JP2006054790A - Camera control apparatus and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a camera control apparatus with which a camera control parameter can be designated in any illumination condition. <P>SOLUTION: The camera control apparatus has an image pickup means and a pan/tilt control means, and synthesizes images photographed at a plurality of positions by panning and tilting a camera image pickup range to generate a wide view image. The apparatus has a display means for displaying the panoramic image and designating an image pickup position on the panoramic image to perform position control of the camera. In this apparatus, the photographing for synthesizing the wide view image is performed with an infrared light. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a camera control device and a control method for remotely operating a camera.

  In a system that receives and displays video from a video camera from a remote location, a system that can specify parameters such as a pan angle, a tilt angle, and a zoom magnification of a camera installed at a remote location is known.

  In addition, in order to facilitate the control of the parameters of the camera installed at a remote place, a wide-field image is displayed on the user's terminal side, and the camera is controlled by the user specifying the coordinate position on the image. A method for specifying parameters is known.

  Moreover, as shown in Patent Document 1, a wide-field image is created by capturing images at a plurality of pan angles, tilt angles, zoom magnifications, and the like within a control range of a camera to be captured, and combining the images. And a method for specifying camera control parameters is known.

  In order to enable imaging with various illumination rays, a method of selectively mounting an infrared ray removal filter and a visible light removal filter on the front surface of the image sensor is known.

JP-A-10-164563

  In a system that receives and displays video from such a video camera from a remote location, the illumination conditions of the subject to be imaged are not uniform, and in some cases it may be necessary to image under conditions with little visible light . Under such illumination conditions, there is a problem that it is difficult to create a wide-field image for specifying camera control parameters.

  Accordingly, the present invention has been made in view of the above-described problems, and an object thereof is to provide a camera control device and a control method capable of designating camera control parameters under any illumination conditions.

  In order to solve the above-described problems and achieve the object, a camera control apparatus according to the present invention has an image capturing unit and a pan / tilt control function, and pans / tilts a camera image capturing range and images at a plurality of positions. A camera control device that includes a display unit that generates a wide-field image by combining the images and displays the panoramic image, and controls the position of the camera by designating an imaging position in the wide-field image; Imaging for synthesizing the wide-field image is performed with infrared light.

  In addition, it has an image capturing means and pan / tilt control function, generates a wide-field image by combining images captured at multiple positions by panning / tilting the camera imaging range, and displaying the wide-field image A camera control apparatus for controlling the position of the camera by designating an imaging position in the wide-field image, and having a filter insertion / removal means for inserting / removing an infrared cut filter in / from the optical path of the camera In addition, imaging for synthesizing the wide-field image is performed in conjunction with the insertion and removal of the infrared cut filter.

  In addition, it has an image capturing means and pan / tilt control function, generates a wide-field image by combining images captured at multiple positions by panning / tilting the camera imaging range, and displaying the wide-field image A camera control device for controlling the position of the camera by designating an imaging position on the wide-field image, and having a filter insertion / removal unit for inserting / removing an infrared cut filter in / from the optical path of the camera. Storage means for storing exposure control parameters at the time of wide-field image capture, and arithmetic means for calculating the difference between the exposure control parameter at the time of wide-field image capture being displayed and the current exposure control parameter, When the difference by the calculation of the calculation means becomes a predetermined value or more, imaging for synthesizing the wide-field image is performed again to generate a wide-field image.

  The display means for displaying the wide-field image is connected to the image capturing means via a network, and generates the wide-field image via the network.

  According to the present invention, a camera having a pan / tilt control function can be controlled by clicking a point on a panoramic image captured with infrared light and panorama synthesized, and can be easily used at night when the illumination is low. The camera can be operated reliably.

  In addition, since the panoramic image is automatically synthesized in conjunction with the operation of the infrared cut filter insertion / removal mechanism, the camera can be operated with the panoramic image suitable for the illumination of the subject, and the type of imaging light can be selected. The camera can be operated by the panoramic image, and the camera can be easily and reliably operated under any lighting conditions.

  Even when the brightness of the subject fluctuates, the camera can be operated with the panoramic image according to the brightness of the subject in order to automatically re-acquire the panoramic image when the change in the photometric data of the camera is large. This makes it possible to operate the camera easily and reliably under any lighting conditions.

  Further, since the camera can be operated via the network, the camera can be easily and reliably operated from a remote place.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a system block diagram of a camera control apparatus according to the present invention.

The system shown in FIG. 1 includes an imaging optical unit including an imaging zoom lens 101, an aperture 102, an infrared cut filter 103, an optical low-pass filter 104, and a CCD imaging device 105, a pan / tilt control mechanism 110, zoom and focus. Controller 111, aperture drive mechanism 112, infrared cut filter taking-in / out mechanism 113, image processing unit including CDS & AGC 106, camera signal processing 107, panorama synthesis 108, and memory 109, and image display unit 114, a camera control unit 115, and a CPU 116 for controlling the system.

  First, a block until the incident light from the subject enters the CCD image sensor 105 will be described.

  The light beam reflected from the subject is focused at a desired angle of view by controlling the zoom and focus of the imaging zoom lens 101, and the amount of incident light is appropriately controlled by the diaphragm 102 and enters the CCD image sensor 105.

  In the case of imaging with visible light, the light reflected from the subject is cut off with infrared light by an infrared cut filter 103 disposed in the optical path to the CCD image sensor 105, and in the case of imaging with infrared light. The infrared cut filter 103 is retracted from the optical path, and infrared light is incident.

  The optical low-pass filter 104 disposed in the optical path to the CCD image sensor 105 removes a spatial frequency component that generates a false color signal.

  In this embodiment, the CCD image pickup device 105 is used as the image pickup device. However, even if an image pickup device such as a CMOS sensor is used, the aperture 102 is deleted according to the image pickup conditions and the exposure of the CCD is controlled by an electronic shutter or the like. Alternatively, the optical low-pass filter 104 may be deleted.

  Next, a block for controlling the imaging position and angle of view of this system will be described.

  The control command from the camera control unit 115 is read by the CPU 116. When performing pan / tilt control, the CPU 116 controls the camera platform 110 to a desired position, and when performing zoom control, the CPU 115 A zoom and focus drive mechanism 111 is controlled to control the imaging zoom lens 101 to a desired angle of view.

  Next, the selection of the wavelength of the light beam incident on the CCD image sensor 105 and the block for controlling the light amount will be described.

  The infrared cut filter 103 can be selected to be inserted into or withdrawn from the optical path of the imaging system by the infrared cut filter taking-in / out mechanism 113 under the control of the CPU. In the case of imaging with visible light, the infrared cut filter 103 is inserted into the optical path, In the case of imaging with infrared light, the infrared cut filter 103 is retracted from the optical path.

  The diaphragm 102 is controlled by the CPU 116 so that the amount of light incident on the CCD image sensor 105 is appropriate, and the CPU 116 can store a control history of the diaphragm 102 for a certain period of time.

  The optical low-pass filter 104 is disposed immediately before the CCD image sensor 105 in the optical path, and removes a spatial frequency component that easily generates a false color signal.

  Next, a block for processing an output signal from the CCD image sensor 105 will be described.

  The video signal output from the CCD image sensor 105 is reduced in low-frequency noise by the CDS function of the CDS & AGC 106, and then the AGC gain is adjusted by the CPU 116 so that the AGC function has an appropriate level for signal processing in the camera signal processing 107. The CPU 116 can store the AGC gain control history for a certain time.

  Next, the panorama synthesis block will be described.

  The CPU 116 operates in accordance with the control of the pan / tilt control mechanism 110 and the zoom / focus drive mechanism 111 in accordance with an instruction from the camera control unit 115 or a determination of the CPU 116, and the panorama composition 108 is input from the camera signal processing 107. A single video signal is temporarily stored in the memory 109 and arranged in a prescribed order to be combined into a single image.

  The panorama composition 108 processes the synthesized image into an image size and resolution suitable for displaying on the image display unit 114.

  Next, the image display unit 114 and the camera control unit 115 will be described.

  The image display unit 114 displays the currently displayed image display 301, the panorama image 314 synthesized by the panorama synthesis 108, and camera operation function buttons 302 to 313 functionally arranged as in the example of FIG.

  In FIG. 3, 302 is a tilt direction control bar, 303 is a left tilt control button, 306 is a right tilt control button, 307 is a pan direction control bar, 304 is an upward pan control button, and 305 is Pan control button downward, 308 zoom operation button to TELE side, 310 zoom operation button to WIDE side, 309 infrared cut filter insertion / removal operation button 313, infrared cut filter insertion / removal mechanism 113 is red A button 311 is used to select whether or not to perform panorama composition every time the outside cut filter 103 is controlled. 311 is automatically selected when the aperture, shutter speed, and video level change by a predetermined level or more after the previous panorama composition. 312 is a button for selecting whether or not to perform panorama synthesis again. A control button for start.

  When the camera operation function button displayed on the image display unit 114 is operated, the camera control unit 115 transmits a command to the CPU 116 to perform a predetermined camera operation.

  Next, operations related to the present invention will be described based on the operation of each block described so far.

  First, the first operation mode will be described.

  In the first operation mode, the system of the present embodiment performs imaging with visible light in normal illumination, creates a panoramic image with visible light, and controls the camera.

  In this case, the infrared cut filter insertion / removal mechanism 113 performs imaging in a state where the infrared cut filter 103 is inserted into the optical path by the infrared cut filter insertion / removal operation button 313.

  When the button 312 is operated in this state, the CPU 116 controls the pan / tilt control mechanism 110 and the zoom / focus drive mechanism 111 so that the camera photographing position and the angle of view are set to A1 as in the panoramic imaging example of FIG. → B1 → C1 → D1 → E1 → F1 → F2 → E2 → D2 → C2 → B2 → A2 → A3 → B3 → C3 → D3 → E3 → F3 → F4 → E4 → D4 → C4 → B4 → A4 → A5 → B5 → C5 → D5 → E5 → F5 → F6 → E6 → D6 → C6 → B6 → A6 The panorama composition 108 temporarily stores each image in the memory 109 in conjunction with the image capturing and ends the imaging. Later, each image is arranged in a predetermined position and synthesized into one image.

  The synthesized image is transferred to the image display unit 114 as an image having an optimum size and resolution to be displayed on the image display unit 114.

  The image display unit 114 arranges and displays the panorama image synthesized by the panorama synthesis 108, the currently captured image, the camera control button, and the like as shown in FIG.

  The camera operator can operate pan / tilt with the slide bar using the control bar 302 in the tilt direction and the control bar 307 in the pan direction.

  Further, the tilt control button 303 to the left side, the tilt control button 306 to the right side, the pan control button 304 to the upper side, and the pan control button 305 to the lower side can be used to operate pan / tilt by the arrow buttons. .

  In addition, pan / tilt can be operated by clicking a desired imaging point in the synthesized panoramic image 314 with a mouse or the like.

  Next, the second operation mode will be described.

  In the second operation mode, the system of the present embodiment mainly performs imaging with infrared light in a situation where normal illumination such as nighttime cannot be obtained, creates a panoramic image with infrared light, Take control.

  In this case, the infrared cut filter insertion / removal mechanism 113 performs imaging with the infrared cut filter 103 being retracted from the optical path by the infrared cut filter insertion / removal operation button 313.

  When the button 312 is operated in this state, the CPU 116 controls the pan / tilt control mechanism 110 and the zoom / focus drive mechanism 111 so that the camera photographing position and the angle of view are set to A1 as in the panoramic imaging example of FIG. → B1 → C1 → D1 → E1 → F1 → F2 → E2 → D2 → C2 → B2 → A2 → A3 → B3 → C3 → D3 → E3 → F3 → F4 → E4 → D4 → C4 → B4 → A4 → A5 → B5 → C5 → D5 → E5 → F5 → F6 → E6 → D6 → C6 → B6 → A6 The panorama composition 108 temporarily stores each image in the memory 109 in conjunction with the image capturing and ends the imaging. Later, each image is arranged in a predetermined position and synthesized into one image.

  The synthesized image is transferred to the image display unit 114 as an image having an optimum size and resolution to be displayed on the image display unit 114.

  The image display unit 114 arranges and displays the panorama image synthesized by the panorama synthesis 108, the currently captured image, the camera control button, and the like as shown in FIG.

  The camera operator can operate pan / tilt with the slide bar using the control bar 302 in the tilt direction and the control bar 307 in the pan direction.

  Further, the tilt control button 303 to the left side, the tilt control button 306 to the right side, the pan control button 304 to the upper side, and the pan control button 305 to the lower side can be used to operate pan / tilt by the arrow buttons. .

  In addition, pan / tilt can be operated by clicking a desired imaging point in the synthesized panoramic image 314 with a mouse or the like.

  Next, the third operation mode will be described.

  In the third operation mode, the system according to the present embodiment selects and performs imaging mainly with infrared light in a situation where normal illumination such as nighttime illumination and normal illumination such as nighttime cannot be obtained, A panoramic image is automatically created with visible light or infrared light according to each imaging state, and the camera is controlled.

  In this case, the operation button 309 is set to ON, and the infrared cut filter insertion / removal mechanism 113 is operated by the camera operator using the infrared cut filter insertion / removal operation button 313 according to the illumination state of the subject to be imaged. Is selected to be inserted into or retracted from the optical path.

  When the infrared cut filter insertion / removal operation button 313 is operated in this state, the CPU 116 automatically performs the pan / tilt control mechanism 110 according to the situation where the infrared cut filter 103 is inserted into the optical path or withdrawn from the optical path. Then, the zoom and focus drive mechanism 111 is controlled, and the camera photographing position and angle of view are set to A1 → B1 → C1 → D1 → E1 → F1 → F2 → E2 → D2 → C2 → B2 as in the panoramic imaging example of FIG. → A2 → A3 → B3 → C3 → D3 → E3 → F3 → F4 → E4 → D4 → C4 → B4 → A4 → A5 → B5 → C5 → D5 → E5 → F5 → F6 → E6 → D6 → C6 → B6 → A6 The panorama synthesis 108 temporarily stores each image in the memory 109 in conjunction with the imaging, arranges the images at predetermined positions after the imaging, and combines them into a single image.

  The synthesized image is transferred to the image display unit 114 as an image having an optimum size and resolution to be displayed on the image display unit 114.

  The image display unit 114 arranges and displays the panorama image synthesized by the panorama synthesis 108, the currently captured image, the camera control button, and the like as shown in FIG.

  The camera operator can operate pan / tilt with the slide bar using the control bar 302 in the tilt direction and the control bar 307 in the pan direction.

  Further, the tilt control button 303 to the left side, the tilt control button 306 to the right side, the pan control button 304 to the upper side, and the pan control button 305 to the lower side can be used to operate pan / tilt by the arrow buttons. .

  In addition, pan / tilt can be operated by clicking a desired imaging point in the synthesized panoramic image 314 with a mouse or the like.

  Next, the fourth operation mode will be described.

  In the fourth operation mode, the system of the present embodiment mainly performs imaging with infrared light in a situation where normal illumination such as nighttime cannot be obtained, creates a panoramic image with infrared light, Take control.

  In this case, the operation button 311 is set to ON, and photometric data such as the aperture, shutter speed, and AGC gain of the imaging data when the currently displayed panoramic image is synthesized is stored in the CPU 116. The photometric data such as the aperture, shutter speed, AGC gain, etc. are compared with the photometric data at the time of combining the currently displayed panoramic image. If the difference between the comparison results exceeds a predetermined level, the subject is imaged. It is determined that the state has changed greatly, and the panoramic image is recombined as follows.

  If it is determined that the imaging state of the subject has changed significantly, the CPU 116 controls the pan / tilt control mechanism 110 and the zoom / focus drive mechanism 111 so that the camera shooting position and angle of view are as shown in the panoramic imaging example of FIG. A1-> B1-> C1-> D1-> E1-> F1-> F2-> E2-> D2-> C2-> B2-> A2-> A3-> B3-> C3-> D3-> E3-> F3-> F4-> E4-> D4-> C4-> B4-> A4-> A5 → B5 → C5 → D5 → E5 → F5 → F6 → E6 → D6 → C6 → B6 → A6 The panorama composition 108 temporarily stores each image in the memory 109 in conjunction with the imaging. After the imaging is completed, the images are arranged at predetermined positions and combined into one image.

  The synthesized image is transferred to the image display unit 114 as an image having an optimum size and resolution to be displayed on the image display unit 114.

  The image display unit 114 arranges and displays the panorama image synthesized by the panorama synthesis 108, the currently captured image, the camera control button, and the like as shown in FIG.

  The camera operator can operate pan / tilt with the slide bar using the control bar 302 in the tilt direction and the control bar 307 in the pan direction.

  Further, the tilt control button 303 for the left side, the tilt control button 306 for the right side, the pan control button 304 for the upper side, and the pan control button 305 for the lower side can be used to operate pan / tilt by an arrow button. .

  In addition, pan / tilt can be operated by clicking a desired imaging point in the synthesized panoramic image 314 with a mouse or the like.

  In the above description, the image display unit 114 and the camera control unit 115 are described as being integrated with the camera or in the vicinity of the camera. However, the image output from the camera signal processing 107 is an image via a network via Ethernet or the like. It is also possible to transfer to the display unit 114 and the camera control unit 115 and perform camera control from a remote place via a network.

It is a system block diagram of the camera control apparatus in an embodiment of the present invention. It is a division figure of the imaging area at the time of panorama composition in the camera control device in an embodiment of the invention. It is an example of an image display for camera control in the camera control device in an embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Zoom lens for image pick-up 102 Diaphragm 103 Infrared cut filter 104 Optical low-pass filter 105 Image pick-up element 110 Pan / tilt control mechanism 111 Drive mechanism of zoom and focus 112 Aperture drive mechanism 113 Infrared cut filter taking in / out mechanism 106 CDS & AGC circuit 107 Camera signal processing Circuit 108 Panorama composition circuit 109 Image memory 114 Image display unit 115 Camera control unit 116 CPU for controlling the system
301 Current Captured Image 302 Tilt Direction Control Bar 303 Left Tilt Control Button 304 Up Pan Control Button 305 Down Pan Control Button 306 Right Tilt Control Button 307 Pan Direction Control Bar 308 To Tele Zoom operation button 309 Mode setting button 310 Zoom operation button 311 Mode setting button 312 Operation button for starting panorama synthesis 313 Operation button for putting in and out the infrared cut filter 314 Composite panorama composite image

Claims (8)

Image capturing means and pan / tilt control function, and display means for panning / tilting the camera imaging range and combining images captured at multiple positions to generate a wide-field image and displaying the panoramic image In the camera control device that controls the position of the camera by designating the imaging position on the panoramic image,
A camera control device characterized in that imaging for synthesizing the wide-field image is performed with infrared light. Display means having an image pickup means and a pan / tilt control function, generating a wide-field image by combining images picked up at a plurality of positions by panning / tilting the camera image pickup range, and displaying the wide-field image A camera control device that controls the position of the camera by designating an imaging position in the wide-field image,
A camera control device having a filter insertion / removal means for inserting / removing an infrared cut filter in / from the optical path of the camera, and performing imaging for synthesizing a wide-field image in conjunction with the insertion / removal of the infrared cut filter . Display means having an image pickup means and a pan / tilt control function, generating a wide-field image by combining images picked up at a plurality of positions by panning / tilting the camera image pickup range, and displaying the wide-field image In a camera control device that controls the position of the camera by designating an imaging position on the wide-field image,
It has a filter means to put in and out the infrared cut filter in the optical path of the camera, and has a memory means to store the exposure control parameters at the time of wide-field image capture, and exposure control parameters at the time of wide-field image capture during display And calculating means for calculating the difference between the current exposure control parameters, and when the difference calculated by the calculating means exceeds a predetermined value, imaging for synthesizing the wide-field image is performed again, and the wide-field image The camera control device characterized by generating.   The camera control apparatus according to claim 1, wherein the display unit that displays the wide-field image is connected to the image capturing unit via a network. Display means having an image pickup means and a pan / tilt control function, generating a wide-field image by combining images picked up at a plurality of positions by panning / tilting the camera image pickup range, and displaying the wide-field image A camera control method for controlling the position of the camera by designating an imaging position on the wide-field image,
A camera control method characterized in that imaging for synthesizing the wide-field image is performed with infrared light. It has image capturing means and pan / tilt control functions, and has display means for generating panoramic images by panning / tilting the camera imaging range and capturing images taken at a plurality of positions and displaying the wide-field images. In the camera control method for controlling the position of the camera by designating the imaging position in the wide-field image,
A camera control method characterized by having filter insertion / removal means for inserting / removing an infrared cut filter in / from the optical path of the camera, and performing imaging for synthesizing a wide-field image in conjunction with the insertion / removal of the infrared cut filter . Display means having an image pickup means and a pan / tilt control function, generating a wide-field image by combining images picked up at a plurality of positions by panning / tilting the camera image pickup range, and displaying the wide-field image A camera control method for controlling the position of the camera by designating an imaging position on the wide-field image,
It has a filter means to put in and out the infrared cut filter in the optical path of the camera, and has a memory means to store the exposure control parameters at the time of wide-field image capture, and exposure control parameters at the time of wide-field image capture during display And calculating means for calculating the difference between the current exposure control parameters, and when the difference calculated by the calculating means exceeds a predetermined value, imaging for synthesizing the wide-field image is performed again, and the wide-field image A camera control method characterized by performing generation.   The camera control method according to claim 5, wherein the display unit that displays the wide-field image is connected to the image capturing unit via a network.

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