JP2011166336A - Monitoring camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an adjustment device which can make more efficient the adjustment operations that eliminates errors in setting camera growing apparent, accompanying the pan/tilt rotation movements. <P>SOLUTION: A CPU 28 adjusts an image sensor 14 at a pan angle α1 and a tilt angle β1, at which a reference index can be captured and then detects the appearance position of the reference index on a field image output by the image sensor 14 in the panning direction. The camera CPU 28 also adjusts the image sensor 14 at a pan angle α2(=α1+180°) and a tilt angle β2(=180°-β1), and then detects the appearance position of the reference index on a field image output by the image sensor 14 in the panning direction. The camera CPU 28 calculates the offset for correcting the position of a mask area assigned to an imaging surface, in the panning direction in response to a tilt angle range which is equal to or greater than 90°, on the basis of the appearance position of the reference index which is detected, in such a manner. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a surveillance camera, and more particularly to a surveillance camera that is applied to, for example, a dome-type surveillance camera and changes an imaging direction in response to a pan / tilt operation.

  An example of this type of camera is disclosed in Patent Document 1. According to this background art, the optical axis deviation amount indicating the deviation of the optical axis between the lens and the CCD imager is measured at the inspection stage. The measured optical axis deviation amount is stored in the memory. The microprocessor refers to the amount of optical axis deviation stored in the memory and shifts the cutting position so that the center of the effective screen cut out from the CCD imager matches the optical axis. As a result, the optical axis deviation can be easily corrected regardless of variations in the mechanical accuracy of the lens system.

JP 9-27926 A

  However, the background art does not assume a camera that rotates the imaging direction in the pan direction and the tilt direction, such as a pan / tilt camera, and an error in the camera setting that becomes apparent with the pan / tilt rotation operation is described above. There is no correction based on the amount of deviation.

  SUMMARY OF THE INVENTION Therefore, a main object of the present invention is to provide an adjusting device that can make the adjustment work for eliminating the camera setting error that becomes apparent with the pan / tilt rotation operation efficient.

  The camera adjustment device according to the present invention (10: reference numeral corresponding to the embodiment; the same applies hereinafter) is set to the first pan angle and the first tilt angle at which the reference index can be taken as the pan angle and tilt angle of the imaging means (14), respectively. First adjusting means (S35, S37) for adjusting, the second tilt angle obtained by subtracting the first tilt angle from the second pan angle obtained by adding 180 ° to the first pan angle, and the pan angle and tilt angle of the image pickup means. A second adjusting means (S43 to S45) for adjusting each of the first adjusting means, and a first detecting means for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing of the first adjusting means. Detection means (S39), second detection means (S47) for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing of the second adjustment means, and imaging Position of the partial area assigned to the plane in the pan direction Is provided with first calculation means (S53) for calculating the first parameter value for correcting the angle corresponding to the specific tilt angle range based on the detection result of the first detection means and the detection result of the second detection means.

  Preferably, each of the first detection means and the second detection means detects a distance from the reference position on the imaging surface to the appearance position of the reference index corresponding to the pan direction, and the first calculation means is detected by the first detection means. The sum of the measured distance and the distance detected by the second detection means is calculated as the first parameter value.

  Preferably, third detection means (S41, S41) for detecting the position of the reference index in the tilt direction on the object scene image output from the imaging means in relation to the adjustment processing of the first adjustment means and / or the second adjustment means. S49) and second calculation means (S51) for calculating a second parameter value for correcting the definition of the tilt angle of the imaging means based on the detection result of the third detection means.

  Preferably, the specific tilt angle range corresponds to one of an angle range larger than a tilt angle corresponding to the pan axis and an angle range smaller than the tilt angle corresponding to the pan axis.

  Preferably, the partial area corresponds to an area on which special effect processing is performed.

  Preferably, the first adjustment unit changes the pan angle and / or the tilt angle of the imaging unit in a predetermined order when the reference index disappears on the object scene image output from the imaging unit (S37). including.

  More preferably, the reference index corresponds to an intersection of a plurality of lines, the plurality of lines have a width that decreases toward the intersection, and the first adjustment unit is a line appearing in the object scene image output from the imaging unit Angle adjusting means (S61 to S65) for adjusting the first pan angle and the first tilt angle based on the width of the first pan angle.

  The camera adjustment program according to the present invention adjusts the pan angle and tilt angle of the imaging means (14) to the first pan angle and the first tilt angle at which the reference index can be captured by the processor (28) of the camera adjustment device (10). The first adjustment step (S35, S37), the pan angle and tilt angle of the imaging means to the second pan angle obtained by adding 180 ° to the first pan angle, and the second tilt angle obtained by subtracting the first tilt angle from 180 °. A second detection step (S43 to S45) for adjusting each, and a first detection for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment process of the first adjustment step. Step (S39), a second detection step (S47) for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment process of the second adjustment step, and the imaging surface Part assigned to A calculation step (S53) for calculating a parameter value for correcting the position in the rear pan direction corresponding to the specific tilt angle range based on the detection result of the first detection step and the detection result of the second detection step is executed. This is a camera adjustment program.

  The camera adjustment method according to the present invention is a camera adjustment method executed by the camera adjustment device (10), and the first pan angle and the first tilt with which the reference index can be used for the pan angle and the tilt angle of the imaging means (14). A first adjustment step (S35, S37) for adjusting the angle respectively; a pan angle and a tilt angle of the imaging means; a second pan angle obtained by adding 180 ° to the first pan angle; and a first tilt angle obtained by subtracting the first tilt angle from 180 °. The second adjustment step (S43 to S45) for adjusting to two tilt angles, and the appearance position of the reference index in the pan direction is detected on the object scene image output from the imaging means in connection with the adjustment process of the first adjustment step. The first detection step (S39) and the second detection step (S47) for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in association with the adjustment processing of the second adjustment step. , And A calculation step for calculating a parameter value for correcting the position of the applied partial area in the pan direction corresponding to the specific tilt angle range based on the detection result of the first detection step and the detection result of the second detection step ( S53).

  According to the present invention, the position of the partial area allocated to the imaging surface is corrected corresponding to the specific tilt angle range, and the parameter values referred to for this are corresponding to the appearance position and the second attitude corresponding to the first attitude. Calculated based on the appearance position. As a result, it is possible to improve the efficiency of the adjustment work for eliminating the camera setting error that becomes apparent with the pan / tilt rotation operation.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

It is a block diagram which shows the basic composition of this invention. It is a block diagram which shows an example of a structure of the surveillance camera applied to one Example of this invention. It is an illustration figure which shows an example of the monitoring zone. (A) is an illustration figure which shows a part of pan rotation operation | movement, (B) is an illustration figure which shows a part of tilt rotation operation | movement. (A) is an illustrative view showing a part of the tilt angle redefinition operation, and (B) is an illustrative view showing another part of the tilt angle redefinition operation. (A) is an illustrative view showing a part of the pan rotation operation, (B) is an illustrative view showing another part of the pan rotation operation, and (C) shows another part of the pan rotation operation. FIG. (A) is an illustrative view showing a part of the mask area assignment operation, and (B) is an illustrative view showing another part of the mask area assignment operation. It is a flowchart which shows a part of operation | movement of CPU applied to the FIG. 2 Example. It is a flowchart which shows a part of operation | movement of CPU applied to the FIG. 2 Example. It is a flowchart which shows a part of other operation | movement of CPU applied to the FIG. 2 Example. It is an illustration figure which shows an example of the chart used in an inspection process. It is an illustration figure which shows a part of adjustment operation of the imaging direction in a test | inspection process. It is an illustration figure which shows a part of imaging operation in a test process. It is an illustration figure which shows another part of imaging operation in a test process. FIG. 3 is an illustrative view showing one example of a configuration of a register applied to the embodiment in FIG. 2; FIG. 10 is an illustrative view showing one example of a configuration of another register applied to the embodiment in FIG. 2; It is a flowchart which shows a part of operation | movement of CPU applied to the FIG. 2 Example. It is a flowchart which shows a part of other operation | movement of CPU applied to the FIG. 2 Example. It is an illustration figure which shows an example of the chart used in the test | inspection process of another Example. It is a flowchart which shows a part of operation | movement of CPU applied to the surveillance camera of another Example.

Embodiments of the present invention will be described below with reference to the drawings.
[Basic configuration]

  Referring to FIG. 1, the camera adjustment device of the present invention is basically configured as follows. The first adjusting unit 1 adjusts the pan angle and the tilt angle of the imaging unit 6 to a first pan angle and a first tilt angle at which a reference index can be captured, respectively. The second adjusting unit 2 adjusts the pan angle and the tilt angle of the imaging unit 6 to a second pan angle obtained by adding 180 ° to the first pan angle and a second tilt angle obtained by subtracting the first tilt angle from 180 °, respectively. . The first detection unit 3 detects the appearance position of the reference index in the pan direction on the object scene image output from the imaging unit 6 in association with the adjustment process of the first adjustment unit 1. The second detection unit 4 detects the appearance position of the reference index in the pan direction on the object scene image output from the imaging unit 6 in association with the adjustment process of the second adjustment unit 2. The first calculation means 5 uses the detection result of the first detection means 3 and the second detection means for correcting the position in the pan direction of the partial area assigned to the imaging surface in accordance with the specific tilt angle range. 4 based on the detection result of 4.

  When the orientation of the imaging surface corresponding to the adjustment process of the first adjustment means 1 is defined as the first orientation and the orientation of the imaging surface corresponding to the adjustment processing of the second adjustment means 2 is defined as the second orientation, the second orientation is the first orientation. Inverted vertically with respect to the posture. When there is a design error in the pan / tilt mechanism or the optical mechanism, a deviation due to the setting error occurs between the appearance position of the reference index corresponding to the first attitude and the appearance position of the reference index corresponding to the second attitude. Further, this deviation becomes apparent in a part of the tilt angle range.

The position in the pan direction of the partial area assigned to the imaging surface is corrected corresponding to the specific tilt angle range, and the first parameter value referred to for this is the appearance position corresponding to the first orientation and the appearance corresponding to the second orientation. Calculated based on the position. As a result, it is possible to improve the efficiency of the adjustment work for eliminating the camera setting error that becomes apparent with the pan / tilt rotation operation.
[Example]

  A surveillance camera 10 of this embodiment shown in FIG. 2 is a dome-type camera that is installed on an indoor ceiling and monitors the surveillance zone shown in FIG. 3 from obliquely above, and includes an optical lens 12 and an image sensor 14. An optical image representing a part of the monitoring zone is irradiated on the imaging surface of the image sensor 14 through the zoom lens 12.

  When the power is turned on, the CPU 28 instructs the driver 16 to repeat the exposure operation and the charge readout operation in order to execute the moving image capturing process under the imaging control task. In response to a periodically generated timing signal, the driver 16 performs exposure of the imaging surface and reading of the electric charges generated thereby. From the image sensor 14, raw image data based on the electric charges read from the imaging surface is repeatedly output.

  The camera processing circuit 18 performs processing such as color separation, white balance adjustment, and YUV conversion on the raw image data output from the image sensor 14, and the YUV format image data generated thereby is transferred to the SDRAM 22 through the memory control circuit 20. Write. The image data periodically taken into the SDRAM 22 in this way is subjected to a mask process described later by the CPU 28. The video I / F 24 reads the image data subjected to the mask processing from the SDRAM 22 through the memory control circuit 20, and sends the read image data to an external controller (not shown). A monitor image based on the transmitted image data is displayed on a monitor screen provided in the external controller.

  The external controller is provided with a joystick for instructing pan / tilt rotation of the monitoring camera 10. When the operator tilts the joystick, pan / tilt operation information describing a direction parameter corresponding to the tilt direction of the joystick and a speed parameter corresponding to the tilt angle of the joystick is created. When the operator releases the joystick, the joystick returns to the initial state (the state in which the stick is upright) by the restoring force, and the pan / tilt stop information is created only once instead of the pan / tilt operation information.

  The external controller sends the pan / tilt operation information and pan / tilt stop information thus created to the monitoring camera 10. The sent pan / tilt operation information and pan / tilt stop information are given to the CPU 28 via the communication I / F 30.

  When the pan / tilt operation information or the pan / tilt stop information is given, the CPU 28 issues a pan / tilt rotation instruction to the pan rotation mechanism 32 and / or the tilt rotation mechanism 34 under the direction control task. As a result, the orientation of the imaging surface is changed to a desired direction at a desired speed. The CPU 28 also issues a pan / tilt stop instruction to the pan rotation mechanism 32 and / or the tilt rotation mechanism 34 under the direction control task when the pan / tilt stop information is given. As a result, the operation for changing the orientation of the imaging surface is stopped.

  Referring to FIG. 4A, the pan angle θp is a parameter that defines the horizontal angle of the optical axis orthogonal to the imaging surface, and the horizontal angle when the imaging surface is directed to true north is 0 ° (or 360). °) increases along the clockwise direction. Therefore, the pan angle θp indicates 90 °, 180 °, and 270 ° corresponding to true east, true south, and true west, respectively. The variable range of the pan angle θp is 0 ° ≦ θp <360 °.

  Referring to FIG. 4B, the tilt angle θt is a parameter that defines the vertical angle of the optical axis orthogonal to the imaging surface, and when the imaging surface is oriented horizontally with the upper end of the image sensor 14 facing upward. The vertical angle of the vertical axis increases to 0 ° along the downward direction. The tilt angle θt indicates 90 ° when the imaging surface is directed directly downward, and indicates 180 ° when the imaging surface is directed horizontally with the upper end of the image sensor 14 facing downward. The variable range of the tilt angle θt is −20 ° ≦ θt <200 °.

  Returning to FIG. 2, under the imaging control task, the CPU 28 reads the offset OFST_AGL from the register RGST1 and redefines the tilt angle θt according to the read offset OFST_AGL.

  The tilt rotation mechanism 34 has a setting error corresponding to “−Δβ”, and if this setting error is left unattended, when the tilt angle θt is set to “β1”, the tilt angle θt is actually “Β1-Δβ” is set. Similarly, when the tilt angle θt is to be set to “β2”, the tilt angle θt is actually set to “β2−Δβ”.

  Assuming that “β1” and “β2” are satisfied under the condition that “β1 = 180 ° −β2”, as can be seen from FIG. 5A, the optical axis corresponding to “β1” and the light corresponding to “β2” Although the axis is set symmetrically with respect to the vertical axis VAX, the optical axis corresponding to “β1-Δβ” and the optical axis corresponding to “β2-Δβ” are set asymmetrically with respect to the vertical axis VAX. .

  Such asymmetry is obtained when the object scene image captured with the settings θt = β2−Δβ and θp = α1 + 180 ° is compared with the object scene image captured with the settings θt = β1−Δβ and θp = α1. Realize.

  The offset OFST_AGL is a parameter for eliminating such asymmetry. As a result of redefining the tilt angle θt with reference to the offset OFST_AGL, the definition of the tilt angle θt shifts from the state indicated by the dotted line in FIG. 5B to the state indicated by the solid line in FIG. 5B.

  Based on such redefinition, the CPU 28 repeatedly detects the pan angle θp and the tilt angle θt, and repeatedly transmits angle information describing the pan angle θp and the tilt angle θt to the external controller through the communication I / F 30. The external controller displays the monitoring image on the monitor in an upright posture when the tilt angle θt described in the angle information is less than 90 °, while displaying the monitoring image when the tilt angle θt described in the angle information is 90 ° or more. Display on the monitor in an inverted position.

  The CPU 28 also determines based on the detected pan angle θp and tilt angle θt whether or not the pre-registered protection object is captured by the imaging surface (strictly speaking, the effective pixel area). If the protected object is captured by the imaging surface, the CPU 28 refers to the detected pan angle θp and tilt angle θt, identifies the position of the protected object image, and stores it in the SDRAM 24 corresponding to the identified position. Set the mask area.

  However, if the setting error of “−Δα” exists in the pan rotation mechanism 32, and this setting error is left as it is, the pan angle θp is actually set when the pan angle θp is set to “α1”. “Α1-Δα” is set. Similarly, when the pan angle θp is set to “α2”, the pan angle θp is actually set to “α2−Δα”.

  When “α1” and “α2” are assumed under the condition that “α2 = α1 + 180 °”, the optical axis is set as shown in FIG. 6A corresponding to θp = α1−Δα and θt = 0 °. 6B corresponding to θp = α2−Δα and θt = 0 °, and shown in FIG. 6C corresponding to θp = α2−Δα and θt = 180 °. Is set as follows.

  When the object scene image captured with the setting shown in FIG. 6C is compared with the object scene image captured with the setting shown in FIG. 6A, a shift corresponding to “Δα * 2” appears in the pan direction. Turn into. If there is an error in the tilt axis setting, a deviation due to this error is added to “Δα * 2”.

  Therefore, when the tilt angle θt is 90 ° or more, the CPU 28 corrects the position of the mask area with reference to the offset OFST_MSK registered in the register RGST1. The offset OFST_MSK is a parameter for eliminating the shift corresponding to the above-mentioned “Δα * 2”, and is referred to in the angle range where the tilt angle θt is 90 ° or more.

  Therefore, on the assumption that the painting PCT shown in FIG. 3 is registered as a protection object, the painting PCT is captured corresponding to θp = α1−Δα and θt = β1 (β1: tilt angle after redefinition). Then, the mask area is set as shown in FIG. On the other hand, when the painting PCT is captured corresponding to θp = α2−Δα and θt = 180 ° −β1, the mask area is set as shown in FIG. 7B.

  The CPU 28 masks part of the image data (that is, image data representing the protected object image) belonging to the mask area thus determined. This protects the privacy of the object to be protected.

  The CPU 28 executes a plurality of tasks including the direction control task shown in FIG. 8 and the imaging control task shown in FIGS. 9 to 10 in parallel. Note that control programs corresponding to these tasks are stored in the flash memory 26.

  Referring to FIG. 8, in step S1, it is determined whether pan / tilt operation information has been received, and in step S3, it is determined whether pan / tilt stop information has been received. If “YES” in the step S1, the process proceeds to a step S5, and a pan / tilt rotation instruction is issued to the pan rotation mechanism 32 and / or the tilt rotation mechanism 34. If “YES” in the step S3, the process proceeds to a step S7 to issue a pan / tilt stop instruction to the pan rotating mechanism 32 and / or the tilt rotating mechanism 34. When the process of step S5 or 7 is completed, the process returns to step S1. If both steps S1 and S3 are NO, the process directly returns to step S1.

  Referring to FIG. 9, in step S11, a moving image capturing process is executed. As a result, a plurality of frames of image data representing the object scene captured on the imaging surface are sent to the external controller. In step S13, the tilt angle θt is redefined with reference to the offset OFST_AGL registered in the register RGST1. Thereby, the shift of the tilt angle θt due to the setting error of the tilt rotation mechanism 34 is eliminated.

  In step S15, the current pan angle θp and tilt angle θt are detected based on the redefinition in step S13, and in step S17, angle information describing the detected pan angle θp and tilt angle θt is sent to the external controller. To do. As a result, the monitoring image is displayed on the monitor in an upright state when the tilt angle θt is less than 90 °, and is displayed on the monitor in an inverted state when the tilt angle θt is 90 ° or more.

  In step S19, it is determined based on the pan angle θp and tilt angle θt detected in step S15 whether or not the object to be protected is captured by the imaging surface. If a determination result is NO, it will return to Step S15, and if a determination result is YES, it will progress to Step S21.

  In step S21, the position of the protected object image is specified with reference to the pan angle θp and tilt angle θt detected in step S15, and a mask area is set in the SDRAM 24 corresponding to the specified position. In step S23, it is determined whether or not the tilt angle θt is 90 ° or more. If the determination result is NO, the process proceeds directly to step S27. If the determination result is YES, the process proceeds to step S27 through the process of step S25. .

  In step S25, the position of the mask area set in step S21 is corrected with reference to the offset OFST_MSK registered in the register RGST1. In step S27, a part of the image data belonging to the mask area thus determined (that is, image data representing the protected object image) is masked. When the mask process is completed, the process returns to step S15.

  The above-described offsets OFST_AGL and OFST_MSK are calculated in the inspection process of the monitoring camera 10 (= process before shipment).

  First, as shown in FIG. 11, a chart CHRT1 on which two straight lines L1 and L2 perpendicular to each other are drawn is prepared, and the monitoring camera 10 is arranged so that the imaging surface faces the chart CHRT1. When the operation mode of the monitoring camera 10 is set to the inspection mode in this state, the following processing is executed under the offset detection task of the CPU 28.

  First, an initialization instruction for initializing the pan angle θp and the tilt angle θt is issued to the pan rotation mechanism 32 and the tilt rotation mechanism 34. As a result of the pan / tilt rotation operation according to the initialization instruction, the imaging surface captures the central area 0 among the areas 0 to 8 shown in FIG.

  Subsequently, a moving image capturing process is executed, and image data representing the object scene captured on the imaging surface is repeatedly captured into the SDRAM 22. If the intersection of the straight lines L1 and L2 drawn on the chart CHRT1 does not appear in the image data on the SDRAM 22, the pan angle θp and / or the tilt angle θt is changed. This changing process is repeatedly executed until the intersection of the straight lines L1 and L2 is found. The imaging surface captures areas 1 to 8 shown in FIG. 12 in order for each change process.

  When the intersection of the straight lines L1 and L2 is found, an offset from the found intersection to the center of the imaging surface is detected corresponding to each of the pan direction and the tilt direction. When the imaging surface (effective pixel area) captures the chart CHRT1 in the manner shown in FIG. 13, the offset detected corresponding to the pan direction corresponds to “OFST_P1”, and the offset detected corresponding to the tilt direction is This corresponds to “OFST_T1”.

  The offset OFST_P1 is registered in the register RGST2 shown in FIG. 15 corresponding to the current pan angle θp (= α1). The offset OFST_T1 is registered in the same register RGST2 corresponding to the current tilt angle θt (= β1).

  Subsequently, the pan angle θp is set to “α2”, and the tilt angle θt is set to “β2”. Here, “α2” is an angle corresponding to “α1 + 180 °”, and “β2” is an angle corresponding to “180 ° −β1”.

  When the angle setting is completed, an offset from the intersection of the straight lines L1 and L2 to the center of the imaging surface is detected corresponding to each of the pan direction and the tilt direction. When the imaging surface (effective pixel area) captures the chart CHRT1 as shown in FIG. 14, the offset detected corresponding to the pan direction corresponds to “OFST_P2”, and the offset detected corresponding to the tilt direction is This corresponds to “OFST_T2”.

  The offset OFST_P2 is registered in the register RGST2 corresponding to the current pan angle θp (= α2). The offset OFST_T2 is registered in the register RGST2 corresponding to the current tilt angle θt (= β2).

  The offset OFST_AGL for redefining the tilt angle θt is calculated based on the offsets OFST_T1 and OFST_T2 registered in the register RGST2. Specifically, the offset OFST_AGL is calculated by multiplying the average value of the offsets OFST_T1 and OFST_T2 by a constant K, and the calculated offset OFST_AGL is registered in the register RGTS1 shown in FIG.

  The offset OFST_MSK for adjusting the position of the mask area is calculated based on the offsets OFST_P1 and OFST_P2 registered in the register RGST2. The offset OFST_MSK corresponds to the sum of the offsets OFST_P1 and OFST_P2, and the offset OFST_MSK is also registered in the register RGTS1.

  When the inspection mode is selected, the CPU 28 executes an offset detection task shown in FIGS. This task is also stored in the flash memory 26.

  In step S31, an initialization instruction is given to the pan rotation mechanism 32 and the tilt rotation mechanism 34 in order to initialize the pan angle θp and the tilt angle θt. In step S33, a moving image capturing process is executed. In step S35, it is determined whether or not an intersection of the straight lines L1 and L2 drawn on the chart CHRT1 has appeared. If the determination result is NO, the pan angle θp and / or the tilt angle θt are changed, and then the process returns to step S35. The change process in step S37 is repeatedly executed as long as the determination result in step S35 is NO. The orientation of the imaging surface is changed so that areas 1 to 8 shown in FIG.

  If the determination result of step S35 is YES, it will progress to step S39 and will detect the offset from the intersection of the straight lines L1 and L2 to the center of an imaging surface corresponding to a pan direction. The detected offset (= OFST_P1) is registered in the register RGST2 corresponding to the current pan angle θp (= α1). In step S41, an offset from the intersection of the straight lines L1 and L2 to the center of the imaging surface is detected corresponding to the tilt direction. The detected offset (= OFST_T1) is registered in the register RGST2 corresponding to the current tilt angle θt (= β1).

  In step S43, the pan angle θp is set to “α2”, and in step S45, the tilt angle θt is set to “β2”. In step S47, an offset from the intersection of the straight lines L1 and L2 to the center of the imaging surface is detected corresponding to the pan direction. The detected offset (= OFST_P2) is registered in the register RGST2 corresponding to the current pan angle θp (= α2). In step S49, an offset from the intersection of the straight lines L1 and L2 to the center of the imaging surface is detected corresponding to the tilt direction. The detected offset (= OFST_T2) is registered in the register RGST2 corresponding to the current tilt angle θt (= β2).

  In step S51, the offset OFST_AGL is calculated based on the offsets OFST_T1 and OFST_T2 registered in the register RGST2, and the calculated offset OFST_AGL is set in the register RGST1. In step S53, an offset OFST_MSK for mask position adjustment is calculated based on the offsets OFST_P1 and OFST_P2 registered in the register RGST2, and the calculated offset OFST_MSK is set in the register RGST1. The offset detection task is terminated after the process of step S53.

  As can be seen from the above description, the CPU 28 adjusts the pan angle and tilt angle of the image sensor 14 to the pan angle α1 and the tilt angle β1 at which the reference index (= intersection on the chart CHRT1) is captured (S35, S37). The offset OFST_P1 indicating the appearance position of the reference index in the pan direction is detected on the object scene image output from the image sensor 14 (S39). The CPU 28 also adjusts the pan angle and tilt angle of the image sensor 14 to the pan angle α2 (= α1 + 180 °) and the tilt angle β2 (= 180 ° −β1), respectively (S43 to S45), and the appearance of the reference index in the pan direction. The offset OFST_P2 indicating the position is detected on the object scene image output from the image sensor 14 (S47). The CPU 28 calculates the offset OFST_MSK for correcting the position in the pan direction of the mask area assigned to the imaging surface in accordance with the tilt angle range of 90 ° or more based on the above-described offsets OFST_P1 and OFST_P2 (S53).

  If the posture of the imaging surface corresponding to the pan angle α1 and the tilt angle β1 is an upright posture, the posture of the imaging surface corresponding to the pan angle α2 and the tilt angle β2 is an inverted posture. When a design error exists in the pan rotation mechanism 32, the tilt rotation mechanism 34, or the optical lens 12, the appearance position of the reference index corresponding to the upright posture and the appearance position of the reference index corresponding to the inverted posture are caused by the setting error. Deviation occurs. Further, this deviation becomes obvious in a tilt angle range of 90 ° or more.

  The position in the pan direction of the mask area assigned to the imaging surface is corrected corresponding to a tilt angle range of 90 ° or more, and the offset OFST_MSK referred to for this is the appearance position of the reference index detected corresponding to the upright posture And the appearance position of the reference index detected corresponding to the inverted posture. As a result, it is possible to improve the efficiency of the adjustment work for eliminating the camera setting error that becomes apparent with the pan / tilt rotation operation.

  In this embodiment, the chart CHRT1 shown in FIG. 11 is used in the inspection process, but a chart CHRT2 shown in FIG. 19 may be used instead. In the chart CHRT2, the width of each of the straight lines L1 and L2 increases as the distance from the intersection of the straight lines L1 and L2 increases. By using such a change in line width, the time for detecting the intersection of the straight lines L1 and L2 can be shortened. In this case, steps S61 to S65 shown in FIG. 20 are additionally executed.

  Referring to FIG. 20, if the determination result in step S35 is NO, it is determined in step S61 whether or not a line image representing the straight line L1 and / or L2 has appeared in the image data on the SDRAM 22. If the determination result is NO, the process proceeds to step S37, and if the determination result is YES, the process proceeds to step S63. In step S63, the pan angle and tilt angle at which the intersections of the straight lines L1 and L2 appear are calculated as “α1” and “β1” based on the line width of the straight lines L1 and / or L2 that appear in the image data. In step S65, an instruction for adjusting the pan angle θp of the imaging surface to “α1” is given to the pan rotation mechanism 32, and an instruction for adjusting the tilt angle θt of the imaging surface to “β1” is given to the tilt rotation mechanism 34. give. When the process of step S65 is completed, the process proceeds to step S9.

  In this embodiment, a dome type surveillance camera is used for explanation. However, as long as pan rotation operation and tilt rotation operation are possible, a surveillance camera of a different type from the dome type may be used.

10 ... surveillance camera 14 ... image sensor 22 ... SDRAM
28 ... CPU
32 ... Pan rotation mechanism 34 ... Tilt rotation mechanism

Claims (9)

First adjusting means for adjusting the pan angle and tilt angle of the image pickup means to a first pan angle and a first tilt angle, respectively, at which a reference index is captured;
Second adjusting means for adjusting the pan angle and tilt angle of the imaging means to a second pan angle obtained by adding 180 ° to the first pan angle and a second tilt angle obtained by subtracting the first tilt angle from 180 °;
First detection means for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing of the first adjustment means;
Second detection means for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing of the second adjustment means, and a portion assigned to the imaging surface A first parameter value for correcting the position of the area in the pan direction corresponding to a specific tilt angle range is calculated based on the detection result of the first detection means and the detection result of the second detection means. A camera adjustment device comprising a calculation means. Each of the first detection means and the second detection means detects a distance from a reference position of the imaging surface to an appearance position of the reference index corresponding to the pan direction,
2. The camera adjustment device according to claim 1, wherein the first calculation unit calculates a sum of a distance detected by the first detection unit and a distance detected by the second detection unit as the first parameter value. Third detection means for detecting the position of the reference index in the tilt direction on the object scene image output from the imaging means in relation to the adjustment processing of the first adjustment means and / or the second adjustment means; and 3. The camera according to claim 1, further comprising second calculation means for calculating a second parameter value for correcting the definition of the tilt angle of the imaging means based on a detection result of the third detection means. Adjustment device.   4. The specific tilt angle range corresponds to one of an angle range larger than a tilt angle corresponding to a pan axis and an angle range smaller than a tilt angle corresponding to the pan axis. Camera adjustment device.   The camera adjustment device according to claim 1, wherein the partial area corresponds to an area on which special effect processing is performed.   The first adjusting unit includes a changing unit that changes a pan angle and / or a tilt angle of the imaging unit in a predetermined order when the reference index disappears on the scene image output from the imaging unit. The camera adjustment device according to claim 1. The reference index corresponds to an intersection of a plurality of lines, and the plurality of lines have a width that decreases toward the intersection;
The first adjustment means further includes an angle adjustment means for adjusting the first pan angle and the first tilt angle based on a width of a line appearing in the object scene image output from the imaging means. The camera adjustment device described. To the processor of the camera adjustment device,
A first adjustment step of adjusting the pan angle and tilt angle of the imaging means to a first pan angle and a first tilt angle, respectively, at which a reference index is captured;
A second adjustment step of adjusting the pan angle and tilt angle of the imaging means to a second pan angle obtained by adding 180 ° to the first pan angle and a second tilt angle obtained by subtracting the first tilt angle from 180 °, respectively.
A first detection step of detecting an appearance position of the reference index in the pan direction on the object scene image output from the imaging means in association with the adjustment process of the first adjustment step;
A second detection step for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing in the second adjustment step; and a portion assigned to the imaging surface A calculation step is performed for calculating a parameter value for correcting the position of the area in the pan direction corresponding to a specific tilt angle range based on the detection result of the first detection step and the detection result of the second detection step. Camera adjustment program to make A camera adjustment method executed by a camera adjustment device,
A first adjustment step of adjusting the pan angle and tilt angle of the imaging means to a first pan angle and a first tilt angle, respectively, at which a reference index is captured;
A second adjustment step of adjusting the pan angle and tilt angle of the imaging means to a second pan angle obtained by adding 180 ° to the first pan angle and a second tilt angle obtained by subtracting the first tilt angle from 180 °, respectively.
A first detection step of detecting an appearance position of the reference index in the pan direction on the object scene image output from the imaging means in association with the adjustment process of the first adjustment step;
A second detection step for detecting the appearance position of the reference index in the pan direction on the object scene image output from the imaging means in relation to the adjustment processing in the second adjustment step; and a portion assigned to the imaging surface A calculation step of calculating a parameter value for correcting the position of the area in the pan direction corresponding to a specific tilt angle range based on the detection result of the first detection step and the detection result of the second detection step; , Camera adjustment method.

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