JP5277600B2

JP5277600B2 - Overhead radiography system and method

Info

Publication number: JP5277600B2
Application number: JP2007258278A
Authority: JP
Inventors: 孝臣民野
Original assignee: 朝日航洋株式会社
Priority date: 2007-10-02
Filing date: 2007-10-02
Publication date: 2013-08-28
Anticipated expiration: 2027-10-02
Also published as: JP2009086471A

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system and a method for photographing an overhead wire in proper size and direction. <P>SOLUTION: A laser device 28 calculates the distance and direction to a representative overhead wire, viewed from a video camera 10 by a selector 34 and a representative wire distance and direction calculator 36. A camera and mount controller 38 controls the focus and photographing direction of the camera 10, according to the output of the calculator 36. A line extractor 46 extracts a line image from the photographed image of the camera 10. An inclination calculator 48 calculates the inclination of the line image. A control target determination device 50 determines the control target of the optical zoom of the camera 10 and the control target of the photographing center from the information of the extracted line. In a tracking mode, the controller 38 controls the optical zoom of the camera 10, according to the control target of an optical zoom function, rotates the camera 10, so as to make the overhead wire horizontal in a photographic picture, according to the calculation result of the inclination calculator 48, and tilts the video camera 10, according to the control target of the photographing center, to pan the camera 10, according to the output of the calculator 36. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、架空線撮影システム及び方法に関し、より具体的には、架空送電線及びその落雷防止用の接地線（グランド・ワイヤ）等の使用中の架空線を、その検査のために撮影する架空線撮影システム及び方法に関する。 The present invention relates to an overhead line imaging system and method, and more specifically, an overhead line in use such as an overhead transmission line and a grounding wire (ground wire) for preventing lightning strikes is photographed for the inspection. The present invention relates to an overhead radiography system and method.

架空線を撮影する方法として、特許文献１には、レーザ測距装置と高精細ビデオカメラをヘリコプタに搭載し、ヘリコプタを架空線に沿って飛行させ、レーザ測距装置による架空線までの距離と方向の計測結果に従いビデオカメラのフォーカスと撮影方向を制御するシステムが、記載されている。ヘリコプタを架空線に沿って飛行させながら、架空線を撮影し録画することで、架空線を追尾し、フォーカスの合ったビデオ画像を得ることができる。また、撮影画像内の電線のずれと傾きを検出し、架空線が常時画面中央でほぼ水平に位置するようにカメラのチルト角及びロール角を制御することが記載されている。 As a method for photographing an overhead line, Patent Document 1 discloses that a laser ranging device and a high-definition video camera are mounted on a helicopter, the helicopter is caused to fly along the overhead line, and the distance to the overhead line by the laser ranging device is A system for controlling the focus and shooting direction of a video camera according to the direction measurement results is described. By shooting and recording the overhead line while flying the helicopter along the overhead line, it is possible to track the overhead line and obtain a focused video image. It also describes that the displacement and inclination of the electric wire in the photographed image are detected, and the tilt angle and roll angle of the camera are controlled so that the overhead line is always positioned almost horizontally at the center of the screen.

特許文献２には、架空線に対向させた赤外線カメラを架空線の長手方向に一定速度で移動させて温度分布を測定し、局部的な高温部を検出する技術が記載されている。鋼芯の被膜の腐蝕が進行している部分は、温度が周囲より高くなることを利用する。 Patent Document 2 describes a technique for detecting a local high temperature part by measuring a temperature distribution by moving an infrared camera facing an overhead line at a constant speed in the longitudinal direction of the overhead line. The part where the corrosion of the coating of the steel core is proceeding utilizes the fact that the temperature is higher than the surroundings.

特許文献３には、地上から延びて電線に掛ける棒状をしており、電線に近接する部分にカメラを設置することで、地上で、架空線の表面を観察できるようにした架空線表面観察装置が記載されている。
特開平１０−００３１０９号公報特開平０５−３３２９６２号公報特開２００４−２４２４０１号公報 Patent Document 3 has an overhead wire surface observation device that has a rod shape that extends from the ground and hangs on an electric wire, and allows the surface of the overhead wire to be observed on the ground by installing a camera near the wire. Is described.
JP-A-10-003109 Japanese Patent Laid-Open No. 05-332962 JP 2004-242401 A

送電鉄塔には、通常、複数の送電線が並列に接続されている。特許文献１に記載の方法は、単一の架空線をアップで撮影することは容易である。しかし、撮影距離が異なる複数本の架空線を同時に撮影し、しかも、細部を確認できる程にアップで撮影することは難しい。 In general, a plurality of transmission lines are connected in parallel to the transmission tower. With the method described in Patent Document 1, it is easy to photograph a single overhead line up. However, it is difficult to shoot a plurality of overhead lines with different shooting distances at the same time, and to take a picture so high that details can be confirmed.

特許文献２，３に記載の方法は、架空線にカメラ装置を掛ける必要があり、例えば、山中の架空線や、非常に高い位置に設置される架空線に適用するのは難しい。 The methods described in Patent Documents 2 and 3 require a camera device to be hung on an overhead line, and are difficult to apply to, for example, an overhead line in a mountain or an overhead line installed at a very high position.

本発明は、このような問題点を解決し、複数本の架空線を同時に、且つその細部の検査に利用可能な程にアップで撮影可能な架空線撮影システム及び方法を提示することを目的とする。 An object of the present invention is to solve such a problem and to provide an overhead line imaging system and method capable of imaging a plurality of overhead lines simultaneously and up to the extent that they can be used for inspection of details. To do.

本発明に係る架空線撮影システムは、架空線を撮影する架空線撮影システムであって、光学ズーム機能及びオートフォーカス機能を具備し、外部制御信号によりマニュアルでフォーカスを制御可能なビデオカメラと、当該ビデオカメラの撮影映像情報を記録する記録手段と、当該ビデオカメラの当該光学ズーム機能を制御するズーム制御手段と、当該ビデオカメラの撮影方向を変更する撮影方向変更手段と、当該ビデオカメラをその撮影光軸を中心として回転するカメラ回転手段と、当該架空線までの距離及び方向を計測する距離・方向計測手段と、当該距離・方向計測手段で計測される複数の当該架空線の計測値から代表線の計測結果を選択する選択手段と、当該ビデオカメラの撮影画像から線画像を抽出する線抽出手段と、当該線抽出手段で抽出された線画像の傾きを算出する傾き算出手段と、当該ビデオカメラの撮影画面内で複数の架空線を指定可能な線指定手段と、当該線抽出手段の抽出結果と当該線指定手段の指定に従い、当該線指定手段により指定した当該複数の架空線が当該撮影画面内で所定サイズ及び所定位置にあるようにする、当該撮影画面内でのサイズに関する当該ビデオカメラの当該光学ズーム機能の制御目標と、当該撮影画面内での位置に関する当該ビデオカメラの撮影中心の制御目標を決定する制御目標決定手段であって、追尾モードにおいて、当該光学ズーム機能の制御目標に近付くような制御を当該光ズーム制御手段に指示する制御目標決定手段と、当該ズーム制御手段、当該撮影方向変更手段及び当該カメラ回転手段を制御する制御手段であって、追尾準備段階では、当該選択手段で選択された代表線の当該距離・方向計測手段の計測結果に従い、当該ビデオカメラの当該フォーカスを制御すると共に、当該撮影方向変更手段により当該ビデオカメラの当該撮影方向を変更し、当該追尾モードでは、当該ビデオカメラの当該光学ズーム機能及び当該オートフォーカス機能を有効にし、当該傾き算出手段の算出結果に従い、当該架空線が撮影画面内で所定方向に向くように当該カメラ回転手段を制御し、当該制御目標決定手段により決定される当該撮影中心の制御目標に近づくように当該撮影方向変更手段により当該ビデオカメラを第１の方向に制御し、当該選択手段で選択された当該代表線の当該距離・方向計測手段の計測結果に従い、当該撮影方向変更手段により当該ビデオカメラを当該第１の方向に直交する第２の方向に制御する制御手段とを具備することを特徴とする。 An overhead line imaging system according to the present invention is an overhead line imaging system for imaging an overhead line, which has an optical zoom function and an autofocus function, and is capable of manually controlling focus by an external control signal, Recording means for recording video image information of the video camera, zoom control means for controlling the optical zoom function of the video camera, shooting direction changing means for changing the shooting direction of the video camera, and shooting the video camera Representative from camera rotation means that rotates around the optical axis, distance / direction measurement means that measures the distance and direction to the overhead line, and a plurality of measurement values of the overhead line that are measured by the distance / direction measurement means selection means for selecting the measurement result of the line, and the line extracting means for extracting a line image from the photographed image of the video camera, the line extraction hand And inclination calculation means for calculating an inclination of in the extracted line image, and the possible line designating means a plurality of imaginary lines in the photographic image plane of the video camera, the extraction result of the line extracting unit and the line specifying means specified in accordance with, the plurality of imaginary lines specified by the line specifying means to be in the predetermined size and a predetermined position within the imaging screen, control of the optical zoom function of the video camera about the size of in the shooting screen Control target determination means for determining a control target of the shooting center of the video camera with respect to the target and the position in the shooting screen, and in the tracking mode, performs control to approach the control target of the optical zoom function. a control target determination means for instructing the zoom control means, said zoom control means, a control means for controlling the photographing direction changing means and the camera rotation means The tracking preparation phase, according to the measurement result of the distance and direction measuring means representative lines selected in the selecting means, to control the focus of the video camera, the photographing direction of the video camera by the shooting direction change means change the, in the tracking mode, to enable the optical zoom function and the auto-focus function of the video camera, in accordance with the calculation result of the inclination calculation means, the so the overhead wire is oriented in a predetermined direction in the shooting screen The camera rotation unit is controlled, and the video camera is controlled in the first direction by the shooting direction changing unit so as to approach the control target of the shooting center determined by the control target determination unit, and is selected by the selection unit. According to the measurement result of the distance / direction measuring means of the representative line, the video camera is hit by the shooting direction changing means. And a control means for controlling in a second direction orthogonal to the first direction.

本発明に係る架空線撮影方法は、光学ズーム機能及びオートフォーカス機能を具備し、外部制御信号によりマニュアルでフォーカスを制御可能なビデオカメラと、当該ビデオカメラの撮影映像情報を記録する記録手段と、当該ビデオカメラの当該光学ズーム機能を制御するズーム制御手段と、当該ビデオカメラの撮影方向を変更する撮影方向変更手段と、当該ビデオカメラをその撮影光軸を中心として回転するカメラ回転手段と、撮影対象までの距離及び方向を計測する距離・方向計測手段とを具備する架空線撮影システムにより架空線を撮影する方法であって、当該距離・方向計測手段で計測される複数の当該架空線の計測値から代表線の計測結果を選択する選択ステップと、当該選択ステップで選択された当該代表線の当該距離・方向計測手段の計測結果に従い、当該ビデオカメラの当該フォーカスを制御すると共に、当該撮影方向変更手段により当該ビデオカメラの当該撮影方向を変更する追尾準備ステップと、追尾モードへの移行指示に従い、当該ビデオカメラの当該光学ズーム機能及び当該オートフォーカス機能を有効にするステップと、当該ビデオカメラの撮影画像から線画像を抽出する線抽出ステップと、当該線抽出ステップで抽出された線画像の傾きを算出する傾き算出ステップと、当該ビデオカメラの撮影画面内で複数の架空線を指定する線指定ステップと、当該線抽出ステップの抽出結果と当該線指定ステップでの指定に従い、当該線指定ステップにより指定した当該複数の架空線が当該撮影画面内で所定サイズ及び所定位置にあるようにする、当該撮影画面内でのサイズに関する当該ビデオカメラの当該光学ズーム機能の制御目標と、当該撮影画面内での位置に関する当該ビデオカメラの撮影中心の制御目標を決定する制御目標決定ステップと、当該制御目標決定ステップで決定される当該光学ズーム機能の制御目標に近づくように当該光学ズーム機能を制御し、当該制御目標決定ステップで決定される当該撮影中心の制御目標に近づくように当該撮影方向変更手段により当該ビデオカメラを第１の方向に制御するズーム・方向制御ステップと、当該傾き算出ステップの算出結果に従い、当該架空線が撮影画面内で所定方向に向くように当該カメラ回転手段を制御するカメラ回転制御ステップと、当該選択手段で選択された当該代表線の当該距離・方向計測手段の計測結果に従い、当該撮影方向変更手段により当該ビデオカメラを当該第１の方向に直交する第２の方向に制御する撮影方向変更ステップとを具備することを特徴とする。 An overhead line imaging method according to the present invention includes an optical zoom function and an autofocus function, a video camera capable of manually controlling focus by an external control signal, and a recording means for recording captured video information of the video camera, Zoom control means for controlling the optical zoom function of the video camera, photographing direction changing means for changing the photographing direction of the video camera, camera rotating means for rotating the video camera around its photographing optical axis, and photographing A method of photographing an overhead line with an overhead line radiographing system comprising a distance / direction measuring means for measuring a distance and direction to an object, and measuring a plurality of the overhead lines measured by the distance / direction measuring means a selection step of selecting the measurement results of the representative line from the value, the distance and direction meter the representative line selected in the selection step According measurement result means, to control the focus of the video camera, a tracking preparation step of changing the photographing direction of the video camera by the shooting direction change means, in accordance with instruction to shift to the tracking mode, of the video camera A step of enabling the optical zoom function and the autofocus function, a line extraction step of extracting a line image from a captured image of the video camera, and an inclination calculation for calculating an inclination of the line image extracted in the line extraction step In accordance with the step, a line designation step for designating a plurality of overhead lines on the video camera screen, the extraction result of the line extraction step, and the designation at the line designation step, The shooting screen to ensure that the overhead line is at a predetermined size and position within the shooting screen A control target of the optical zoom function of the video camera about the size of, the control target determination step of determining a control target of the imaging center of the video camera on the position in the photographing screen, determined in the control target determination step is Ru controls the optical zoom function to approach the control target of the optical zoom function, the video camera by the shooting direction change means so as to approach the control target of the imaging center is determined by the control target determination step A zoom / direction control step for controlling in the first direction, and a camera rotation control step for controlling the camera rotation means so that the overhead line is directed in a predetermined direction in the imaging screen according to the calculation result of the tilt calculation step; according measurement results of those the distance and direction measuring means selected the representative line in the selection means, the imaging direction change And a shooting direction changing step of controlling the video camera in a second direction orthogonal to the first direction by means.

本発明により、光学ズーム及びフォーカスをオペレータが手動調節する必要無しに、１又は複数の架空線を適正なサイズと方向で撮影し、録画することができる。録画映像により、架空線の障害を容易に発見することができ、架空線の保守点検が容易になる。 According to the present invention, one or a plurality of overhead lines can be photographed and recorded in an appropriate size and direction without the need for an operator to manually adjust the optical zoom and focus. With the recorded video, it is possible to easily find an overhead line fault, and maintenance and inspection of the overhead line becomes easy.

以下、図面を参照して、本発明の実施例を詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

図１は、本発明の一実施例の概略構成ブロック図であり、ヘリコプタ等に搭載して使用される。架空線を撮影するビデオカメラ１０は、ヘリコプタによる振動を防止する機能を有するカメラ架台１２に固定されている。カメラ架台１２は、搭載するビデオカメラ１０をその撮影光軸を中心に回転可能であると共に、ビデオカメラ１０の水平走査線と平行な水平面内（便宜上、パン方向とする）と、水平走査線に直交する垂直面内（便宜上、チルト方向の合計３軸について回転可能である。但し、撮影光軸を中心としてビデオカメラ１０を回転する架台上に、パンの架台とチルトの架台が載置されている。 FIG. 1 is a schematic block diagram of an embodiment of the present invention, which is used by being mounted on a helicopter or the like. A video camera 10 that captures an overhead wire is fixed to a camera mount 12 having a function of preventing vibration caused by a helicopter. The camera mount 12 can rotate the mounted video camera 10 around its optical axis, and in a horizontal plane parallel to the horizontal scanning line of the video camera 10 (for the sake of convenience, in the pan direction) and on the horizontal scanning line. In an orthogonal vertical plane (for convenience, a total of three axes in the tilt direction can be rotated. However, a pan frame and a tilt frame are mounted on a frame that rotates the video camera 10 about the photographing optical axis. Yes.

ビデオカメラ１０は、現在のズーム値及びフォーカス値を出力すると共に、外部からのフォーカス制御信号によりフォーカスを制御でき、外部からのズーム制御信号により光学ズームを制御できる。 The video camera 10 outputs the current zoom value and focus value, can control the focus by an external focus control signal, and can control the optical zoom by an external zoom control signal.

図２は、カメラ架台１２によるビデオカメラ１０の撮影方向制御の説明図を示す。カメラ架台１２のパンアクチュエータ１４Ｐは、ビデオカメラ１０の撮影方向をパン制御信号に従う量だけその水平走査線に平行な面内で回転し、角度検出器１６Ｐは、回転角度（位置）αを検出する。カメラ架台１２のチルトアクチュエータ１４Ｔは、ビデオカメラ１０の撮影方向をチルト制御信号に従う量だけ水平走査線に垂直な面内で回転し、角度検出器１６Ｔは、その回転角度（位置）βを検出する。カメラ架台１２の回転アクチュエータ１４Ｒは、ビデオカメラ１０をカメラ回転制御信号に従う量だけその撮影光軸を中心に回転し、角度検出器１６Ｒは、回転角度γを検出する。 FIG. 2 is an explanatory diagram of the shooting direction control of the video camera 10 by the camera mount 12. The pan actuator 14P of the camera mount 12 rotates the photographing direction of the video camera 10 in a plane parallel to the horizontal scanning line by an amount according to the pan control signal, and the angle detector 16P detects the rotation angle (position) α. . The tilt actuator 14T of the camera mount 12 rotates the shooting direction of the video camera 10 in a plane perpendicular to the horizontal scanning line by an amount according to the tilt control signal, and the angle detector 16T detects the rotation angle (position) β. . The rotation actuator 14R of the camera mount 12 rotates the video camera 10 about its photographing optical axis by an amount according to the camera rotation control signal, and the angle detector 16R detects the rotation angle γ.

本実施例では、回転アクチュエータ１４Ｒで回転される架台の上に、パンアクチュエータ１４Ｐで回転される架台及びパンアクチュエータ１４Ｔで回転される架台を載せている。この構成により、垂れ下がっている架空線を画面内で水平になるように撮影している状態で、パン制御により架空線に沿ってビデオカメラの撮影方向を変更でき、チルト制御により、架空線に垂直な方向でビデオカメラの撮影方向を制御できる。即ち、ビデオカメラ１０の撮影方向の制御が容易になる。勿論、架空線の傾き具合からカメラの撮影方向の２方向の制御値を演算しても良い。 In this embodiment, a gantry rotated by the pan actuator 14P and a gantry rotated by the pan actuator 14T are placed on the gantry rotated by the rotary actuator 14R. With this configuration, while shooting a hanging overhead line so that it is horizontal in the screen, you can change the shooting direction of the video camera along the overhead line by pan control, and perpendicular to the overhead line by tilt control You can control the shooting direction of the video camera in any direction. That is, the shooting direction of the video camera 10 can be easily controlled. Of course, control values in two directions of the shooting direction of the camera may be calculated from the inclination of the overhead line.

ビデオカメラ１０の出力映像信号は高精細モニタ１８とＶＴＲ２０に供給される。高精細モニタ１８の画面上で、撮影対象と範囲を確認できる。また、ＶＴＲ２０により、撮影映像を記録できる。ヘリコプタに搭乗しているオペレータ又はパイロットは、ＶＴＲ制御装置２２によりＶＴＲ２０の録画及びその停止を制御できる。 The output video signal of the video camera 10 is supplied to the high definition monitor 18 and the VTR 20. On the screen of the high-definition monitor 18, the photographing object and the range can be confirmed. The VTR 20 can record a captured video. The operator or pilot on board the helicopter can control the recording of the VTR 20 and its stop by the VTR control device 22.

ＧＰＳ（Global Positioning System）受信機２４は、ＧＰＳ衛星からの電波を受信して、ヘリコプタの機体位置と時刻（ＧＰＳ時刻）を計測する。また、３軸ジャイロ装置等からなる姿勢検出装置２６は、機体姿勢（又は機体の方向）を３軸について計測し、地上座標上での３軸の機体姿勢値を出力する。走査型のレーザ測距装置２８は、レーザパルスを架空線に向けて照射し、且つ、架空線を交差するように走査し、走査範囲内の架空線からの反射光により架空線の機体からの距離Ｄと方向θを計測する。 A GPS (Global Positioning System) receiver 24 receives radio waves from GPS satellites and measures the helicopter body position and time (GPS time). In addition, the attitude detection device 26 including a three-axis gyro apparatus or the like measures the aircraft attitude (or the direction of the aircraft) with respect to the three axes, and outputs a three-axis aircraft attitude value on the ground coordinates. The scanning laser distance measuring device 28 irradiates a laser pulse toward the overhead line, scans the overhead line so as to cross the overhead line, and reflects the reflected light from the overhead line within the scanning range from the body of the overhead line. The distance D and the direction θ are measured.

ＧＰＳ受信機２４は、計測した機体位置とＧＰＳ時刻を撮影線座標算出装置３０に出力する。姿勢検出装置２６は、３軸の機体姿勢の角度情報を撮影線座標算出装置３０に出力する。レーザ測距装置２８は、計測された各反射点ｉの距離Ｄと角度θ、即ち、｛（Ｄ，θ）ｉ｝を撮影線座標算出装置３０に出力する。撮影線座標算出装置３０は、ＧＰＳ受信機２４からの機体位置、姿勢検出装置２６からの３軸の機体姿勢の角度情報、及びレーザ測距装置２８の計測データ｛（Ｄ，θ）ｉ｝から、各撮影線（即ち、撮影対象となった架空線）の地上座標上の３次元位置を算出する。この算出方法は、周知であるので、詳細な説明は省略する。撮影線座標算出装置３０は、算出した座標値と、ＧＰＳ受信機２４からのＧＰＳ時刻と、算出に使用した原データ（機体姿勢値、機体位置、及び｛（Ｄ，θ）ｉ｝）をＶＴＲ２０に供給する。ＶＴＲ２０は、ビデオカメラ１０からの映像信号の付属データとして、撮影線座標算出装置３０からのデータを映像信号と共にビデオテープに記録する。ＶＴＲ２０はまた、カメラ架台１２の回転角α，β，γも記録する。記録映像と同期を取れる場合には、これらの計測データをＶＴＲ２０とは別の記録装置で記録しても良いことは勿論である。 The GPS receiver 24 outputs the measured body position and GPS time to the imaging line coordinate calculation device 30. The posture detection device 26 outputs angle information of the three-axis body posture to the imaging line coordinate calculation device 30. The laser distance measuring device 28 outputs the measured distance D and angle θ of each reflection point i, that is, {(D, θ) i}, to the imaging line coordinate calculating device 30. The imaging line coordinate calculation device 30 is based on the body position from the GPS receiver 24, the angle information of the 3-axis body posture from the posture detection device 26, and the measurement data {(D, θ) i} of the laser distance measuring device 28. Then, the three-dimensional position on the ground coordinates of each shooting line (that is, the overhead line that is the shooting target) is calculated. Since this calculation method is well known, detailed description thereof is omitted. The imaging line coordinate calculation device 30 uses the calculated coordinate value, the GPS time from the GPS receiver 24, and the original data used for the calculation (the body posture value, the body position, and {(D, θ) i}) as the VTR 20. To supply. The VTR 20 records the data from the photographing line coordinate calculation device 30 on the video tape together with the video signal as ancillary data of the video signal from the video camera 10. The VTR 20 also records the rotation angles α, β, γ of the camera mount 12. Of course, when the recording video can be synchronized, these measurement data may be recorded by a recording device different from the VTR 20.

図３は、レーザ測距装置２８の走査範囲と、カメラ１０の撮影範囲の関係を示す。送電線間には複数（例えば、４本の架空線）を１グループとして、複数グループの架空線を掛けてある。レーザ測距装置２８はこれらの架空線までの距離を１走査で計測できる走査能力を具備する。他方、カメラ１０は、アップで撮影する場合に、１グループの架空線をまとめて撮影する。 FIG. 3 shows the relationship between the scanning range of the laser distance measuring device 28 and the photographing range of the camera 10. A plurality of (for example, four overhead lines) are grouped between transmission lines, and a plurality of groups of overhead lines are hung. The laser distance measuring device 28 has a scanning capability capable of measuring the distance to these overhead lines in one scan. On the other hand, the camera 10 shoots a group of overhead lines together when shooting up.

本実施例では、１グループの複数の架空線を同時に撮影でき、しかも、可能な限り大きく撮影できるように、以下の機能を装備している。 In this embodiment, the following functions are provided so that a plurality of overhead lines of one group can be photographed at the same time, and so as to be photographed as large as possible.

レーザ測距装置２８の計測結果に従い初期的にフォーカスを合わせるべきグループの中から代表線を選択する。具体的には、オペレータが、代表線指定装置３２により、レーザ測距装置２８の計測値の内で、代表線となるものを指定する。選択装置３４は、代表線指定装置３２で指定された線の計測値（Ｄ，θ）を代表値（Ｄ，θ）_ｒｅｐとして選択する。 A representative line is selected from a group to be initially focused according to the measurement result of the laser distance measuring device 28. Specifically, the operator designates a representative line among the measured values of the laser distance measuring device 28 by the representative line designation device 32. The selection device 34 selects the measured value (D, θ) of the line designated by the representative line designation device 32 as the representative value (D, θ) _rep .

通常、レーザ測距装置２８の走査の中心光軸と、ビデオカメラ１０の撮影光軸とは一致しないので、レーザ測距装置２８により計測された架空線の距離と方向を、ビデオカメラ１０から見た場合の距離と方向に換算又は補正する必要がある。代表線距離・方向算出装置３６は、この換算又は補正を担当し、選択装置３４からの代表線の距離Ｄ_ｒｅｐ及び方向θ_ｒｅｐを、ビデオカメラ１０から見た場合の距離と方向に換算し、換算された距離値と方向値をカメラ・架台制御装置３８に供給する。 Normally, the center optical axis of scanning of the laser distance measuring device 28 and the imaging optical axis of the video camera 10 do not coincide with each other, so that the distance and direction of the overhead line measured by the laser distance measuring device 28 can be viewed from the video camera 10. It is necessary to convert or correct to the distance and direction when The representative line distance / direction calculation device 36 is responsible for this conversion or correction, converts the distance D _rep and direction θ _rep of the representative line from the selection device 34 into the distance and direction when viewed from the video camera 10, The converted distance value and direction value are supplied to the camera / base control device 38.

詳細は後述するが、初期的には、カメラ・架台制御装置３８は、代表線距離・方向算出装置３６からの方向値に従い、代表線がカメラ１０の撮影範囲に入るようなパン制御信号及びチルト制御信号を生成し、それぞれカメラ架台１２のパンアクチュエータ１４Ｐ及びチルトアクチュエータ１４Ｔに印加する。これにより、代表線指定装置３２で指定された代表線がビデオカメラ１０の撮影範囲のほぼ中央に位置するようになる。 Although details will be described later, initially, the camera / base control device 38 follows the direction value from the representative line distance / direction calculation device 36 so that the representative line falls within the shooting range of the camera 10 and tilt. Control signals are generated and applied to the pan actuator 14P and the tilt actuator 14T of the camera mount 12, respectively. As a result, the representative line designated by the representative line designating device 32 comes to be positioned substantially at the center of the shooting range of the video camera 10.

カメラ・架台制御装置３８はまた、代表線距離・方向算出装置３６からの方向値に従い、フォーカス制御装置４０にカメラ１０のフォーカスを制御させる。即ち、この時点では、カメラ・架台制御装置３８は目標のフォーカス値をフォーカス制御装置４０に指示し、フォーカス制御装置４０は、指示されたフォーカス制御値のフォーカス値になるように、ビデオカメラ１０のフォーカスを制御する。 The camera / base control device 38 also causes the focus control device 40 to control the focus of the camera 10 in accordance with the direction value from the representative line distance / direction calculation device 36. In other words, at this time, the camera / base control device 38 instructs the target focus value to the focus control device 40, and the focus control device 40 sets the focus value of the designated focus control value of the video camera 10. Control the focus.

このような制御の後、オペレータは操作装置４２により追尾モードへの移行をカメラ・架台制御装置３８に指示することができる。追尾モードでは、カメラ・架台制御装置３８は、後述するように、撮影された架空線を撮影画面上で水平にする制御、ビデオカメラ１０のオートフォーカス制御、及びビデオカメラ１０のズーム制御を有効にする。追尾モードに入る前では、オペレータは、操作装置４２により、カメラ・架台制御装置３８を介してビデオカメラ１０の光学ズームとフォーカス、及びカメラ架台１２の３軸の回転角をマニュアルで操作できる。 After such control, the operator can instruct the camera / mount control device 38 to shift to the tracking mode by the operation device 42. In the tracking mode, as will be described later, the camera / base control device 38 enables the control of leveling the captured overhead line on the shooting screen, the autofocus control of the video camera 10, and the zoom control of the video camera 10. To do. Before entering the tracking mode, the operator can manually operate the optical zoom and focus of the video camera 10 and the rotation angles of the three axes of the camera mount 12 via the camera / mount control device 38 by the operation device 42.

フレームメモリ４４は、撮影された架空線の本数と位置を確認するために、ビデオカメラ１０から出力される映像信号を一時記憶する。全フレームを記憶するのが好ましいが、適当にフレームを間引いてもよい。線抽出装置４６は、公知の線抽出アルゴリズムに従い、フレームメモリ４４に記憶されるフレーム画像から線画像を抽出する。例えば、フレームメモリ４４に記憶されるフレーム画像をその輝度又は色により２値化し、ハフ変換等により各線要素の外縁を検出し、この検出結果から、線幅と中心線を示す関数、又は両側の外縁の線を示す関数を決定する。線抽出装置４６は、フレーム画像の座標上で、抽出した各線（の中心線と幅、又は両側の外縁）を示す一次関数式又は二次式関数式を出力する。 The frame memory 44 temporarily stores a video signal output from the video camera 10 in order to confirm the number and position of the captured overhead lines. Although it is preferable to store all frames, frames may be thinned out appropriately. The line extraction device 46 extracts a line image from the frame image stored in the frame memory 44 according to a known line extraction algorithm. For example, the frame image stored in the frame memory 44 is binarized by its luminance or color, and the outer edge of each line element is detected by Hough transform or the like. From this detection result, a function indicating the line width and the center line, or both Determine the function that represents the outer edge line. The line extraction device 46 outputs a linear function expression or a quadratic function expression indicating each extracted line (center line and width thereof, or outer edges on both sides) on the coordinates of the frame image.

傾き算出装置４８は、線抽出装置４６により抽出された全ての線の平均の傾き値（又は、画面中央等の代表線の傾き値）を算出し、カメラ・架台制御装置３８に供給する。カメラ・架台制御装置３８は、追尾モードでは、傾き算出装置４８からの傾き値が撮影画面上で水平に近づく方向に、ビデオカメラ１０をその撮影光軸を中心にわずかに回転させるカメラ回転制御信号を生成する。生成されたカメラ回転制御信号は、カメラ架台１２のカメラ回転アクチュエータ１４Ｒに供給される。カメラ回転アクチュエータ１４Ｒは、カメラ回転制御信号に従う回転角度だけ、ビデオカメラ１０をその撮影光軸を中心に回転させる。このような漸進的な制御の結果、ビデオカメラ１０の撮影画面内で撮影線の傾きが緩和され、最終的に、撮影画面内でほぼ水平になる。 The inclination calculation device 48 calculates the average inclination value of all the lines extracted by the line extraction device 46 (or the inclination value of the representative line such as the center of the screen) and supplies it to the camera / base control device 38. In the tracking mode, the camera / table control device 38 slightly rotates the video camera 10 around the photographing optical axis in the direction in which the tilt value from the tilt calculating device 48 approaches the horizontal on the photographing screen. Is generated. The generated camera rotation control signal is supplied to the camera rotation actuator 14R of the camera mount 12. The camera rotation actuator 14R rotates the video camera 10 about its photographing optical axis by the rotation angle according to the camera rotation control signal. As a result of such gradual control, the inclination of the shooting line is relaxed in the shooting screen of the video camera 10, and finally becomes almost horizontal in the shooting screen.

勿論、傾き算出装置４８からの傾き値が撮影画面内で実質的に水平とみなせる範囲では、カメラ・架台制御装置３８は、カメラ回転アクチュエータ１４Ｒの制御を停止し、水平から外れたら、カメラ回転アクチュエータ１４Ｒの制御を再開する。 Of course, in the range where the inclination value from the inclination calculating device 48 can be regarded as substantially horizontal in the photographing screen, the camera / mount control device 38 stops the control of the camera rotation actuator 14R, and when it is off the horizontal, the camera rotation actuator The control of 14R is resumed.

このような制御により、架空線をほぼ水平に維持して、撮影できる。例えば、送電線鉄塔間で中間では、送電線は撓んでいるが、この撓みに関わらず、常時、送電線を水平に捉えて撮影できる。 By such control, it is possible to take an image while maintaining the overhead line substantially horizontal. For example, the transmission line is bent in the middle between the transmission line towers. Regardless of this bending, the transmission line can always be captured horizontally and photographed.

制御目標決定装置５０は、光学ズームの倍率の制御目標とカメラ架台１２のチルト目標を決定する。制御目標決定装置５０は、先ず、線抽出装置４６の出力から、撮影画面の中央の垂直線上での線数と、各線の位置及び幅を算出する。ユーザは、線指定装置５２により、撮影されている架空線の内の１又は複数の架空線を画面中央に位置させるかを指定できる。１本の架空線を指定した場合、それは、指定された１本の架空線を撮影画面中央に位置させることを意味し、且つ、指定された１本の架空線を画面上の指定範囲（例えば、撮影画面内の２０〜３０％程度）内に拡大して撮影することを意味する。また、複数の架空線を指定した場合、それは、指定された複数の架空線の中央の位置を撮影画面中央に位置させることを意味し、且つ、指定された複数の架空線を撮影画面上の指定範囲（例えば、撮影画面内の６０〜７０％程度）内に拡大して撮影することを意味する。 The control target determining device 50 determines the control target of the optical zoom magnification and the tilt target of the camera mount 12. First, the control target determination device 50 calculates the number of lines on the vertical line at the center of the photographing screen and the position and width of each line from the output of the line extraction device 46. The user can specify by the line specifying device 52 whether one or a plurality of overhead lines being photographed is positioned at the center of the screen. When one overhead line is designated, it means that the designated one overhead line is positioned at the center of the photographing screen, and the designated one overhead line is placed on the designated range on the screen (for example, This means that the image is enlarged and photographed within 20 to 30% of the photographing screen. In addition, when a plurality of overhead lines are specified, it means that the center position of the specified plurality of overhead lines is located at the center of the shooting screen, and the specified plurality of overhead lines are displayed on the shooting screen. This means that the image is enlarged and photographed within a specified range (for example, about 60 to 70% in the photographing screen).

制御目標決定装置５０は、線指定装置５２の指定に従いビデオカメラ１０の光学ズームの倍率の制御目標とカメラ架台１２のチルト目標を決定する。そして、制御目標決定装置５０は、光学ズームの倍率の制御目標に僅かに近づくような制御をズーム制御装置５４に指示し、カメラ架台１２のチルト目標に近づく方向へのチルト制御をカメラ・架台制御装置３８に指示する。ズーム制御装置５４は、制御目標決定装置５０からの指示に従い、ビデオカメラ１０の光学ズームを望遠方向又は広角方向に僅かに制御する。カメラ・架台制御装置３８は、制御目標決定装置５０からの指示に従い、チルト角βを僅かに変化させるチルト制御信号をカメラ架台１２のチルトアクチュエータ１４Ｔに供給する。 The control target determining device 50 determines the control target of the optical zoom magnification of the video camera 10 and the tilt target of the camera mount 12 in accordance with the designation of the line designating device 52. Then, the control target determination device 50 instructs the zoom control device 54 to control the optical zoom magnification slightly closer to the control target of the optical zoom, and performs the tilt control in the direction approaching the tilt target of the camera mount 12 with the camera / mount control. Instruct the device 38. The zoom control device 54 slightly controls the optical zoom of the video camera 10 in the telephoto direction or the wide-angle direction in accordance with an instruction from the control target determination device 50. The camera / base control device 38 supplies a tilt control signal for slightly changing the tilt angle β to the tilt actuator 14T of the camera base 12 in accordance with an instruction from the control target determination device 50.

これらの制御の結果、線指定装置５２で指定された１又は複数の架空線が、撮影画面内で中央よりに位置するようになり、撮影画面内のサイズも、適切なサイズに近づく。この変化を反映して、制御目標決定装置５０は、光学倍率の変更を指示する新たな指示信号をズーム制御装置５４に供給し、チルト角の変更を指示する新た指示信号をカメラ・架台制御装置３８に供給する。このような漸進的な制御の結果、線指定装置５２で指定した１又は複数の架空線を、撮影画面内のほぼ中央に適切なサイズで撮影できるようになる。 As a result of these controls, the one or more overhead lines designated by the line designation device 52 are positioned from the center in the photographing screen, and the size in the photographing screen also approaches an appropriate size. Reflecting this change, the control target determining device 50 supplies a new instruction signal for instructing the change of the optical magnification to the zoom control device 54, and sends a new instruction signal for instructing the change of the tilt angle to the camera / base control device. 38. As a result of such gradual control, one or a plurality of overhead lines designated by the line designating device 52 can be photographed at an appropriate size almost at the center in the photographing screen.

なお、線抽出装置４６で抽出された線数が目的の線数よりも少ない場合、制御目標決定装置５０は、ズーム制御装置５４に広角方向への変更を指示する。ズーム制御装置５４は、この指示に従い、広角方向へのズームを指示するズーム制御信号を生成し、ビデオカメラ１０に供給する。 When the number of lines extracted by the line extraction device 46 is smaller than the target number of lines, the control target determination device 50 instructs the zoom control device 54 to change in the wide angle direction. In accordance with this instruction, the zoom control device 54 generates a zoom control signal that instructs zooming in the wide-angle direction, and supplies the zoom control signal to the video camera 10.

このように、本実施例では、ビデオカメラ１０の撮影画像から架空線を示す線画像を抽出し、それが水平になるようにビデオカメラ１０の撮影光軸を中心とする回転角度γを制御し、同時に、必要な本数の架空線が１画面内に適切なサイズで収まるようにビデオカメラ１０の光学ズームとビデオカメラ１０のチルト角を制御する。 As described above, in this embodiment, a line image indicating an overhead line is extracted from a captured image of the video camera 10, and the rotation angle γ around the shooting optical axis of the video camera 10 is controlled so that it is horizontal. At the same time, the optical zoom of the video camera 10 and the tilt angle of the video camera 10 are controlled so that the necessary number of overhead lines fit within a single screen.

合焦検出装置５６は、ビデオカメラ１０から出力される映像信号の高周波成分を抽出して合焦度を検出し、検出結果をフォーカス制御装置４０に供給する。オートフォーカスモードでは、フォーカス制御装置４０は、合焦検出装置５６から出力される合焦度を示す信号が、最も大きくなるようにビデオカメラ１０のフォーカスを帰還制御する。 The focus detection device 56 extracts the high frequency component of the video signal output from the video camera 10 to detect the focus level, and supplies the detection result to the focus control device 40. In the autofocus mode, the focus control device 40 feedback-controls the focus of the video camera 10 so that the signal indicating the degree of focus output from the focus detection device 56 is maximized.

追尾モードでも、カメラ・架台制御装置３８は、代表線距離・方向算出装置３６からの方向情報に従い、カメラ架台１２のパン角を制御する。 Even in the tracking mode, the camera / base control device 38 controls the pan angle of the camera base 12 in accordance with the direction information from the representative line distance / direction calculation device 36.

図１に示す構成では、理解を容易にするために、フォーカス制御装置とズーム制御装置をビデオカメラ１０の外部に配置してあるが、これらを内蔵するビデオカメラを外部制御してもよいことは明らかである。 In the configuration shown in FIG. 1, the focus control device and the zoom control device are arranged outside the video camera 10 for easy understanding. However, the video camera incorporating these may be externally controlled. it is obvious.

図４は、本実施例の制御動作のフローチャートを示す。図５は、撮影画面の変遷例の模式図を示す。本実施例では、図１に示す撮影システムを搭載したヘリコプタを撮影対象の架空線に沿って飛行させながら、架空線を撮影する。 FIG. 4 shows a flowchart of the control operation of this embodiment. FIG. 5 shows a schematic diagram of a transition example of the shooting screen. In this embodiment, an overhead line is photographed while a helicopter equipped with the photographing system shown in FIG. 1 is made to fly along the overhead line to be photographed.

先ず、スタート時に、ビデオカメラ１０の光学ズームを適当な初期値に設定し、カメラ架台１２のパン角α、チルト角β及び回転角γを適当な初期値に設定し、フォーカス制御装置４０をマニュアル制御に設定する（Ｓ１）。 First, at the start, the optical zoom of the video camera 10 is set to appropriate initial values, the pan angle α, the tilt angle β, and the rotation angle γ of the camera mount 12 are set to appropriate initial values, and the focus control device 40 is manually set. Control is set (S1).

レーザ測距装置２８により架空線までの距離と方向を測定する（Ｓ２）。カメラ・架台制御装置３８は、代表線距離・方向算出装置３６からの距離・方向情報に従い、パンアクチュエータ１４Ｐ及びチルトアクチュエータ１４Ｔを介してカメラ架台１２のパン・チルト角を制御し、フォーカス制御装置４０を介してビデオカメラ１０のフォーカスを制御する（Ｓ３）。これにより、撮影対象の架空線をビデオカメラ１０の撮影視野内に捉えることができる。 The distance and direction to the overhead line are measured by the laser distance measuring device 28 (S2). The camera / base control device 38 controls the pan / tilt angle of the camera base 12 via the pan actuator 14P and the tilt actuator 14T according to the distance / direction information from the representative line distance / direction calculation device 36, and the focus control device 40. The focus of the video camera 10 is controlled via (S3). Thereby, the overhead line to be photographed can be captured within the photographing field of view of the video camera 10.

オペレータが操作装置４２で追尾モードへの移行を指示するまで（Ｓ４）、ステップＳ２，Ｓ３を繰り返す。 Steps S2 and S3 are repeated until the operator instructs the operation device 42 to shift to the tracking mode (S4).

オペレータが操作装置４２により追尾モードへの移行をカメラ・架台制御装置３８に指示すると（Ｓ４）、カメラ・架台制御装置３８は、フォーカス制御装置４０にオートフォーカスを有効にする（Ｓ５）。これにより、フォーカス制御装置４０は、合焦検出装置５６の出力に従い、ビデオカメラ１０の撮影画像内で被写体（主として、撮影対象の架空線）がシャープになるようにビデオカメラ１０のフォーカスを自動制御する。この状態では、例えば、図5（ａ）に示すように、架空線は傾いて撮影されている。 When the operator instructs the camera / mounting control device 38 to shift to the tracking mode by the operation device 42 (S4), the camera / mounting control device 38 enables autofocus on the focus control device 40 (S5). Accordingly, the focus control device 40 automatically controls the focus of the video camera 10 so that the subject (mainly the overhead line of the shooting target) becomes sharp in the captured image of the video camera 10 according to the output of the focus detection device 56. To do. In this state, for example, as shown in FIG.

カメラ・架台制御装置３８は、上述したように、傾き算出装置４８の算出結果に従い、カメラ回転アクチュエータ１４Ｒによりビデオカメラ１０をその撮影光軸を中心に回転させ、図５（ｂ）に例示するように、撮影されている架空線を水平化する（Ｓ６）。 As described above, the camera / table control device 38 rotates the video camera 10 around its photographing optical axis by the camera rotation actuator 14R according to the calculation result of the tilt calculation device 48, as illustrated in FIG. 5B. Next, the imaged overhead line is leveled (S6).

更に、カメラ・架台制御装置３８は、制御目標決定装置５０からの目標チルト角に従い、チルトアクチュエータ１４Ｔを介してカメラ架台１２のチルト角を制御し、ズーム制御装置５４が、制御目標決定装置５０からの目標ズーム値に従い、ビデオカメラ１０の光学ズームを広角側又は望遠側に制御する（Ｓ７）。これにより、図５（ｃ）に例示するように、撮影対象の架空線が、適切に拡大されたサイズで撮影される。 Further, the camera / base control device 38 controls the tilt angle of the camera base 12 via the tilt actuator 14T according to the target tilt angle from the control target determination device 50, and the zoom control device 54 receives the control target determination device 50 from the control target determination device 50. According to the target zoom value, the optical zoom of the video camera 10 is controlled to the wide angle side or the telephoto side (S7). Thereby, as illustrated in FIG. 5C, the overhead line to be photographed is photographed with an appropriately enlarged size.

何れかでエラーが検出されると、ステップＳ１に戻る（Ｓ９）。これは、自動で行っても良いし、オペレータが手動で行っても良い。このエラーは例えば、突風等により撮影対象の架空線が突然、ビデオカメラ１０の撮影視野から外れてしまい、自動追尾が不可能になった場合等である。 If any error is detected, the process returns to step S1 (S9). This may be performed automatically or manually by an operator. This error is, for example, when the overhead line to be photographed suddenly deviates from the field of view of the video camera 10 due to a gust of wind or the like, and automatic tracking becomes impossible.

オペレータが、追尾モードをオフにするまで（Ｓ１０）、ステップＳ６〜Ｓ９を繰り返す。説明の都合上、ステップＳ６，Ｓ７，Ｓ９を逐次的に実行するとしたが、これらを同時並行に実行しても良いことは明らかである。 Steps S6 to S9 are repeated until the operator turns off the tracking mode (S10). For the sake of explanation, steps S6, S7, and S9 are executed sequentially. However, it is obvious that these steps may be executed simultaneously.

上記実施例では、ビデオカメラ１０の光学ズーム制御及びフォーカス制御の態様又は動作を理解しやすいように、フォーカス制御装置４０、ズーム制御装置５４及び合焦検出装置５６をビデオカメラ１０の外部に図示したが、多くのビデオカメラでは、フォーカス制御装置４０、ズーム制御装置５４及び合焦検出装置５６に相当する機能はビデオカメラに内蔵されている。即ち、本発明におけるビデオカメラは、フォーカス制御装置４０、ズーム制御装置５４及び合焦検出装置５６の何れかを内蔵するものを含む。 In the above-described embodiment, the focus control device 40, the zoom control device 54, and the focus detection device 56 are illustrated outside the video camera 10 so that the optical zoom control and focus control modes or operations of the video camera 10 can be easily understood. However, in many video cameras, functions corresponding to the focus control device 40, the zoom control device 54, and the focus detection device 56 are built in the video camera. That is, the video camera according to the present invention includes one incorporating any of the focus control device 40, the zoom control device 54, and the focus detection device 56.

上記実施例では、架空線の撮影（録画）と同様に、撮影線座標算出装置３０が、レーザ測距装置２８により測距された架空線の３次元座標を算出したが、録画後に地上で算出しても良い。 In the above embodiment, as with the overhead line shooting (recording), the shooting line coordinate calculation device 30 calculates the three-dimensional coordinates of the overhead line measured by the laser distance measuring device 28. You may do it.

本発明の一実施例の概略構成ブロック図である。It is a schematic block diagram of one Example of this invention. カメラ架台１２によるビデオカメラ１０の回転方向を示す説明図である。It is explanatory drawing which shows the rotation direction of the video camera 10 by the camera mount frame 12. レーザ測距装置２８の走査範囲とビデオカメラ１０の撮影範囲の関係を示す模式図である。3 is a schematic diagram showing a relationship between a scanning range of a laser distance measuring device and a photographing range of a video camera. 本実施例の制御フローチャートである。It is a control flowchart of a present Example. 本実施例の撮影画像の変化例である。It is the example of a change of the picked-up image of a present Example.

Explanation of symbols

１０：ビデオカメラ
１２：カメラ架台
１４Ｐ：パンアクチュエータ
１４Ｔ：チルトアクチュエータ
１４Ｒ：カメラ回転アクチュエータ
１６Ｐ，１６Ｔ，１６Ｒ：角度検出器
１８：高精細モニタ
２０：ＶＴＲ
２２：ＶＴＲ制御装置
２４：ＧＰＳ受信機
２６：姿勢検出装置
２８：走査型レーザ測距装置
３０：撮影線座標算出装置
３２：代表線指定装置
３４：選択装置
３６：代表線距離・方向算出装置
３８：カメラ・架台制御装置
４０：フォーカス制御装置
４２：操作装置
４４：フレームメモリ
４６：線抽出装置
４８：傾き算出装置
５０：制御目標決定装置
５２：線指定装置
５４：ズーム制御装置
５６：合焦検出装置 10: Video camera 12: Camera mount 14P: Pan actuator 14T: Tilt actuator 14R: Camera rotation actuators 16P, 16T, 16R: Angle detector 18: High-definition monitor 20: VTR
22: VTR control device 24: GPS receiver 26: attitude detection device 28: scanning laser range finder 30: imaging line coordinate calculation device 32: representative line designation device 34: selection device 36: representative line distance / direction calculation device 38 : Camera / frame control device 40: Focus control device 42: Operation device 44: Frame memory 46: Line extraction device 48: Tilt calculation device 50: Control target determination device 52: Line designation device 54: Zoom control device 56: Focus detection apparatus

Claims

An overhead line photographing system for photographing overhead lines,
A video camera (10, 40, 56) having an optical zoom function and an autofocus function and capable of manually controlling focus by an external control signal;
Recording means (20) for recording video image information of the video camera;
Zoom control means (54) for controlling the optical zoom function of the video camera;
Shooting direction changing means (14P, 14T) for changing the shooting direction of the video camera;
Camera rotating means (14R) for rotating the video camera around its photographing optical axis;
A distance / direction measuring means (28) for measuring the distance and direction to the overhead line;
Selection means (34) for selecting a measurement result of the representative line from a plurality of measurement values of the overhead line measured by the distance / direction measurement means;
A line extracting means (46) for extracting a line image from a photographed image of the video camera;
An inclination calculating means (48) for calculating the inclination of the line image extracted by the line extracting means (46);
A line designating means (52) capable of designating a plurality of overhead lines in the shooting screen of the video camera;
In accordance with the extraction result of the line extraction means (46) and the designation of the line designation means, the imaging is performed so that the plurality of overhead lines designated by the line designation means are at a predetermined size and a predetermined position in the imaging screen. Control target determining means (50) for determining a control target of the optical zoom function of the video camera related to the size in the screen and a control target of the shooting center of the video camera related to the position in the shooting screen ; In tracking mode, control target determining means for instructing the optical zoom control means to perform control that approaches the control target of the optical zoom function;
Control means (38) for controlling the zoom control means, the photographing direction changing means, and the camera rotating means, and in the tracking preparation stage, measurement of the distance / direction measuring means of the representative line selected by the selection means. according to the result, the controls the focus of a video camera, and change the photographing direction of the video camera by the shooting direction changing means, in the tracking mode, the optical zoom function and the auto-focus function of the video camera enable accordance calculation result of the inclination calculation means, and controls the camera rotation means so as to face in a predetermined direction the overhead line in the photographing screen, the control target of the imaging center is determined by the control target determination means by the shooting direction change means so as to approach to control the video camera in a first direction, selected by the selection means According measurement result of the distance and direction measuring means of the representative line, and characterized by a control means for controlling the video camera by the shooting direction changing means in a second direction perpendicular to the first direction Overhead radiography system.

Further, a camera frame for supporting the video camera, the rotary frame capable of rotating the video camera around the optical axis of the video camera, and the video camera in a biaxial direction. The overhead line radiographing system according to claim 1 , further comprising a mount that directly supports the video camera.

3. The control target determining means, when the number of lines extracted by the line extracting means is smaller than a target number of lines, instructs the zoom control means to change in the wide angle direction. Overhead radiography system described in 1.

A video camera (10, 40, 56) having an optical zoom function and an autofocus function and capable of manually controlling focus by an external control signal;
Recording means (20) for recording video image information of the video camera;
Zoom control means (54) for controlling the optical zoom function of the video camera;
Shooting direction changing means (14P, 14T) for changing the shooting direction of the video camera;
Camera rotating means (14R) for rotating the video camera around its photographing optical axis;
Distance / direction measuring means (28, 32, 34, 36) for measuring the distance and direction to the photographing object
A method for photographing an overhead line with an overhead line photographing system comprising:
A selection step of selecting a measurement result of the representative line from a plurality of measurement values of the overhead line measured by the distance / direction measurement means;
In accordance with the measurement result of the distance / direction measuring unit of the representative line selected in the selection step, the focus of the video camera is controlled, and the tracking direction of the video camera is changed by the shooting direction changing unit. Preparation steps,
In accordance with the instruction to shift to the tracking mode, enabling the optical zoom function and the autofocus function of the video camera;
A line extraction step of extracting a line image from a captured image of the video camera;
An inclination calculating step for calculating an inclination of the line image extracted in the line extracting step;
A line designating step for designating a plurality of overhead lines on the video camera screen;
In accordance with the extraction result of the line extraction step and the designation in the line designation step, the plurality of overhead lines designated in the line designation step are set at a predetermined size and a predetermined position in the photographing screen. A control target determining step for determining a control target of the optical zoom function of the video camera related to the size of the video camera, and a control target of the shooting center of the video camera related to the position in the shooting screen ;
Controls the optical zoom function to approach the control target of the control target determination step the optical zoom function that will be determined by, the photographing direction so as to approach the control target of the imaging center is determined by the control target determination step A zoom / direction control step for controlling the video camera in a first direction by a changing means ;
A camera rotation control step for controlling the camera rotation means so that the overhead line is directed in a predetermined direction in the shooting screen according to the calculation result of the tilt calculation step;
According measurement results of those the distance and direction measuring means selected the representative line in the selection means (28), controlled by the shooting direction changing means in a second direction perpendicular to the video camera to the first direction An overhead direction imaging method comprising: an imaging direction changing step.

5. The method according to claim 4, further comprising a step of instructing the zoom control means to change to the wide-angle direction when the number of lines extracted in the line extraction step is smaller than a target number of lines. Overhead radiography method.