number of images are calculated, and the camera platform 200 is controlled via the communication line 505.

(Fifth Embodiment) FIG. 8 is a block diagram of a fifth embodiment of the present invention.

In the fourth embodiment, an example is shown in which the panorama control unit is integrated into the imaging unit in the first embodiment. However, in the fifth embodiment, the panorama control unit and the panorama operation unit are provided in the camera platform. Here is an example of the integration of

Reference numeral 253 denotes a pan head control unit including a panorama control unit, and 254 denotes a pan head operation unit provided in a pan head unit as pan head means.

In the fifth embodiment, the panorama operation unit 254
Thus, the panorama mode can be set and the panorama shooting can be started. In addition, the pan head control unit 253
, The rotation angle and the number of images to be photographed are calculated.
Control.

(Sixth Embodiment) In FIG. 9, reference numeral 170 denotes a camera unit serving as image pickup means, 200 denotes a head unit serving as a head unit having a rotation function, and 300 denotes a control unit comprising a host computer as control means. It is. 10, the same reference numerals as those in FIG. 2 described above are omitted.

Reference numeral 301 denotes a host control unit as a host computer, 302 denotes a host operation unit, 303 denotes a monitor,
A communication line 305 connects the camera control unit 108 and the host control unit 301. A reference numeral 306 denotes a head control unit and the host control unit 30.
1 is a communication line.

In the camera section 170, the lens 101
The optical image formed on the image sensor 102 by the signal processing is signal-processed by the signal processing unit 103 and displayed on the display unit (LCD) 107. When a shutter operation is performed by the camera operation unit 109 or a shutter command is sent from the host control unit 301, the camera control unit 108 stores the currently captured image in the storage unit 104.
Also, when a rotation operation command is sent from the host control unit 301, the head control unit 203 rotates according to the command.

The camera operation unit 17 is operated by the host operation unit 302 connected to the host control unit 301 of the host computer 300.
After the input indicating the imaging angle of view of the optical system 0 is performed, the rotation angle per operation is calculated on the host control unit 301 of the host computer 300 in consideration of the necessary overlap amount. This overlap part, after imaging,
Necessary when synthesizing images, it is sufficient to have about 20%.

After the rotation angle is calculated, the host controller 3
01 instructs the pan head control unit 203 of the pan head unit 200 to rotate to a predetermined angle.
The pan head controller 203 rotates the stepping motor 201 to a predetermined position via the motor driver 202. After the rotation is completed, the host control unit 301 sends a shutter command to the camera control unit 108 of the camera unit 170 to store a captured image. This rotation operation and shutter operation are repeated a required number of times.

Next, the flow of control will be described in detail with reference to the flowchart of FIG.

First, initialization such as setting the home position of the camera platform 200 is performed (S101). Next, the camera unit 170 is set to the shooting mode (S102). Thus, after the preparation is completed, the angle of view of the optical system of the camera unit 170 is input (S103). Next, in accordance with the imaging angle of view, the number of rotations of one image is calculated or the rotation angle is calculated (S133). Since the image is taken so that the adjacent image contains the overlap by about 20%, it is determined to be about 80% of the image angle of view. When the rotation angle of how many times the image should be rotated is determined, the number of images required to image 360 ° is calculated (S134).
The number of images n is 360 / ra when the rotation angle is ra.
This is the number of discarded. That is, for example, if the horizontal angle of view of the lens is 60 ° and the rotation angle is 45 °, the number becomes eight. The horizontal angle of view of the lens is 40 °, and the rotation angle is 3 °.
If it is 2 °, it becomes 11 sheets.

The total rotation angle is ra * (n-1).
That is, it is a value obtained by multiplying the number of images one less than the number of imaged images by the rotation angle. Next, communication is performed with the camera section 170, and it is checked whether or not the number of images n can be captured in the storage section of the camera (S105).

The steps after S105 are the same as those in the first embodiment, and the description is omitted.

In S111, the process waits repeatedly until the next image pickup and storage are ready. When the next preparation is completed in the camera section 170, the flowchart returns to the original state, and the next imaging and storage operation is performed (S107). This is repeated for the number of image pickups, and after the last image pickup is completed, the camera platform 200 is returned to the home position HP (S112), and the processing ends.

(Seventh Embodiment) Next, a seventh embodiment according to the present invention will be described below.

The configurations of the camera platform, the camera unit, and the control unit are the same as those in the sixth embodiment, and are the same as those shown in FIG.

FIG. 12 is a flowchart of the seventh embodiment.

The seventh embodiment is an example in which the input of the angle of view of the optical system of the camera unit 170 set in the sixth embodiment is changed to the input of the focal length. As in the sixth embodiment, first, initialization such as setting the home position of the camera platform 200 is performed (S101). Next, the camera unit 170 is set to the imaging mode (S102). Thus, after the preparation is completed, the focal length of the optical system of the camera unit 170 is designated (S
131). The focal length specified here is the camera unit 170
How to specify the actual lens focal length of the optical system,
There are two methods for specifying the focal length in terms of 35 mm film. The relationship between the focal length and the angle of view is determined by the camera unit 17.
The value varies depending on the size of the image sensor 102 used for 0. That is, if the image sensor 102 has a 1/4 inch C
Even if the focal length is the same depending on whether a CD or a 1/5 CCD, the imaging angle of view is different. Conversely, in order to achieve the same imaging angle of view, the focal length differs depending on the imaging device. For this reason, if the focal length converted into a widely used 35 mm film camera is used, the wide-angle system, the standard system, and the telephoto system can be easily distinguished and easily understood. The method of calculating the imaging angle of view based on this focal length is the same as that in the first embodiment described above, and thus will not be described. This is the same as the embodiment. Next, in accordance with this angle of view, the number of rotations of the rotation angle is calculated, and the rotation angle is calculated in consideration of the overlap (S133). When the rotation angle of how many times the image is to be rotated is determined, the number of images required to image 360 ° is calculated (S134). Next, it communicates with the camera unit 170,
It is checked whether the number of images n can be captured in the storage unit of the camera (S105). As a result, if the remaining number cannot be stored, a warning is displayed (S120). When all the number of captured images can be stored in the camera unit 170,
The camera platform 200 is rotated to the first imaging position (S10).
6).

When the camera platform 200 reaches the imaging position of the first image, a shutter command is sent to the camera unit 170, the shutter of the camera is released, and imaging and storage are performed (S10).
7). Next, it is confirmed whether the imaging of the final image has been completed (S109). If the imaging has not been completed, the camera platform 200 is rotated to the next imaging position by the rotation angle input in S133 (S110). After the rotation, the previous storage operation previously performed by the camera unit 170 by the shutter command ends, and the camera unit 170 determines whether the next imaging and storage can be performed.
(S111). If the previous storage operation of the camera unit 170 has not been completed and the preparation for the next imaging and storage has not been completed yet, the step of S111 is repeated until the preparation is completed, and the process stands by. When the camera unit 170 is ready for the next storage, the process returns to the original in the flowchart, and the next imaging and storage operation is performed (S107). This is repeated for the number of image pickups, and after the last image pickup is completed, the camera platform 200
Is returned to the home position HP (S112), and the processing ends.

(Eighth Embodiment) A schematic diagram showing an assembling structure in an eighth embodiment is the same as that in FIG.
FIG. 13 is a block diagram showing the configuration of the eighth embodiment.

In the eighth embodiment, the control unit 503 in the camera platform unit 500 controls the stepping motor 201 of the camera platform unit 500 and the communication line 505 with the camera unit 170 based on the information input from the operation unit 504. Through the camera unit 17
0 is controlled.

[0085]

As described above, according to the present invention,
By providing a control unit or panorama control unit that performs both the shutter control of the camera and the rotation control of the camera platform, and by automatically acquiring the optical information of the camera by this control unit,
It has become possible for a person to automatically prepare for panoramic photography without inputting optical information or the number of images to be captured. Further, the rotation angle and the number of images to be captured are calculated based on the obtained optical information, and the pan head control and the shutter control of the camera are performed based on the rotation angle and the camera shutter, thereby enabling the automatic panoramic image capturing. In addition, after setting the imaging angle of view of the optical system of the camera from the above-described control unit, and rotating by an amount corresponding to this imaging angle of view,
By automatically releasing the camera shutter and capturing an image, it is possible to capture an image of an automatic panorama image in which the camera is automatically rotated by a predetermined angle according to the capturing range and the camera shutter is released.

Further, since the camera platform is used, it is possible to keep the rotation plane constant as compared with hand-held imaging, and to perform imaging at every fixed rotation angle less than this based on the imaging angle of view. In order to perform the panoramic image synthesis, it is possible to reliably earn the overlap portion of each image and to secure a certain amount, so that the panorama synthesis can be more reliably realized. Was. Also, when trying to capture a 360 ° panoramic image, it is very difficult to ensure the overlap between the first and last images, while avoiding the overlap between adjacent images. By calculating the rotation angle and the number of captured images so as to cover °, the overlap between the first and last images can be reliably obtained. Furthermore, when combining images after photographing, the degree of freedom for searching for corresponding points, shading correction (correction of brightness), etc. is increased by taking a large overlap between the first and last images. I was able to do it.

Further, by integrating the panorama control section into the camera control section, cost can be reduced and operability for the user can be improved.

Further, by integrating the panorama control unit with the pan head control unit and providing an operation unit in the pan head unit, it is possible to perform panoramic photography with various cameras without limiting the cameras.

Further, by making the camera unit and the camera platform detachable, the combination of the camera and the camera platform can be freely selected, and the optimum rotation angle and the number of images are always obtained regardless of the camera lens. Can be calculated automatically to perform panoramic shooting.

Further, in panoramic photography, a plurality of images are combined in the horizontal direction to cover an angle of view of 360 °, but in the vertical direction, only one vertical portion of the camera lens is used. Therefore, the image becomes horizontally long. Therefore, by moving the zoom lens to the wide angle side, a large imaging angle of view can be secured in the vertical direction, and a powerful panoramic image can be taken. In addition, the number of images captured can be reduced.

When the storage capacity of the camera is limited, the zoom lens is controlled in accordance with the remaining number of images, and panorama shooting is performed in accordance with the control. Shooting was made possible.

Further, by setting the focal length of the optical system of the camera, it is possible to calculate the angle of view from this focal length and to easily perform panoramic photography. In addition, as for the focal length of the optical system of the camera, by being able to handle a 35 mm film equivalent value, the camera can be easily used by ordinary people and erroneous setting can be avoided.

Thus, it is possible to perform panoramic photographing while automatically securing the overlap on the device side without considering the overlap when combining images after imaging.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing an assembly configuration of a first embodiment of an imaging apparatus according to the present invention.

FIG. 2 is a block diagram showing a configuration of a first embodiment.

FIG. 3 is a flowchart showing the operation of the first embodiment.

FIG. 4 is an explanatory diagram showing an operation of the camera platform in the first embodiment.

FIG. 5 is a flowchart showing the operation of the second embodiment.

FIG. 6 is a flowchart showing the operation of the third embodiment.

FIG. 7 is a block diagram showing a configuration of a fourth embodiment.

FIG. 8 is a block diagram showing a configuration of a fifth embodiment.

FIG. 9 is a schematic side view showing an assembling configuration of a sixth embodiment of the imaging apparatus.

FIG. 10 is a block diagram showing the configuration of a sixth embodiment.

FIG. 11 is a flowchart showing the operation of the sixth embodiment.

FIG. 12 is a flowchart showing the operation of the seventh embodiment.

FIG. 13 is a flowchart showing the operation of the eighth embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 camera unit (imaging unit or imaging unit) 101 zoom lens (or lens) 111 stepping motor 102 imaging device (CCD) 103 signal processing unit 104 storage unit 107 display unit (LCD) 108 camera control unit 109 camera operation unit 170 camera Unit 200 head unit (head unit) 201 stepping motor (for head rotation) 202 motor driver 300 control unit (control unit, host computer) 203 head unit control unit 301 panorama control unit 302 panorama operation unit 305, 306 communication line

Claims (22)

[Claims] 1. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, and a control means for controlling the image pickup means and the pan head means, the control means comprising:
Determining a rotation angle of the camera platform based on the optical information of the imaging device, and rotating the camera platform for each rotation angle according to the determined rotation angle to capture an image by the imaging device. An imaging device characterized by the above-mentioned. 2. An image pickup device equipped with a zoom lens, a pan head unit equipped with the image pickup unit and rotating the same, and a control unit for controlling the image pickup unit and the pan head unit, the control unit comprising: The rotation angle of the camera platform is determined based on the optical information of the zoom lens of the imaging unit, and the camera unit is rotated for each rotation angle according to the determined rotation angle, and an image is captured by the imaging unit. An imaging device, comprising: 3. The control means rotates the pan head means for each rotation angle according to the rotation angle determined by the control means, causes the imaging means to capture an image, and sets the rotation angle to 360. The imaging apparatus according to claim 1, wherein the imaging is repeated within a range not exceeding °. 4. The imaging apparatus according to claim 2, wherein zooming of a zoom lens of the imaging unit is performed on a wide-angle side to perform imaging. 5. The imaging apparatus according to claim 2, wherein zooming control of the zoom lens is performed by using a remaining storage capacity of the imaging unit to perform imaging. 6. The image pickup means includes the control means,
The imaging apparatus according to claim 1, wherein the imaging apparatus is configured to be detachable from the pan head unit together with the control unit. 7. The pan head unit includes the control unit,
The imaging device according to claim 1, wherein the imaging device is configured to be detachable from the imaging unit together with the control unit. 8. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, and a control means for controlling the image pickup means and the pan head means, the control means comprising:
When imaging is performed by the imaging unit while rotating the pan head unit, the number n of images required for imaging by rotating by 360 ° is determined based on the optical information of the imaging unit. An image pickup apparatus characterized in that an overlap portion is provided, and further, in the first (first) and last (n-th) images, image pickup is repeated so as to provide an overlap portion of the subject. 9. The control means, when rotating the pan head means for imaging by the imaging means, controls the pan head means by three.
9. The image pickup apparatus according to claim 8, wherein the image pickup apparatus is rotated so as not to exceed a range of 60 °, or is rotated so as to exceed a range of 360 ° to repeat image pickup. 10. The imaging apparatus according to claim 8, wherein the control unit secures an overlap portion of the first and last imagings larger than other overlap portions. 11. The apparatus according to claim 8, wherein the imaging unit includes the control unit, and is configured to be detachable from the pan head unit together with the control unit. Imaging device. 12. The apparatus according to claim 8, wherein said pan head unit includes said control unit, and is configured to be detachable from said image pickup unit together with said control unit. Imaging device. 13. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, a control means for controlling the image pickup means and the pan head means, and an imaging field angle of the image pickup means are designated. An imaging angle-of-view designation unit, wherein the control unit rotates the pan head unit according to the angle designated by the imaging angle-of-view designation unit, and captures an image by the imaging unit. Imaging device. 14. The imaging apparatus according to claim 13, wherein said control means rotates said pan head means at an angle designated by said imaging angle-of-view designating means or less, and takes an image by said imaging means. apparatus. 15. The control means rotates the pan head means at an angle designated by the imaging angle-of-view designating means or at an angle smaller than the angle, and takes an image by the imaging means. The imaging apparatus according to claim 13, wherein imaging is repeated within a range not exceeding °. 16. An image pickup means for picking up an image, a camera head means for mounting and rotating the image pickup means, a control means for controlling the image pickup means and the camera head means, and a focus for designating a focal length of the image pickup means. A distance designation unit, wherein the control unit calculates an imaging angle of view according to the focal length designated by the focal length designation unit, rotates the pan head unit according to the imaging angle of view, and An imaging device, wherein an image is captured by means. 17. The focal length designation means inputs a 35 mm film equivalent focal length, calculates an actual imaging angle of view from the 35 mm film equivalent focal length information, and calculates the calculated imaging angle of view or the calculated imaging angle of view. 17. The imaging apparatus according to claim 16, wherein the camera platform is rotated at each of the following angles, and an image is captured by the imaging unit. 18. The image capturing angle of view calculated from the focal length designated by the focal length designating means,
Alternatively, the pan head unit is rotated at every smaller angle, and an image is captured by the imaging unit, and the rotation angle is 360 °.
The imaging apparatus according to claim 16, wherein imaging is repeated within a range not exceeding. 19. The imaging apparatus according to claim 13, wherein the control unit controls the rotation of the pan head unit so that the imaging unit sequentially repeats imaging. 20. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, and a control means for controlling the image pickup means and the pan head means, the control means comprising: Determining a rotation angle of the pan head means based on optical information of the imaging means, and in the case of an imaging means equipped with a zoom lens, based on optical information of the zoom lens; Rotating the pan head means for each rotation angle to capture an image by the imaging means; repeating the imaging in a range where the rotation angle does not exceed 360 °; and further moving the zoom lens to the wide-angle side. An imaging method, comprising: performing zooming and performing imaging; and performing imaging by performing zooming control of the zoom lens using the remaining storage capacity of the imaging unit. 21. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, and a control means for controlling the image pickup means and the pan head means, the control means comprising: A step of determining the number n of images to be taken by rotating the camera by 360 ° based on the optical information of the imaging means when performing imaging by the imaging means while rotating the pan head means; An overlap portion of the subject is provided, and the first (first) and the last (n)
In the imaging of (1), a step of repeating imaging so as to provide an overlap portion of the subject, and
Rotating the head so as not to exceed the range of 60 ° or rotating the pan head means so as to exceed the range of 360 ° to repeat imaging, and the control means includes an overlap portion between the first and last imaging. Ensuring that the distance is larger than the other overlap portion. 22. An image pickup means for picking up an image, a pan head means for mounting and rotating the image pickup means, a control means for controlling the image pickup means and the pan head means, and an image pickup field angle of the image pickup means are designated. An imaging angle-of-view designation unit, wherein the control unit rotates the pan head unit according to the angle designated by the imaging angle-of-view designation unit, and captures an image by the imaging unit; and A control unit that rotates the camera platform at an angle equal to or less than the angle designated by the imaging angle-of-view designating unit, and captures an image by the imaging unit; and a range in which the rotation angle of the camera platform does not exceed 360 °. Repeating the image capturing in step (a), calculating an image capturing angle of view in accordance with the focal length specified by the focal length specifying means, rotating the camera platform in accordance with the image capturing angle of view, and capturing an image by the image capturing means. Step, the focal length designation means inputs a 35 mm film equivalent focal length, calculates an actual imaging angle of view from the 35 mm film equivalent focal length information, and calculates the calculated imaging angle of view or less. Rotating the camera platform for each angle and capturing an image by the image capturing device; repeating the image capturing within a range where the rotation angle of the camera platform does not exceed 360 °; Rotating the device and controlling the image capturing device to sequentially repeat image capturing.