JP6439068B1 - 移動体撮像装置、及び、移動体撮像方法 - Google Patents
移動体撮像装置、及び、移動体撮像方法 Download PDFInfo
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- 230000003287 optical effect Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 abstract description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7864—T.V. type tracking systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/789—Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/0977—Reflective elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
Description
<本実施例の移動体撮像装置の構成>
図1は、本実施例の移動体撮像装置1の機能ブロック図である。ここに示すように、移動体撮像装置1は、反射鏡4と偏向機5からなる偏向部3と、この偏向部3を回転させる回転機6と、ズームレンズ7aと撮像部7bからなる撮像機7と、これらを制御する制御装置2を備えている。なお、偏向機5の動力源にはガルバノモータを用いており、角度検出手段を持つ。回転機6の動力源には、回転角度か回転数を観測できるステッピングモータ等を用いている。また、撮像部7bは、CCDイメージセンサ等の撮像素子を備えている。
<本実施例の移動体撮像装置による移動体の追尾撮像方法>
図3は、本実施例の移動体撮像装置1が移動体10を追尾して撮像する撮像方法の一例を示すフローチャートである。なお、ここでは、監視対象の移動体10が単数であることを前提に説明を進めるが、以下で説明する追尾撮像方法に、監視対象の移動体10を順次切り替える制御を組み合わせれば、複数の監視対象を追尾撮像することもできる。
くする必要がある。これは、反射鏡4bの回転範囲の拡張に伴い、反射鏡4aに向かう撮像機7の光軸の可動範囲が拡張するため、これに対応させ反射鏡4aの縦方向の長さを長くする必要があるからである。
2 制御装置、
2a 偏向機制御部、
2b 回転機制御部、
2c 撮像機制御部、
2d 画像処理部、
3 偏向部、
4、4a、4b 反射鏡、
5、5a、5b 偏向機、
6、6a、6b 回転機、
7 撮像機、
7a ズームレンズ、
7b 撮像部、
8 画像データ、
8a 処理後画像データ、
9a、9b 筐体、
10 移動体、
11 偏向機移動機構
Claims (8)
- 移動体を撮像する撮像機と、
該撮像機を内部に固定した第一筐体と、
前記撮像機の光軸上に配置された第一反射鏡と、
該第一反射鏡を内蔵する第二筺体と、
該第二筺体に設置され、前記第一反射鏡を回転させることで、前記撮像機の光軸を偏向する第一偏向機と、
第一筺体に対し前記第二筺体を前記撮像機の光軸周りに回転させる第一回転機と、を具備し、
前記第一偏向機と前記第一回転機の回転軸が同一であることを特徴とする移動体撮像装置。 - 移動体を撮像する撮像機と、
該撮像機を内部に固定した第一筐体と、
前記撮像機の光軸上に配置された第一反射鏡および第二反射鏡と、
該第一反射鏡および第二反射鏡を内蔵する第二筺体と、
該第二筺体に設置され、前記第一反射鏡を回転させることで、前記撮像機の光軸を偏向する第一偏向機と、
第一筺体に対し前記第二筺体を前記撮像機の光軸周りに回転させる第一回転機と、を具備し、
前記第一偏向機と前記第一回転機の回転軸が平行であることを特徴とする移動体撮像装置。 - 前記第二筺体に設置され、前記第二反射鏡を回転させることで、前記撮像機の光軸を偏向する第二偏向機を具備することを特徴とする、請求項2に記載の移動体撮像装置。
- 前記第二筺体に設置され、前記第二偏向機を前記第二偏向機の回転軸周りに回転させる第二回転機を具備することを特徴とする、請求項3に記載の移動体撮像装置。
- 前記第一偏向機を、前記第一偏向機の回転軸と平行に移動する移動機構を持つことを特徴とする、請求項4記載の移動体撮像装置。
- 前記反射鏡は、前記移動体の撮像時に静止していることを特徴とする、請求項1から4の何れか一項に記載の移動体撮像装置。
- 前記撮像機で撮像した画像データに対し、回転処理を施す画像処理部を具備することを特徴とする、請求項1から4の何れか一項に記載の移動体撮像装置。
- 前記偏向機は、前記回転機に比べ、応答速度が高く、可動範囲が狭いことを特徴とする、請求項1から4の何れか一項に記載の移動体撮像装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018063544A JP6439068B1 (ja) | 2018-03-29 | 2018-03-29 | 移動体撮像装置、及び、移動体撮像方法 |
EP18195198.9A EP3547010A1 (en) | 2018-03-29 | 2018-09-18 | Moving object imaging apparatus and moving object imaging method |
US16/139,796 US20190306427A1 (en) | 2018-03-29 | 2018-09-24 | Moving Object Imaging Apparatus and Moving Object Imaging Method |
CN201811120745.6A CN110324571A (zh) | 2018-03-29 | 2018-09-25 | 移动体摄像装置以及移动体摄像方法 |
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JP2018063544A JP6439068B1 (ja) | 2018-03-29 | 2018-03-29 | 移動体撮像装置、及び、移動体撮像方法 |
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JP6439068B1 true JP6439068B1 (ja) | 2018-12-19 |
JP2019176362A JP2019176362A (ja) | 2019-10-10 |
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US (1) | US20190306427A1 (ja) |
EP (1) | EP3547010A1 (ja) |
JP (1) | JP6439068B1 (ja) |
CN (1) | CN110324571A (ja) |
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JP7111659B2 (ja) * | 2019-06-28 | 2022-08-02 | 矢崎総業株式会社 | 端子の外観検査装置 |
CN113805591B (zh) * | 2021-09-23 | 2024-05-28 | 深圳市丛矽微电子科技有限公司 | 一种同步定位与建图的视觉系统、方法及移动机器人 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002374433A (ja) * | 2001-06-15 | 2002-12-26 | Nippon Denpa Kk | 監視カメラ装置 |
JP2003280079A (ja) * | 2002-03-26 | 2003-10-02 | Mitsubishi Electric Corp | カメラ装置 |
Family Cites Families (11)
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JPH0629265U (ja) * | 1992-09-14 | 1994-04-15 | 株式会社ニコン | 赤外線撮像装置 |
FR2738925B1 (fr) * | 1995-09-19 | 1997-11-21 | Sagem | Dispositif de visee optique stabilisee |
JPH10136234A (ja) | 1996-10-30 | 1998-05-22 | Shigeki Kobayashi | 視角決め装置内蔵竪型監視用カメラ |
JP3410929B2 (ja) | 1996-11-19 | 2003-05-26 | 株式会社東芝 | 走査型撮像装置と走査型レーザ受光装置 |
JP2008124763A (ja) * | 2006-11-10 | 2008-05-29 | Canon Inc | 撮像装置、制御方法、及びプログラム |
JP5010634B2 (ja) * | 2009-03-17 | 2012-08-29 | 株式会社東芝 | 移動体画像追尾装置 |
FR2947132B1 (fr) * | 2009-06-18 | 2012-03-30 | Hgh Systemes Infrarouges | Procede et systeme d'imagerie d'une scene etendue mettant en oeuvre un appareil d'imagerie a champ de vue limite |
CN102830584B (zh) * | 2011-06-13 | 2015-06-03 | 联想(北京)有限公司 | 显示屏幕和终端设备 |
EP2860492B1 (de) * | 2013-10-09 | 2018-02-28 | Hexagon Technology Center GmbH | Vermessungsgerät zum optischen Abtasten einer Umgebung |
CN105242689B (zh) * | 2015-09-23 | 2019-03-26 | 浙江大学 | 一种基于光学反射的云台跟踪视觉系统 |
CN105301872A (zh) * | 2015-10-09 | 2016-02-03 | 浙江大学 | 摄像头反光器 |
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2018
- 2018-03-29 JP JP2018063544A patent/JP6439068B1/ja active Active
- 2018-09-18 EP EP18195198.9A patent/EP3547010A1/en not_active Withdrawn
- 2018-09-24 US US16/139,796 patent/US20190306427A1/en not_active Abandoned
- 2018-09-25 CN CN201811120745.6A patent/CN110324571A/zh active Pending
Patent Citations (2)
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JP2002374433A (ja) * | 2001-06-15 | 2002-12-26 | Nippon Denpa Kk | 監視カメラ装置 |
JP2003280079A (ja) * | 2002-03-26 | 2003-10-02 | Mitsubishi Electric Corp | カメラ装置 |
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US20190306427A1 (en) | 2019-10-03 |
EP3547010A1 (en) | 2019-10-02 |
CN110324571A (zh) | 2019-10-11 |
JP2019176362A (ja) | 2019-10-10 |
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