JP3492921B2 - 3D camera device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for generating a stereoscopic image by photographing an observation target from a plurality of directions.

[0002]

2. Description of the Related Art FIG. 7 is a diagram for explaining the principle of a conventional stereoscopic camera device. The conventional stereoscopic camera device has an observation target 5
An image 5 obtained by shooting 1 from two directions with a plurality of TV cameras 52, 53, etc.
It is general to employ a binocular parallax method in which the images 4 and 55 are presented on a video display device and the presented images are separately projected to the eyes 56 and 57 of the observer to generate a stereoscopic virtual image 58.

In order to obtain an ideal stereoscopic image, it is desirable that the two images for the left and right eyes satisfy the following three conditions. There is no vertical displacement in the two images for the left and right eyes. An appropriate parallax is set in the horizontal direction of the two images for the left and right eyes. The sizes of the two images for the left and right eyes are substantially the same.

[0004]

However, in reality,
When the angle formed by the optical axes of the two images (convergence angle) is not proper, the images are not stereoscopically observed as shown in FIG. 8 but are observed as double images, or as shown in FIG. Due to differences in length and individual differences of zoom lenses, the sizes of both images are not the same and stereoscopic fusion does not occur, as shown in FIG. 10, the installation error of two cameras and the focus zoom of the lens attached to each camera. There is a possibility that a defect such as a stereoscopic image not being obtained may occur due to a vertical shift due to a shift of the optical axis during scanning.

To solve these problems, it is necessary to improve the accuracy of the mounting position of the lens, make the characteristics of the lens uniform, or adjust the mounting position of the lens and the state of the lens. However, there has been a problem that the size of the device is increased and the manufacturing cost is increased.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a stereoscopic camera device which can be reduced in size and weight, can be easily replaced with other parts, and is excellent in maintainability. Especially.

[0007]

In order to solve the above-mentioned problems, the invention of claim 1 is a stereoscopic camera device for capturing a subject light incident from a plurality of different incident optical axes to generate a stereoscopic image. A refracting optical system for refracting subject light, an imaging optical system for focusing the subject light refracted by the refracting optical system on an imaging surface, an imaging device arranged on the imaging surface, and the imaging optical system. A refraction angle changing mechanism for changing the inclination angle of the refraction optical system with respect to the optical axis of the system, and adjusting timing of the inclination angle of the refraction optical system by the refraction angle changing mechanism and imaging timing by the imaging device. It is to synchronize.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a stereoscopic camera device according to the present invention will be specifically described with reference to the drawings.

(First Embodiment) FIG. 1 is a diagram showing a sectional structure of a first embodiment of a stereoscopic camera device according to the present invention, and FIG. 2 is a diagram for explaining the principle of the stereoscopic camera device of FIG. .
First, the principle of this embodiment will be described with reference to FIG. Figure 2
As shown in, the subject light from the observation target 1 is incident on the transparent flat plate 2 having a refractive index n that functions as a refractive optical system.
If the transparent flat plate 2 is inclined by an angle θ with respect to the incident optical axis L1, the subject light incident on the transparent flat plate 2 is refracted at an angle φ, and then the outgoing optical axis L2 is substantially parallel to the incident optical axis L1.
Emit along. The incident optical axis L1 and the outgoing optical axis L2 are separated by the distance d, and the observation target 1 is shifted by the distance d and observed at the dotted line position (reference numeral 3) in FIG.

Here, the transparent flat plate 2 with respect to the incident optical axis L1 of the transparent flat plate 2 (more specifically, the optical axis of the imaging optical system 13).
It is possible to change the distance d between the incident optical axis L1 and the outgoing optical axis L2, that is, the shift amount of the observation target 1 by changing the inclination angle θ of. Therefore, if the angle θ is changed in a constant cycle, the observation target 1 can be observed at different places for each angle θ, and a stereoscopic image can be obtained by combining these observation images.

Next, the configuration and operation of the stereoscopic camera device of this embodiment shown in FIG. 1 will be described. The stereoscopic camera device of FIG. 1 includes a camera housing 11 and a refraction mechanism 12 attached to the front surface thereof. An imaging optical system 13 including a lens, an image pickup element 14 including a CCD, and a control element 15 are provided in the camera housing 11. The refraction mechanism 12 includes a refraction element 16 and a camera (imaging optical system 13).
And a refraction angle changing mechanism 17 for changing the inclination angle of the refraction element 16 with respect to the optical axis of the.

The refraction angle changing mechanism 17 changes the inclination angle of the refraction element 16 in units of 180 degrees. Specifically, the refraction angle changing mechanism 17 alternately switches the refraction element 16 between the solid line position and the dotted line position in FIG.

When the refracting element 16 is at the position shown by the solid line in FIG. 1, the light incident along the incident optical axis L11 shown by the solid line is guided to the imaging optical system 13. On the other hand, when the refraction element 16 is located at the position indicated by the dotted line in FIG. 1, the light incident along the incident optical axis L12 shown by the alternate long and short dash line is guided to the imaging optical system 13.

In the example of FIG. 1, the distance between the incident optical axes L11 and L12 is D (= 2d). In this way, the refraction element 1
The incident optical axis changes depending on the inclination angle of 6, which is equivalent to arranging two cameras on each of the incident optical axes L11 and L12, and each image corresponding to these incident optical axes L11 and L12. A stereoscopic image for the left and right eyes can be obtained by synthesizing.

Since the position of the imaging optical system 13 is fixed, even if the inclination angle of the refraction element 16 is changed, the refraction element 1
It is desirable that the position of the outgoing optical axis L13 from 6 to the image sensor 14 does not change. However, when the accuracy is not so required, the output optical axis L is changed according to the change of the angle of the refraction element 16.
13 may vary slightly.

In order to obtain a stereoscopic image using the apparatus of FIG. 1, the images obtained at the respective incident optical axes L11 and L12 are displayed on a television monitor or the like, and these images are separately obtained by using known shutter glasses or the like. It is necessary to present it to the observation means of.
For example, in the case of FIG. 1, the refraction angle changing mechanism 17 includes the refraction element 1
A mechanism for capturing images corresponding to the incident optical axes L11 and L12 is required in synchronization with switching the angle of 6 in units of 180 degrees. The specific means for realizing such an image capturing mechanism does not matter.

As described above, in the first embodiment, the inclination angle of the refraction element 16 with respect to the optical axis of the imaging optical system 13 is periodically changed, and the subject light is imaged in synchronization with the change. A stereoscopic image can be generated without providing two cameras, and the size and weight of the device can be reduced.

(Second Embodiment) FIG. 3 is a perspective view of a second embodiment of a stereoscopic camera device according to the present invention. The stereoscopic camera device of FIG. 3 includes a camera lens 21 arranged at a position off the central axis of the camera housing 20, and a camera lens 2
It has a total of six refracting elements 22 arranged in front of 1 (on the side of the observation target), a work hole 23 formed near the central axis of the camera housing 20, and an illumination member 24. The two refracting elements 22 are in a set, and the inclination angle of the refracting element 22 with respect to the optical axis is different for each set. Behind the camera lens 21, an imaging optical system (not shown in FIG. 3) similar to that in FIG. 1 is provided.

Further, on the outer peripheral portion of the camera housing 20, a refraction angle changing mechanism 2 rotatable about the central axis of the camera housing 20.
6 is provided, and the refraction element 22 is supported inside the refraction angle changing mechanism 26. With such a structure, when the refraction angle changing mechanism 26 rotates, the refraction element 2 is correspondingly rotated.
2 also rotates.

More specifically, each time the refraction angle changing mechanism 26 rotates by a predetermined amount, refraction elements 22 having different inclination angles are arranged in front of the camera lens 21. This is equivalent to the change of the incident optical axis L1 as in FIG. 2, and the stereoscopic image can be obtained by separately capturing and combining the subject light incident from the different incident optical axes L1. .

By the way, in order to obtain a higher quality color stereoscopic image, the color filter 27 shown on the left side of FIG.
Is used as a refraction element, and the inclination angle of these color filters 27 with respect to the camera optical axis may be changed for each color. FIG. 3 shows an example in which two color filters 27 of each of three types of red, green and blue are provided.

In this way, the color filter 27 for each color is
The reason why the inclination angle is changed is that the refractive index differs depending on the frequency of each color, and it is desirable to set the inclination angle of each color filter 27 so that the emission optical axis L2 of each color filter 27 substantially coincides.

If the output optical axes cannot be made to coincide with each other only by changing the inclination angle of the refraction element 22 or the color filter 27 shown in FIG.
After the image is captured, image processing may be performed on the captured image to correct the tilt angle of the refraction element 16.

The work hole shown in FIG. 3 is provided for inserting an endoscope or the like, and the illumination member 24 is used for operating the endoscope or the like. However, when the apparatus of FIG. 1 is used only for the purpose of obtaining a stereoscopic image, the work hole 2
3 and the illumination member 24 are unnecessary.

Further, instead of using the color filter 27 as a refraction element, an ordinary color filter may be separately provided in front of or behind the refraction element 16 shown in FIG. (Third Embodiment) FIG. 4 is a perspective view of a third embodiment of the stereoscopic camera device according to the present invention. The stereoscopic camera device of FIG. 4 includes a camera housing 31, a rotating mechanism stator 32 arranged at the tip of the camera housing 31, and a rotating mechanism stator 3.
2, a rotation mechanism mover 33 that can be rotated around the central axis of the camera housing 31, and a rotation mechanism mover 33.
And a linear movable electrode 36 and a linear fixed electrode 37 for changing the inclination angle of the refraction element 35.

At the tip of the linear movable electrode 36, there are a flexible joint 36a and a universal joint 36b which are elastically deformable.
Is provided, and one end of the universal joint 36b is attached to the side of the refraction element 16 opposite to the side on which the rotary hinge 34 is attached.

Linear movable electrode 36 and linear fixed electrode 37
Each has a plurality of ladder-shaped electrode pieces, and currents having different phases are caused to flow through these electrode pieces to generate a magnetic field,
The linear movable electrode 36 moves along the input optical axis due to the repulsive force and the attractive force exerted on each electrode piece by this magnetic field.
Since the universal joint 36b provided at the tip of the linear movable electrode 36 is connected to the refraction element 35, the angle of the refraction element 35 changes according to the movement of the linear movable electrode 36.

Further, the rotating mechanism movable element 33 is used as the camera housing 3.
When rotating around the central axis of 1, the refraction element 16 also rotates around the central axis accordingly. For example, if the rotating mechanism movable element 33 is rotated in units of 180 degrees, as in FIG. Images from two types of incident optical axes L11 and L12 can be obtained, and a stereoscopic image can be generated by capturing these images.

As described above, in the third embodiment, since the incident optical axis can be shifted according to the rotation of the rotating mechanism movable element 33, the images for the left and right eyes can be obtained without providing a plurality of cameras. be able to. Further, since the angle of the refraction element 16 can be arbitrarily changed by moving the linear movable electrode 36, the shift amounts of the incident optical axes L11 and L12 can be changed according to the distance of the observation target 1.

The device shown in FIG.
Although it has both the linear movable electrode 36 and the linear movable electrode 36, the rotary mechanism movable element 33 may be omitted and only the linear movable electrode 36 may be provided as long as a sufficient movable range can be secured. Further, when the linear movable electrode 36 alone cannot secure a sufficient movable range, a new linear mechanism is provided instead of the rotary hinge 34 to support both ends of the refraction element 16, and the newly provided linear mechanism and linear movable electrode. 36 and 36 may be driven differentially to change the inclination of the refraction element 16.

(Fourth Embodiment) The fourth embodiment is characterized in that a mechanism for rotating the refracting element about an axis substantially orthogonal to the central axis of the camera housing is provided.

FIG. 5 shows a fourth embodiment of the stereoscopic camera device according to the present invention.
3 is a perspective view of the embodiment of FIG. The stereoscopic camera device of FIG.
A refraction element 42 arranged in front of the camera housing 41 (on the observation target side) and a rotation / rocking actuator 43 for rotating or rocking the refraction element 42 in a direction substantially orthogonal to the central axis of the camera are provided. By driving the rotation / oscillation actuator 43, it is possible to image the subject light from different incident optical axes L11 and L12 as in the case of FIG. 1, and by combining these imaging results, a stereoscopic image is obtained. Can be obtained. Further, by rotating or rocking the refraction element 16 by the rotation / rocking actuator 43,
An appropriate parallax can be secured according to the distance and size of the observation target 1.

(Fifth Embodiment) In the fifth embodiment, the basic structure is the same as that of the fourth embodiment, but the refracting element and the camera lens are placed at positions off the central axis of the camera housing. It is characterized by being provided.

FIG. 6 shows a fifth embodiment of the stereoscopic camera device according to the present invention.
3 is a perspective view of the embodiment of FIG. A refracting element 42, a rotation / swing actuator 43, and a camera lens 44, which have the same structure as those in FIG. 5, are provided inside the stereoscopic camera device shown in FIG. In addition, a plurality of work holes 23 for inserting an endoscope and the like and a lighting device 24 are provided in the device of FIG.

As described above, by providing the working hole 23 and the illumination device 24, not only a stereoscopic image can be obtained, but also an endoscope can be used.

The working hole 23 and the lighting device 2 shown in FIG.
4 may be provided in the stereoscopic camera device shown in FIGS. 1, 4 and 5. Also, the number of working holes is not particularly limited.

The refraction element 16 used in each of the above-mentioned embodiments does not necessarily have to be flat. That is, as long as the subject light from the observation target 1 can be refracted and guided to the image pickup element 14, the specific shape of the refraction element 16 does not matter.

[0038]

As described in detail above, according to the present invention, since the tilt angle with respect to the optical axis of the refracting optical system that refracts subject light and guides it to the imaging optical system can be changed, a plurality of camera devices can be used. It is possible to image the subject light from a plurality of incident optical axes without providing. Therefore, it is possible to obtain a stereoscopic camera device which can be made smaller and lighter and which consumes less power than conventional ones. Further, according to the present invention, not only the image pickup apparatus but also one set of the imaging optical system is required, so that it is difficult to obtain a stereoscopic image using a plurality of cameras. It is possible to suppress the optical axis shift and the magnification change of the eye image. This improves maintainability and facilitates adjustments after replacing parts. Further, by providing a mechanism for changing the angle of the refraction element, the parallax amount of the left and right eye images can be easily changed according to the distance and size of the observation target.

[Brief description of drawings]

FIG. 1 is a diagram showing a cross-sectional structure of a first embodiment of a stereoscopic camera device according to the present invention.

FIG. 2 is a diagram illustrating the principle of the stereoscopic camera device of FIG.

FIG. 3 is a perspective view of a second embodiment of a stereoscopic camera device according to the present invention.

FIG. 4 is a perspective view of a third embodiment of a stereoscopic camera device according to the present invention.

FIG. 5 is a perspective view of a fourth embodiment of a stereoscopic camera device according to the present invention.

FIG. 6 is a perspective view of a fifth embodiment of a stereoscopic camera device according to the present invention.

FIG. 7 is a diagram illustrating the principle of a conventional stereoscopic camera device.

FIG. 8 is a diagram showing an example in which two images are observed as double images instead of being stereoscopic images.

FIG. 9 is a diagram showing an example in which two images are not stereoscopically fused.

FIG. 10 is a diagram showing an example in which a stereoscopic image cannot be obtained due to vertical displacement.

[Explanation of symbols]

1 Observation target 2 transparent plate 11 camera housing 12 Refraction mechanism 13 Imaging optical system 14 Image sensor 15 Control element 16 Refractive element 17 Refraction angle changing mechanism

Claims (6)

(57) [Claims] 1. A stereoscopic camera device for capturing a subject light incident from a plurality of different incident optical axes to generate a stereoscopic image, and a refracting optical system for refracting the subject light, and a refracting optical system refracting the subject light. An image forming optical system for forming an image of subject light on an image pickup surface, an image pickup apparatus arranged on the image pickup surface, and a refraction angle changing mechanism for changing an inclination angle of the refraction optical system with respect to an optical axis of the image formation optical system. , And the refraction optical system is different from the refraction angle changing mechanism.
A plurality of refracting optical members that are fixed at an inclination angle, and the refracting optical system is rotated by the refraction angle changing mechanism.
Sometimes, a subject refracted by one of the refracting optical members
The body light is focused so that it forms an image on the imaging surface of the imaging device.
A stereoscopic camera device characterized by the placement of an image optical system . 2. The stereoscopic camera according to claim 1, wherein the refraction angle changing mechanism changes at least two inclination angles of the refraction optical system so that the image formation position of the subject light does not change. apparatus. 3. The refraction optical system is fixed to the refraction angle changing mechanism at a predetermined inclination angle, and the refraction angle changing mechanism rotates the refraction optical system around an optical axis of the imaging optical system. The stereoscopic camera device according to claim 1, wherein the tilt angle of the refraction optical system is changed by changing the tilt angle. Wherein each of said refractive optical element inclination angles are different, the three-dimensional camera apparatus according to any one of claims 1 to 3, characterized in that it is constituted by a hue different color filters from each other. 5. A subject image incident from a plurality of different incident optical axes.
3D camera that captures body light and generates 3D images
In the device, a refraction optical system for refracting the subject light and a subject light refracted by the refraction optical system are formed on an imaging surface.
Image forming optical system, an image pickup device arranged on the image pickup surface, and an inclination angle of the refracting optical system with respect to the optical axis of the image forming optical system.
And a refraction angle changing mechanism for changing the degree of the tilt angle of the refraction optical system by the refraction angle changing mechanism.
Adjustment timing and imaging timing by the imaging device
And the one end side of the refraction optical system is supported by the refraction angle changing mechanism.
On the other side of the refracting optical system to the optical axis of the imaging optical system.
A drive mechanism capable of changing the tilt angle of the refractive optical system
The refraction optical system is provided with the other end with the one end side as a rotation axis.
By moving the end side by the drive mechanism,
The tilt angle with respect to the optical axis of the imaging optical system can be changed
A stereoscopic camera device characterized by the above. 6. The refracting optical system, the image forming optical system, the imaging device, and the refraction angle changing mechanism are housed in a camera housing, and the refracting optical system and the refraction angle changing mechanism are housed in a camera housing. housed in a location off the center axis, the said camera housing, claim, characterized in that at least one is provided in the working hole and illumination holes 1-5
The stereoscopic camera device according to any one of 1.