JP7049632B2 - Vehicle imaging system - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law 1. Publication date of the invention January 5, 2018 2. Place where the invention was published Photo studio in JU Gifu Hashima Auto Auction Co., Ltd. 3. Publisher name JU Gifu Hashima Auto Auction 4. Contents of the invention Use of a vehicle imaging system

The present invention relates to a vehicle image capturing system that captures a vehicle body image of the entire circumference of a vehicle.

As a technique for photographing a vehicle body image, for example, there is a "used car auction system" disclosed in Patent Document 1 below. With this technology, used cars that are the target of the auction are shot one by one prior to the auction. For example, for a still image, a vehicle stopped at a still image shooting location is photographed by four cameras from four directions. As disclosed in FIG. 5 of the same document 1, these four directions are diagonally forward left and right and diagonally backward left and right of the vehicle. As a result, the auction participant can visually confirm the state of the target vehicle from the still image images viewed from the left and right diagonally forward and rear of the vehicle in the preview information display image.

Japanese Patent Application Laid-Open No. 2003-162653

However, according to the disclosed technology of Patent Document 1, the still images of the vehicle are limited to those viewed from the left and right diagonally forward and backward. Therefore, even if you can take an easy-to-see image of the part near the camera, that is, the left and right corners of the front and rear of the vehicle, the part far from the camera, that is, near the center in the front-rear direction of the vehicle (near the center pillar) and near the center in the left-right direction of the vehicle (front). It is difficult to take an easy-to-see image for the grill and the center of the tail). Therefore, for example, there is a problem that even if an auction participant tries to visually confirm information that is difficult to be described in a vehicle state diagram (for example, a small scratch or a slight dent), it can only be partially performed. .. The state diagram shows the front, back, left and right sides of the roof of the vehicle as a developed view, and shows the position and size of scratches and dents on it.

Such a problem can be solved, for example, if it is possible to shoot a moving image or a still image while rotating the vehicle to be shot on the turntable, but a turntable can be installed at the shooting location. It is necessary to secure the space. Therefore, even if it is possible to open a new shooting studio, it is not very realistic in the case of an existing studio where there is not enough space in the width direction of the vehicle.

In addition, there is a configuration in which a large number of cameras can be placed around the place where the vehicle to be photographed stops to take moving images and still images, but if cameras are placed in front of and behind the vehicle, those cameras can be taken. Is an obstacle when entering and exiting the vehicle. Therefore, the camera that shoots the front and back of the vehicle needs to adopt a mechanical configuration that can be suspended from above or raised from below so as not to interfere with the entry and exit of the vehicle, which will increase the equipment cost. It leads to the introduction of various problems.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a vehicle image capturing system capable of capturing a vehicle body image of the entire circumference of a vehicle even with a simple configuration.

In order to achieve the above object, the technical means of claim 1 described in the claims is adopted. According to this means, at least four camera support structures are provided within predetermined distances from the four corners of the vehicle so as to surround the vehicle stopped at a predetermined position in the photography studio. Further, in each of these four camera support structures, N (s) cameras capable of capturing a vehicle body image of the vehicle as a moving image during a predetermined period are provided side by side in the peripheral direction of the vehicle. Of these N cameras, at least one of them has a wide-angle zoom lens and shoots a moving image through the wide-angle zoom lens. Then, the total (4 × N) video data output from the N cameras of these four camera support structures is acquired by the image processing device, and at least one of each of these (4 × N) video data is obtained. Still image data is cut out and a vehicle body image of the entire circumference of the vehicle is generated. The "predetermined position in the shooting studio" means a certain range, and is a concept including the predetermined range. Therefore, "four corners of the vehicle" can be paraphrased as "four corners in a predetermined range".

As a result, among the N cameras provided in the camera support structure, for example, when the camera arranged at one end of the vehicle near the center in the front-rear direction of the vehicle has a wide-angle zoom lens, the front-rear direction of the vehicle It is possible to take an easy-to-see image near the center (near the center pillar). Also, if the camera located at the other end near the front or rear of the vehicle has a wide-angle zoom lens, it is possible to take an easy-to-see image near the center of the vehicle in the left-right direction (near the center of the front grill and tail). become. That is, it is possible to take an easy-to-see image even in the vicinity of the center in the front-rear direction of the vehicle and the vicinity of the center in the left-right direction of the vehicle, which are difficult to see from the four corners of the vehicle. Even in the case of an existing studio where there is not enough space in the width direction of the vehicle, even if the distance between the vehicle and the camera, which is the subject, is short by widening the lens of the camera provided in the camera support structure. , It becomes possible to take a wide range of vehicle body images of the vehicle.

Further, the technical means of claim 2 described in the claims is adopted. According to this means, the camera support structure has a plate wall structure larger than the size that can cover the worker in the upright posture. As a result, for example, a driver who has driven the vehicle to a predetermined position, a worker who has photographed the interior of the vehicle, and the like can hide behind a camera support structure having a plate wall structure when taking a vehicle body image. become.

Further, the technical means of claim 3 described in the claims is adopted. According to this means, the camera support structure has a pedestal for fixing the cameras, a left-right movable mechanism for moving the pedestal so that the shooting direction of the cameras can be changed to the left-right direction, and a left-right movable mechanism for each of the N cameras. An electric pan motor that can drive the mechanism, a vertical movable mechanism that moves the pedestal so that the shooting direction of the camera can be changed up and down, an electric tilt motor that can drive the vertical movable mechanism, and electric according to control commands input from the outside It is equipped with a pan / tilt control unit that drives and controls a pan motor and an electric tilt motor. This makes it possible to remotely control the shooting direction of each of the N cameras provided in each of the four camera support structures. For example, a monitor or a personal computer connected to these cameras ( It is possible to adjust the shooting direction by remote control while visually checking the shot image with a "computer").

Further, the technical means of claim 4 described in the claims is adopted. According to this means, when the position-based subject is placed at a spatial position that should be the center of the shooting range when the camera shoots a vehicle stopped at a predetermined position, the image processing device is used for each of the N cameras. The image of the subject is recognized based on the moving image data of the subject taken by the camera or the still image data cut out from the moving image data, and the center position in the image and the position of the subject within the image range of the moving image data or the still image data are set. A control command for moving the pedestal to which the camera is fixed in the left-right direction or the up-down direction is output to the pan / tilt control unit so as to be substantially the same. This makes it possible to automatically adjust the pan (horizontal direction) and tilt (vertical direction) of each of the N cameras provided in each of the four camera support structures.

Further, the technical means of claim 5 described in the claims is adopted. According to this means, the lenses of the N cameras are zoom lenses, an electric zoom mechanism capable of zooming in and out, and a zoom control unit that drives and controls the electric zoom mechanism according to a control command input from the outside. , The image processing device recognizes the subject based on the moving image data of the subject taken by the cameras or the still image data cut out from the moving image data for each of the lenses of the N cameras. At the same time, the control command for driving the electric zoom mechanism of the lens is controlled so that the predetermined reference size of the subject and the image size of the subject are almost the same within the image range of the moving image data or the still image data. Output to the unit. This makes it possible to automatically adjust zoom-in (enlargement) and zoom-out (reduction) by the lens in the N cameras provided in the four camera support structures.

According to the first aspect of the present invention, it is possible to take an easy-to-see image even in the vicinity of the center in the front-rear direction of the vehicle and the vicinity of the center in the left-right direction of the vehicle, which are difficult to see from the four corners of the vehicle. Even in the case of an existing studio where there is not enough space in the width direction of the vehicle, even if the distance between the vehicle and the camera, which is the subject, is short by widening the lens of the camera provided in the camera support structure. , It becomes possible to take a wide range of vehicle body images of the vehicle. Therefore, at least one still image data is cut out from the total (4 × N) video data output from the N cameras provided in each of the four camera support structures, and they are used around the vehicle. By arranging them in the order of directions, it is possible to obtain an image of the entire circumference of the vehicle. In other words, the N cameras provided in each of the four camera support structures can be used to capture the vehicle body image of the entire circumference of the vehicle, even with a simple configuration without installing a camera on the turntable or the entire circumference of the vehicle. You can shoot.

In the invention of claim 2, for example, a driver who has driven the vehicle to a predetermined position, a worker who has photographed the interior of the vehicle, and the like are behind a camera support structure having a plate wall structure at the time of photographing the vehicle body image. It becomes possible to hide. Therefore, it is possible to prevent a worker or the like from being reflected in the background of the vehicle body image.

In the invention of claim 3, since it is possible to remotely control the shooting direction of each of the N cameras provided in each of the four camera support structures, for example, a monitor connected to these cameras. It is possible to adjust the shooting direction by remote control while visually checking the shot image with a camera or a personal computer. Therefore, it is possible to improve work efficiency in camera installation and adjustment work.

In the invention of claim 4, it is possible to automatically adjust the pan (horizontal direction) and tilt (vertical direction) of each of the N cameras provided in each of the four camera support structures. It will be possible. Therefore, the work efficiency can be remarkably improved in the installation and adjustment work of the camera.

According to the fifth aspect of the present invention, it is possible to automatically adjust the zoom-in (enlargement) and zoom-out (reduction) of the N cameras provided in the four camera support structures by the respective lenses. Therefore, the work efficiency can be remarkably improved in the installation and adjustment work of the camera.

It is explanatory drawing which shows the configuration example in the case where the vehicle image photographing system which concerns on one Embodiment of this invention is applied to the photography studio for a vehicle auction. It is a figure which shows the configuration example of the camera wall which constitutes the vehicle image taking system of this embodiment. FIG. 2A is a front view, and FIG. 2B is a plan view. It is an enlarged view in line III shown in FIG. 2 (A). FIG. 4A is an explanatory diagram showing a configuration example of a camera case, a camera, and a pan head provided on the camera wall. FIG. 4B is an explanatory diagram showing a configuration example and a movable example of the pan head and the camera attached to the pan head. FIG. 4C is an explanatory diagram showing a configuration example and a movable example of the camera and the pan head when viewed from above the camera. It is a block diagram which shows the electric structure example of the vehicle image taking system of this embodiment. It is a flowchart which showed the flow of the vehicle image taking processing executed by the computer shown in FIG. This is an example of a screen displayed on the display screen of the computer in the vehicle image capturing process shown in FIG. It is explanatory drawing which shows the modification example of this embodiment, and corresponds to FIG. FIG. 8A is an explanatory diagram showing a configuration example of a camera case, a camera, and a pan head provided on the camera wall. FIG. 8B is an explanatory diagram showing a configuration example and a movable example of the electric pan head and the camera attached to the electric pan head. FIG. 8C is an explanatory diagram showing a configuration example and a movable example of the camera and the electric pan head when viewed from above the camera. It is a block diagram which shows the electric structure example of the vehicle image taking system which concerns on the modification example of this embodiment. FIG. 10A is an explanatory diagram showing the positional relationship of a reference subject used for adjusting the shooting direction of the camera when the electric pan head is mounted on each camera wall. FIG. 10B is an explanatory diagram showing a configuration example of a reference subject. It is a flowchart which showed the flow of the automatic adjustment process such as a camera direction executed by the computer shown in FIG. It is a flowchart showing the flow of the subroutine "camera setting data adjustment processing" shown in FIG. It is a flowchart showing the flow of the subroutine "camera setting data reflection process" shown in FIG.

Hereinafter, embodiments of the vehicle imaging system of the present invention will be described with reference to the drawings. This embodiment is a vehicle-around image shooting system in a studio that captures in advance a vehicle body image for display on a large display installed at an auction site of a used car, a terminal device at the same venue, a terminal device connected to the Internet, or the like. It is about. Hereinafter, the vehicle-around image shooting system is also simply referred to as a “shooting system”.

<< Outline of the configuration of the shooting system 10 >>
First, the outline of the configuration of the photographing system 10 of the present embodiment will be briefly described with reference to FIG. FIG. 1 shows an explanatory diagram showing a configuration example when the shooting system 10 is applied to a shooting studio for a vehicle auction. In the coordinate system shown in the figure, the X-axis direction is the traveling direction of the vehicle 8, the Y-axis direction is the height (vehicle height) direction of the vehicle 8, and the Z-axis direction is the width (vehicle width) of the vehicle 8. The directions are shown respectively. In the present specification, such an X-axis direction may be referred to as a front-back direction. In addition, the Y-axis direction may be referred to as the vertical direction. Further, the Z-axis direction may be referred to as a left-right direction. The same applies when such a coordinate system is represented in other figures. In the present embodiment, the vehicle 8 is a medium-sized vehicle (for example, total length: 4.8 meters, total width: 1.7 meters, total height: 1.5 meters).

As shown in FIG. 1, the photography studio 2 provided with the photography system 10 is a building in which a horizontally long photography space is partitioned by a wall 3 in the traveling direction of the vehicle 8. The left side of the paper in FIG. 1 is the entrance 5, and the right side of the paper is the exit 6. The vehicle 8 as a subject stops at a predetermined position 7 when entering the shooting studio 2 from the entrance 5. The predetermined position (predetermined range) 7 is provided substantially in the center of the photographing studio 2. Then, after the surroundings of the vehicle body and the interior of the vehicle are photographed, the vehicle exits from Exit 6. In addition, on the floor surface of the photographing studio 2, lines and marks that directly or indirectly suggest a predetermined position 7 of a rectangle long in the X-axis direction are displayed. The predetermined position 7 is set, for example, to have a long side of 6 meters and a short side of 2 meters.

The shooting system 10 provided in such a shooting studio 2 or the like is mainly composed of four camera walls 20 (20a, 20b, 20c, 20d) and a computer 11 for controlling these camera walls 20. These camera walls 20 (20a, 20b, 20c, 20d) can correspond to the "camera support structure" described in the claims. Further, as will be described later, the camera wall 20 has a "board wall structure".

In the present embodiment, the four camera walls 20 are provided in the shooting studio 2, for example, the height is set to about 2.5 meters, and the length (width) in the X-axis direction is about 3 meters. Is set to. Therefore, a worker with a standard physique can hide his / her body by moving to the back side (evacuation space 4) of the camera wall 20 even in an upright posture.

In the present embodiment, these camera walls 20 are arranged at positions 2 to 3 meters away from the four corners of the predetermined position 7. That is, the camera walls 20a to 20d are provided within a predetermined distance (for example, within 3 meters) from the four corners of the vehicle 8 so as to surround the vehicle 8 stopped at the predetermined position 7 in the shooting studio 2.

For example, the camera wall 20a is provided at a position separated from the left front corner portion 7a in the exit 6 direction of the predetermined position 7 by 2 meters to 3 meters (predetermined distance). Further, the camera wall 20b is provided at a position separated from the left rear corner portion 7b in the entrance 5 direction of the predetermined position 7 by the same predetermined distance. The camera walls 20c and 20d are provided at positions separated from the right rear corner portion 7c and the right front corner portion 7d by the same predetermined distance, respectively. In FIG. 1, the alternate long and short dash line represented between the camera wall 20 (20a to 20d) and the wall 3 indicates the evacuation space 4, which will be described later.

In the shooting studio 2, the camera walls 20a to 20d arranged in this way each include three cameras 30. Further, the camera walls 20a to 20d are curved so as to surround the predetermined position 7 (the vehicle 8 stopped at the predetermined position 7), respectively. That is, the planar shapes of the camera walls 20a to 20d are formed in a curved shape along the circumference of the ellipse O drawn around the intersection (center of the predetermined position 7) P of the diagonal lines of the predetermined position 7. The ellipse O has a major axis in the X-axis direction and a minor axis in the Z-axis direction. For example, the major axis is set to 15 meters and the minor axis is set to 7 meters.

These three cameras 30 are provided so as to be arranged side by side in the peripheral direction of the predetermined position 7 (the vehicle 8 stopped at the predetermined position 7) on each of the camera walls 20. More precisely, these cameras 30 are arranged so as to be located on the circumference of the ellipse O described above. For example, the camera wall 20a provided at a position separated from the left front corner portion 7a of the predetermined position 7 by a predetermined distance is provided with cameras 30a, 30b, and 30c from the exit 6 direction toward the front left side of the vehicle 8, respectively. ing. Similarly, the camera wall 20d provided at a position separated from the right front corner portion 7d by a predetermined distance is provided with cameras 30m, 30k, and 30j from the exit 6 direction toward the front right side of the vehicle 8, respectively.

That is, these cameras 30a, 30b, 30c, 30d, 30e, 30f, 30g, 30i, 30j, 30k, 30m (hereinafter, these may be collectively referred to as "camera 30a or the like" in the drawings. Reference numeral 30 indicates that the object pointed to by the camera corresponds to any one of the cameras 30a, 30b, 30c, 30d, 30e, 30f, 30g, 30i, 30j, 30k, and 30m). It is located point-symmetrically with respect to. For example, the cameras 30a and 30g, the camera 30b and the camera 30h, the camera 30c and the camera 30i, the camera 30d and the camera 30j, the camera 30e and the camera 30k, and the camera 30f and the camera 30m are point-symmetrical with respect to the center P of the predetermined position 7, respectively. Is located in.

As a result, the cameras 30a, 30b, and 30c of the camera wall 20a can take an image of the front side 8a of the vehicle 8 and an image of the left side 8c in the front direction and the like. Further, the cameras 30m, 30k, and 30j of the camera wall 20d make it possible to take an image of the front side 8a of the vehicle 8 and an image of the right side 8d in the front direction and the like.

Further, the camera wall 20b provided at a place separated from the left rear corner portion 7b by a predetermined distance is provided with cameras 30f, 30e, and 30d from the entrance 5 direction toward the rear left side of the vehicle 8, respectively. Further, the camera wall 20c provided at a position separated from the right rear corner portion 7c by a predetermined distance is provided with cameras 30g, 30h, and 30i from the entrance 5 direction toward the rear right side of the vehicle 8, respectively.

As a result, the cameras 30f, 30e, and 30d of the camera wall 20b can take images of the rear side 8b and the left side 8c of the vehicle 8 in the rear direction and the like. Further, the cameras 30g, 30h, and 30i of the camera wall 20c make it possible to take images of the rear side 8b and the right side 8d of the vehicle 8 in the rear direction and the like.

On the other hand, the computer 11 is provided in a room (for example, an operator room or an adjustment room) separately from the shooting studio 2. In the present embodiment, the computer 11 is connected to 12 cameras 30a and the like provided on each of the camera walls 20a to 20d, and performs image processing and the like as described later. The configuration of the computer 11 and its peripheral devices will be described later with reference to FIG.

<< Configuration of camera wall 20 >>
Here, the configuration of the camera wall 20 will be described in detail with reference to FIGS. 2 and 3. Of the four camera walls 20a to 20d, the camera wall 20a and the camera wall 20c are similarly configured. Further, the camera wall 20a and the camera wall 20b are configured to be mirror-symmetrical with respect to the YZ plane, and the camera wall 20a and the camera wall 20d are configured to be mirror-symmetrical with respect to the XY plane. Therefore, among the four camera walls 20a to 20d, the camera wall 20a will be described here as a representative. FIG. 2A shows a front view of the camera wall 20a. Further, FIG. 2B shows a plan view of the camera wall 20a. FIG. 3 shows an enlarged view in line III shown in FIG. 2 (A). For convenience, in FIGS. 2 and 3, the transparent panel 39 is colored light gray and the dome cover 38 is colored dark gray.

As shown in FIGS. 2 and 3, the camera wall 20a is mainly composed of a vertical frame 21, a horizontal frame 22, a top panel 23, a side panel 24, front panels 25, 26, and the like. The vertical frame 21 and the horizontal frame 22 are, for example, aluminum L-shaped angles or square pipes, and form the framework structure of the camera wall 20a (see FIG. 2B). The horizontal frame 22 spanning in the X-axis direction is curved in a shape along the elliptical arc of the ellipse O shown in FIG. 1 or an elliptical arc close to the elliptical arc. The horizontal frames 22 are provided at a plurality of locations (for example, three locations) at different positions in the height direction, for example.

The top panel 23, the side panel 24, and the front panels 25, 26 have, for example, a wall body having a plate wall structure composed of a flat flat plate (iron plate) made of iron, and the surface thereof is painted gray. The top panel 23 plays the role of a top plate that closes the upper part of the camera wall 20a, and the side panel 24 plays the role of a side plate that closes the sides of the camera wall 20a. Since the horizontal frame 22 spanning in the X-axis direction is curved in a shape along an elliptical arc as described above, the front surface of the camera wall 20a is composed of a plurality of front panels 25 and 26.

In the present embodiment, the front panels 25 and 26 are all set to have the same length in the X-axis direction (short direction), and the total number of front panels 25 and 26 is, for example, at a predetermined position 7. The number S (= N × 2-1) obtained by doubling the number N of the cameras 30 arranged side by side in the peripheral direction and subtracting 1 is set. Since the camera wall 20a has three cameras 30, the total number S of the front panels 25 and 26 is 5 (= 3 × 2-1).

In the present embodiment, as will be described next, since the front panel 25 covers the portion to which the camera 30 is attached, the three front panels 25 and the two front panels 26 have the same number as the number of cameras 30. The front surface of the camera wall 20a is configured by the above. It is not necessary to select a flat flat panel as the front panels 25 and 26, and a curved panel having a curved surface along an elliptical arc in the lateral direction may be used for the front panels 25 and 26.

The front panel 25 is divided into a plurality of walls. That is, the front panel 25 is composed of three types of wall bodies, a curtain plate wall 25a, a blank plate wall 25b, and a wainscot wall 25c, from above in the Y-axis direction. On the other hand, the front panel 26 is composed of a strip-shaped long wall body.

The curtain plate wall 25a is a wall body that closes the upper side of the blank plate wall 25b and the like, and the waist plate wall 25c is a wall body that closes the lower side of the blank plate wall 25b and the like. The blank plate wall 25b is a wall body that closes the front opening of the rack space that does not accommodate the camera case 33. In the present embodiment, the camera case 33 is housed in the middle rack space 28, and the camera case 33 is not housed in the upper rack space 27 and the lower rack space 29. Therefore, in the present embodiment, the blank plate wall 25b closes the upper and lower rack spaces 27 and 29. The front lid 36 of the camera case 33 is attached to the rack space 28 in the middle stage. In FIG. 2A, the rack space is represented by a two-dot chain line, and some of them are not marked.

The front panel 26 is a wall body that closes the front opening of the portion where the rack spaces 27, 28, and 29 are not provided. In the present embodiment, since the camera wall 20a is provided so that the three cameras 30 are arranged in the peripheral direction of the vehicle 8, the front panels 26 are attached to two places between the three cameras. If rack spaces 27, 28, 29 and the like are provided in the internal space of the camera wall 20a blocked by the front panel 26, the camera 30 can be attached. In such a case, a front panel 25 (curtain board wall 25a, blank board wall 25b, wainscot wall 25c) or the like is attached instead of the front panel 26.

In this embodiment, a back panel (not shown) is attached to the back of the camera wall 20a. This prevents a part of the body from entering the camera wall 20a and dust or the like from entering the camera wall 20a when the worker hides behind the camera wall 20a, as will be described later. ing. If this is not expected, the back panel may not be provided.

A camera case 33, a front lid 36, and the like are attached to the rack spaces 27, 28, and 29 in which the camera 30 is housed. In the present embodiment, the camera 30 is housed in the rack space 28 in the middle stage, and a camera box 37 having a front lid 36 and a dome cover 38 is attached to the front opening thereof. In FIG. 3, the pan head 40 is also shown below the camera 30. Since the configurations of the camera 30 and the pan head 40 are illustrated in detail in FIG. 4, they will be described from now on with reference to FIG.

<< Configuration of camera case 33 and camera box 37 >>
FIG. 4A is an explanatory diagram showing a configuration example of the camera case 33, the camera 30, and the pan head 40 provided on the camera wall 20. Further, FIG. 4B shows an explanatory diagram showing a configuration example and a movable example of the pan head 40 and the camera 30 attached to the pan head 40. Further, FIG. 4C shows an explanatory diagram showing a configuration example and a movable example of the camera 30 and the pan head 40 when viewed from above the camera 30. For convenience, in FIG. 4A, the transparent panel 39 is colored light gray and the dome cover 38 is colored dark gray.

As shown in FIG. 4A, the camera 30 is attached to the camera wall 20 via the camera case 33. The camera case 33 has a peripheral plate 34 formed in a U shape so as to surround the periphery of the camera 30 except for the lens unit side of the camera 30, and the periphery so as to cover the bottom side (the pan head 40 side) of the camera 30. It is composed of a bottom plate 35 that closes the lower opening of the plate 34. The peripheral plate 34 and the bottom plate 35 are welded, for example.

The peripheral plate 34 is provided with a flange portion 34a that bends outward in an L shape at the opening on the lens unit side of the camera 30. The flange portion 34a is for fixing the camera case 33 to the vertical frame 21 of the camera wall 20. That is, the camera case 33 is attached to and fixed to the camera wall 20 by screwing the flange portion 34a to the vertical frame 21 with bolts or the like shown in the figure.

A front lid 36 having a window portion 36a is attached to the front surface of the camera case 33 so that the lens unit 32 of the camera 30 can be exposed. The front lid 36 has the same external dimensions as the blank plate wall 25b of the front panel 25 described above, and a rectangular window portion 36a is formed substantially in the center thereof. The window portion 36a is set to a size and range that can sufficiently secure the shooting range of the camera 30, and the field of view of the camera 30 when the pan head 40 changes the shooting direction (pan or tilt) of the camera 30. It is formed so that the front lid 36 does not enter inside.

Bent portions 36b that bend in an L shape toward the back side are formed on both sides of the front lid 36 in the width direction (direction orthogonal to the vertical frame 21). The bent portion 36b is for enabling the front lid 36 to be screwed to the vertical frame 21 with bolts or the like shown in the drawing, and a through hole in the drawing through which the bolt can be inserted is formed. ing. For example, an optically transparent transparent panel or the like is attached to the window portion 36a of the front lid 36.

In the present embodiment, the transparent panel 39 is not directly attached to the window portion 36a, but the transparent panel 39 is attached via the camera box 37. The camera box 37 is, for example, a triangular prism-shaped box made of an iron plate, and windows are formed on two side surfaces corresponding to hypotenuses. One window portion is configured to be able to communicate with the window portion 36a of the front lid 36, and the other window portion is configured to be able to attach the transparent panel 39.

In the present embodiment, when the camera wall 20 is installed in the shooting studio 2, the camera box 37 is configured so that the other window portion having the transparent panel 39 faces the predetermined position 7. By adopting a configuration in which the front lid 36 is provided with such a camera box 37, for example, even if the lens unit 32 of the camera 30 is configured to project outward from the window portion 36a of the front lid 36, the outside (entrance 5 or It is less susceptible to meteorological phenomena such as the lens unit 32 shaking due to the wind entering from the exit 6) and the lens unit 32 getting wet with the rainwater that has fallen into the shooting studio 2.

Further, in the present embodiment, an optically transparent dome cover 38 formed in a hemispherical shape is attached to the transparent panel 39. That is, the dome cover 38 is attached so as to be able to project further to the outside than the boundary surface of the transparent panel 39. Thereby, for example, even if the lens unit 32 may protrude outward from the transparent panel 39 within the movable range of the camera 30, it can be made possible.

When the dome cover 38 is provided, the transparent panel 39 may be formed of an optically opaque member such as an iron plate instead of the transparent panel 39. This makes it possible to visually obscure the inside of the camera box 37 from the outside. Further, when the lens unit 32 of the camera 30 is a wide-angle zoom lens 32b, by providing the dome cover 38, the optically opaque panel is less likely to obstruct the field of view, so that the angle of view of the camera 30 is further increased. It will be possible to secure a wide range.

<< Configuration of camera 30 and pan head 40 >>
The camera 30 is composed of a camera body 31 and a lens unit 32. The camera body 31 is, for example, a high-definition high-definition color camera capable of shooting a moving image, and is configured to be able to output the shot moving image data via an SDI (Serial Digital Interface). Further, the lens unit 32 also includes an electric zoom lens mechanism, and zoom adjustment by autofocus is also possible. Zoom, white balance, exposure, etc. can be adjusted from the outside. In the present embodiment, these setting data are configured to be received from the computer 11 connected by the RS-232C cable 17 via the camera interface 14 (see FIG. 5).

The lens unit 32 is, for example, an electric zoom lens, and is composed of a zoom lens, an electric zoom mechanism, a zoom control unit, a cover covering them, and the like. The zoom lens, electric zoom mechanism, and zoom control unit are not shown. The zoom lens may be a standard zoom lens 32a or a wide-angle zoom lens 32b. In the camera 30 of the present embodiment, the standard zoom lens 32a or the wide-angle zoom lens 32b is selected depending on the mounting location. Generally, the wide-angle zoom lens 32b has a wider angle of view (shooting range) than the standard zoom lens 32a, but the product cost tends to be high. The types of such lenses will be described later.

The electric zoom mechanism drives the variable mechanism of the zoom lens by the driving force of the motor, and the driving control of the motor is performed by the zoom control unit. The zoom control unit controls the electric zoom mechanism at the time of zoom adjustment by autofocus, and controls the electric zoom mechanism by a control command received from the computer 11. The control command sent from the computer 11 is configured to be receivable via the camera interface 14.

The cloud stand 40 changes the shooting direction of the camera 30 attached to the cloud stand 40 to the left-right direction (front-back direction of the vehicle 8) or up-down direction, or changes the position of the camera 30 to the front-back direction (left-right direction of the vehicle 8). It can be changed. The pan head 40 is mainly composed of a pan / tilt unit 41 and a slide unit 45.

The pan / tilt unit 41 can change the shooting direction of the camera 30 to the front-rear direction (pan) or the height direction (tilt) of the vehicle 8 (predetermined position 7) when the pan head 40 is attached to the camera wall 20. It is configured. The pan / tilt unit 41 is composed of a holder 42, a tilt shaft 43, a pan shaft 44, and the like. The holder 42 rotatably supports the camera 30 in the vertical direction (Y-axis direction shown in FIG. 1) by the tilt shaft 43 (reference numerals 30YU and 30YD shown in FIG. 4B). Further, the pan / tilt unit 41 makes the camera 30 rotatable in the left-right direction (X-axis direction shown in FIG. 1) by the pan axis 44 with respect to the slider 47 of the slide unit 45 (in FIG. 4C). Reference numerals 30XL, 30XR).

The slide unit 45 is configured so that the position of the camera 30 can be changed in the left-right direction (Z-axis direction shown in FIG. 1) of the vehicle 8 (predetermined position 7) when the pan head 40 is attached to the camera wall 20. .. The slide unit 45 is composed of a base plate 46, a slider 47, and the like. The slider 47 refers to the camera 30 attached (axially supported) to the slider 47 via the pan / tilt unit 41 in the front-rear direction (Z-axis direction shown in FIG. 1) with respect to the base plate 46 fixed to the camera case 33. ) Is movable (reference numeral 30Z shown in FIGS. 4 (B) and 4 (C)). The movable range of the slider 47 is determined by the elongated hole 47a formed in the slider 47 and the convex portion 46a formed in the base plate 46 so as to be inserted into the elongated hole 47a.

The pan heads 40 configured in this way are individually mounted so that the shooting direction of each camera 30a or the like faces the center P (see FIG. 1) of the predetermined position 7 by attaching the cameras 30a or the like to each of the pan heads 40. 40 pans are adjusted. Further, the tilt of the pan head 40 is adjusted to, for example, about 1/2 to about 2/3 of the total height (1.5 meters) of the medium-sized vehicle.

≪Computer 11, peripheral device configuration≫
Next, the configuration of the computer 11 and its peripheral devices will be described with reference to FIG. FIG. 5 shows a block diagram showing an example of an electrical configuration of the photographing system 10. The computer 11 is typically a personal computer, and may be, for example, an MPU, a main memory (DRAM, etc.), a storage device (magnetic disk, flash memory, etc.), a communication interface (LAN interface, SDI interface, etc.), a display, a keyboard, or the like. It is configured (these are not shown in FIG. 5).

As will be described later, the vehicle image capture processing program executed by the computer 11 is stored in the storage device in advance. By this vehicle image capturing process, the computer 11 acquires moving image data from the cameras 30a and the like of the camera walls 20a to 20d via the video hub 12 and the SDI cables 15 and 16 by the SDI interface. The computer 11 is connected to the LAN cable 18 by the LAN interface, and is also connected to the camera interface 14 of the camera 30a or the like via the RS-232C cable 17. The video signal output from the computer 11 to the display is also sent to the sub-display shown in the figure via the distributor. This sub-display is arranged in, for example, the evacuation space 4 of any of the camera walls 20a to 20d.

The video hub 12 is a concentrator that can select a plurality of channels of video signals by an SDI interface, and includes a LAN interface. In the present embodiment, the video hub 12 is configured so that, for example, a 4-channel output system can be selected for a 12-channel input system. The number of channels of the input system is matched to the number of cameras 30a and the like 12, and the number of channels of the output system is matched to the number of camera walls 20a to 20d. As a result, for example, each camera wall 20a to 20d can be divided into 4 channels (A to D channels) and transmitted to the computer 11. The video hub 12 is also connected to the LAN cable 18. Therefore, the transmission of the moving image data of the A to D channels is performed according to the control command received from the computer 11 via the LAN.

For example, at the transmission timing of the A channel, the video hub 12 time-divisions the moving image data captured by the cameras 30a, 30b, and 30c of the camera wall 20a into predetermined time slots and transmits the video data to the computer 11. Further, at the transmission timing of the B channel, the moving image data captured by the cameras 30d, 30e, and 30f of the camera wall 20b are time-divisioned into predetermined time slots and transmitted to the computer 11. Similarly, the moving image data of the cameras 30g, 30h, 30i of the camera wall 20c is transmitted by the C channel, and the moving image data of the cameras 30j, 30k, 30m of the camera wall 20d is transmitted by the D channel at the respective timings.

In the present embodiment, the camera interface 14 included in the cameras 30a and the like is an interface compliant with RS-232C, and the cameras 30a and the like are electrically connected in a daisy chain. When a control command with an address is received from the computer 11, the camera 30 at the address performs control according to the control command.

The number of channels included in the video hub 12 may be as long as the number of input systems is equal to or greater than the number of cameras 30a or the like, and the number of output systems may be larger, but may be 1 channel or more and less than or equal to the number of cameras 30a or the like. Further, in the present embodiment, the file server 13 and the like are connected to the LAN cable 18. The file server 13 is executed by the computer 11 and the unique information (exhibition number, vehicle type, model, exhaust volume, mileage, vehicle name, etc.) regarding the vehicle 8 described in the exhibition inspection slip, and as will be described later. Still image data and the like cut out (captured) from the moving image data by the vehicle image shooting process are accumulated. The file server is a concept including a database server.

In addition, as peripheral devices (not shown), for example, another personal computer, a printer, a wireless LAN access point, or the like is connected to the LAN cable 18. The interior image data taken by the digital camera for taking an interior image carried by the worker is stored in the file server 13 via the access point of the wireless LAN. Further, in some cases, a display device (monitor device) that constantly displays moving image data sent from a specific camera 30 (for example, the camera 30d) of the cameras 30a or the like or a separately provided camera is provided. In this case, in the moving image data acquisition process (S107) of the vehicle image capturing process described below, it is not necessary to display the moving image on the display of the computer 11.

≪Vehicle image shooting process by computer 11≫
Subsequently, the vehicle image capturing process executed by the computer 11 will be described with reference to FIGS. 6 and 7. FIG. 6 shows a flowchart showing the flow of the vehicle image capturing process executed by the computer 11. FIG. 7 illustrates a screen example displayed on the display screen of the computer 11 in the vehicle image capturing process.

The software button displayed on the display screen 70 of FIG. 7 can be selected by the operator of the computer 11 by pressing the key when the corresponding key switch is present on the keyboard, but the operator is the mouse. It can also be selected by clicking the software button with a pointing device such as. In the following description, even if the selection can be made by clicking the mouse, the case where the selection is made by the operator pressing the key switch will be described as an example.

As shown in FIG. 6, when the vehicle image shooting process is started, a predetermined initialization process is first performed in step S101, and then a shooting mode setting process is performed in step S103. In the initialization process, for example, the work file, the flag, etc. related to the vehicle image shooting process are cleared, and the setting data, etc. are expanded on the main memory. Further, in the shooting mode setting process, the default values of the setting data related to the zoom, white balance, exposure, etc., which are individually set for each camera 30a and the like, are transmitted to the camera interface 14. As a result, the zoom, white balance, and the like of the camera 30a and the like are set to default values.

In the present embodiment, as in the display screen 70 shown in FIG. 7, for example, the shooting mode is displayed as a camera mode button 96 such as “sunny”, “cloudy”, “evening”, and “night”. For example, "sunny" in the currently set shooting mode is displayed in yellow (light gray in FIG. 7), and other "cloudy" and the like are displayed in gray. In this shooting mode, the operator presses the "camera mode switch" 79 of the F9 key to set the shooting mode to "sunny"-> "cloudy"-> "evening"-> "night"-> "sunny"-> ... Can be switched to cyclic.

When the shooting mode setting process in step S103 is completed, the process waits until there is an instruction to start shooting (S105). That is, as shown in FIG. 7, it waits until the "batch shooting" 75 of the F5 key of the function displayed on the display screen 70 of the computer 11 or the "four-point shooting" 76 of the F6 key is pressed (S105; No). Since the display example of FIG. 7 exemplifies the screen display in a state where the processing has progressed to some extent, the display is not displayed at the time of processing in step S103 (for example, a four-point still image 94 and a multi-still image 95). Note that) is already displayed.

For example, the operator of the computer 11 waits for the start of shooting until the vehicle 8 stops at the predetermined position 7, or waits for the start of shooting until the worker finishes shooting the interior image of the vehicle 8. Further, when the shooting of a moving image is started by the cameras 30a or the like of the camera walls 20a to 20d, the figure of the worker may be reflected in the moving image. Therefore, when the worker completes predetermined work such as moving the vehicle 8 and photographing the interior, the worker hides in the evacuation space 4 (see FIG. 1) provided on the back side of the camera walls 20a to 20d. It is possible to prevent such reflections. After confirming by visual inspection or income (intercommunication) that the predetermined work or evacuation by the worker has been completed, the operator presses "Batch shooting" 75 or "Four-point shooting" 76.

When "Batch shooting" 75 or "Four-point shooting" 76 is pressed (S105; Yes), a control command for starting shooting with an address such as each camera 30a is transmitted from the computer 11 to the camera interface 14. .. As a result, the cameras 30a and the like each start shooting a moving image of the vehicle 8. In the "during the predetermined period" described in the claims, after the camera 30a or the like starts video recording, the video hub 12 acquires the video data of the camera 30a or the like by at least the video data acquisition process in the next step S107. It is within the period until it is sent.

The moving image data acquisition process is performed by the subsequent step S107. Here, the case where "Batch shooting" 75 is pressed will be described as an example. When "4 point shooting" 76 is pressed, the video hub 12 is used from the cameras 30b, 30e, 30h, 30k arranged in the center among the three cameras 30a and the like provided in the camera walls 20a to 20d. Only the moving image data sent via the image processing is targeted. This point is different from the case of "batch shooting" in which moving image data of all cameras 30a and the like are targeted for image processing.

In the process of step S107, for example, a control command capable of instructing the video hub 12 to output the video data of the cameras 30a, 30b, 30c among the video data sent from the cameras 30a and the like is given to the video hub 12. Send. As a result, the moving image data of the cameras 30a, 30b, 30c is sent from the video hub 12 via the A channel. As a result, for example, the moving image sent from the cameras 30a, 30b, and 30c is projected on the display of the computer 11 by dividing the screen as shown in the four-point still image 94 shown in FIG. The moving image sent from one specific camera 30 (for example, the camera 30c) may be greatly projected within the broken line indicated by the reference numeral 94.

Therefore, in the next step S109, the image data input from the A channel is captured, the still image data is cut out (captured) from the moving image data, and for example, it is temporarily stored in the storage device. Store. The still image data to be cut out from the moving image data may be one or two or more. When two or more still image data are cut out, the trimming process (S117) described later is also performed on the two or more still image data.

By performing such video data acquisition processing (S107) and capture processing (S109) from channel A to channel D (S111; No), it is possible to cut out still image data for each video data output from the camera 30a or the like. It will be possible. When it is determined in step S111 that the capture process has been performed on all the data (S111; Yes), the shooting completion display process is performed in the subsequent step S113.

The shooting completion display process (S113) is performed by changing the display color of the shooting completion indicator 99a on the display screen 70 from gray to red. That is, in the shooting completion indicator 99a, the background color of the characters "shooting completed" is displayed in gray before the shooting is completed, and the background color is displayed in red after the shooting is completed. The adjustment completion indicator 99b displayed to the right of the shooting completion indicator 99a displays the background color of the characters "adjustment completed" in gray before the adjustment is completed, and the same background color is displayed in red after the adjustment is completed. Will be done.

If a sub-display is provided in the evacuation space 4 behind the camera walls 20a to 20d where the worker can stand by, the shooting completion indicator 99a and the adjustment completion indicator 99b are also displayed on the display screen 70. Is displayed, so the worker can also check it on the screen.

When the still image is cut out (captured) in this way, the trimming frame setting process is then performed in step S115. The trimming in the vehicle image capturing process means to cut out an unnecessary image portion around the image of the vehicle 8 and the boundary line set for that purpose is a trimming frame. The image processing that leaves the inside of the trimming frame and deletes the outside of the frame is the trimming process performed in the next step S117. Trimming is also called "cutting out".

As shown in the display screen 70 shown in FIG. 7, in the present embodiment, the size of the trimming frame is displayed as the frame size buttons 93 of “frame 1” to “frame 9”. For example, the currently set "frame 6" of a predetermined size is displayed in yellow (light gray in FIG. 7), and the other "frames 1" to "frame 5" and "frame 7" to "frame 9" are displayed. It is displayed in gray. This frame size is set by pressing the "frame size +" 80 of the F10 key to increase the frame size in the "frame 1" direction, and pressing the "frame size-" 81 of the F11 key. The size goes down in the "frame 9" direction.

The trimming frame can also be selected by clicking the frame size buttons 93 of "frame 1" to "frame 9" with a pointing device such as a mouse. Here, the operator manually sets the "frame 6". Since the trimming frame can be set arbitrarily in this way, in step S115, the size of the trimming frame corresponding to "frame 1" to "frame 9" set at the time of executing the trimming frame setting process is expanded on the main memory. Read from the settings file etc. Then, it is used for the next trimming process.

In the trimming process in step S117, after cutting out from the moving image data of the camera 30a or the like and reading the still image data temporarily stored in the storage device or the like, the image data in the frame is cut out using the trimming frame of step S115. Perform image processing. This process is performed until the end of all the still image data cut out in step S109 (S119; No). As a result, as will be described later, by connecting the still image data after the trimming process in step S117 so as to be arranged in the order of the peripheral direction of the vehicle 8, it is possible to see the surroundings of the vehicle body around the entire circumference of the vehicle 8 (around view). It can be seen that the vehicle body image data equivalent to (360 degree image) can be generated.

When there are a plurality of still image data cut out from the moving image data for the same camera 30 in step S109, for example, all the still image data may be trimmed, and the first (or last) still image data may be trimmed. You may trim the still image data cut out in. When there are a plurality of trimmed still image data for the same camera 30, for example, all the trimmed still image data may be displayed on the display screen 70 so that the operator can select them.

When it is determined in step S119 that the trimming process has been performed on all the data (S119; Yes), the vehicle body image display process is performed in the subsequent step S121. In this process, the still image after trimming in step S119 is displayed on the four-point still image 94 and the multi-still image 95 of the display screen 70. That is, the content shown in FIG. 7 is displayed on the display screen 70 of the computer 11. That is, in the four-point still image 94, the upper right image is taken by the camera 30b, the lower right image is taken by the camera 30e, the lower left image is taken by the camera 30h, and the upper left image is taken by the camera 30k.

Further, in the multi-still image 95, for convenience of explanation, when 12 images are divided into four vertically and horizontally, the left image is the camera 30a, the center image is the camera 30b, and the right image is the camera 30c, respectively, among the three upper right images. Of the three lower right images, the right image was taken by the camera 30d, the center image was taken by the camera 30e, and the left image was taken by the camera 30f. Of the three lower left images, the right image is taken by the camera 30 g, the center image is taken by the camera 30h, and the left image is taken by the camera 30i. Of the upper left three images, the left image is the camera 30j and the center image is the camera 30k. , The right image is taken by the camera 30m respectively.

By connecting the still images displayed in the multi-still image 95 in the above-mentioned order (so as to be arranged in the order of the peripheral direction of the vehicle 8), the vehicle body image of the entire circumference of the vehicle 8 can be viewed around (360 degrees). It can be made to look like it is rotated like an image). That is, the upper right left image of the camera 30a → the upper right center image of the camera 30b → the upper right right image of the camera 30c → the lower right right image of the camera 30d → the lower right center image of the camera 30e → the lower right left image of the camera 30f → the camera 30g Lower left right image → Lower left center image of camera 30h → Lower left left image of camera 30i → Upper left left image of camera 30j → Upper left center image of camera 30k → Upper left right image of camera 30m. do. This makes it possible to obtain vehicle body image data equivalent to an around view (360-degree image).

When "four-point shooting" 76 is pressed in step S105, only the four-point still image 94 is displayed on the display screen 70 and the multi-still image 95 is not displayed in step S121. Therefore, when "4 point shooting" 76 is pressed, the vehicle body image data equivalent to the around view (360 degree image) cannot be obtained.

In the following step S123, the adjustment completion display process is performed. In this process, the display color of the adjustment completion indicator 99b on the display screen 70 is changed from gray to red. As described above, the adjustment completion indicator 99b has a gray background color before the adjustment is completed.

When such a series of capture (cutout) and trimming (cutout) is completed, the computer 11 waits for the next input command in step S125. That is, it is determined whether the "save" 83 of the ENTER key, the "screen clear" 71 of the ESC key, or the "end" 82 of the F12 key is pressed.

When it is determined that "Save" 83 is pressed (S125; "Save"), all the image data of the still image after trimming by the image data saving process of the following step S127 is saved in the file server 13. As a result, unique information about the vehicle 8 such as the exhibition number associated with the saved still image data is displayed in the storage history display area 97 of the display screen 70. Then, after erasing the four-point still image 94, the multi-still image 95, etc. currently displayed by the image display erasing process in step S129, the process is shifted to step S105 to prepare for the next shooting start, "batch shooting". Wait for the keys of 75 and "4 point shooting" 76 to be pressed.

On the other hand, when it is determined that the "screen clear" 71 is pressed (S125; "screen clear"), the image data saving process in step S127 is skipped and the image display erasing process in step S129 is performed. That is, after discarding the trimmed still image data without saving (S129), the process shifts to step S105 and the keys of "Batch shooting" 75 and "4 point shooting" 76 are pressed in preparation for the next shooting start. Wait for it to be pressed.

When "End" 82 is pressed (S125; "End"), for example, a separate window or the like for confirming whether or not the vehicle image shooting process can be completed is displayed on the display screen 70 for final confirmation. When is input, the vehicle image shooting process is finished and the display of the display screen 70 is finished. The pressing of "End" 82 can be accepted even while other processing is being executed.

As a process not described in the flowchart of FIG. 6, for example, when the "interior redisplay" 72 of the F2 key of the function is pressed, the interior image of the vehicle 8 is redisplayed in the interior image display area 92. The interior image data (interior image data) is photographed by a digital camera carried by a worker separately from the cameras 30a and the like provided in the camera walls 20a to 20d, and is stored in the file server 13 via a wireless LAN or the like. It is also displayed in the interior image display area 92 of the display screen 70 at almost the same time or at another timing. The interior image data is associated with data unique to the vehicle 8 such as an exhibition number. Therefore, when the "interior redisplay" 72 is pressed, the computer 11 acquires the interior image data of the vehicle 8 from the file server 13 based on the unique data of the vehicle 8 and displays it again in the interior image display area 92. ..

The interior image deletion area 91 provided to the left of the interior image display area 92 uses a mouse or the like to capture an interior image that is unnecessary when deleting the interior image displayed in the interior image display area 92. It is used to exclude the interior image from the interior image display area 92 by dragging and dropping it onto the image deletion area 91.

Further, the "retrimming" 73 of the F3 key of the function is pressed by the operator, for example, when the trimming frame is changed. When the "retrimming" 73 is pressed, the computer 11 reads the temporarily stored still image data from the storage device or the like from the storage device or the like, and then sets a new one, as in the trimming process (S117) described above. Image processing is performed to cut out the image data in the same frame using the trimmed frame, and the trimmed image data is displayed on the four-point still image 94 or the multi-still image 95.

The "manual" 74 of the F4 key of the function enables the manual setting and the automatic setting of the trimming frame to be selected by toggle (alternate each time the button is pressed) by pressing the F4 key. That is, when the manual setting is selected, "manual" is displayed in the F4 key portion, and when the automatic setting is selected, "automatic" is displayed in the F4 key portion. Since the vehicle image shooting process described above is premised on the manual setting of the trimming frame, "manual" is displayed. The description of the automatic setting of the trimming frame will be omitted.

Further, when the "multi-shooting" 77 of the F7 key of the function is pressed, the computer 11 displays the 12 still images trimmed by the trimming process (S117) in a separate window or the like at four points of still images 94. Display as large as. In this case, it is difficult to display all 12 still images at the same time on the display screen 70. Therefore, for example, as described above, a still image that is enlarged by operating the scroll wheel of the mouse or a specific key of the keyboard is displayed as the upper right left image of the camera 30a → the upper right center image of the camera 30b → the upper right right image of the camera 30c → the camera. Lower right right image of 30d → Lower right center image of camera 30e → Lower right left image of camera 30f → Lower left right image of camera 30g → Lower left center image of camera 30h → Lower left left image of camera 30i → Upper left left image of camera 30j → Perform display processing to change the display image so that it appears in the order of the upper left center image of the camera 30k → the upper left right image of the camera 30m.

Further, when the "exhibition number acquisition" 78 of the F8 key of the function is pressed, the computer 11 acquires the exhibition number of the vehicle 8 from the file server 13 based on the data unique to the vehicle 8, and the exhibition number. Display it in the display area 98. Further, after the operator clicks the exhibition number display area 98 with a mouse or the like, the exhibition number of the vehicle 8 can be directly input with the keyboard. The exhibition number is associated with the still image data when the still image data is stored in the file server 13.

Next, the types of lenses such as the cameras 30a provided on the camera walls 20a to 20d will be described. In the present embodiment, not all lens units 32 such as the camera 30a are selected. That is, the camera 30a or the like may have a standard zoom lens 32a or a wide-angle zoom lens 32b.

For example, the wide-angle zoom lens 32b is selected for the cameras 30c, 30d, 30i, and 30j, which are arranged at the positions closest to the vehicle 8 in the peripheral direction of the vehicle 8 among the three cameras of the camera walls 20a to 20d. Will be done. The wide-angle zoom lens 32b is selected for the cameras 30b, 30e, 30h, and 30k, which are arranged in the center of the vehicle 8 in the peripheral direction among the three camera walls 20a to 20d. Then, a standard zoom lens 32a is selected for the remaining cameras 30a, 30f, 30g, and 30m.

As a result, of the three cameras 30 provided on the camera walls 20a to 20d, the cameras 30c, 30d, 30i, and 30j arranged at the end of the vehicle 8 near the center in the front-rear direction have the wide-angle zoom lens 32b. Therefore, the opposite end of the vehicle 8 (in the case of the camera 30c, the vicinity of the left rear corner portion 7b of the vehicle 8, in the case of the camera 30d, the vicinity of the left front corner portion 7a of the vehicle 8, and in the case of the camera 30i, the vicinity of the vehicle 8). It is possible to take an easy-to-see image of the vicinity of the center pillar including the vicinity of the right front corner portion 7d and, in the case of the camera 30j, the vicinity of the right rear corner portion 7c of the vehicle 8.

Further, for example, even for a vehicle having a large length in the front-rear direction (total length of the vehicle), by using the wide-angle zoom lens 32b, the vehicle can be within the angle of view (shooting range) of these cameras 30c, 30d, 30i, 30j. (In the case of the camera 30c, the vicinity of the left rear corner portion 7b of the vehicle 8, in the case of the camera 30d, the vicinity of the left front corner portion 7a of the vehicle 8, and in the case of the camera 30i, the right front corner portion 7d of the vehicle 8. It is possible to take an image that can be seen up to the vicinity, in the case of the camera 30j, near the right rear corner 7c of the vehicle 8.

Further, among the three cameras 30 provided on the camera walls 20a to 20d, the cameras 30b, 30e, 30h, and 30k arranged in the center of the vehicle 8 in the peripheral direction have the wide-angle zoom lens 32b, so that, for example, a car. Even for a vehicle with a high height, it is possible to take an image that can be sufficiently seen up to the vicinity of the ceiling of the vehicle within the angle of view (shooting range) of these cameras 30b, 30e, 30h, and 30k.

Of the three cameras 30 provided on the camera walls 20a to 20d, for the cameras 30a, 30f, 30g, and 30m arranged at the farthest end from the vehicle 8, the standard zoom lens 32a is used instead of the wide-angle zoom lens 32b. Have. The standard zoom lens 32a tends to have a lower product cost than the wide-angle zoom lens 32b. Therefore, it is possible to suppress an increase in the cost of the photographing system 10 as compared with the case where the wide-angle zoom lens 32b is selected for all the cameras 30a and the like.

If such a cost does not matter, the wide-angle zoom lens 32b can be used for these cameras 30a, 30f, 30g, and 30m at the opposite end of the vehicle 8 (in the case of the camera 30a). Near the right front corner 7d of the vehicle 8, near the right rear corner 7c of the vehicle 8 in the case of the camera 30f, near the left rear corner 7b of the vehicle 8 in the case of the camera 30g, and in the case of the camera 30m It is possible to take an easy-to-see image up to the left front corner 7a).

Further, even in the case of an existing studio where there is no room in the left-right (vehicle width) direction of the vehicle 8, the cameras 30a and the like provided on the camera walls 20a to 20d (particularly, they are arranged in the center of the vehicle 8 in the peripheral direction). Since the cameras 30b, 30e, 30h, and 30k) have the wide-angle zoom lens 32b, it is possible to take a wide range of vehicle body images of the vehicle 8 even if the distance between the vehicle 8 and the camera 30a is short.

As described above, in the photographing system 10 of the present embodiment, the four camera walls 20a to 20d surround the vehicle 8 stopped at the predetermined position 7 in the photographing studio 2 at the four corners (predetermined position 7) of the vehicle 8. It is provided within a predetermined distance from the left front corner portion 7a, the left rear corner portion 7b, the right rear corner portion 7c, and the right front corner portion 7d). Further, on each of these four camera walls 20a to 20d, three cameras 30 and the like capable of capturing a vehicle body image of the vehicle 8 as a moving image during a predetermined period are provided side by side in the peripheral direction of the vehicle 8. In these three cameras 30a and the like, at least one of the cameras 30c, 30d, 30i, 30j has a wide-angle zoom lens 32b and shoots a moving image through the wide-angle zoom lens 32b. A total of 12 video data output from the three cameras 30a and the like of the four camera walls 20a to 20d are acquired by the computer 11, and at least one still image data is cut out from each of the 12 video data. An image of the entire circumference of the vehicle 8 is generated.

As a result, it is difficult to see from the four corners of the vehicle 8 (left front corner portion 7a, left rear corner portion 7b, right rear corner portion 7c, right front corner portion 7d at a predetermined position 7). Also, it will be possible to take easy-to-see images. Further, even in the case of an existing studio 2 or the like where there is no room in the left-right (vehicle width) direction of the vehicle 8, the lens of the cameras 30a or the like provided on the camera walls 20a to 20d is used as the wide-angle zoom lens 32b. This makes it possible to take a wide-angle image of the vehicle body of the vehicle 8 even if the subject vehicle 8 and the camera 30 or the like are close to each other.

Therefore, at least one still image data is cut out from a total of 12 video data output from the three cameras 30 and the like provided on each of the four camera walls 20a to 20d, and the surroundings of the vehicle 8 are obtained. By arranging them in the order of directions, it is possible to obtain a vehicle body image of the entire circumference of the vehicle 8. That is, it is simple without providing a turntable or a camera on the entire circumference of the vehicle 8 by using three cameras 30a or the like provided on each of the four camera walls 20a to 20d to obtain a vehicle body image of the entire circumference of the vehicle 8. You can shoot even with the configuration.

Further, the vehicle body image of the vehicle 8 is photographed as a moving image during a predetermined period by three cameras 30 or the like, and at least one still image data is cut out from each of the moving image data to generate a vehicle body image of the entire circumference of the vehicle 8. are doing. Therefore, for example, as compared with the case of shooting a still image with a shutter-type digital camera having a mechanical switch, the cameras 30a and the like provided in the camera walls 20a to 20d of the shooting system 10 use such a mechanical switch. Therefore, it is possible to reduce the failure rate of the photographing system 10.

Further, in the photographing system 10 of the present embodiment, the camera walls 20a to 20d have a plate wall structure having a size larger than that capable of covering the worker in the upright posture. As a result, for example, a driver who has driven the vehicle 8 to a predetermined position 7, a worker who has photographed the interior of the vehicle 8, and the like are behind the camera walls 20a to 20d having a plate wall structure when the vehicle body image is photographed. It becomes possible to hide. Therefore, it is possible to prevent a worker or the like from being reflected in the background of the vehicle body image.

<< Modification example of shooting system 10 >>
Next, with respect to the photographing system 10 ′ according to the modified example of this embodiment when the pan head of the camera 30 provided in the camera walls 20a to 20d is changed to the electric pan head 50 in the photographing system 10 of this embodiment, FIGS. This will be described with reference to FIG. First, the electric pan head 50 of the modified example will be described with reference to FIGS. 8 and 9. In the imaging system 10'of the modified example of the present embodiment, the only difference in the device configuration from the imaging system 10 described above is the electric pan head 50 of the camera 30 and the control system for the electric pan head 50. Therefore, in FIGS. 8 to 10, the differences will be described, and the description of the components substantially the same as those of the above-mentioned photographing system 10 will be omitted.

Note that FIG. 8A is an explanatory diagram showing a configuration example of the camera case 33, the camera 30, and the electric pan head 50 provided on the camera walls 20a to 20d. FIG. 8B shows an explanatory diagram showing a configuration example and a movable example of the electric pan head 50 and the camera 30 attached to the electric pan head 50. FIG. 8C shows an explanatory diagram showing a configuration example and a movable example of the camera 30 and the electric pan head 50 when viewed from above the camera 30a or the like. Further, FIG. 9 shows a block diagram showing an electrical configuration example of the photographing system 10'according to the modified example of the present embodiment. Further, FIG. 10A shows an explanatory diagram showing the positional relationship of the reference subject 9 used for adjusting the shooting direction of the camera 30a or the like when the electric pan head 50 is mounted on each camera wall 20a to 20d. There is. FIG. 10B shows an explanatory diagram showing a configuration example of the reference subject 9. For convenience, in FIG. 8A, the transparent panel 39 is colored light gray and the dome cover 38 is colored dark gray. Further, also in FIGS. 10 (A) and 10 (B), the sphere 9a of the reference subject 9 is colored dark gray for convenience.

As shown in FIGS. 8A to 8C, the electric pan head 50 electrically remotely controls the shooting direction of the camera 30 attached to the movable pedestal 51 by the vertically movable unit 52 and the left and right movable unit 54. It is possible to configure.

In the vertically movable unit 52, when the electric pan head 50 is attached to the camera wall 20, the shooting direction of the camera 30 is set to the height direction of the vehicle 8 (predetermined position 7) by using the motor output of the tilt motor 53 as a driving force source. It is configured to be changeable to tilt). Further, the left-right movable unit 54 is configured so that the shooting direction of the camera 30 can be changed to the front-rear direction (pan) of the vehicle 8 (predetermined position 7) by using the motor output of the pan motor 55 as a driving force source.

The control unit 56 includes an RS-485 interface, and the tilt motor 53 and the pan motor 55 are provided so that the vertically movable unit 52 and the left and right movable unit 54 can move the movable pedestal 51 to a target angle according to a control command input externally. Drive control. The elevation angle of the vertically movable unit 52 and the rotation angle of the left and right movable unit 54 are both configured to be detectable by sensors, and both angle data output from each sensor is input to the control unit 56, for example, tilting. It is used for feedback control of the motor 53 and the pan motor 55.

As a result, the camera 30 attached to the movable pedestal 51 can be rotated upward or downward (Y-axis direction shown in FIG. 1) by an arbitrary angle (reference numerals 30YU, 30YD shown in FIG. 8B). Further, it becomes possible to rotate in the left direction or the right direction (X-axis direction shown in FIG. 1) (reference numerals 30XL and 30XR shown in FIG. 8C).

The vertically movable unit 52 may have any mechanical configuration as long as it has a mechanism capable of rotating the movable pedestal 51 in the vertical direction using the tilt motor 53 as a driving force source. Further, the left-right movable unit 54 may have any mechanical configuration as long as it has a mechanism capable of rotating the movable pedestal 51 in the left-right direction using the pan motor 55 as a driving force source.

The electric pan head 50 configured in this way is connected to the computer 11 via the RS-485 cable 19. Since the RS-485 interface can be multi-drop connected, each control unit 56 of the electric pan head 50 provided on each of the cameras 30a and the like is connected in a daisy chain shape. When a control command with an ID is received from the computer 11, the control unit 56 of the electric pan head 50 of the ID performs control according to the control command.

In the shooting system 10'of the modified example, since the cameras 30a and the like of the camera walls 20a to 20d are all provided with such an electric pan head 50, the shooting direction of each of these cameras 30a and the like is remotely controlled. Will be possible. Therefore, for example, it is possible to remotely adjust the shooting direction of the camera 30a or the like while visually checking the shot image with the computer 11 connected to the cameras 30a or the like.

Further, for example, by placing the reference subject 9 as shown in FIG. 10B at the center of the predetermined position 7 in the photographing studio 2, the adjustment can be further facilitated. The center of the predetermined position 7 is defined as, for example, the intersection of the diagonal lines of the predetermined position 7 of a rectangle long in the X-axis direction. In the present embodiment, the center of the predetermined position 7 is a virtual line α connecting the camera # 1 (camera 30a) and the camera # 7 (camera 30g), and the camera # 6 (camera 30f) and the camera # 12 (camera 30m). It coincides with the intersection with the connecting virtual line β.

The reference subject 9 includes, for example, a sphere 9a having a diameter set to about 30 cm, a pole 9b whose one end side is connected to the sphere 9a, and a base 9c connected to the other end side of the pole 9b. It is composed of. The base 9c is, for example, an iron base formed in a circular shape having a diameter of about 50 cm. This makes it possible to stably support the pole 9b having the sphere 9a on one end side. The length h of the pole 9b is set to, for example, about 1/2 to about 2/3 of the total height (1.5 meters) of the medium-sized vehicle. In this embodiment, it is set to 1 meter.

≪Automatic adjustment processing of camera direction etc. by computer 11≫
In the modified example of the present embodiment, in a state where the reference subject 9 is arranged at the center of the predetermined position 7, for example, by executing the automatic adjustment process such as the camera direction as shown in FIG. 11 by the computer 11, the camera 30a or the like is used. It becomes possible to automatically adjust the shooting direction. From here, the automatic adjustment process of the camera direction and the like by the computer 11 will be described with reference to FIGS. 11 to 13 in addition to FIG.

FIG. 11 shows a flowchart showing the flow of the camera direction and other automatic adjustment processing executed by the computer shown in FIG. 9. Further, FIG. 12 shows a flowchart showing the flow of the subroutine “camera setting data adjustment process” shown in FIG. Further, FIG. 13 shows a flowchart showing the flow of the subroutine “camera setting data reflection process” shown in FIG. Each program of the camera direction automatic adjustment process, the camera setting data adjustment process, and the camera setting data reflection process executed by the computer 11 is stored in the storage device in advance.

As shown in FIG. 11, in the camera direction and the like automatic adjustment process, first, a predetermined initialization process is performed in step S201. In this process, for example, work files and flags related to the automatic adjustment process such as camera direction are cleared. In the following step S203, the camera setting data adjustment process of the camera #n is performed. The cameras #n are the cameras 30a to 30c of # 1 to # 3 shown in FIG. That is, the camera 30a corresponds to the camera # 1, the camera 30b corresponds to the camera # 2, and the camera 30c corresponds to the camera # 3. Since the flowchart of the camera setting data adjustment process is shown in FIG. 12 as a subroutine of the camera direction and the like automatic adjustment process, it will be described from here with reference to FIG.

<< Camera setting data adjustment processing by computer 11 >>
As shown in FIG. 12, in the camera setting data adjustment process, the XY direction initial value read process is performed in step S301. The XY direction is both the X-axis direction (front-back direction), that is, pan, and the Y-axis direction (vertical direction), that is, tilt. The initial values of pan and tilt are, for example, default angles of pan and tilt set in advance as angles that the shooting directions of cameras # 1 to # 3 should originally face with respect to the reference subject 9, for example, the camera direction and the like. It is stored in the storage device when the program for automatic adjustment processing is installed. Therefore, in this process, first, the initial values of pan and tilt corresponding to the camera 30a of the camera # 1 are read from the storage device.

In the next step S303, the pan / tilt control process is performed. At this point, control is performed to drive the camera # 1, that is, the electric pan head 50 of the camera 30a according to the initial values of pan and tilt read out in step S301. That is, with respect to the electric pan head 50 that controls the shooting direction of the camera 30a of the camera wall 20a, a predetermined control command is used so that the left / right movable unit 54 has the default pan angle and the vertically movable unit 52 has the default tilt angle. Send each initial value data. As a result, the electric pan head 50 of the camera 30a controls so that the pan and tilt of the camera 30a are at the default angles, that is, the camera 30a faces the default shooting direction.

In the following step S305, the photographing process is performed. That is, since the electric pan head 50 of the camera 30a is controlled so that the camera 30a faces the default shooting direction, the reference subject 9 is shot in that direction. The reference subject 9 is arranged at the center of the predetermined position 7 as described above. Therefore, after the moving image data of the reference subject 9 taken in step S305 is acquired from the camera 30a via the video hub 12 and captured to cut out the still image data, the still image data is obtained in the next step S307. Perform image recognition processing.

If the image recognition processing is possible for the moving image data, the image recognition processing is performed on the still image data in the next step S307 as it is without capturing the moving image data sent from the video hub 12. May be good.

In the image recognition process of step S307, the position of the sphere 9a of the reference subject 9 is grasped by image recognition in the still image data. Then, by the XY direction deviation amount calculation process in the subsequent step S309, as the position (reference position) that should originally exist, for example, from the center position in the captured image (center position in the image) to the image position (subject) of the sphere 9a. Calculate how much the position) is out of alignment. This amount of deviation is obtained as an error on the plane coordinates of the X-axis direction (pan) and the Y-axis direction (tilt).

In the next step S311, it is determined whether or not the error on the plane coordinates in the X-axis direction and the Y-axis direction is within a predetermined allowable range by the deviation amount tolerance determination process. Then, when it is determined that the center position in the image and the position of the subject are almost the same (or the same) and are within the permissible error (S311; Yes), the process shifts to the next step S313 and the Z direction. The initial value reading process is performed. On the other hand, if it is determined that the error is not within the permissible error (S311; No), the process proceeds to step S312.

In the XY direction correction value calculation process in step S312, the error on the plane coordinates of the X-axis direction and the Y-axis direction is converted into the pan and tilt angles, and the excess / deficiency angle is corrected from the current angle (relative angle). ). Further, the absolute angle may be calculated as a correction value.

Based on the pan and tilt correction values calculated thereby, the pan / tilt control process is performed again in step S303. In this second process, control is performed to drive the electric pan head 50 of the camera # 1 (camera 30a) according to the pan and tilt correction values calculated in step S312. Each process of steps S303, S305, S307, and S309 is performed until it is determined by the determination process within the deviation amount tolerance of S311 that the error on the plane coordinates in the X-axis direction and the Y-axis direction is within a predetermined allowable range. It is repeated.

In step S313, the Z-direction initial value reading process is performed. The Z direction is the Z axis direction (horizontal direction), that is, the zoom. The initial value of the zoom (magnification) is, for example, a value preset as the original magnification with respect to the reference subject 9, and is stored in the storage device, for example, when the program for automatic adjustment processing such as the camera direction is installed. Therefore, in this process, first, the initial value of the magnification corresponding to the camera 30a of the camera # 1 is read from the storage device.

In the next step S315, the zoom control process is performed. At this point, the electric zoom of the camera # 1, that is, the camera 30a is controlled according to the initial value of the zoom (magnification) read out in step S313. That is, a predetermined control command and initial value data are transmitted to the zoom control unit that controls the electric zoom lens mechanism of the camera 30a of the camera wall 20a so that the magnification of the electric zoom becomes the default value. As a result, the zoom control unit of the camera 30a controls the electric zoom lens mechanism so that the magnification of the electric zoom of the camera 30a becomes the default value.

In the following step S317, a shooting process is performed. That is, since the electric zoom of the camera 30a is controlled so that the magnification becomes the default value, the reference subject 9 is photographed at the default magnification. The moving image data of the reference subject 9 taken in step S317 is acquired from the camera 30a via the video hub 12, captured, and the still image data is cut out. Then, in the next step S319, the image is recognized for the still image data. Perform processing.

In the image recognition process of step S319, the size of the sphere 9a of the reference subject 9 is grasped by image recognition in the still image data. Then, by the Z-direction deviation amount calculation process in the subsequent step S321, as the original size (reference magnification), for example, from the size of the sphere 9a in the captured image (reference size of the subject), the image of the sphere 9a is displayed. Calculate how much the size (image size of the subject) is out of alignment. This amount of deviation is obtained as an error on the plane coordinates in the Z-axis direction (zoom).

In the next step S323, it is determined whether or not the error on the plane coordinates in the Z-axis direction is within a predetermined allowable range by the deviation amount tolerance determination process. When it is determined that the reference size of the subject and the image size of the subject are almost the same (or the same) and are within the permissible error (S323; Yes), the adjustment of the camera setting data of the camera # 1 is completed. This means that the camera setting data adjustment process is terminated and the process is returned to the camera direction and other automatic adjustment process shown in FIG. On the other hand, if it is determined that the error is not within the permissible error (S323; No), the adjustment of the camera setting data of the camera # 1 has not been completed yet, so the process proceeds to step S322.

In the Z-direction correction value calculation process in step S322, the error on the plane coordinates in the Z-axis direction is converted into the magnification of the electric zoom, and the corrected magnification corrected by the excess / deficiency magnification is calculated.

Based on the calculated and corrected magnification of the electric zoom, the zoom control process is performed again in step S315. In this second process, the electric zoom lens mechanism of the camera # 1 (camera 30a) is controlled according to the corrected magnification calculated in step S322. Each process of steps S315, S317, S319, and S321 is repeated until it is determined by the deviation amount tolerance determination process of S321 that the error on the plane coordinates in the Z-axis direction is within a predetermined allowable range.

Returning to the camera direction automatic adjustment process shown in FIG. 11, a process of determining whether or not the adjustment of the cameras # 1 to the camera # 3 is completed is performed in step S205. Then, if the adjustment up to the camera # 3 has not been completed yet (S205; No), the camera setting data adjustment process according to step S203 is performed for the camera # 2 and the camera # 3 for which the adjustment has not been completed. On the other hand, when the adjustment of the camera setting data of the cameras # 1 to the camera # 3 is completed (S205; Yes), the camera setting data reflection process of the camera #m in the subsequent step S207 is performed.

That is, the camera setting data adjustment process shown in FIG. 12 may take time depending on the state of the camera 30a or the like. That is, if the shooting directions of the camera 30a and the like are different from each other, or if the initial setting value of the electric zoom magnification varies greatly, it will take a considerable amount of time to complete the above-mentioned camera setting data adjustment process. In some cases. Therefore, as a means for minimizing the execution of the camera setting data adjustment process, which may take a long time, the computer 11 is made to perform the camera setting data reflection process (see FIG. 13) in step S207.

In the camera setting data adjustment process described above, the flow of the process is configured so that the XY direction initial value read process is performed by S301 and then the pan / tilt control process is performed by step S303. For example, the camera 30a is configured in advance. , 30b, 30c so that the shooting direction of the reference subject 9 faces the sphere 9a of the reference subject 9 (so that the sphere 9a of the reference subject 9 fits within the angle of view of the cameras 30a, 30b, 30c). After adjusting 50 to some extent, the camera setting data adjustment process may be performed from the shooting process in step S305.

Further, in the camera setting data adjustment process described above, the flow of the process is configured so that the Z-direction initial value read process is performed in S313 and then the zoom control process is performed in step S315. For example, the cameras 30a and 30b are configured in advance. , 30c, etc. After the worker or the like manually adjusts the magnification of the electric zoom (the size of the sphere 9a of the reference subject 9 that falls within the angle of view of the cameras 30a, 30b, 30c) to some extent, from the shooting process of step S317. , The camera setting data adjustment process may be performed.

As a result, the work proceeds with the setting contents according to the local environment and characteristics of each shooting studio where the camera walls 20a to 20d are installed, without reading the default values set uniformly in advance, so the camera setting data adjustment The time required for processing can be shortened.

<< Camera setting data reflection processing by computer 11 >>
In the camera setting data reflection process shown in FIG. 13, the camera setting data of the cameras # 1 to the camera # 3 obtained by the camera setting data adjustment process in step S203 are effectively utilized. That is, as described with reference to FIG. 1, the cameras 30a and the like are arranged on the camera walls 20a to 20d so as to be located on the circumference of the ellipse O. Then, as described above, the camera 30a and the like are located point-symmetrically with respect to the center P of the predetermined position 7. For example, as shown in FIG. 10, cameras # 1 (30a) and # 7 (30g), camera # 2 (30b) and camera # 8 (30h), camera # 3 (30c) and camera # 9 (30i), Camera # 4 (30d) and camera # 10 (30j), camera # 5 (30e) and camera # 11 (30k), camera # 6 (30f) and camera # 12 (30m) are center Ps at predetermined positions 7, respectively. It is located point-symmetrically with respect to the camera.

Further, the camera 30a and the like are located line-symmetrically with respect to the line γγ'that passes through the center P of the predetermined position 7 in the X-axis direction. For example, camera # 1 (30a) and camera # 12 (30m), camera # 2 (30b) and camera # 11 (30k), camera # 3 (30c) and camera # 10 (30j), camera # 4 (30d). And camera # 9 (30i), camera # 5 (30e) and camera # 8 (30h), camera # 6 (30f) and camera # 7 (30g), respectively, on the line γγ'passing through the center P of the predetermined position 7. On the other hand, it is located line-symmetrically. They are also mirror-symmetrical with respect to the XY plane passing through the line γγ'.

Therefore, in the camera setting data reflection process, the camera setting data of the camera # 1 (30a) is copied and passed as it is to the camera # 7 (30 g) located point-symmetrically (S401). The "camera setting data" is the data in the XY directions and the Z directions described with reference to FIG. 12, and more specifically, the electric cloud stand 50 of the camera 30a (or the cameras 30b, 30c). It is the respective angle data of the X-axis direction (pan) and the Y-axis direction (tilt) of the camera 30a, and the magnification data of the electric zoom lens (zoom) of the camera 30a. Further, "copying and passing" means that such angle data in the X-axis direction (pan) and Y-axis direction (tilt) of the electric pan head 50 and magnification data of the electric zoom lens (zoom) of the camera 30a are input. , The data of the electric pan head 50 and the data of the camera are stored in the storage device as the initial value in the XY direction and the initial value in the Z direction in association with the camera # of the other party to be handed over.

Further, the camera # 12 (30 m) located in line symmetry (mirror symmetry) is reverse-copied and handed over (S403). The "reversed copy" means that the data relating to the front-rear direction of the vehicle 8 is reversed and copied in the X-axis direction, and more specifically, the front-back direction for controlling the left-right movable unit 54 of the electric pan head 50. The data related to (pan) should be duplicated upside down (same below). Further, "reverse copy and pass" means that the angle data of the electric platform 50 is inverted in the X-axis direction (pan), the angle data in the Y-axis direction (tilt), and the camera 30a. The magnification data of the electric zoom lens (zoom) is associated with the camera # number of the other party to be passed, and the data of the electric cloud stand 50 and the data of the camera are stored in the storage device as the initial value in the XY direction and the initial value in the Z direction. Is.

Similarly, for the camera setting data of the camera # 2 (30b), the camera setting data of the camera # 2 (30b) is copied and passed as it is to the camera # 8 (30h) located point-symmetrically (S407). Further, the camera # 11 (30k) located in line symmetry (mirror symmetry) is reverse-copied and handed over (S409).

Similarly, for the camera setting data of the camera # 3 (30c), the camera setting data of the camera # 3 (30c) is copied and passed as it is to the camera # 9 (30i) located point-symmetrically (S413). Further, the camera # 10 (30j) located in line symmetry (mirror symmetry) is reverse-copied and handed over (S415).

However, with this alone, the camera setting data of the camera # 4 (30d) to the camera # 6 (30f) cannot be passed. Therefore, the camera setting data inverted and copied to the camera # 7 (30 g) to the camera # 9 (30i) is further transferred from the camera # 7 (30 g) to the camera # 9 (30i) to the camera # 4 (30d) to the camera # 6 ( Reverse copy to 30f) and pass (S405, S411, S417).

Since the camera # 4 (30d) to the camera # 6 (30f) and the camera # 10 (30j) to the camera # 12 (30m) have a point-symmetrical relationship, the camera # 10 (30j) to the camera # 12 ( The camera setting data of 30 m) may be copied and passed to the cameras # 4 (30d) to the camera # 6 (30f) as they are.

When the reverse copy process in step S417 is completed, the camera setting data reflection process is terminated and the process is returned to the camera direction and other automatic adjustment process shown in FIG.

Returning to the camera direction automatic adjustment process shown in FIG. 11, a process of determining whether or not the reflection of the cameras # 4 to the camera # 12 is completed is performed in step S209. Then, if the reflection up to the camera # 12 has not been completed yet (S209; No), the camera setting data reflection process according to step S207 is performed for the camera # 5 and the like for which the reflection has not been completed. On the other hand, when the reflection of the camera setting data of the cameras # 4 to the camera # 12 is completed (S209; Yes), the camera setting data adjustment process of the camera # m in the subsequent step S211 is performed.

Similar to step S203 described above, the camera setting data adjustment process shown in FIG. 12 is executed for the cameras # 4 to # 12. However, the XY direction initial value read from the storage device by the XY direction initial value reading process in step S301 is copied or inverted copied from the camera setting data of the cameras # 1 to # 3 by the camera setting data reflection process shown in FIG. Since it is stored in the storage device, it is generally set. Therefore, in the case of cameras # 4 to # 12 (9 units), the number of cameras is three times that of cameras # 1 to camera # 3 (3 units), but in the case of cameras # 1 to camera # 3. It is possible to complete the camera setting data adjustment process for cameras # 4 to camera # 12 in a time shorter than three times the required time. In other words, it is possible to shorten the time.

Returning to the camera direction automatic adjustment process shown in FIG. 11, a process of determining whether or not the adjustment of the cameras # 4 to the camera # 12 is completed is performed in step S213. Then, if the adjustment up to the camera # 12 has not been completed yet (S213; No), the camera setting data adjustment process according to step S211 is performed for the camera # 5 and the like for which the adjustment has not been completed. On the other hand, when the adjustment of the camera setting data of the cameras # 4 to the camera # 12 is completed (S213; Yes), the automatic adjustment process of the camera direction and the like is terminated.

As described above, in the photographing system 10'of the modified example of the present embodiment, the reference subject 9 is set at a spatial position that should be the center of the photographing range when the camera 30a or the like photographs the vehicle 8 stopped at the predetermined position 7. In the case of arrangement, the computer 11 has a sphere of the reference subject 9 based on the moving image data of the reference subject 9 taken by the cameras 30a or the like or the still image data cut out from the moving image data for each of the 12 cameras 30a or the like. The movable pedestal 51 to which the camera 30a or the like is fixed is moved up and down so that the center position in the image and the position of the sphere 9a in the image range of the moving image data or the still image data are substantially the same while recognizing the image of 9a. Alternatively, a control command for moving in the left-right direction is output to the control unit 56. This makes it possible to automatically adjust the pan (horizontal direction) and tilt (vertical direction) of each of the 12 cameras 30a and the like provided on each of the four camera walls 20a to 20d. become. Therefore, it takes less time and effort to install and adjust the camera 30a and the like, so that the work efficiency can be significantly improved.

Further, in the photographing system 10'of the modified example of the present embodiment, the lens of the lens unit 32 included in the 12 cameras 30a and the like is a standard zoom lens 32a or a wide-angle zoom lens 32b, and is an electric motor capable of zooming in and out. When a zoom mechanism and a zoom control unit that drives and controls the electric zoom mechanism according to a control command input from the outside are provided, the computer 11 has a camera for each of the lenses of the 12 cameras 30a and the like. The sphere 9a is image-recognized based on the moving image data of the sphere 9a of the reference subject 9 taken by 30a or the like or the still image data cut out from the moving image data, and is predetermined within the image range of the moving image data or the still image data. A control command for driving the electric zoom mechanism of the lens is output to the zoom control unit so that the reference size of the sphere 9a and the image size of the sphere 9a are substantially the same. This makes it possible to automatically adjust zoom-in (enlargement) and zoom-out (reduction) by the lens in the 12 cameras provided on the four camera walls 20a to 20d. Therefore, it takes less time and effort to install and adjust the camera 30a and the like, so that the work efficiency can be significantly improved.

In the above-described embodiment, a configuration example in which three cameras 30 are provided on the camera wall 20 has been described. However, the number of cameras 30 provided on the camera wall 20 may be a plurality of, for example, two or four or more. good. When the number of cameras 30 provided on the camera wall 20 is four or more, for example, the front panel 25 (curtain plate wall 25a, blank plate wall 25b) is replaced with the front panel 26 in the portion where the front panel 26 is attached. , Waist board wall 25c), etc. are attached. Further, in the above-described embodiment, the configuration in which the three cameras 30 are provided so as to be arranged in the peripheral direction of the vehicle 8 has been described as an example, but the plurality of cameras 30 are provided so as to be arranged in the height direction of the vehicle 8. May be good. In this case, the camera 30, the camera case 33, the camera box 37, and the like are attached to the portion where the blank plate wall 25b is attached.

That is, the cameras 30 may be attached to the upper rack space 27, the middle rack space 28, and the lower rack space 29, respectively (three cameras 30 in total), and these rack spaces 27, 28, Two cameras 30 may be attached to any two of the 29s. As a result, the cameras 30 can be arranged in a matrix.

Further, in the above-described embodiment, 4 are located at the four corners (left front corner portion 7a, left rear corner portion 7b, right rear corner portion 7c, right front corner portion 7d) of the predetermined position 7 provided in the substantially center of the photographing studio 2. Although the two camera walls 20a to 20d are provided, the number of camera walls 20 may be, for example, five or six when there is a space to be arranged around the predetermined position 7. Further, if the camera support structure does not need to be provided with the evacuation space 4 for the worker to evacuate, the camera walls 20a to 20d to the front panel 25 can support or hold the camera 30a or the like. , 26, etc. may be configured excluding the wall body (configuration including the vertical frame 21 and the horizontal frame 22).

Further, in the above-described embodiment, the paint color of the top panel 23, the side panel 24, and the front panels 25, 26 is gray, but the present invention is not limited to this, and the illumination light in the shooting studio 2 is unnecessarily reflected. An achromatic color such as white or black may be used as long as it is not a paint color that hinders the shooting of the vehicle 8 such as that it has a great influence on the color tone of the captured image or image. It may also be chromatic.

Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of claims. The techniques described in the claims include various modifications or modifications of the above-mentioned specific examples. Further, the technical elements described in the present specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Further, the techniques exemplified in the present specification or the drawings achieve a plurality of objectives at the same time, and achieving one of the objectives itself has technical usefulness. The description in parentheses in the [Explanation of reference numerals] column can clearly indicate the correspondence between the terms used in each of the above-described embodiments and the terms described in the claims.

2 ... Shooting studio 4 ... Evacuation space 5 ... Entrance 6 ... Exit 7 ... Predetermined position 7a ... Left front corner (four corners of the vehicle)
7b ... Left rear corner (four corners of the vehicle)
7c ... Right rear corner (four corners of the vehicle)
7d ... Right front corner (four corners of the vehicle)
8 ... Vehicle 9 ... Reference subject (position reference subject)
10, 10'... Shooting system (vehicle image shooting system)
11 ... Computer (image processing device)
20, 20a to 20d ... Camera wall (camera support structure)
30, 30a to 30k, 30m ... Camera 31 ... Camera body 32 ... Lens unit 32a ... Standard zoom lens 32b ... Wide-angle zoom lens 40 ... Pan head 41 ... Pan / tilt unit 45 ... Slide unit 50 ... Electric pan head 51 ... Movable pedestal (pedestal)
52 ... Vertically movable unit (vertically movable mechanism)
53 ... Tilt motor (electric tilt motor)
54 ... Left and right movable unit (left and right movable mechanism)
55 ... Pan motor (electric pan motor)
56 ... Control unit (pan / tilt control unit)
70 ... Display screen

Claims (5)

It is a vehicle image shooting system that shoots a vehicle body image of the entire circumference of the vehicle.
At least four camera support structures provided within a predetermined distance from the four corners of the vehicle so as to surround the vehicle stopped at a predetermined position in the shooting studio.
N (plural) cameras provided side by side in the peripheral direction of the vehicle in each of the four camera support structures and capable of capturing a vehicle body image of the vehicle as a moving image during a predetermined period.
A total (4 × N) video data output from the N cameras provided in each of the four camera support structures is acquired, and at least one of each of these (4 × N) video data is obtained. It is equipped with an image processing device that cuts out still image data and generates a vehicle body image of the entire circumference.
The N cameras provided in each of the four camera support structures are characterized in that at least one of the cameras has a wide-angle lens and shoots the moving image through the wide-angle lens. Vehicle imaging system. The vehicle imaging system according to claim 1, wherein the camera support structure has a plate wall structure having a size larger than that capable of covering an upright worker. The camera support structure is provided for each of the N cameras.
The pedestal that fixes the camera and
A left-right movable mechanism that moves the pedestal so that the shooting direction of the camera can be changed to the left-right direction,
An electric pan motor that can drive the left-right movable mechanism and
A vertically movable mechanism that moves the pedestal so that the shooting direction of the camera can be changed in the vertical direction,
An electric tilt motor that can drive the vertically movable mechanism and
A pan / tilt control unit that drives and controls the electric pan motor and the electric tilt motor according to a control command input from the outside.
The vehicle imaging system according to claim 1 or 2, wherein the vehicle image pickup system is provided. When the position-based subject is placed at a spatial position that should be the center of the shooting range when the camera shoots a vehicle stopped at the predetermined position.
The image processing device is used for each of the N cameras.
The subject is recognized as an image based on the moving image data of the subject taken by the camera or the still image data cut out from the moving image data, and the center position in the image and the subject within the image range of the moving image data or the still image data. A claim characterized in that a control command for moving the pedestal to which the camera is fixed in the left-right direction or the up-down direction is output to the pan / tilt control unit so that the position of the camera is substantially the same as that of the pan / tilt control unit. The vehicle imaging system according to 3. The lens of the N cameras is a zoom lens, and includes an electric zoom mechanism capable of zooming in and out, and a zoom control unit for driving and controlling the electric zoom mechanism according to a control command input from the outside. If so,
The image processing device has a lens for each of the N cameras.
The subject is image-recognized based on the moving image data of the subject taken by the camera or the still image data cut out from the moving image data, and the subject is predetermined within the image range of the moving image data or the still image data. 3 or 4 is characterized in that a control command for driving the electric zoom mechanism of the lens is output to the zoom control unit so that the reference size of the subject and the image size of the subject are substantially the same. The vehicle imaging system described in.

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