JP4611932B2 - Moving body following photographing projection device - Google Patents

Description

  The present invention relates to a moving object follow-up photographing and projection apparatus for photographing an object and projecting an image onto the object.

  2. Description of the Related Art Conventionally, there is a system including an imaging device (for example, a camera) that captures an object and a projection device (for example, a projector) that projects an image onto the object (see, for example, Patent Document 1). In this system, the imaging device captures an image of the projection object, and the projection device projects the projection object on the projection position determined based on the coordinate value of the projection object in the image obtained by the imaging device. Project an image. In some systems, the field of view of the photographing apparatus is moved to match the field of view of the projection apparatus with this field of view (see, for example, Patent Document 2).

FIG. 14 is a diagram illustrating an example of an arrangement form of a camera and a projector of a conventional moving body following photographing and projection apparatus.
In the form shown in FIG. 14, the projector 21 is installed on a stand having wheels, and the camera 22 is installed on the casing of the projector 21. In this embodiment, the relative position and orientation of the projector 21 and the camera 22 are fixed.
JP 2001-211132 A JP-A-2005-323310

  When both the field of view of the photographing device and the field of view of the projection device in the system described above are changed, whether or not the moving object can be continuously photographed and projected depends on the accuracy of the operation for changing the field of view. Is done. Further, when the optical axis of the photographing apparatus and the optical axis of the projection apparatus are not provided, the change in the visual field of the photographing apparatus and the change in the visual field of the projection apparatus are different when the distance or direction to the object is changed. For this reason, in order to match these visual fields, it is necessary to link the changes of the respective visual fields. When the line of sight cannot be adjusted, in order to project onto a moving object, a conversion process between the coordinate value of the imaging coordinate system of the imaging apparatus and the coordinate value of the projection coordinate system of the projection apparatus is required. However, since the parameters of this conversion process need to be reset according to the distance from the imaging plane of the imaging apparatus and the projection plane of the projection apparatus to the object, imaging and projection are continued following the movement of the object. Complicated processing is necessary.

  Further, as described above, in the form in which the projector 21 is installed on a stand having wheels and the camera 22 is installed on the casing of the projector 21, the distance between the focal point of the camera 22 and the projection plane a, and Although the distance between the light source of the projector 21 and the projection plane a is the same, the optical axis from the projector 21 to the projection object and the optical axis from the projection object to the camera 22 do not match.

  In this embodiment, the photographing range by the camera 22 and the projection range by the projector 21 at the distance La between the focal point of the camera 22 and the light source of the projector 21 and the projection plane a coincide with the projection range of the projector 21. The shooting range by the camera 22 and the projection range by the projector 21 at the distance Lb (<distance La) between the light source and the projection plane b do not match.

  That is, in order for the projector 21 to project an image for projection onto an object photographed by the camera 22, the coordinate value of the object in the photographing coordinate system regarding the image obtained by photographing with the camera 22 is set to the coordinates in the projection coordinate system by the projector 21. Must be converted to a value. This conversion parameter needs to be determined according to the focal point of the camera 22 and the distance between the light source of the projector 21 and the projection plane.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a moving body follow-up shooting and projection apparatus capable of easily and continuously shooting a moving body and projecting an image onto the moving body.

In other words, the moving body following photographing and projection apparatus according to the present invention includes photographing means for photographing the image projection object, and recognizes the coordinate value of the representative point of the image projection object in the coordinate system of the image obtained by photographing. The relative positions and orientations of the recognition means and the imaging means are fixed, and the optical axis of the light incident on the imaging means from the image projection target and the optical axis of the light projected on the image projection target are the same. And a projecting means for projecting the projection image onto the projection position on the image projection target determined based on the recognized coordinate value, and the recognized coordinate value is separated from the predetermined coordinate value. In this case, the image processing apparatus includes a mobile robot equipped with the imaging unit and the projection unit, controlling the imaging direction by the imaging unit and the projection direction by the projection unit so that the recognized coordinate value approaches the determined coordinate value. Projected object When the area of the image projection object in the image obtained by photographing with the photographing means becomes smaller than a predetermined area by moving away from the mobile robot, in the image obtained by photographing with the photographing means Movement control is performed to drive the mobile robot forward so that the area of the image projection object approaches the determined area, and the image projection object approaches the mobile robot and is photographed by the photographing means. When the area of the image projection object in the obtained image becomes larger than the predetermined area, the area of the image projection object in the image obtained by photographing with the photographing means approaches the predetermined area. and performing movement control for reverse drive is the mobile robot as.

  With the mobile object follow-up photographing and projecting apparatus according to the present invention, it is possible to easily and continuously shoot a mobile object and project an image onto the mobile object.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing an example of the appearance of a moving object following photographing and projection apparatus according to an embodiment of the present invention.

  As shown in FIG. 1, the moving body following photographing / projecting device according to the embodiment of the present invention includes a photographing / projecting device 1, a turning device 2, and a mobile robot 3. The swivel device 2 is supported by the mobile robot 3 via a first rotation shaft, and supports the photographing projection device 1 via a second rotation shaft.

FIG. 2 is a diagram showing a first example of the arrangement of the camera and projector of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention.
As shown in FIG. 2, the photographing and projecting apparatus 1 has a camera 4, a projector 5, and a half mirror 6 mounted in the casing. The camera 4 is a photographing device that photographs an object, and the projector 5 is a projection device that projects a projection image onto an object photographed by the camera 4.

  The relative positions and orientations of the camera 4 and the projector 5 are fixed, and the optical axis of the light obtained by the camera 4 and the optical axis of the light from the projector 5 intersect, and a half mirror is formed at the intersection of these optical axes. 6 is arranged. In addition, each angle of view is set so that the shooting range by the camera 4 and the projection range by the projector 5 match.

  The swivel device 2 shown in FIG. 1 performs pan driving control and tilt driving control in the photographing direction by the camera 4 and the projection direction by the projector 5 in the photographing projection device 1 by driving the two rotation shafts described above. . The mobile robot 3 includes wheels and moves forward, backward, and rotates.

The half mirror 6 shown in FIG. 2 is arranged on the optical path of the image projected by the projector 5 with a predetermined angle with respect to the optical axis. The projection image projected from the projector 5 passes through the half mirror 6 and is projected onto the projection target.
The inclination angle of the half mirror 6 is an angle at which light from the projection target is reflected by the half mirror 6 and is incident on the camera 4.

  With such an arrangement, the optical axis from the projector 5 to the projection object coincides with the optical axis from the projection object to the camera 4, so that it is not necessary to correct the position of the projection image and the captured image.

FIG. 3 is a diagram showing a second example of the arrangement of the camera and projector of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention.
In the case of the configuration shown in FIG. 2, part of the projection light from the projector 5 is reflected by the half mirror 6 and reflected by the inner surface 7 of the housing depending on the transmittance and reflectance of the half mirror 6 to be used. . Unnecessary light rays reflected by the inner surface 7 of the housing are further transmitted through the half mirror 6 and incident on the camera 4. The arrangement shown in FIG. 3 is obtained by improving the arrangement shown in FIG.

  In the form shown in FIG. 3, a linear polarization filter 8 is provided between the half mirror 6 and the inner surface 7 of the housing, and a circular polarization filter 9 is attached to the camera 4. Specifically, two linearly polarizing filters 8 are disposed at a predetermined angle on the reflected light path of an image projected by the projector 5 without being transmitted through the half mirror 6.

  The two linear polarization filters 8 have polarization characteristics orthogonal to each other. Thereby, most of the projection light reflected by the half mirror 6 is absorbed by the linear polarization filter 8. Here, the case where the two linear polarization filters 8 are combined has been described, but it is needless to say that the number is not limited to two.

  The inclination angle of the linear polarizing filter 8 is such that the light reflected by the surface of the linear polarizing filter 8 is reflected again on the surface of the linear polarizing filter 8 with respect to the optical path of the projected light reflected by the half mirror 6. The angle is not visible. By arranging the linear polarization filter 8 in this way, the light from the inner surface 7 of the housing is blocked, and the light that is not absorbed by the linear polarization filter 8 out of the projection light reflected by the half mirror 6 from the projector 5 Reflected in the external direction.

Most of the light from the outside is blocked by the two linear polarizing filters 8, but a part of the light is reflected by the linear polarizing filter 8 and reflected in the direction of the half mirror 6. Light from the outside reflected by the linear polarizing filter 8 passes through the half mirror 6, but is blocked by a circular polarizing filter 9 attached to the incident side of the camera 4.
By adopting such an arrangement, it is possible to reduce the influence on the camera 4 by the projection light from the projector 5.

FIG. 4 is a diagram showing a third example of the arrangement of the camera and projector of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention.
In the embodiment shown in FIG. 3, the case where the linear polarizing filter 8 is used has been described. However, as shown in FIG. 4, a circular polarizing filter 10 may be used instead of the linear polarizing filter. By providing the circularly polarizing filter 10 in this way, light from the inner surface 7 of the housing is polarized, and unnecessary projection light reflected by the half mirror 6 from the projector 5 is reflected in the direction of the outside world.

  A part of the light from the outside is blocked by the circular polarizing filter 10, but a part of the light is reflected by the circular polarizing filter 10 and reflected in the direction of the half mirror 6. Light from the outside reflected by the circular polarizing filter 10 passes through the half mirror 6, but is blocked by a circular polarizing filter 9 attached to the incident side of the camera 4.

  FIG. 5 is a diagram showing a fourth example of the arrangement of the cameras and projectors of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention. This form is a form in which the positions of the projector 5 and the camera 4 are switched as compared with the form shown in FIG.

  FIG. 6 is a diagram showing a fifth example of the arrangement of the camera and projector of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention. This form is a form in which the positions of the projector 5 and the camera 4 are switched as compared with the form shown in FIG.

In the form shown in FIGS. 5 and 6, the image projected from the projector 5 is reflected by the half mirror 6 and projected onto the projection plane.
On the other hand, two linearly polarizing filters 8 (in the case of FIG. 5) or a circle are inclined on the transmission optical path of the image projected by the projector 5 that is transmitted without being reflected by the half mirror 6 by a predetermined angle with respect to the transmission optical path. A polarizing filter 10 (in the case of FIG. 6) is arranged.
The two linear polarization filters 8 have polarization characteristics orthogonal to each other. Thereby, most of the projection light transmitted through the half mirror 6 is absorbed by the linear polarization filter 8.

  The inclination angle of the linear polarization filter 8 or the circular polarization filter 10 is such that the image of the projection light transmitted through the half mirror 6 is again reflected by the linear polarization filter 8 or the circular polarization filter 10 with respect to the optical path of the projection light transmitted through the half mirror 6. The angle is such that the reflected light is not reflected on the camera 4. Thus, by arranging the linear polarization filter 8 or the circular polarization filter 10, the light from the inner surface 7 of the housing is blocked, and the linear polarization filter 8 or the circle out of the projection light transmitted from the projector 5 through the half mirror 6. The light that has not been absorbed by the polarizing filter 10 is reflected in the external direction.

  Most of the light from the outside world is blocked by the two linear polarizing filters 8 or the circular polarizing filter 10, but a part of the light is reflected by the linear polarizing filter 8 or the circular polarizing filter 10 and reflected in the direction of the half mirror 6. . The light from the outside reflected by the linear polarizing filter 8 or the circular polarizing filter 10 is reflected by the half mirror 6, but is blocked by the circular polarizing filter 9 attached to the incident side of the camera 4.

Hereinafter, the following description will be made assuming that the arrangement form of the camera 4 and the projector 5 of the photographing projection apparatus 1 is the form shown in FIG.
FIG. 7 is a block diagram showing an example of the internal configuration of the photographing / projecting apparatus 1 of the moving object following photographing / projecting apparatus according to the embodiment of the present invention.

  As shown in FIG. 7, the imaging / projection apparatus 1 of the mobile object follow-up imaging / projection apparatus according to the embodiment of the present invention includes a control unit 11 that controls the entire apparatus, a storage unit 12, a projection object recognition unit 13, and a projection. An image generation unit 14, a drive control unit 15, and an input / output interface 16 are provided and are connected to each other via a bus 17.

  The storage unit 12 stores a control program and various information by the control unit 11 and also functions as a work memory. The projection object recognition unit 13 analyzes the image obtained by the camera 4 and recognizes the projection object in the image.

  The projection image generation unit 14 generates a projection image onto the object photographed by the camera 4. The drive control unit 15 controls the above-described pan drive and tilt drive by the turning device 2, and moves the mobile robot 3 forward, backward, or rotates. The input / output interface 16 inputs an image acquired by the camera 4 and outputs an image for projection onto the projector 5.

  Next, the operation of the photographing projection apparatus 1 having the configuration shown in FIG. 1 will be described. FIG. 8 is a flowchart showing an example of the processing operation of the photographing / projecting apparatus 1 of the moving object following photographing / projecting apparatus according to the embodiment of the present invention.

  Here, it is assumed that the object to be projected by the camera 4 is a balloon. When the image obtained by photographing the projection object by the camera 4 is output to the input / output interface 16 of the photographing projection apparatus 1 (step S1), the projection object recognition unit 13 recognizes the projection object in the image. Image processing is performed (step S2).

Details of the processing in step S2 will be described. FIG. 9 is a flowchart showing details of image processing of the imaging / projecting apparatus of the moving object following imaging / projecting apparatus according to the embodiment of the present invention.
The projection object recognition unit 13 acquires an image input to the input / output interface 16 and performs RGB / HSV conversion of the image (step S11). The RGB / HSV conversion means conversion from an image expressed by a combination of red, green, and blue into an image expressed by a combination of hue, saturation, and value.

  The projection object recognition unit 13 generates a mask image of a predetermined hue area in the converted image (step S12). This hue area is the hue of the object to be projected by the camera 4, and this information is stored in the storage unit 12 in advance.

  The projection object recognizing unit 13 degenerates and expands the generated image to remove noise in the image (step S13), and the original image from the input / output interface 16 and the noise-removed mask image are included. Then, a designated hue area image is generated (step S14).

  The projection object recognition unit 13 generates a binarized image based on the designated hue area image with a predetermined brightness as a threshold (step S15). The projection object recognizing unit 13 extracts each region having a brightness equal to or higher than the above-described threshold value of the binarized image (step S16), and determines whether or not the number of pixels in this region is within a predetermined range. It discriminate | determines for every area | region (step S17).

  If the projection object recognition unit 13 determines “YES” in the process of step S17, it calculates the center of gravity of the area (step S18), and calculates the bounding box of this area for each area (step S19). .

The projection object recognition unit 13 stores the data of each area bounded by the bounding box in the storage unit 12 as the data of the candidate area of the projection object (step S20).
The projection object recognition unit 13 determines an area having an aspect ratio closest to 1 among the areas indicated by the data stored in the storage unit 12 as the area of the projection object (step S21).

FIG. 10 is a diagram illustrating an example of a projection target included in an image obtained by photographing by the camera of the moving object following photographing and projecting device according to the embodiment of the present invention.
Returning to the description of the processing shown in the flowchart shown in FIG. The control unit 11 recognizes the coordinate value (x _p , y _p ) of the representative point P in the region determined by the process of step S21 (step S3). The representative point is, for example, the center of gravity of the region. This coordinate value is a coordinate value in the photographing coordinate system by the camera 4. The center coordinate value (x ₀ , y ₀ ) of this shooting coordinate system is the center of the shooting range by the camera 4.

FIG. 11 is a diagram showing various coordinate values of the shooting coordinate system of the camera 4 of the moving object following shooting and projection apparatus according to the embodiment of the present invention.
The control unit 11 calculates the difference between the recognized coordinate value (x _p , y _p ) and the center coordinate value (x ₀ , y ₀ ) for each of the horizontal component and the vertical component, and these difference and dead band. The Δx and the dead band Δy are compared. The dead band Δx is the reference value of the difference horizontal component described above, and the dead band Δy is the reference value of the difference vertical component described above.

Specifically, the control unit 11 calculates the absolute value of the difference between the horizontal component x ₀ of the horizontal component x _p and the central coordinate values of the coordinate values of the representative point P (step S4), and the coordinate values of the representative points P to the calculation of the absolute value of the difference between the vertical component y ₀ of the vertical component y _p and the center coordinate values (step S5).

  The control unit 11 determines whether or not the absolute value calculated in the process of step S4 exceeds the dead band Δx, and determines whether or not the absolute value calculated in the process of step S5 exceeds the dead band Δy. (Step S6).

  When the absolute value calculated in the process of step S4 exceeds the dead band Δx or the absolute value calculated in the process of step S5 exceeds the dead band Δy (YES in step S6). Then, the rotation speed command value by the turning device 2 is calculated (step S7).

Specifically, when the absolute value calculated in the process of step S4 exceeds the dead band Δx, the control unit 11 sets the pan rotation speed command value V _x by the turning device 2 according to the following equation (1). calculate.

_{V x = K (x p -x} 0) ... formula (1)
Further, when the absolute value calculated in the process of step S5 exceeds the dead band Δy, the control unit 11 calculates the command value V _y of the tilt rotation speed by the turning device 2 according to the following equation (2).

_{V y = K (y p -y} 0) ... formula (2)
K in the equations (1) and (2) is a gain (constant).
The control unit 11 outputs information on the speed command value calculated in this way to the drive control unit 15. The drive control unit 15 performs drive control of the turning shaft of the turning device 2 according to the command value (step S8).

FIG. 12 is a diagram showing an example of an image for projection by the projector of the mobile object follow-up photographing / projecting device according to the embodiment of the present invention.
The projection object recognition unit 13 recognizes again the coordinate values (x _p , y _p ) of the representative point of the projection object in the image obtained by the camera 4 after the drive control by the process of step S8.

  The projection image generation unit 14 reads out a projection image corresponding to the projection target recognized by the projection target recognition unit 13 as described above from among the projection images stored in the storage unit 12, and represents the representative point of this image. Information on coordinate values in the projection coordinate system is output to the projector 5 via the input / output interface 16 (step S9).

Here, the projection image is an image of a balloon explaining that the projection target is a balloon, and the representative point of this image is the tip of the balloon. The coordinate value of the representative point of the projection image in the projection coordinate system is the representative point coordinate value (x _p , y _p ) recognized again by the projection object recognition unit 13 after the drive control.

Here stop projection object moves after the drive control by the processing in step S8, the coordinate values projected object recognition unit 13 recognizes again and the center coordinates of the imaging coordinate system (x _{0, y 0).} The projector 5 projects the projection image at a position corresponding to the coordinate value from the input / output interface 16 on the projection target (step S10).

  FIG. 13 is a diagram showing an example of an imaging projection form after drive control by the moving body following imaging projection apparatus according to the embodiment of the present invention. As shown in FIG. 13, the projection target 18 is located at the center of the projection range, and a projection image is projected onto the projection target.

  As described above, in the moving body following photographing and projection apparatus according to the embodiment of the present invention, the relative position and orientation of the camera 4 and the projector 5 are fixed, and the light incident on the camera 4 from the projection target object. When the axis and the optical axis of the light projected from the projector 5 onto the projection object coincide with each other, and the position of the projection object in the image photographed by the camera 4 is away from a predetermined coordinate value in the photographing coordinate system Since the shooting direction by the camera 4 and the projection direction of the projector 5 integrated with the camera 4 are controlled so that the position of the projection target approaches the determined coordinate value, the projection target even when the projection target moves. And the projection image can be projected onto the projection object easily and continuously.

  In particular, the coordinate value of the imaging coordinate system and the coordinate value of the projection coordinate system are matched by matching the optical axis of light incident on the camera 4 from the projection object and the optical axis of light projected from the projector 5 onto the projection object. Therefore, the amount of calculation by the photographic projection device 1 can be reduced.

  Further, as shown in FIGS. 3 to 6 described above, if the configuration is such that the influence of the projection light from the projector 5 on the camera 4 is reduced, unnecessary projector light in the image taken by the camera 4 is reduced. Therefore, the object to be projected can be easily recognized by the photographic projection apparatus 1.

  The above embodiment describes the case where the present invention is applied to shooting of a balloon and projection thereon. However, the present invention is not limited to this, and the present invention is also applied to shooting of various moving objects and projection thereof. It is possible to apply.

  In the above-described embodiment, after photographing by the camera 4, the photographing / projecting apparatus 1 reads the projection image after drive control associated with the recognition of the representative point coordinate value, and uses the representative point coordinate value recognized again after the drive control. Although it has been described that the projector 5 performs projection based on the representative point coordinate values from the photographing / projecting device 1 and the projection image, the photographing / projecting device 1, the camera 4, and the projector 5 are arranged in parallel by multi-threading. May be operable.

  An example of this multi-thread operation will be described below. When the photographing projection apparatus 1 is activated, both the camera 4 and the projector 5 are activated. The camera 4 shoots the projection object from the beginning, and the projector 5 obtains a projection image from the photographic projection device 1 from the beginning and always projects it onto the projection object. The photographing and projecting apparatus 1 recognizes the representative point coordinate values of the projection object in the image obtained by photographing by the camera 4 after the camera 4 and the projector 5 are activated, and performs the drive control described above. The representative point coordinate value recognized again after the drive control is output to the projector 5. When the representative point coordinate value from the photographing projection device 1 is input, the projector 5 changes the projection position so that the projection image is projected at a position corresponding to the coordinate value.

  Further, in the above-described embodiment, it has been described that the turning device 2 performs pan driving control and tilt driving control in the shooting direction by the camera 4 and the projection direction by the projector 5 by driving the rotation shaft. However, the present invention is not limited to this, and instead of providing the swivel device 2, the housing of the mobile robot 3 and the photographic projection device 1 are integrated, and the housing of the mobile robot 3 is driven up and down and left and right. Pan driving control and tilt driving control may be performed.

  In addition, the imaging / projection apparatus 1 drives the mobile robot 3 so that the area of the object area within the angle of view by the camera 4 is constant, and translates the entire moving body following imaging / projection apparatus, thereby moving the image projection object. The pan driving control and the tilt driving control described above may be performed while following. Specifically, when the target object or the photographing / projecting apparatus 1 moves and the orientation of the target object with respect to the photographing / projecting apparatus 1 changes, the photographing / projecting apparatus 1 is always the same for the target object. The mobile robot 3 is driven to a position where a projection image can be projected from the direction.

  Further, when the projection object is separated from the mobile robot 3, the imaging / projection apparatus 1 drives the mobile robot 3 forward because the area of the object area within the angle of view by the camera 4 is reduced, and the object is moved to the mobile robot 3. Since the area of the object area within the angle of view by the camera 4 increases, the mobile robot 3 is driven backward. Thereby, even if the distance between the projection object and the photographing projection apparatus 1 changes, photographing by the camera 4 and projection by the projector 5 can be continued while following this.

  Further, in the above-described embodiment, it has been described that each field angle is set so that the photographing range by the camera 4 and the projection range by the projector 5 coincide with each other. If they overlap, the imaging / projection apparatus 1 may recognize the projection object using the above-described overlapping range in the image captured by the camera 4.

  The present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, you may combine the component covering different embodiment suitably.

The figure which shows an example of the external appearance of the mobile body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows the 1st example of the arrangement | positioning form of the camera and projector of a moving body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows the 2nd example of the arrangement | positioning form of the camera and projector of a mobile body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows the 3rd example of the arrangement | positioning form of the camera of the moving body tracking imaging | photography projection device according to embodiment of this invention, and a projector. The figure which shows the 4th example of the arrangement | positioning form of the camera of a moving body tracking imaging | photography projection device and projector according to embodiment of this invention. The figure which shows the 5th example of the arrangement | positioning form of the camera and projector of a mobile body tracking imaging | photography projection device according to embodiment of this invention. The block diagram which shows an example of the internal structure of the imaging | photography projection apparatus of the moving body tracking imaging | photography projection apparatus according to embodiment of this invention. The flowchart which shows an example of the processing operation of the imaging | photography projection apparatus of the moving body tracking imaging | photography projection apparatus according to embodiment of this invention. The flowchart which shows the detail of the image processing of the imaging | photography projection apparatus of the moving body tracking imaging | photography projection apparatus according to embodiment of this invention. The figure which shows an example of the projection target object contained in the image image | photographed and acquired by the camera of the mobile body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows the various coordinate values of the imaging | photography coordinate system of the camera of the mobile body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows an example of the image for projection by the projector of the moving body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows an example of the imaging | photography projection form after the drive control by the moving body tracking imaging | photography projection device according to embodiment of this invention. The figure which shows an example of the arrangement | positioning form of the camera and projector of the conventional mobile body tracking imaging | photography projection apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Imaging | photography projection apparatus, 2 ... Turning apparatus, 3 ... Mobile robot, 4,21 ... Camera, 5,22 ... Projector, 6 ... Half mirror, 7 ... Inner surface of housing | casing, 8 ... Linear polarization filter, 9, 10 ... Circular polarization filter, 11 ... control unit, 12 ... storage unit, 13 ... projection object recognition unit, 14 ... projection image generation unit, 15 ... drive control unit, 16 ... input / output interface, 17 ... bus, 18 ... projection object .

Claims (1)

Photographing means for photographing an image projection object;
Recognizing means for recognizing the coordinate value of the representative point of the image projection object in the coordinate system of the image obtained by photographing by the photographing means;
The relative position and orientation with respect to the imaging unit are fixed, and the optical axis of light incident on the imaging unit from the image projection target and the optical axis of light projected onto the image projection target are the same. And projecting means for projecting an image for projection onto a projection position on the image projection object determined based on the coordinate value recognized by the recognition means,
Photographing by the photographing means so that the coordinate value recognized by the recognition means approaches the predetermined coordinate value when the coordinate value recognized by the recognition means is far from the predetermined coordinate value of the coordinate system. Direction control means for controlling the direction and the projection direction by the projection means ;
A mobile robot carrying the photographing means and projection means;
When the area of the image projection object in the image obtained by photographing with the photographing means becomes smaller than a predetermined area when the image projecting object moves away from the mobile robot, the photographing means captures the image. Then, movement control is performed to drive the mobile robot forward so that the area of the image projection object in the obtained image approaches the predetermined area, and the imaging is performed by the image projection object approaching the mobile robot. When the area of the image projection object in the image obtained by photographing with the means is larger than the predetermined area, the area of the image projection object in the image obtained by photographing with the photographing means is solving the movement control means further comprising a <br/> performing movement control for reverse drive is the mobile robot closer to a defined area Mobile follow-up shot projection device to.

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