JPH02260890A - Stereoscopic camera device - Google Patents

Abstract

PURPOSE:To correct relative vertical deviation in a video image quickly by providing two sets of pickup devices on a base and providing a turning mechanism in the pitch direction to one pickup device. CONSTITUTION:Two sets of pickup devices 31, 32 are provided on a base in a stereoscopic television equipment in which a same object of observation is picked up from two-directions to offer a stereoscopic video image to the observer, and a turning mechanism 8 in the pitch direction 7 is provided to one image pickup device 32. Thus, the relative position deviation in the vertical direction of the image pickup video image caused easily in the focus adjustment and the zoom adjustment of the lens system of the stereoscopic camera devices 31, 32 is quickly corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Objective of the Invention J (Field of Industrial Application) The present invention relates to a stereoscopic television (TV) device that utilizes binocular parallax. The present invention relates to a stereoscopic camera device that can compensate for the misalignment of images for left and right eyes that sometimes occurs.

(Prior Art) A so-called stereoscopic television device has become a useful means for providing visual information when operating a working machine installed in a remote location.

In the above-mentioned 3D television device, the object that the operator wants to observe is captured using two T-sets for the left and right eyes with slightly different shooting directions.
There is a means for presenting the double images taken by the V camera on one screen and providing them to the left and right eyes of the operator separately by appropriate means. TV cameras generally have individual lens systems attached to individual m-fiber elements. In order to provide an appropriate 3D image to the operator, it is desirable that the above-mentioned double images on the screen be separated by an appropriate distance only in the horizontal direction. After matching the relative relationships between the camera and the image pickup device for each TV camera, the relative relationships between the two TV cameras are then precisely adjusted. Conventionally, a proper three-dimensional image has been obtained through such strict adjustment.

(Problem to be solved by the invention) However, with conventional TV cameras, the adjustment of the two TV cameras to obtain an appropriate 3D image is not only done through initial settings, but also when necessary during use. There must be. In particular, when the lenses are moved to adjust the lens focus or change the zoom value, the optical axes of the lens systems of the two TV cameras mentioned above may move independently. In some cases, it may not be possible to provide the above-mentioned double images.

Even if an external force or the like is applied to the TV camera and the initial settings are messed up, it is difficult to provide the above-mentioned double image.

In conventional 3D camera configurations, the optical axis adjustment described above is performed with emphasis on the initial settings, and if optical axis misalignment occurs during use, it is necessary to reset the settings again or use it within a range where optical axis misalignment does not occur. It was difficult to say that 3D cameras were being used effectively.

As mentioned above, with existing 3D TV cameras and lens systems, it is often necessary to adjust the optical axis and various parameters due to zoom value fluctuations relatively frequently, and it is not always easy to use them continuously on an ad hoc basis. There wasn't.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a stereoscopic camera device in which zoom value variation operations and accompanying various parameter adjustments can be easily performed without causing the above-mentioned optical axis deviation.

[Structure of the Invention] (Means for Solving the Problems) A stereoscopic camera device according to the present invention includes two photographing devices, a rotation mechanism in the pitch direction attached to one of the photographing devices, and a rotation mechanism in the pitch direction attached to one of the photographing devices, and A mechanism for adjusting the distance between the photographing devices, a mechanism for rotating the photographing devices in one direction, and a mechanism for adjusting the distance between the photographing devices, the focal length (i.e. zoom value) of the lens attached to the photographing device, the photographing position and the observation target. and means for controlling each of the above-mentioned mechanisms according to the distance to the vehicle.

(Function) When using a TV camera as an observation means for remote work, the operator can zoom the lens and pan/pan the TV camera.
A desired image can be obtained by performing appropriate tilt operations. When using a three-dimensional TV camera composed of two TV cameras as an observation means, it is necessary to prevent the relative optical axes of the two TV cameras from shifting, which tends to occur each time the above-mentioned operations are performed.

It is desirable that this optical axis does not deviate at least in the vertical direction, regardless of the zoom value of the TV camera.

This is a necessary condition for the binocular parallax stereoscopic television apparatus according to the present invention.

Among the means for solving the problem, a rotation mechanism in the pitch direction attached to one of the two TV cameras mentioned above adjusts the relative optical axes of the two TV cameras mentioned above, and rotates the two TV cameras in the vertical direction. Used to eliminate relative misalignment. one TV
Since the optical axis of the other TV camera is adjusted based on the optical axis of the camera, the relative vertical shift of the image does not occur as described above. Depending on the adjustment method, these two optical axes may move simultaneously and in the same direction.

Whether or not an observer can perceive a stereoscopic image is mainly determined by the relative deviation of the two optical axes, so such simultaneous movement has little effect on whether or not the observer can perceive a stereoscopic image.

When a fixed focus lens is used in a TV camera, or when a zoom lens is used but the zoom ratio is relatively small, a good stereoscopic image can be obtained by following the pitch direction adjustment details described above. However, when using the zoom ratio with a large change, among the means for solving the above-mentioned problems, using means for changing the interval between the two TV cameras and means for rotating the TV camera in one direction, Adjust the angle from which you view the vA dormitory target. Preferably, the angle is adjusted to be the same as the angle at which a person views the object when the person approaches the object until it is the same size as the image provided at the zoom value. Specifically, the closer the zoom value is set to the telephoto side, the wider the distance between the TV cameras is, and the closer the TV camera is to the observation target, the more the TV camera is rotated inward.

The process described above may be performed manually by the observer of the stereoscopic image, but it is also possible to control it automatically based on the zoom value and the distance to the observation target.

At this time, it goes without saying that the size of the monitor on which the stereoscopic image is presented and the distance between this monitor and the viewer are taken into consideration as factors during automatic control.

As the means for knowing the zoom value and the means for knowing the distance between the observation target and the TV camera, known methods can be used.

(Example) FIG. 1 is a diagram schematically showing the outline of a three-dimensional camera device according to the present invention. In order to emphasize its characteristics, the shape and arrangement of each component have been purposefully drawn differently from the actual one.

I2 vs. @! 1 (drawn close up in the figure for convenience) is photographed by a stereoscopic camera device 2. This three-dimensional camera device consists of a right-eye TV camera 31 and a left-eye TV camera 32 installed on a functional platform 4.

Lenses 51 and 52 for right and left eyes are attached to the two TV cameras.

The left eye TV camera 32 is fixed on a goniometer (rotation mechanism in the pitch direction) 62 and can rotate 7 in the pitch direction. This rotation is performed by the driving force of the pitch rotation motor 8 in this embodiment. A pitch angle detector (not shown) is attached to the goniometer 62, and can electrically read the pitch angle of the left eye TV camera 32.

The goniometer 62 is installed on a one-way rotary table 92 of the left-eye TV camera 32, and realizes rotation in one direction 102. Driving force is provided by a motor 112. In this figure, members supporting the motor 112 and an electrical rotation angle detector are not shown.

The TV camera for the right eye is installed on the one-way rotation table 91 of the TV camera for the right eye via the level adjustment member 61,
The drive motor 111 realizes rotation in one direction.

One-way rotary table 91°92 for right and left TV cameras is T
It is installed on the V-camera interval adjustment mechanism 12. This mechanism is driven by a motor 13. This TV camera interval adjustment mechanism is equipped with a TV camera interval length detector (not shown) that electrically detects this interval length.

FIG. 2 is a diagram showing the configuration of the embodiment shown in FIG. 1 in more detail. In order to make the explanation easier to understand, each component is described separately.

The multi-axis pan head 4 with three legs has a configuration in which a tilt mechanism 42 that can tilt is mounted on a pan mechanism 41 that can rotate in the horizontal direction. Furthermore, above the tilt mechanism 42 is a TV.
A camera interval adjustment mechanism 12 is installed. In this TV interval adjustment mechanism 12, a rail 122 is attached to the upper surface of a base 121. Tables 123, 124 are set on this rail, and TV cameras 31, 32 for right and left eyes are attached via one-way rotary tables 91, 92. The tables 123 and 124 are provided with flanges with female screws cut in opposite directions, and male screws 125 similarly cut in opposite directions are passed through the flanges. A gear 126 is attached to one end of this male screw 125, and a driving force is applied by a gear 127 of the motor 13. As mentioned above, since the male thread 125 is cut in opposite directions, the table 123.12
4 interval changes.

The table includes the one-way rotary table 91.9.
2 is listed. This one-way rotary table has a gear 911.
921 and motors 112 and 122 are attached, and by driving these motors, the TV camera can be rotated in one direction, that is, the width and angle can be adjusted.

Above the gear 921 is a goniometer 62 and a gear 621.
A TV for the left eye is equipped with a motor 8 and a gear such as a worm gear to allow minute changes in the vertical angle.
The pitch of the camera 32 is adjusted. Further, the right eye TV camera 31 is attached to the top of the gear 911 via the level adjustment member 61.

This level adjustment member 61 is set so that its nominal height is the same as that of the goniometer 62.

Thus, the right eye photographing device 2a is the right eye TV camera 31.
, a level adjustment member 61, a yaw table 91, a flange table 123, etc., and the left eye photographing device 2b is composed of a left eye TV camera 32, a goniometer 62, a yaw table 92, a flange table 124, etc. These are attached to a base 121 and can be moved as appropriate using three legs.

By combining the TV camera interval adjustment mechanism and the one-way rotary table, it is possible to provide an image that is easy to see for the observer.
Furthermore, by driving the goniometer, it is possible to correct optical axis deviation fluctuations of the left and right TV cameras that occur due to zooming operations.

The various signals 141 and 142 input and output from the right and left eye TV cameras 31 and 32 include video signals, lens zoom values, lens focusing degrees, iris values, etc., and are connected to the photographing condition control device 15. ing. Further, the above-mentioned signal lines to each drive motor, and signals from the rotation angle and interval length detectors are also connected to this photographing condition control device 15. The above-mentioned various mechanisms are driven based on the information collected by this photographing condition control device, and these mechanisms are adjusted according to the zoom value of the TV camera and the distance to the observation object so that the viewer can most easily obtain a three-dimensional sensation. The TV camera spacing and convergence angle are set. Further, the vertical deviation of the photographed image caused by driving the lens is also corrected by image-wise processing of the information collected in the photographing condition control device. Further, the distance between the TV camera and the object to be observed may be measured by separately installing a sub-length device, but here it is calculated based on the image information of the two TV cameras.

In short, when using a fixed focal length lens or a lens with a small zoom ratio, the observer automatically uses the control device 15 when panning and tilting the pan head 4 or manually using the pendant 16 to set the right eye photographing device 2a as a reference. By adjusting the pitch direction of the left eye photographing device 2b, vertical deviation can be prevented and an appropriate stereoscopic image can be obtained. Furthermore, an appropriate stereoscopic image can be obtained by adjusting the yaw when the zoom ratio is large, and by adjusting the camera interval when changing the distance to the observation target.

In this figure, both of the two TV cameras are depicted as being rotated in one direction, but it is also possible to rotate only one of them. Further, the TV camera spacing may be adjusted by driving only one TV camera or by both.

Further, in this figure, only photographing 5A@ is shown.

A known method can be applied to the means for processing the video signal photographed by the TV camera and presenting it to the viewer through a monitor or the like.

In the above TV camera, pitch adjustment is performed for the left eye TV camera, but the pitch adjustment may be performed for the right eye TV camera.

The setting of the photographing conditions may be automatically controlled as described above, but it is also possible to manually adjust them using the pendant 1'6 connected to the photographing condition control device.

Further, as described above, if the distance between the observation object and the TV camera hardly changes or if the camera is not a zoom lens, there is no need to change the above-mentioned photographing conditions. Therefore, no device other than the goniometer 62 is required.

Furthermore, it goes without saying that the functional pan head 4 may be provided with a rotation mechanism such as pan/tilt as in the embodiment, or may not be provided.

FIG. 3 is a diagram showing a second embodiment of the present invention.

In this figure, I! Of the device 2 for photographing the object 1, the T for the left eye
The V camera 32 is mounted on the base 17 via a goniometer 62 for rotation in the pitch direction. TV for right eye
The camera 31 includes two linear motion mechanisms 181 and 182, and each table portion 191.19 of the linear motion mechanisms 181 and 182.
It is installed on the base 17 via bearings 201 and 202 which are rotatable in the yaw direction with respect to 2. This linear motion mechanism 1
Drive motors 221 and 222 and position detectors (not shown) are respectively attached to 81 and 182. Similarly, the goniometer 62 is also provided with a drive motor 8 and an angle detector (not shown).

FIG. 4 is a more detailed exploded view of the configuration of the embodiment shown in FIG. 2. Pan mechanism 41 and tilt mechanism 4 of pan head 4
2 is the same as in FIG. In this figure, a base 17 is installed on the tilt mechanism, and a goniometer 62 is further mounted on this.
A gear 621, a motor 8, and two sets of linear motion mechanisms isi and is2 are attached. The above goniometer 62
A left-eye TV camera 32 is attached to the left-eye TV camera 32, and is used to correct optical axis (vertical direction) deviation during zoom operation, as in FIG. Furthermore, the right eye TV camera 31 is mounted on the two sets of linear motion mechanisms 181 and 182, with a linear motion mechanism table 191,
192 and rotation bearings 201 and 202. A gear 211 is provided at one end of the linear motion mechanism 181 and 182.
．． 212 and motors 221 and 222 are installed, and by driving these in cooperation, the spacing and convergence angle of the TV cameras are determined. The linear motion mechanism table section 191 has a slide mechanism 19.
3 is attached to absorb the length variation in the orthogonal direction of the linear motion mechanism of the TV camera that occurs when the right eye TV camera is set at a convergence angle.

Thus, the right eye photographing device 2a is the right eye TV camera 31.
It is composed of two sets of linear motion mechanisms 181 and 182, and
The left eye photographing device 2b is composed of a left eye TV camera 32, a goniometer 62, etc., and these two photographing devices 42a
, 2b are attached to the base 17 and can be moved as appropriate.

Information such as the zoom value, focusing degree, or iris of the lens 51.52 attached to the TV camera is transmitted along with the video signal of the TV camera to various signal lines 141.14.
2 to the photographing condition control device 15. Various signal lines related to the above-mentioned drive motor and position/angle detector are also connected to this imaging condition control device 15.

As described in the first embodiment, the photographing condition control device 1
Based on the various information collected in step 5, this imaging condition control device 15 drives each connected motor to adjust the shooting direction of each of the TV cameras so that the viewer can observe an appropriate stereoscopic image. Optimize.

Of the optical axis deviations of each lens due to lens focus adjustment or zoom value change, the vertical component is corrected by driving the goniometer 62. Therefore, no matter what zoom value the lens is set to, the viewer's stereoscopic sensation will not disappear.

In addition, the above-mentioned two-tree linear motion mechanism 181.18 shown in this embodiment
By driving 2 at the same ω, the right eye TV camera 3
1 can be moved closer or further away from the left eye TV camera 32.

Furthermore, if the drive legs of the two linear motion mechanisms 181 and 182 are different, the right eye TV camera can be rotated in one direction, so the angle at which these two cameras look at the observation object can be changed. Therefore, even if the zoom value of the lens or the distance between the TV camera and the object to be observed changes, stereoscopic images can be provided with less fatigue to the viewer.

In this embodiment, the left eye TV camera 32 does not rotate in one direction, and only the right eye TV camera 31 rotates in that direction, but uses a lens with a focal length within the shell. In this case, the symmetry regarding the rotation of the left and right TV cameras in this direction does not matter.

In this embodiment, the left eye TV camera adjusts the pitch direction, and the right eye camera adjusts the interval and convergence angle between the left and right TV cameras. Exactly the same effect can be obtained even if the provided functions are installed and used in reverse.

Further, in this embodiment as well as in the first embodiment, the setting of linear conditions is depicted as being automatically performed by the above-mentioned photographing condition control device 15, but it is not possible to manually adjust them using the pendant 16. It is also possible to add a rotation mechanism such as pan/tilt to the base 17 as in the embodiment, or
Alternatively, it is also possible not to add it.

Furthermore, when the zoom ratio is not very large or when the observation target and T
When the V-camera interval does not change significantly,
The functions described in this embodiment may be removed and used. This matter also applies to the first embodiment.

[Effects of the Invention] As described above, according to the present invention, in a stereoscopic television device that photographs the same observation target from two directions and provides a stereoscopic image to an observer, two photographing devices are provided on the base. Since one of the photographing devices is equipped with a rotation mechanism in the pitch direction, the vertical relative rotation of the photographed image, which is likely to occur when adjusting the focal point or zoom value of the lens system of the stereoscopic camera that is the photographing means, is avoided. Positional deviations can be corrected quickly. Furthermore, it is also possible to adjust the photographing posture of the TV camera according to the difference in the distance between the observation target image and the TV camera and the difference in the zoom value of the lens. Therefore, it is possible to always provide the viewer with a good stereoscopic image without losing the stereoscopic effect.

Furthermore, it goes without saying that the present invention is applicable not only to TV cameras but also to still cameras.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a first embodiment of a stereoscopic camera device according to the present invention, FIG. 2 is an exploded perspective view of FIG. 1, and FIG. 3 is a perspective view showing another embodiment. FIG. 4 is an exploded perspective view of FIG. 3. 1... [I observation target 2... Three-dimensional camera device 31.32... TV camera for right and left eyes 4... Pan head 51.52... Lens for right and left eyes 6
1... Level adjustment member 62... Goniometer 7... Pitch direction 8...
...Pitch rotation motor 91.92...Yo one-way rotary table ioi, 102
...One direction 111.112...Drive motor 12...TV camera interval adjustment mechanism 13...Motor 141.142...Various signal lines 15 from the TV camera
...Photography condition control device 16...Pendant for manual command 121.17...Base 181.182...Linear motion mechanism 191.192...Linear motion mechanism table section 201.2
02...Rotating bearing f(I!!!Human fF scientist Hidekazu Miyoshi

Claims (4)

[Claims] (1) Photographing the same observation target from two different directions,
A stereoscopic camera device that provides a three-dimensional image to an observer by an appropriate means, characterized in that two photographing devices are provided on a base, and one of the photographing devices is equipped with a rotation mechanism in a pitch direction. camera equipment. (2) The three-dimensional camera device according to claim (1), further comprising a mechanism for expanding and contracting the distance between the photographing devices. (3) The three-dimensional camera device according to claim (1) or (2), wherein one or both of the two photographing devices is equipped with a rotation mechanism in one direction. (4) Claim (1) characterized by comprising a photographing condition control device that adjusts the functions provided in the photographing device according to the zoom value of the photographing device and the distance to the observation target.
The stereoscopic camera device according to (2) or (3).