JP2005014155A - Photographing robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely photograph a photographing object person by a camera of the photographing object person, in a photographing device for photographing according to a request of an attendant in a pleasure ground and a sight-seeing place. <P>SOLUTION: This photographing robot is characterized by having a manipulator means for operating the photographing device by holding the photographing device, an observing means for converting an appearance of the photographing device held by the manipulator means into image data, an operation method acquiring means for determining an operation method of the photographing device, and a photographing means for outputting a command for operating the photographing device to the manipulator means on the basis of the operation method determined by the operation method acquiring means. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a photographing apparatus that performs photographing in response to a request from a visitor or the like in an amusement park or a sightseeing spot.
[0002]
[Prior art]
Recently, a next-generation imaging device has been proposed in which it moves autonomously, determines the composition, and performs imaging.
As such a photographing apparatus, for example, a photographer robot “Lewis” (Lewis the Robotic Photographer) developed at the University of Washington is known.
[0003]
According to this "Lewis", it is possible to automatically photograph natural expressions of people who are active in an indoor space where people actually come and go.
[Non-Patent Document 1]
Lewis the Robotic Photographer (searched on May 30, 2003)
Internet http: // www. cs. Wustl. edu / ￣lewis /
[0004]
[Problems to be solved by the invention]
However, the above-mentioned “Lewis” has a problem that image data taken by a digital camera included in “Lewis” cannot be provided to the subject.
[0005]
On the other hand, in amusement parks, sightseeing spots, etc., there is a demand for a shooting robot that automatically takes pictures with a camera brought by the visitor in response to a request from the visitor.
The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a photographing robot capable of reliably photographing a subject using a subject's camera.
[0006]
[Means for Solving the Problems]
The imaging robot according to claim 1, a manipulator unit that holds an imaging device and operates the imaging device, an observation unit that converts an appearance of the imaging device held by the manipulator unit into image data, and a method of operating the imaging device And an imaging method for outputting a command for operating the imaging device to the manipulator means based on the operation method obtained by the operation method obtaining means.
[0007]
The imaging robot according to claim 2 is the imaging robot according to claim 1, wherein the operation method acquisition unit analyzes an operation method of the imaging apparatus based on image data output from the observation unit. .
[0008]
According to a third aspect of the present invention, in the photographing robot according to the first aspect, the operation method obtaining means stores storage means for storing the external shape and operation information of the photographing apparatus corresponding to a model, and the observation means outputs A model specifying unit that specifies the model from the appearance shape based on image data to be extracted, and an extraction unit that extracts operation information corresponding to the model specified by the model specifying unit from the storage unit. To do.
[0009]
According to a fourth aspect of the present invention, in the photographing robot according to the first aspect, the operation method acquisition means includes a storage means for storing operation information of the photographing apparatus corresponding to a model, and a model designated by the subject. Input means for inputting, and extraction means for extracting operation information corresponding to the model input to the input means from the storage means.
[0010]
The imaging robot according to claim 5 is the imaging robot according to any one of claims 1 to 4, wherein the imaging device includes at least release means, and the manipulator means operates at least the release means. It has a release operation means, and the operation method acquisition means obtains at least an operation method of the release means.
[0011]
The imaging robot according to claim 6 is the imaging robot according to any one of claims 1 to 5, wherein the imaging device includes a finder unit capable of observing at least a finder image captured by the imaging device, The observation means observes at least the viewfinder image of the viewfinder means, and the photographing means outputs the command to the manipulator means based on the image data of the viewfinder image output from the observation means. Features.
[0012]
The imaging robot according to claim 7 is the imaging robot according to any one of claims 1 to 6, wherein the manipulator means opens the imaging device after imaging by the imaging device.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(First embodiment)
FIG. 1 shows a photographing robot according to a first embodiment of the present invention.
This imaging robot is placed in an amusement park, a sightseeing spot, etc., and automatically shoots the client by the digital camera 11 brought by the client in response to a request from the client.
[0014]
This imaging robot has a right arm device 13, a left arm device 15, an observation device 17, a microphone 19, a speaker 21, and a self-propelled device 23.
The right arm device 13 and the left arm device 15 correspond to a human right arm and left arm, and the right arm device 13 and the left arm device 15 constitute manipulator means.
The right arm device 13 and the left arm device 15 hold a digital camera 11 that is a photographing device provided by a photographing client and operate the digital camera 11 to perform photographing.
[0015]
The digital camera 11 is provided with operation buttons such as a release button 11a for performing an operation for converting an optical image into image data, and a liquid crystal finder 11b for displaying the image data. The image displayed by the liquid crystal finder 11b is a finder image.
The observation device 17 converts the appearance of the digital camera 11 held by the right arm device 13 and the left arm device 15 and the viewfinder image displayed on the liquid crystal viewfinder 11b of the digital camera 11 into image data. In this embodiment, the observation apparatus has a pair of left and right objective lenses and forms an image on a CCD image sensor via an optical system (not shown).
[0016]
The microphone 19 inputs a voice such as “Please take a picture” from the client.
The speaker 21 outputs sound such as “I will shoot”.
The self-propelled device 23 includes a motor and a drive mechanism (not shown), and moves the imaging robot back and forth and right and left by driving a wheel 25 disposed at the lower end of the imaging robot.
[0017]
FIG. 2 is a block diagram showing the overall configuration of the imaging robot.
Connected to the CPU 27 are a right arm device 13, a left arm device 15, an observation device 17, a microphone 19, a speaker 21, a self-propelled device 23, and a program 29.
The program 29 controls the photographing operation by this photographing robot.
FIG. 3 is a block diagram showing the configuration of the right arm device 13.
[0018]
The right arm device 13 includes a right shoulder device 31, a right elbow device 32, a right wrist device 33, and a right hand device 34. The right shoulder device 31, the right elbow device 32, the right wrist device 33, and the right hand device 34 are devices having functions corresponding to a human right shoulder, right elbow, right wrist, and right hand, respectively.
The right hand device 34 includes a thumb device 35, an index finger device 36, a middle finger device 37, a ring finger device 38, and a little finger device 39, and these devices are connected to the palm device 40. The thumb device 35, the index finger device 36, the middle finger device 37, the ring finger device 38, the little finger device 39, and the palm device 40 are devices having functions corresponding to the human thumb, index finger, middle finger, ring finger, little finger, and palm, respectively.
[0019]
FIG. 4 is a block diagram showing the configuration of the left arm device 15.
The left arm device 15 includes a left shoulder device 41, a left elbow device 42, a left wrist device 43, and a left hand device 44. The left shoulder device 41, the left elbow device 42, the left wrist device 43, and the left hand device 44 are devices having functions corresponding to a human left shoulder, left elbow, left wrist, and left hand, respectively.
[0020]
The left hand device 44 includes a thumb device 45, an index finger device 46, a middle finger device 47, a ring finger device 48, and a little finger device 49, and these devices are connected to the palm device 50. The thumb device 45, the index finger device 46, the middle finger device 47, the ring finger device 48, the little finger device 49, and the palm device 50 are devices having functions corresponding to the human thumb, index finger, middle finger, ring finger, little finger, and palm, respectively.
[0021]
FIG. 5 is a block diagram showing the configuration of the shooting robot program 29 of this embodiment.
In this embodiment, the analysis module 51, the imaging module 53, and the reception module 55 are connected to the drive module 57.
The analysis module 51 is a program module that includes a function analysis module 59 and a shape measurement module 61. The reception module 55 is a program module that includes an utterance module 63 and an reception module 65.
[0022]
The analysis module 51 is a program module that analyzes the digital camera 11 provided by the client.
The function analysis module 59 is a program module that estimates the function of the operation button of the digital camera 11 and the display area of the liquid crystal finder 11b from the image data of the appearance of the digital camera 11.
[0023]
The shape measurement module 61 is a program module that calculates the three-dimensional coordinates of the release button 11 a and the liquid crystal finder 11 b of the digital camera 11 from the image data of the appearance of the digital camera 11 and the AF information of the observation device 17.
The photographing module 53 operates the right arm device 13 and the left arm device 15 so that the subject such as the photographing client is included in the finder image of the liquid crystal finder 11b output from the observation device 17, and the photographing position and photographing of the digital camera 11 are obtained. Adjust the direction.
[0024]
In addition, when the finder image of the liquid crystal finder 11b output from the observation device 17 includes a subject such as a photograph client, the CPU 27 calculates the three-dimensional coordinates of the operation button estimated by the function analysis module 59 as the release button 11a. Taking out from the measurement module 61, the index finger device 36 or 46 is moved to the position represented by the three-dimensional coordinates, and the release button 11a is fully pressed to release the shutter. Further, the CPU 27 confirms the finder image of the liquid crystal finder 11b output from the observation device 17.
[0025]
The reception module 55 is a program module that performs an interaction with the client who has taken the image.
That is, the reception module 55 outputs a command to put out both hands to the drive module 57 when the imaging robot receives the digital camera 11 from the imaging client, and the driving module 57 sends the imaging client to the right arm device 13 and the left arm device 15. The control signal which controls the operation | movement which receives the digital camera 11 from is output.
[0026]
In addition, when the imaging robot returns the digital camera 11 to the client, the reception module 55 outputs a command for inserting the digital camera 11 with both hands to the driving module 57, and the driving module 57 includes the right arm device 13 and the left arm device 15. In addition, a control signal for controlling the operation of inserting the digital camera 11 is output.
Further, the reception module 55 determines whether or not the photographing client has received the digital camera 11 based on the image from the observation device 17.
[0027]
The utterance module 63 is a program module that generates a sound such as “I will shoot” from the speaker 21.
The reception module 65 is a program module that detects a voice such as “Please take a picture” issued by the photographing client.
FIG. 6 is a flowchart showing the operation of the imaging robot of this embodiment. The subject of execution of this flowchart is the CPU 27 unless the subject is described.
[0028]
This flow is started when the imaging robot is turned on.
First, in step S1, it is determined whether or not the receiving module 65 has detected a “Please take a picture” voice issued by the photographing client.
Next, in step S2, when the receiving module 65 detects the voice "Please take a picture", the photographing robot performs an operation of holding out both hands and receives the digital camera.
[0029]
That is, the response module 55 outputs a command to put out both hands to the drive module 57, and the drive module 57 controls the right arm device 13 and the left arm device 15 to receive the digital camera 11 provided by the photographing client. Output a signal.
Next, in step S3, the positions of the release button 11a and the liquid crystal finder 11b of the digital camera 11 are detected from the image data of the appearance of the digital camera 11 received from the photograph client.
[0030]
That is, the observation device 17 outputs the received image data of the appearance of the digital camera 11 to the function analysis module 59. The function analysis module 59 estimates the function of the operation button of the digital camera 11 from the appearance image data. In addition to the image, the observation device 17 outputs autofocus (AF) information, that is, distance information from the observation device 17 to the operation button, to the shape measurement module 61. The shape measurement module 61 calculates the three-dimensional coordinates of the release button 11a of the digital camera 11 and the liquid crystal finder 11b from the image output from the observation device 17 and the AF information.
[0031]
Next, in step S4, a voice “I will shoot” is generated from the speaker 21, and at the same time, the observation device 17 converts the finder image into image data.
That is, the photographing module 53 generates a voice “shooting” from the speaker 21 by the speech module 63, and the observation device 17 displays the display image of the liquid crystal finder 11 b of the digital camera 11 analyzed by the function analysis module 59. Convert to image data.
[0032]
Next, in step S5, the client or the like is taken into the viewfinder image of the client's digital camera 11.
That is, the photographing module 53 operates the right arm device 13 and the left arm device 15 so that the subject such as the photographing client is included in the viewfinder image output from the observation device 17, and sets the photographing direction and photographing position of the digital camera 11. Adjust.
[0033]
Next, in step S6, the digital camera 11 of the client requesting the image is taken.
That is, when the finder image output from the observation device 17 includes a subject such as a client, the imaging module 53 uses the three-dimensional coordinates of the operation button estimated by the function analysis module 59 as the release button 11a to calculate the shape measurement module. Then, the index finger device 36 or 46 is moved to the position represented by the three-dimensional coordinates, and the release button 11a is fully pressed to release the shutter.
[0034]
Next, in step S7, an image photographed by the digital camera 11 is confirmed.
That is, the imaging module 53 confirms the finder image output from the observation device 17.
Next, in step S8, it is determined whether or not the finder image includes a subject such as a client who has taken a picture, that is, whether or not a subject such as the client has been shot.
[0035]
If the subject is photographed, in step S9, the digital camera 11 of the photograph requester is presented to the photograph requester.
That is, the reception module 55 outputs a command for inserting the digital camera 11 with both hands to the drive module 57, and the drive module 57 outputs a control signal for controlling the operation of inserting the digital camera 11 to the right arm device 13 and the left arm device 15. To do.
[0036]
Next, in step S10, it is determined whether the digital camera 11 has been received by the client.
That is, the reception module 55 determines whether or not the digital camera 11 has been handed over to the photographing client by the image from the observation device 17.
If it is not passed, the confirmation is continued until it is passed, and if it is passed, the process returns to step S1.
[0037]
In the above-described imaging robot, the analysis module 51 analyzes the digital camera 11 delivered from the client, and operates the digital camera 11 with the right arm device 13 and the left arm device 15 to photograph the client. Therefore, it is possible to surely photograph the image taking client or the like by the digital camera 11 of the image taking client.
(Second Embodiment)
FIG. 7 is a block diagram showing the configuration of the program of the photographing robot according to the second embodiment of the present invention.
[0038]
In this embodiment, parts having the same functions as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
In this embodiment, the operation information extraction module 67 is connected to the drive module 57. The operation information extraction module 67 is a program module having a model storage module 69 and a model identification module 71.
[0039]
The model storage module 69 is a program module that stores the external shape and operation information of the digital camera 11 corresponding to the model.
The model identifying module 71 is a program module that identifies the model from the external shape of the digital camera 11 based on the image data output by the observation means.
The operation information extraction module 67 extracts operation information corresponding to the model specified by the model specifying module 71 from the model storage module 69.
[0040]
FIG. 8 is a flowchart showing the operation of the imaging robot of this embodiment.
This flow is started when the imaging robot is turned on. The subject of execution of this flowchart is the CPU 27 unless the subject is described.
First, in step S1, it is determined whether or not the receiving module 65 has detected a “Please take a picture” voice issued by the photographing client.
[0041]
Next, when the receiving module 65 detects the voice “Please take a picture”, in step S2, the photographing robot performs an operation of holding out both hands and receives the digital camera.
Next, in step S3, the positions of the release button 11a and the liquid crystal finder 11b of the digital camera 11 are extracted from the appearance image of the digital camera 11 received from the client.
[0042]
In other words, the observation device 17 outputs the received image data of the appearance of the digital camera 11 to the model specifying module 71. The model specifying module 71 compares the image data of the appearance with the appearance of the digital camera 11 stored in the model storage module 69, and specifies the model of the digital camera 11. Then, the operation information extraction module 67 extracts operation information corresponding to the model specified by the model specifying module 71 from the model storage module 69. The operation information includes the positions of the release button 11a and the liquid crystal finder 11b of the digital camera 11 and the shooting operation procedure.
[0043]
Next, in step S4, a voice “I will shoot” is generated from the speaker 21, and at the same time, the observation device 17 converts the finder image into image data.
Next, in step S5, the client or the like is taken into the viewfinder image of the client's digital camera 11.
Next, in step S6, the digital camera 11 of the client requesting the image is taken.
[0044]
In other words, the photographing module 53 moves the index finger device 36 or 46 to the position of the release button 11a extracted by the operation information extraction module 67 when the finder image output from the observation device 17 includes a subject such as a photographing client. The release button 11a is fully pressed to release the shutter.
Next, in step S7, an image photographed by the digital camera 11 is confirmed.
[0045]
Next, in step S8, it is determined whether or not a subject such as a client who has taken a photograph has been photographed.
If the subject is photographed, in step S9, the digital camera 11 of the photograph requester is presented to the photograph requester.
Next, in step S10, it is determined whether the digital camera 11 has been received by the client.
[0046]
That is, the reception module 55 determines whether or not the digital camera 11 has been handed over to the photographing client by the image from the observation device 17.
If it is not passed, the confirmation is continued until it is passed, and if it is passed, the process returns to step S1.
In the above-described imaging robot, the operation information extraction module 67 extracts the operation information of the digital camera 11 passed from the client, and the digital camera 11 is operated by the right arm device 13 and the left arm device 15 to request the camera client or the like. Since the photographing is performed, the photographing client or the like can be reliably photographed by the digital camera 11 of the photographing client.
[0047]
(Third embodiment)
FIG. 9 shows a photographing robot according to the third embodiment of the present invention.
In this embodiment, the same members as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
In this embodiment, the imaging robot is provided with an input unit 73 for inputting information from the imaging client. This input part 73 consists of a touch panel, for example.
[0048]
In the input unit 73, for example, the model name corresponding to the name of the company that manufactured the digital camera 11 is displayed.
The photograph requester touches the model name of his / her digital camera 11 to input the model of the digital camera 11.
[0049]
FIG. 10 is a block diagram showing the configuration of the program of the imaging robot of this embodiment.
In this embodiment, the operation information extraction module 75 is connected to the drive module 57. The operation information extraction module 75 is a program module having a model storage module 77.
[0050]
The model storage module 77 is a program module in which operation information of the digital camera 11 is stored corresponding to the model.
The operation information extraction module 75 extracts operation information corresponding to the model input to the input unit 73 from the model storage module 77.
FIG. 11 is a flowchart showing the operation of the imaging robot of this embodiment. The subject of execution of this flowchart is the CPU 27 unless the subject is described.
[0051]
This flow is started when the imaging robot is turned on.
First, in step S1, it is determined whether or not the receiving module 65 has detected a “Please take a picture” voice issued by the photographing client.
Next, when the receiving module 65 detects the voice “Please take a picture”, in step S <b> 2, the photographing robot performs an operation of holding out both hands and receives the digital camera 11.
[0052]
Next, in step S3, the positions of the release button 11a and the liquid crystal finder 11b of the digital camera 11 are specified from the model input to the input unit 73 by the client.
That is, the operation information extraction module 75 extracts operation information corresponding to the model input to the input unit 73 from the model storage module 77. The operation information includes the positions of the release button 11a and the liquid crystal finder 11b of the digital camera 11 and the shooting operation procedure.
[0053]
Next, in step S4, a sound “I will shoot” is generated from the speaker 21, and at the same time, the observation device 17 converts the finder image of the digital camera 11 into image data.
Next, in step S5, the client or the like is taken into the viewfinder image of the client's digital camera 11.
[0054]
Next, in step S6, the digital camera 11 of the client requesting the image is taken.
That is, when the finder image output from the observation device 17 includes a subject such as a client, the photographing module 53 moves the index finger device 36 or 46 to the position of the release button 11a extracted by the operation information extraction module 75. The release button 11a is fully pressed to release the shutter.
[0055]
Next, in step S7, an image photographed by the digital camera 11 is confirmed.
Next, in step S8, it is determined whether or not a subject such as a client who has taken a photograph has been photographed.
If the subject is photographed, in step S9, the digital camera 11 of the photograph requester is presented to the photograph requester.
[0056]
Next, in step S10, it is determined whether the digital camera 11 has been received by the client.
If it is not passed, the confirmation is continued until it is passed, and if it is passed, the process returns to step S1.
In the above-described imaging robot, the operation information extraction module 75 extracts the operation information of the digital camera 11 passed from the imaging client based on the model input to the input unit 73 by the imaging client, and the right arm device 13 and the left arm are extracted. Since the apparatus 15 operates the digital camera 11 to shoot the client, etc., it is possible to reliably shoot the client, etc., using the client's digital camera 11.
[0057]
In the above-described third embodiment, an example in which the input unit 73 is formed by a touch panel has been described. However, the present invention is not limited to such an embodiment, and may be a push button, for example. Moreover, you may make it input with an audio | voice.
Further, in each of the above-described embodiments, the example in which the photographing robot performs photographing with the digital camera 11 has been described. However, the present invention is not limited to such an embodiment, for example, a camera using a normal film, It can also be applied to shooting with a video camera or the like.
[0058]
Further, in each of the above-described embodiments, the example in which the photographing operation is started by the voice input of “Please take a picture” has been described. However, the present invention is not limited to such an embodiment, and for example, pressing an operation button. May start the shooting operation.
[0059]
【The invention's effect】
As described above, according to the photographing robot of the present invention, the subject can be reliably photographed by the subject's camera.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a first embodiment of a photographing robot of the present invention.
2 is a block diagram showing an overall configuration of the imaging robot of FIG. 1. FIG.
3 is a block diagram showing a configuration of a right arm device of the imaging robot of FIG. 1. FIG.
4 is a block diagram showing a configuration of a left arm device of the imaging robot of FIG. 1. FIG.
FIG. 5 is a block diagram showing a program of the photographing robot of FIG. 1;
6 is a flowchart showing an operation of the photographing robot of FIG. 1. FIG.
FIG. 7 is a block diagram showing a second embodiment of the imaging robot of the present invention.
8 is a flowchart showing the operation of the imaging robot of FIG.
FIG. 9 is an explanatory view showing a third embodiment of the imaging robot of the present invention.
10 is a block diagram showing a program of the imaging robot of FIG. 9. FIG.
FIG. 11 is a flowchart showing the operation of the photographing robot of FIG. 9;
[Explanation of symbols]
11 Digital Camera 11a Release Button 11b Liquid Crystal Finder 13 Right Arm Device 15 Left Arm Device 17 Observation Device 51 Analysis Module 53 Imaging Module 55 Reception Module 59 Function Analysis Module 61 Shape Measurement Module 63 Speech Module 65 Reception Module 67 Operation Information Extraction Module 69 Model Storage Module 71 Model identification module 75 Operation information extraction module 77 Model storage module

Claims (7)

Manipulator means for holding the imaging device and operating the imaging device;
Observation means for converting the appearance of the photographing apparatus held by the manipulator means into image data;
Operation method obtaining means for obtaining an operation method of the photographing apparatus;
Based on the operation method obtained by the operation method acquisition means, photographing means for outputting a command for operating the photographing apparatus to the manipulator means,
A photographing robot characterized by comprising: The imaging robot according to claim 1,
The imaging robot according to claim 1, wherein the operation method acquisition unit analyzes an operation method of the imaging apparatus based on image data output from the observation unit. The imaging robot according to claim 1,
The operation method acquisition means includes
Storage means for storing the external shape and operation information of the photographing apparatus corresponding to the model;
Model specifying means for specifying the model from the appearance shape based on the image data output by the observation means;
Extracting means for extracting operation information corresponding to the model specified by the model specifying means from the storage means;
A photographing robot characterized by comprising: The imaging robot according to claim 1,
The operation method acquisition means includes
Storage means for storing operation information of the photographing apparatus corresponding to the model;
An input means for inputting a model designated by the subject,
Extraction means for extracting operation information corresponding to the model input to the input means from the storage means;
A photographing robot characterized by comprising: The imaging robot according to any one of claims 1 to 4,
The photographing apparatus has at least release means,
The manipulator means includes release operation means for operating at least the release means,
The imaging robot according to claim 1, wherein the operation method acquisition unit obtains at least an operation method of the release unit. The imaging robot according to any one of claims 1 to 5,
The photographing apparatus has a finder means capable of observing at least a finder image photographed by the photographing apparatus,
The observing means observes at least the finder image of the finder means;
The imaging robot, wherein the imaging unit outputs the command to the manipulator unit based on the image data of the finder image output from the observation unit. The imaging robot according to any one of claims 1 to 6,
The photographing robot characterized in that the manipulator means opens the photographing device after photographing by the photographing device.

Images