JP2020161940A - Imaging apparatus, imaging method, and imaging program - Google Patents

Abstract

To provide an imaging apparatus capable of speedy recording a movable body in a circumference environment, and an imaging program.SOLUTION: An imaging apparatus comprises: a camera unit that generates image data by imaging a circumference environment; an adsorption part that supports the camera unit, and is fixed to an adsorbed surface by a user; an adsorption determination part that determines whether or not an adsorption condition in which a relation between the adsorption part and the adsorbed surface is preset is satisfied; a brightness determination part that determines whether or not a brightness of a frame image generated on the basis of the image data satisfies a brightness reference; a movable body determination part that determines whether or not a movable body exists in the circumference environment; and a control unit that starts an output of the image data to a recording part when the adsorption determination part determines that the adsorption condition is satisfied, the brightness determination part determines that the brightness of the frame image satisfies the brightness reference, and the movable body determination part determines that the movable body exists.SELECTED DRAWING: Figure 2

Description

The present invention relates to an imaging device, an imaging method, and an imaging program.

In recent years, small imaging devices for recording surrounding conditions, such as wearable cameras and action cameras, have been known. Patent Document 1 discloses an electronic camera capable of capturing a landscape through glass by attaching it to a moving body such as an automobile or a train or a window glass of a building.

JP-A-11-69211

Regarding an imaging device for recording the surrounding situation, there is a demand for promptly starting the device and recording an image when a moving object is detected in the surrounding environment. However, the electronic camera described in Patent Document 1 has a problem that recording of a moving body by the electronic camera cannot be started quickly because imaging is started only when the user operates the shutter after being attached to the window glass. It was.

The present invention has been made to solve such a problem, and an object of the present invention is to provide an imaging device, an imaging method, and an imaging program capable of rapidly recording a moving body in a surrounding environment.

The image pickup apparatus according to the present invention includes a camera unit that captures an image of the surrounding environment and generates image data, a suction portion that supports the camera unit and is fixed to a surface to be attracted by a user, and the suction portion and the suction subject. An adsorption determination unit that determines whether or not the relationship with the surface satisfies a predetermined adsorption condition, and a determination unit that determines whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard. The brightness determination unit, the moving object determination unit that determines whether or not a moving object exists in the surrounding environment, the determination result by the adsorption determination unit, the determination result by the brightness determination unit, and the moving object determination unit. A control unit that controls the output of the image data to the recording unit based on the determination result is provided.

In the imaging method according to the present invention, a data generation step of imaging the surrounding environment to generate image data and an adsorption determination for determining whether or not the relationship between the adsorption portion and the surface to be adsorbed satisfies a predetermined adsorption condition. A step, a brightness determination step for determining whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard, and a determination as to whether or not a moving object exists in the surrounding environment. In the moving body determination step, it is determined in the adsorption determination step that the adsorption condition is satisfied, it is determined in the brightness determination step if the brightness standard is satisfied, and if the moving object is present, in the moving object determination step. A control step for starting the output of the image data to the recording unit when the determination is made is provided.

The imaging program according to the present invention has a data generation step of capturing an image of the surrounding environment to generate image data, and an adsorption determination for determining whether or not the relationship between the adsorption portion and the surface to be adsorbed satisfies a predetermined adsorption condition. A step, a brightness determination step for determining whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard, and a determination as to whether or not a moving object exists in the surrounding environment. In the moving body determination step, it is determined in the adsorption determination step that the adsorption condition is satisfied, it is determined in the brightness determination step if the brightness standard is satisfied, and if the moving object is present, in the moving object determination step. When the determination is made, the computer is made to execute the control step of starting the output of the image data to the recording unit.

According to the present invention, it is possible to provide an imaging device, an imaging method, and an imaging program that can quickly record a moving body in the surrounding environment.

It is a schematic diagram which shows the state that the image pickup apparatus is installed in a train. It is a schematic cross-sectional view which shows the structure of the image pickup apparatus. It is a schematic cross-sectional view which shows the image pickup apparatus adsorbed on the surface to be adsorbed. It is a schematic cross-sectional view which shows the image pickup apparatus tilted from the state of FIG. It is a block diagram which shows the structure of the image pickup apparatus. It is a flow chart which shows the control flow of an image pickup apparatus.

Hereinafter, specific embodiments will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are designated by the same reference numerals, and duplicate explanations are omitted as necessary for the sake of clarity of explanation.

FIG. 1 is a schematic view showing a state in which the image pickup device 1 according to the present embodiment is installed on the train T, and FIG. 2 is a schematic cross-sectional view showing a detailed configuration of the image pickup device 1. The image pickup device 1 according to the present embodiment is a device that adsorbs to a car window, a window of a house, or the like, and images the surrounding environment through the adsorbed window or the like. In the example of FIG. 1, the image pickup apparatus 1 is adsorbed on the surface 9 to be adsorbed by using the window glass of the train T as the surface 9 to be adsorbed.

As shown in FIGS. 1 and 2, the image pickup apparatus 1 includes a camera unit 11, a suction unit 12, and a control unit 13. The camera unit 11 captures the surrounding environment outside the train T via the surface 9 to be attracted and generates image data. The field of view has an extension of about 130 ° diagonally, for example, as shown by the alternate long and short dash line. The suction unit 12 supports the camera unit 11 and is fixed by the user. For example, the suction unit 12 is fixed to the surface to be sucked 9 by being pressed from the outside in the suction direction. The control unit 13 starts outputting image data to the recording unit when a predetermined adsorption condition is satisfied and a moving body is detected in the surrounding environment. According to such a configuration, the image pickup and recording by the image pickup apparatus 1 can be started from the time when the image pickup apparatus 1 is adsorbed on the surface to be adsorbed and the moving body is detected. Therefore, it is possible to quickly image and record a moving body in the surrounding environment.

As shown in FIG. 2, the camera unit 11 has a lens 111 and is connected to the control unit 13. The suction unit 12 has a suction cup 121, a transparent plate 122, a support unit 123, and an accommodating unit 124. The alternate long and short dash line indicates the imaging direction in which the camera unit 11 can image.

The accommodating portion 124 is a container-shaped member having a space inside. The tip of the accommodating portion 124 is formed in a spherical shape. At the time of use, the camera unit 11 is housed inside the housing unit 124. The lens 111 of the camera unit 11 is arranged on the tip end side of the accommodating portion 124.

The support portion 123 is a tubular member having a through hole in the axial direction, and a spherical space same as the tip of the accommodating portion 124 is formed in a part of the through hole. By accommodating the accommodating portion 124 in the spherical space formed in the supporting portion 123, the supporting portion 123 and the accommodating portion 124 are rotatably fitted.

The suction cup 121 is a suction cup formed integrally with a flexible resin material or the like in a dome shape or a skirt shape. The outer peripheral edge of the suction cup 121 is pressed against the surface 9 to be adsorbed and is attracted to the surface 9 to be adsorbed. Further, an opening is formed in the convex side portion of the suction cup 121, and the transparent plate 122 is fitted in the opening. The convex side portion of the suction cup 121 and the transparent plate 122 are joined to the support portion 123.

Of the suction portions 12, at least the photographing direction side of the transparent plate 122 and the accommodating portion 124 is formed of a transparent material such as acrylic or glass. Further, at least the image pickup direction side of the support portion 123 is open. Therefore, the suction unit 12 supports the camera unit 11 without blocking the optical path of the camera unit 11. The suction cup 121 and the support portion 123 preferably have a light-shielding property that blocks light from the surroundings. Since the suction cup 121 and the support portion 123 have a light-shielding property, it is possible to suppress the insertion of light from other than the imaging direction and improve the image quality of the camera unit 11.

FIG. 3 is a schematic cross-sectional view showing the image pickup apparatus 1 fixed to the surface to be adsorbed 9. As shown in FIG. 3, the suction portion 12 is pressed from the outside in the suction direction to form a decompressed closed space 91 with the suction surface 9 and is fixed to the suction surface 9. The closed space 91 is a closed space surrounded by a suction cup 121, a transparent plate 122, and a surface to be adsorbed 9. Further, the suction direction is a direction from the suction portion 12 toward the surface to be sucked 9 as shown by the left arrow in FIG.

The suction cup 12 is pulled from the outside in the desorption direction, so that the suction cup 121 and the surface to be adsorbed 9 are peeled off and desorbed from the surface to be adsorbed 9. The desorption direction is the direction from the surface to be adsorbed 9 toward the adsorbed portion 12 as shown by the right arrow in FIG.

FIG. 4 is a schematic cross-sectional view showing the image pickup apparatus 1 when the camera unit 11 fixed to the surface to be attracted 9 is tilted. As shown in FIG. 4, the imaging direction of the camera unit 11 can be rotated by rotating the accommodating portion 124 along the inner wall of the support portion 123. When the inner wall of the support portion 123 and the tip of the accommodating portion 124 are formed in a spherical shape, the camera unit 11 can rotate in the vertical direction and the horizontal direction.

In the examples of FIGS. 2 to 4, the suction portion 12 has been described as having the transparent plate 122, but the suction portion 12 does not have to have the transparent plate 122. In this case, the suction cup 121, the support portion 123, the accommodating portion 124, and the surface to be adsorbed 9 are surrounded by a reduced pressure, so that the suction portion 12 is adsorbed to the surface to be adsorbed 9. Further, in this case, by applying a lubricant such as grease between the support portion 123 and the accommodating portion 124, the accommodating portion 124 can be rotated without impairing the airtightness of the closed space.

Further, in the examples of FIGS. 2 to 4, the suction unit 12 has been described as having a suction cup 121, but any member that can be fixed to the suction surface 9 can be used instead of the suction cup 121. For example, instead of the suction cup 121, an adhesive rubber tape or an adhesive tape can be used.

Next, the control system of the image pickup apparatus 1 will be described. FIG. 5 is a block diagram showing the system configuration of the image pickup apparatus 1. As shown in FIG. 5, the control system of the imaging device 1 is mainly composed of a camera unit 11 and a control unit 13. Further, the image pickup apparatus 1 according to the present embodiment further includes a recording unit 142 in addition to the camera unit 11 and the control unit 13.

The camera unit 11 mainly includes a lens 111, an image sensor 112, and an AFE (analog front end) 113. The control unit 13 includes a control unit 131, an image input IF (interface) 132, a work memory 133, a system memory 134, an image processing unit 135, a moving body determination unit 136, an adsorption determination unit 137, an adsorption detection unit 138, and an image output unit 139. , A brightness determination unit 140, and a bus line 141 are mainly provided.

The adsorption detection unit 138 detects a physical quantity indicating the relationship between the adsorption unit 12 and the surface to be adsorbed 9. The physical quantity indicating the relationship between the suction portion 12 and the surface to be adsorbed is, for example, the magnitude of the stress applied between the suction portion 12 and the surface to be adsorbed 9 or the space between the adsorption portion 12 and the surface to be adsorbed 9 ( It is the pressure of the closed space 91). The adsorption detection unit 138 outputs a voltage signal corresponding to the detected physical quantity to the bus line 141.

The adsorption detection unit 138 may be provided outside the control unit 13. In that case, the adsorption detection unit 138 outputs a voltage signal to the detection signal IF (not shown) provided in the control unit 13. The detection signal IF (not shown) sequentially acquires the voltage signal of the adsorption detection unit 138 and delivers it to the bus line 141.

In this embodiment, an example will be described in which the adsorption detection unit 138 detects the magnitude of the stress applied between the adsorption unit 12 and the surface to be adsorbed 9. The stress applied between the suction unit 12 and the surface to be sucked 9 is a load applied to the image pickup apparatus 1 from the outside in the suction direction. At this time, the suction detection unit 138 is, for example, a piezoelectric or strain gauge type load sensor, and is arranged at a position that expands and contracts in response to an external load, such as a connecting portion between the camera unit 11 and the control unit 13. To. In this case, the suction detection unit 138 can detect the compressive load applied from the outside as the load in the suction direction. The suction detection unit 138 may further include an inclination sensor or a gyro sensor for detecting the direction of the load sensor, and may acquire an angle formed by the direction of the load sensor and the suction direction. In this case, the suction detection unit 138 detects the length of the vector of the compression load projected in the suction direction as the load in the suction direction. With such a configuration, even when the camera unit 11 and the control unit 13 are tilted, the load in the suction direction can be accurately obtained.

At this time, when a load in the suction direction is applied from the outside, the suction detection unit 138 outputs a voltage signal corresponding to the load in the suction direction to the bus line 141. Specifically, when the adsorption detection unit 138 detects a detectable load, the adsorption detection unit 138 outputs a voltage signal having a voltage value proportional to the magnitude of the detected load to the bus line 141. The suction detection unit 138 continuously outputs a voltage signal while detecting the load. The bus line 141 can grasp the magnitude of the load applied in the suction direction from the outside by converting the voltage signal from the suction detection unit 138 into a voltage value. Further, the bus line 141 can grasp the duration of the load applied in the suction direction from the outside from the time when the voltage signal is continuously output. The load duration is the length of time that the adsorption detection unit 138 continuously detects the load.

Further, the adsorption detection unit 138 may further detect the load applied from the outside in the desorption direction. In this case, the adsorption detection unit 138 detects the tensile load applied from the outside as the load in the desorption direction. The suction detection unit 138 may further include a gyro sensor that detects the direction of the load sensor, and may acquire an angle formed by the direction of the load sensor and the detachment direction. In this case, the adsorption detection unit 138 detects the length of the vector of the tensile load projected in the desorption direction as the load in the desorption direction. With such a configuration, even when the camera unit 11 and the control unit 13 are tilted, the load in the detachment direction can be accurately obtained.

At this time, when a load is applied from the outside in the desorption direction, the adsorption detection unit 138 outputs a voltage signal corresponding to the load in the desorption direction to the bus line 141. Specifically, when the adsorption detection unit 138 detects a detectable load, the adsorption detection unit 138 outputs a voltage signal having a voltage value proportional to the magnitude of the detected load to the bus line 141. The suction detection unit 138 continuously outputs a voltage signal while detecting the load. The bus line 141 can grasp the magnitude of the load applied in the desorption direction from the outside by converting the voltage signal from the adsorption detection unit 138 into a voltage value. Further, the bus line 141 can grasp the duration of the load applied in the desorption direction from the outside from the time when the voltage signal is continuously output.

The adsorption determination unit 137 determines whether or not the adsorption conditions that are satisfied when the adsorption unit 12 adsorbs to the surface to be adsorbed 9 are satisfied. For example, the adsorption determination unit 137 converts the voltage signal output by the adsorption detection unit 138 into a physical quantity such as the magnitude of the load in the adsorption direction. Then, the adsorption determination unit 137 determines whether or not the magnitude of the obtained physical quantity satisfies the adsorption condition. When the adsorption determination unit 137 determines that the adsorption condition is satisfied, the adsorption determination unit 137 outputs an adsorption signal to the control unit 131.

The control unit 131 is, for example, a CPU, and directly or indirectly controls each element constituting the camera unit 11 and the control unit 13. For example, the control unit 131 controls the camera unit 11 so as to start generating image data when the suction determination unit 137 determines that the suction condition is satisfied. That is, the control unit 131 controls the camera unit 11 so as to start generating image data when the adsorption signal is acquired from the adsorption determination unit 137.

The lens 111 of the camera unit 11 is an optical element that guides the incident subject luminous flux to the image sensor 112. The lens 111 may be composed of a plurality of optical lens groups. The image sensor 112 is, for example, a CMOS image sensor. The image sensor 112 adjusts the charge accumulation time by the electronic shutter according to the exposure time per frame designated by the control unit 131, performs photoelectric conversion, and outputs a pixel signal. The image sensor 112 delivers the pixel signal to the AFE 113. The AFE 113 adjusts the level of the pixel signal according to the amplification gain instructed by the control unit 131, A / D (analog / digital) conversion to digital data, and transmits the image data to the control unit 13. The camera unit 11 may be provided with a mechanical shutter or an iris diaphragm. When a mechanical shutter or an iris diaphragm is provided, the control unit 131 can also use these to adjust the amount of light incident on the image sensor 112.

The image input IF 132 has a function as an image data acquisition unit that sequentially acquires image data captured by the camera unit 11, acquires image data from the camera unit 11 connected to the control unit 13, and goes to the bus line 141. hand over.

The work memory 133 is composed of, for example, a volatile high-speed memory. The work memory 133 receives image data from the AFE 113 via the image input IF 132 and stores the image data as one frame of image data. The work memory 133 delivers image data to the image processing unit 135 in frame units. Further, the work memory 133 is appropriately used as a temporary storage area even in the middle stage of image processing by the image processing unit 135.

The image processing unit 135 performs various image processing on the image data received from the work memory 133 to generate a frame image conforming to a predetermined format. For example, when generating moving image data in MPEG file format, after performing white balance processing, gamma processing, etc. on the image data of each frame, compression processing within the image data of each frame and between the image data of adjacent frames is performed. Execute. The image processing unit 135 sequentially generates a frame image after each processing and delivers it to the bus line 141.

The moving body determination unit 136 determines whether or not a moving body exists in the surrounding environment imaged by the camera unit 11. When the moving body determination unit 136 determines that the moving body exists in the surrounding environment, the moving body determination unit 136 outputs the moving body signal to the bus line 141.

For example, the moving body determination unit 136 receives a continuous frame image from the image processing unit 135, and obtains the difference between the previous and next frame images as a motion vector of each pixel. Next, the moving body determination unit 136 extracts a set of pixels having a motion vector of zero as a background region. The background area is an area where there is no moving body in the surrounding environment. In such a configuration, the moving body determination unit 136 can extract the background region imaged when the camera unit 11 itself is not moving, that is, when the train T is stopped. The moving body determination unit 136 may extract a set of pixels having motion vectors parallel to each other or pixels having motion vectors that contract or expand radially as a background region. In this case, the moving body determination unit 136 can extract the background area imaged when the camera unit 11 itself is moving, that is, when the train T is moving.

After that, the moving body determination unit 136 generates a binarized image in which the pixels in the background area are “0” and the pixels other than the background area are “1”. The generated binarized image is denoised by a known denoising method such as morphology conversion. It is presumed that the region indicated by the pixel "1" in the binarized image after noise removal corresponds to the region of the moving body. Therefore, when the moving body determination unit 136 has a pixel of "1" in the binarized image after the noise processing, which is equal to or more than a preset moving body reference value (for example, 5% of the total number of pixels), the moving body determination unit 136 is used. It can be determined that there is a moving object in the surrounding environment. In this example, each parameter used for noise removal and a specific value of the moving body reference value are determined depending on the resolution, accuracy, etc. of the camera unit 11, and may be determined by a physical simulation or a preliminary experiment. it can.

The image output unit 139 outputs the image data received from the work memory 133 to the recording unit 142 when instructed by the control unit 131. At this time, the image output unit 139 may convert the frame image received from the image processing unit 135 into image data again and output it to the recording unit 142.

The recording unit 142 is a device capable of recording the output image data, and can be a non-volatile memory such as a flash memory. Although FIG. 5 shows an example in which the recording unit 142 is provided in the image pickup device 1, the recording unit 142 may be provided in a terminal outside the image pickup device 1. In this case, the image output unit 139 outputs the image data to the external recording unit 142 by wireless or wired communication, for example, via a communication IF (not shown) provided in the control unit 13.

The brightness determination unit 140 determines the brightness of the frame image received from the image processing unit 135. For example, the brightness determination unit 140 extracts the value of the luminance signal Y from the YCbCr information of each pixel included in the frame image, and sets the average value of the luminance of each pixel as the brightness of the frame image. The brightness determination unit 140 outputs the obtained brightness of the frame image to the control unit 131. The brightness determination unit 140 may arbitrarily extract some pixels included in the frame image and obtain the average value of the brightness in the pixels as the brightness of the frame image. Further, the brightness determination unit 140 may acquire RGB information instead of the YCbCr information of each pixel, and may convert the RGB information into the luminance information by using a generally known conversion formula. At this time, the brightness determination unit 140 may approximately obtain the brightness value of the pixel by converting only the G value of the RGB information. Further, the brightness determination unit 140 may convert the YCbCr information of each pixel included in the frame image into brightness information, and may use the average value of the brightness of each pixel as the brightness of the frame image. Further, the brightness determination unit 140 may obtain the brightness of the frame image by extracting the value of the luminance signal Y from the YCbCr information of each pixel of the image data received from the work memory 133.

The system memory 134 is composed of a non-volatile recording medium such as an SSD (Solid State Drive). The system memory 134 records and holds constants, variables, set values, control programs, and the like necessary for the operation of the image pickup apparatus 1. The control by the control unit 131 is realized by a control program or the like read from the system memory 134.

Next, the control flow of the image pickup apparatus 1 will be described. FIG. 6 is a flow chart showing a control flow of the image pickup apparatus 1. This flow starts when the control unit 13 becomes operable. The time when the control unit 13 becomes operable is, for example, when the user turns on the power of the image pickup apparatus 1. In this embodiment, an example in which a sensor for detecting a load in the suction direction applied from the outside is used as the suction detection unit 138 will be described.

First, in step S10, the adsorption detection unit 138 detects a physical quantity indicating the relationship between the adsorption unit 12 and the surface to be adsorbed 9. Specifically, the suction detection unit 138 detects a load applied from the outside in the suction direction. In this case, the suction detection unit 138 outputs a voltage signal corresponding to the magnitude of the load in the suction direction applied from the outside to the bus line 141. The suction detection unit 138 does not have to output the voltage signal to the bus line 141 when the load in the suction direction from the outside cannot be detected. The adsorption determination unit 137 converts the voltage signal received from the adsorption detection unit 138, and acquires the magnitude and duration of the load in the adsorption direction applied from the outside. After that, the process proceeds to step S20.

When the process proceeds to step S20, the adsorption determination unit 137 determines whether or not the relationship between the adsorption unit 12 and the surface to be adsorbed 9 satisfies the adsorption condition. The adsorption condition is a condition that is satisfied when the adsorption portion 12 adsorbs to the surface to be adsorbed 9. In the present embodiment, the adsorption determination unit 137 determines whether or not the relationship between the magnitude of the load in the adsorption direction detected by the adsorption detection unit 138 and the duration of the load satisfies a predetermined adsorption load condition. The suction load condition is a condition that is satisfied when a load required for the suction portion 12 to be sucked on the surface to be sucked 9 is applied from the outside. The suction determination unit 137 determines that the suction condition is satisfied when the relationship between the magnitude of the load in the suction direction and the duration of the load satisfies the suction load condition.

For example, the suction load condition is satisfied when a load having a magnitude equal to or larger than a preset suction load value (for example, 10 G) is applied to the suction direction for a preset suction time (for example, 1 second) or more. Can be. Alternatively, it can be said that the suction condition is satisfied when the product of the magnitude of the load and the duration of the load is applied to the suction direction by a preset suction force product value (for example, 100 N · s) or more. .. In these examples, the specific numerical values of the suction load value, the suction time, and the suction force product value are determined depending on the structure and physical properties of the suction unit 12. For example, it can be determined by physics simulation or preliminary experiment.

When the relationship between the magnitude of the load in the suction direction and the duration of the load satisfies the above suction condition (Yes in step S20), the suction determination unit 137 outputs a suction signal to the bus line 141 and proceeds to step S30. .. On the other hand, when the relationship between the magnitude of the load in the suction direction and the duration of the load does not satisfy the above suction conditions (No in step S20), the process returns to step S10.

When the process proceeds to step S30, that is, when the control unit 131 acquires the adsorption signal, the control unit 131 starts the generation of image data and the like. Specifically, the control unit 131 operates the camera unit 11 to image the surrounding environment and generate image data. Further, the image processing unit 135 is made to perform various image processing on the generated image data to generate a plurality of frame images. After that, the process proceeds to step S40.

When the process proceeds to step S40, the control unit 131 acquires the brightness of the frame image determined by the brightness determination unit 140. Then, the control unit 131 determines whether or not the brightness of the frame image satisfies a predetermined brightness standard. The brightness standard is a standard that is satisfied when the camera unit 11 receives light from the surrounding environment. In other words, the brightness standard is not satisfied when the camera unit 11 does not receive light from the surrounding environment and cannot generate normal image data.

For example, when the average of the brightness values of the pixels included in the frame image is equal to or more than a preset brightness reference value (for example, 10), it is determined that the predetermined brightness reference is satisfied. In this example, the specific numerical value of the brightness reference value is determined depending on the imaging accuracy of the camera unit 11 and the like. For example, the brightness value of the frame image when the darkness is imaged can be determined as the brightness reference value.

When the brightness of the frame image satisfies the above brightness reference (Yes in step S40), the process proceeds to step S50. On the other hand, when the brightness of the frame image does not satisfy the above brightness reference (No in step S40), the image data is not output to the recording unit 142 and the process proceeds to step S70. If the image data is output to the recording unit 142 in step S60, which will be described later, and then the process returns to step S40, the control unit 131 stops outputting the image data to the recording unit 142, and then steps. Proceed to S70. In such a configuration, the image data is output when the optical path of the camera unit 11 is blocked and normal image data cannot be generated, for example, when the image pickup device 1 is accidentally adsorbed on an opaque object. It can be suppressed so that it does not start.

When the process proceeds to step S50, the moving body determination unit 136 determines whether or not there is a moving body in the imaged surrounding environment. When the moving body determination unit 136 determines that there is a moving body in the surrounding environment (Yes in step S50), the moving body determination unit 136 outputs the moving body signal to the bus line 141 and proceeds to step S60. After step S60, the output of the image data to the recording unit 142 is started. In such a configuration, since the image pickup apparatus 1 is adsorbed on the surface to be adsorbed 9 and the moving body is detected and the recording of the image data is started, the moving body in the surrounding environment can be quickly recorded. it can.

On the other hand, when the moving body determination unit 136 determines that there is no moving body in the surrounding environment (No in step S50), the process returns to step S50 and the operation is repeated. If the image data is output to the recording unit 142 in step S60, which will be described later, and then the process returns to step S50, the control unit 131 stops outputting the image data to the recording unit 142, and then steps. Return to S50 and repeat the operation. In such a configuration, the moving body is no longer detected and the recording of the image data can be stopped.

When the process proceeds to step S60, that is, when the control unit 131 acquires the moving body signal, the control unit 131 controls the image output unit 139 and starts outputting the image data to the recording unit 142. Starting the output of the image data includes outputting the image data to the outside of the image pickup apparatus 1 by wireless or wired communication via a communication IF (not shown). Then, the process proceeds to step S70.

When the process proceeds to step S70, the adsorption detection unit 138 detects the load applied from the outside in the desorption direction. The adsorption detection unit 138 outputs a voltage signal corresponding to the magnitude of the load applied from the outside in the desorption direction to the bus line 141. The adsorption detection unit 138 does not have to output a voltage signal to the bus line 141 when it cannot detect the load in the desorption direction from the outside. The suction determination unit 137 converts the received voltage signal and acquires information on the magnitude of the load in the suction direction applied from the outside and the duration of the load. After that, the process proceeds to step S80.

When the process proceeds to step S80, the adsorption determination unit 137 determines whether or not the relationship between the adsorption unit 12 and the surface to be adsorbed 9 satisfies the desorption condition. The desorption condition is a condition that is satisfied when the suction portion 12 is desorbed from the surface to be adsorbed 9. In the present embodiment, the adsorption determination unit 137 determines whether or not the relationship between the magnitude of the load and the duration in the desorption direction detected by the adsorption detection unit 138 satisfies a predetermined desorption load condition. .. The suction load condition is a condition that is satisfied when a load required for the suction portion 12 to be separated from the surface to be sucked 9 is applied from the outside. The adsorption determination unit 137 determines that the desorption condition is satisfied when the relationship between the magnitude of the load in the desorption direction and the duration satisfies the desorption load condition.

For example, when a load having a magnitude equal to or larger than a preset desorption load value (for example, 10 G) is applied in a desorption direction for a preset desorption time (for example, 1 second) or more, the desorption load is applied. It can be assumed that the conditions are met. Alternatively, it is assumed that the desorption load condition is satisfied when the product of the magnitude of the load and the duration of the load is applied in a preset adsorption impulse value (for example, 100 N · s) or more with respect to the desorption direction. be able to. In these examples, the specific numerical values of the desorption load value, the desorption time, and the desorption impulse value are determined in consideration of the structure and physical properties of the suction portion 12. For example, it can be determined by physics simulation or preliminary experiment.

When the relationship between the magnitude of the load in the desorption direction and the duration of the load satisfies the above desorption condition (Yes in step S80), the adsorption determination unit 137 outputs a desorption signal to the bus line 141. When the control unit 131 acquires the detachment signal, the control unit 131 stops the output of the image data to the recording unit 142 and ends the flow. On the other hand, when the relationship between the magnitude of the load in the desorption direction and the duration of the load does not satisfy the above desorption condition (No in step S80), the process returns to step S30. In such a configuration, since the image pickup apparatus 1 is separated from the surface to be adsorbed 9 and the generation of image data and the like is stopped, the output of the image data can be stopped quickly.

By repeating steps S10 to S80 described above, the image pickup apparatus 1 can quickly record a moving body in the surrounding environment. The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit.

(Modification example)
In the above embodiment, the case where the suction detection unit 138 detects the load in the suction direction applied from the outside has been described. Here, as a modification thereof, a case where the adsorption detection unit 138 detects the air pressure inside the suction cup 121 will be described.

In the modified example, the suction detection unit 138 is, for example, a piezoresistive pressure sensor, and is arranged inside the suction cup 121. The adsorption detection unit 138 detects the atmospheric pressure inside the suction cup 121, and outputs a voltage signal corresponding to the magnitude of the detected atmospheric pressure to the bus line 141 via wired or wireless communication.

At this time, in step S10, the suction detection unit 138 detects the pressure inside the suction cup 121. When the suction cup 121 is adsorbed on the surface to be adsorbed 9, the adsorption detection unit 138 detects the pressure in the closed space 91. The suction detection unit 138 outputs a voltage signal corresponding to the pressure inside the suction cup 121 to the bus line 141. In step S10, the suction detection unit 138 does not have to output the voltage signal to the bus line 141 when the pressure inside the suction cup 121 is near the atmospheric pressure (for example, 9 × 10 ⁴ Pa or more). The suction determination unit 137 converts the received voltage signal to acquire the magnitude of the pressure inside the suction cup 121. After that, the process proceeds to step S20.

When the process proceeds to step S20, the adsorption determination unit 137 determines whether or not the pressure detected by the adsorption detection unit 138 satisfies a predetermined adsorption pressure condition. In the present embodiment, the suction pressure condition is a condition that is satisfied when the pressure inside the suction cup 121 becomes the pressure required for the suction portion 12 to be sucked on the surface to be sucked 9. The adsorption determination unit 137 determines that the adsorption condition is satisfied when the pressure detected by the adsorption detection unit 138 satisfies the adsorption pressure condition.

For example, when the pressure detected by the adsorption detection unit 138 is equal to or less than a preset adsorption pressure value (for example, 5 × 10 ⁴ Pa), the adsorption pressure condition can be satisfied. In this example, the specific value of the suction pressure value is determined depending on the structure, physical properties, etc. of the suction unit 12. For example, it can be determined by physics simulation or preliminary experiment.

When the pressure detected by the adsorption detection unit 138 satisfies the above adsorption condition (Yes in step S20), the adsorption determination unit 137 outputs the adsorption signal to the bus line 141 and proceeds to step S30. On the other hand, when the pressure detected by the adsorption detection unit 138 does not satisfy the above adsorption conditions (No in step S20), the process returns to step S10.

Since steps S30 to S60 in the modified example are the same as those in the above-described embodiment, the description thereof will be omitted.

In the modified example, when the process proceeds to step S70, the suction detection unit 138 detects the pressure inside the suction cup 121. When the suction cup 121 is adsorbed on the surface to be adsorbed 9, the adsorption detection unit 138 detects the pressure in the closed space 91. The suction detection unit 138 outputs a voltage signal corresponding to the magnitude of the pressure inside the suction cup 121 to the bus line 141. The adsorption determination unit 137 acquires information on the magnitude of the pressure inside the suction cup 121 by converting the received voltage signal into information on the voltage value and the duration of the load. After that, the process proceeds to step S80.

When the process proceeds to step S80, the adsorption determination unit 137 determines whether or not the pressure detected by the adsorption detection unit 138 satisfies a predetermined desorption pressure condition. The desorption pressure condition is a condition that is established when the pressure inside the suction cup 121 reaches the pressure at which the suction unit 12 desorbs from the surface to be adsorbed 9, that is, the pressure near the atmospheric pressure. The adsorption determination unit 137 determines that the desorption condition is satisfied when the pressure detected by the adsorption detection unit 138 satisfies the desorption pressure condition.

For example, when the pressure detected by the adsorption detection unit 138 in step S70 is equal to or higher than a preset desorption pressure value (for example, 9 × 10 ⁴ Pa), the desorption pressure condition may be satisfied. it can. In this example, the specific value of the desorption pressure value is determined depending on the structure, physical properties, etc. of the suction portion 12. For example, it can be determined by physics simulation or preliminary experiment.

When the pressure detected by the adsorption detection unit 138 in step S70 satisfies the above desorption pressure condition (Yes in step S80), the adsorption determination unit 137 outputs a desorption signal to the bus line 141. When the control unit 131 acquires the detachment signal, the control unit 131 stops the output of the image data to the recording unit 142 and ends the flow. On the other hand, when the pressure detected by the adsorption detection unit 138 in step S70 does not satisfy the above desorption pressure condition (No in step S80), the process returns to step S10. Even in such a configuration, since the image pickup apparatus 1 is separated from the surface to be adsorbed 9 and the generation of image data and the like is stopped, the output of the image data can be stopped quickly.

By repeating steps S10 to S80 described above, the image pickup apparatus 1 according to the above-described modification can also quickly record a moving body in the surrounding environment.

Further, in the above embodiment, in order to explain the image pickup apparatus 1 according to the present invention, an apparatus for imaging the external surrounding environment through the surface to be adsorbed has been described as an example, but the image pickup apparatus 1 according to the present invention has been described. It is not limited to the above example. That is, the imaging device 1 according to the present invention may be a device that images the surrounding environment in the direction opposite to the suction direction or in the vertical direction. Even in such a device, it has a configuration corresponding to the camera unit 11 and the control unit 13 described above, and by repeating the operations of steps S10 to S80, it is possible to quickly record a moving body in the surrounding environment.

Further, in the above embodiment, a part of steps S10 to S80 may be appropriately omitted or the order may be changed as long as the effect of the present invention is not impaired. For example, if it is determined that the pressure detected by the suction detection unit 138 in step S80 does not satisfy the above desorption pressure condition (No in step S80), and then the operations after step S10 are repeated again, the second time Subsequent operations in step S20 may be omitted as appropriate. When the adsorption condition of step S20 and the brightness standard of step S40 are satisfied in the second and subsequent operations, these operations are omitted and the control flow is simplified by determining whether or not the moving body of step S50 exists. can do.
Further, even after it is determined that the brightness standard of step S40 is satisfied, the brightness determination unit 140 monitors the change in brightness, and a sudden change in brightness occurs during the output of image data, for example, due to the entry and exit of a tunnel. In that case, it is not necessary to stop the output of the image data. Further, if the brightness is not restored for a predetermined time by using the timer of the CPU described later, the output of the image data may be stopped.

Further, in the above embodiment, after the adsorption determination unit 137 determines that the adsorption condition is satisfied in step S20, the brightness determination unit 140 further determines that the brightness standard is satisfied in step S40. Then, when the moving body determination unit 136 determines that the moving body exists in step S50 and all the conditions are satisfied, the control unit 131 starts outputting the image data to the recording unit 142.
However, the determination of whether or not the adsorption conditions are satisfied, the determination of whether or not the brightness standard is satisfied, and the determination of whether or not a moving body is present need not be performed in this order. For example, even if the adsorption determination unit 137 does not determine that the adsorption condition is satisfied, the adsorption condition is satisfied after the moving body determination unit 136 determines whether or not there is a moving object in the surrounding environment. The adsorption determination unit 137 may determine that. In this configuration, the moving body determination unit 136 determines that the moving body exists, or the moving body determination unit 136 determines that the moving body exists, and at the same time, it is adsorbed that the brightness standard is satisfied and the adsorption conditions are satisfied. When the determination unit 137 determines, the control unit 131 may start outputting the image data to the recording unit 142.

Further, in the above embodiment, the imaging device 1 may further include a distance sensor for measuring the distance to an object in the surrounding environment. The distance sensor is a sensor that emits radio waves such as infrared rays and ultrasonic waves and acquires the intensity and reflection time of the reflected wave. In this case, the distance sensor outputs the intensity and reflection time of the reflected wave to the moving body determination unit 136. The moving body determination unit 136 converts the intensity and reflection time of the reflected wave acquired from the distance sensor into the distance to the object. Then, the moving body determination unit 136 determines that the moving body exists in the surrounding environment when the distance to the object changes with time. In this case, the moving body determination unit 136 does not need to perform the image processing as described in the above embodiment.

Further, in the above embodiment, the camera unit 11 of the imaging device 1 may have compound eyes. In this case, the moving body determination unit 136 may calculate the distance from the compound eye image to the object and determine whether or not the moving body exists in the surrounding environment.

Further, in the above embodiment, the control unit 131 of the image pickup apparatus 1 has described an example in which the camera unit 11 is operated when it is determined that the suction condition is satisfied, but the camera unit 11 is always operated. You may. Alternatively, the camera unit 11 may start its operation by a user's activation operation.

In the above embodiment, it is preferable to include in the suction load condition that the duration of the load is equal to or longer than the preset suction time. By doing so, it is possible to prevent the image pickup device 1 from malfunctioning when a load in the suction direction is momentarily applied, for example, when the image pickup device 1 hits something.

Further, in the above embodiment, it is preferable to include in the desorption load condition that the duration of the load is equal to or longer than the preset desorption time. By doing so, it is possible to prevent the image pickup device 1 from malfunctioning when a load in the detachment direction is momentarily applied, for example, when the image pickup device 1 hits something.

Further, in the above-described embodiment, the case where the load in the suction direction applied to the image pickup device 1 from the outside is detected and the case where the suction detection unit 138 detects the pressure inside the suction cup have been described, but the suction detection unit 138 has been described. The physical quantity detected by is not limited to this. The adsorption detection unit 138 may detect a physical quantity other than the load or pressure in the adsorption direction as long as it detects a physical quantity indicating the relationship between the adsorption unit 12 and the surface to be adsorbed 9.

For example, the adsorption detection unit 138 may be a distance sensor that detects the distance between itself and the surface 9 to be adsorbed. At this time, the adsorption detection unit 138 outputs a distance signal corresponding to the detected distance to the bus line. The adsorption determination unit 137 converts the distance signal received from the adsorption detection unit 138 and acquires the distance detected by the adsorption detection unit 138. The adsorption determination unit 137 can determine that the adsorption condition is satisfied when the distance is equal to or less than a preset adsorption distance (for example, 1 cm). The specific numerical value of the adsorption distance is determined by the position of the adsorption detection unit 138 and the structure and physical properties of the adsorption unit 12, and can be determined by, for example, a physical simulation or a preliminary experiment.

Further, in this example, the adsorption determination unit 137 can determine that the desorption condition is satisfied when the distance is equal to or more than a preset desorption distance (for example, 5 cm). The specific numerical value of the desorption distance is determined by the position of the adsorption detection unit 138 and the structure and physical properties of the adsorption unit 12, and can be determined by, for example, a physical simulation or a preliminary experiment.

The above-described embodiments and modifications can be implemented independently or in combination as appropriate. These plurality of embodiments and modifications have novel features that differ from each other. Therefore, these plurality of embodiments and modifications contribute to solving different purposes or problems, and contribute to different effects.

Further, in the above embodiment, each element described in the drawing as a functional block that performs various processes can be composed of a CPU, a memory, and other circuits in terms of hardware, and in terms of software, It is realized by a program loaded in the memory. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof, and is not limited to any of them.

In addition, the above programs can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg magneto-optical disks), CD-ROMs (Compact Disc-Read Only Memory), CDs. -R (CD-Recordable), CD-R / W (CD-ReWritable), semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)) Including. The program may also be supplied to the computer by various types of transient computer readable media. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

1 Image pickup device 9 Adsorbed surface 11 Camera unit 12 Adsorption unit 13 Control unit 91 Sealed space 111 Lens 112 Image sensor 113 AFE
121 Sucker 122 Transparent plate 123 Support unit 124 Storage unit 131 Control unit 132 Image input IF
133 Work memory 134 System memory 135 Image processing unit 136 Moving object determination unit 137 Adsorption determination unit 138 Adsorption detection unit 139 Image output unit 140 Brightness determination unit 141 Bus line 142 Recording unit

Claims (8)

A camera unit that captures the surrounding environment and generates image data,
A suction portion that supports the camera unit and is fixed to the surface to be sucked by the user,
An adsorption determination unit that determines whether or not the relationship between the adsorption unit and the surface to be adsorbed satisfies a predetermined adsorption condition.
A brightness determination unit that determines whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard, and
A moving body determination unit that determines whether or not a moving body exists in the surrounding environment,
A control unit that controls the output of the image data to the recording unit based on the determination result by the adsorption determination unit, the determination result by the brightness determination unit, and the determination result of the moving body determination unit.
An imaging device comprising. In the control unit, the adsorption determination unit determines that the adsorption condition is satisfied, the brightness determination unit determines that the brightness standard is satisfied, and the moving body determination unit determines that the moving body is present. In this case, the output of the image data to the recording unit is started.
The imaging device according to claim 1. When the moving body determination unit determines that the moving body does not exist, the control unit stops outputting the image data to the recording unit.
The imaging device according to claim 1 or 2. Further provided with an adsorption detection unit that detects a physical quantity indicating the relationship between the adsorption unit and the surface to be adsorbed.
The suction portion is a member fixed to the suction surface by being pressed from the outside in the suction direction.
The adsorption detection unit detects a load applied from the outside in the adsorption direction and detects the load in the adsorption direction.
The adsorption determination unit determines that the adsorption condition is satisfied when the relationship between the magnitude and the duration of the load detected by the adsorption detection unit in the adsorption direction satisfies a predetermined adsorption load condition.
The imaging device according to claim 1 or 2. Further provided with an adsorption detection unit that detects a physical quantity indicating the relationship between the adsorption unit and the surface to be adsorbed.
The suction portion is a member fixed to the suction surface by forming a decompressed closed space between the suction portion and the suction surface.
The adsorption detection unit detects the pressure in the closed space and
The adsorption determination unit determines that the adsorption condition is satisfied when the pressure detected by the adsorption detection unit satisfies a predetermined adsorption pressure condition.
The imaging device according to claim 1 or 2. The adsorption determination unit further determines whether or not the relationship between the adsorption unit and the surface to be adsorbed satisfies a predetermined desorption condition.
When the adsorption determination unit determines that the desorption condition is satisfied, the control unit stops outputting the image data to the recording unit.
The imaging device according to any one of claims 1 to 5. A data generation step that captures the surrounding environment and generates image data,
A adsorption determination step for determining whether or not the relationship between the adsorption portion and the surface to be adsorbed satisfies a predetermined adsorption condition, and
A brightness determination step for determining whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard, and
A moving body determination step for determining whether or not a moving body exists in the surrounding environment,
When it is determined in the adsorption determination step that the adsorption condition is satisfied, it is determined in the brightness determination step that the brightness standard is satisfied, and it is determined in the moving body determination step that the moving body is present, it is recorded. A control step for starting the output of the image data to the unit is provided.
Imaging method. A data generation step that captures the surrounding environment and generates image data,
A adsorption determination step for determining whether or not the relationship between the adsorption portion and the surface to be adsorbed satisfies a predetermined adsorption condition, and
A brightness determination step for determining whether or not the brightness of the frame image generated based on the image data satisfies the brightness standard, and
A moving body determination step for determining whether or not a moving body exists in the surrounding environment,
When it is determined in the adsorption determination step that the adsorption condition is satisfied, it is determined in the brightness determination step that the brightness standard is satisfied, and it is determined in the moving body determination step that the moving body is present, it is recorded. Let the computer execute the control step of starting the output of the image data to the unit.
Imaging program.

Images