JPH0654349A - Stereoscopic camera apparatus - Google Patents

Abstract

PURPOSE:To easily adjust the deviation of video images for right and left eyes in a vertical direction by providing an optical axis driving means for adjusting the optical axis direction of at least one of a right camera and a left camera. CONSTITUTION:Zoom lenses are used for lenses 51 and 52 and when a lens optical axis is fluctuated by a zooming operation and the deviation in a position in the vertical direction is generated between monitor video images for the right and left eyes, the reflection mirror 621 of a reflection mirror group 6 is driven by an elevation angle driving mechanism 102 and an image formation position to an imaging device is moved. Also, the reflection mirror 611 is driven by using an azimuth driving mechanism 101, the image forming position of a camera 31 for the left eye is moved toward a horizontal direction and the parallax of the camera 31 for the left eye and the camera 32 for the right eye is adjusted. By this constitution, the relative deviation in the vertical direction between the video images for the right and left eyes easily generated at the time of operating the zoom lenses and adjusting focus can be quickly adjusted and it is unnecessitated to prepare a lot of samples beforehand for arranging desired characteristics.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic camera apparatus which utilizes binocular parallax, and a left and right side caused by a zoom operation or a focus adjustment of a lens system of a photographing means or an individual difference of the constituent elements of the photographing means. The present invention relates to a stereoscopic camera device capable of compensating for a deviation of an eye image.

[0002]

2. Description of the Related Art A so-called stereoscopic camera device using a TV camera or the like is a useful means for obtaining visual information when operating a work machine installed in a remote place.

A binocular parallax system is generally used in a stereoscopic television apparatus and the like. In this system, an operator takes an image of an object to be observed with slightly changing the parallax, and each image is displayed through an appropriate image presenting means. It is provided to the left and right eyes separately. In order for the operator to be able to observe a proper stereoscopic image, in addition to the same magnification for the left and right eyes, the images for the left and right eyes are separated by an appropriate amount only in the left and right horizontal directions, and there is no relative difference in the vertical direction. Things are desirable. Therefore, in the conventional TV camera used for the binocular parallax system, a proper image is obtained by performing strict adjustment after selecting a lens or an imaging unit having a desired characteristic.

[0004]

However, in order to obtain components having desired characteristics from consumer products, it is necessary to prepare a large number of the same products in advance and select them. In addition, when shooting with a TV camera, it is often necessary to perform not only initial adjustment but also frequently each time a movable part such as zoom operation and focus adjustment is operated.

Therefore, the user of the stereoscopic camera should interrupt the work and readjust the image if the left and right eye images are excessively displaced in the vertical direction due to some factor such as external force. It had to be used in a range where it would not occur. Therefore, it has been difficult to say that the stereoscopic camera of the above method is effectively used.

Particularly in an extreme environment where the stereoscopic camera is highly useful, there is a high possibility that a vertical shift will occur due to external factors, and once a shift has occurred, readjustment and the like have been extremely difficult.

Therefore, it is an object of the present invention to easily perform a zoom operation, a focus adjustment, or an adjustment for restoration even when a vertical shift of left and right eye images occurs due to an unexpected cause, and obtain desired characteristics. Therefore, it is to provide a stereoscopic camera device that does not need to prepare a large number of samples in advance.

[0008]

In order to achieve the above object, a stereoscopic camera device according to the present invention takes images of an object from different directions by a plurality of cameras arranged side by side, and displays the images on respective image pickup surfaces of the cameras. In a stereoscopic camera device that forms an image, an optical axis drive that adjusts an optical axis direction of a lens of at least one of the cameras in an elevation angle direction, or at least one of an elevation angle direction, an azimuth angle direction, and a horizontal translation direction. It is characterized by comprising means.

Further, in a stereoscopic camera device for photographing an object from different directions by a plurality of cameras arranged side by side and forming an image on each image pickup surface of the camera, at least one of the camera has an image pickup surface. An image pickup surface driving unit for moving the image pickup unit in the vertical direction of the plane of the image pickup unit or in at least one of the vertical direction and the horizontal direction is provided.

Further, the image pickup surface driving means are arranged in parallel with each other, a moving piezoelectric element which expands and contracts along the axial direction of the guide plate, and symmetrically arranged in front of and behind the moving piezoelectric element. It is preferable that at least two piezoelectric elements for clamping, which extend and contract in the vertical direction with respect to the guide plate to clamp the guide plate, and a piezoelectric element for clamping and a crimping means for crimping the guide plate. is there.

Further, it is preferable that the image pickup surface driving means moves the image pickup surface of one of the right camera and the left camera in the vertical and horizontal directions of the plane of the image pickup section.

Further, when the optical axis driving means or the image pickup surface driving means drives the optical axis or the image pickup surface, the zoom value, the focus value, and the zoom value of the right camera and the left camera,
It is preferable to further include control means for making reference to the distance to the object or the visual characteristics of the observer.

Further, it is preferable that the stereoscopic camera device includes the optical axis drive means and the image pickup surface drive means.

[0014]

When the stereoscopic camera device such as a TV camera is used as an observation means for remote work, the operator appropriately performs the zoom operation of the lens of the stereoscopic camera device and the adjustment operation of the photographing direction of the stereoscopic camera device by the pan / tilt operation of the platform. Do and get the desired video. When a more realistic image is required, a stereoscopic camera device is used that can capture an observation object with a slightly different parallax and provide stereoscopic images to the left and right eyes of an operator. In order to observe a proper stereoscopic image, it is necessary to prevent a relative vertical shift of the left and right eye images, which is likely to occur each time the pan / tilt operation is performed.

In the present invention, the optical axis drive means sets the optical axis direction of at least one camera lens of the plurality of cameras to at least one of an elevation angle direction, an elevation angle direction, an azimuth angle direction, and a horizontal translation direction. Prepare for. The adjustment of the elevation direction is used to eliminate the relative vertical shift of the left and right eye images. In addition, the adjustment of the elevation direction, the azimuth direction, and the horizontal translation direction row is used to realize a stereoscopic image that is easier to observe.

Further, the image pickup surface driving means moves at least one image pickup surface of the camera in a direction perpendicular to the plane of the image pickup section, or in at least one of a vertical direction and a horizontal direction. In order to eliminate the relative vertical deviation of the left and right images, the mechanism for adjusting the image pickup unit in the horizontal direction is used to realize a stereoscopic image that is easier to observe.

The adjustment of the stereoscopic camera device by the optical axis driving means or the imaging surface driving means may be manually performed by an observer of a stereoscopic image. Further, the control means automatically adjusts the stereoscopic camera device by the optical axis drive means or the imaging surface drive means based on the zoom value, the focus value, the distance to the observation object, or the visual characteristic data of the observer. It is also possible.

Although the present invention does not refer to the means for presenting a stereoscopic image, it goes without saying that the monitor size and the distance between the observer and the monitor are considered as parameters when the above control is performed.

As a means for knowing the zoom value, the focus value, or the distance to the object to be observed, a known method such as using a potentiometer or a distance meter can be used.

For the visual characteristic data of the observer, a reference table for each individual may be created, or statistical ergonomic data may be used.

Further, as the above-mentioned control method, it is possible to use a general method such as a method of using the reference of the calibration table and the interpolation together.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the stereoscopic camera device of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an outline of a first embodiment of a stereoscopic camera device according to the present invention. In addition, in order to emphasize the features, the shapes and arrangements of the respective constituents are drawn differently from the actual ones for convenience.

In FIG. 1, the observation object 1 is photographed by the stereoscopic camera device 2. This stereoscopic camera device 2 is a pan head 4 capable of pan (α) direction operation and tilt (β) direction operation.
A left-eye camera 31 and a right-eye camera 32 installed above are provided. Left and right eye lenses 51 and 52 are attached to the cameras 31 and 32, respectively. Two cameras 3
Reference numerals 1 and 32 are joined by a camera joint portion 33 that also serves as a housing (the lenses 51 and 52 are also covered by the camera joint portion 33). These two cameras 31 and 32 have a step in the vertical direction and are installed at a slight distance in the horizontal direction.

A reflecting mirror group 6 is installed immediately in front of the left and right lenses 51 and 52, and the observation object 1 is guided to the lenses 51 and 52 via the reflecting mirror group 6 and then the cameras 31 and 32.
An image is formed on the image pickup section inside.

In this embodiment, the reflecting mirror group 6 is functionally 2
It is divided into different types of reflectors. The first reflecting mirror group 61 is composed of a first reflecting mirror 611 and a second reflecting mirror 612. In this embodiment, both reflecting surfaces are installed at right angles to the vertical plane. The second reflecting mirror group 62 is also the first reflecting mirror 621.
And the second reflecting mirror 622. In this embodiment, both reflecting surfaces are installed at right angles to the vertical plane.

For the left-eye camera 31, the observation target 1
The object light (A) from is incident on the reflecting mirror 611, is reflected, then is reflected by the reflecting mirror 612, passes through the lens 51 for the left eye, and is imaged on an image sensor (not shown). Similarly, regarding the right-eye camera 32, the object light (B) having a parallax different from the object light (A) is reflected by the reflecting mirrors 621 and 622.
After passing through the right-eye lens 52, an image is formed on an image pickup device of a right-eye camera (not shown). As described above, the two cameras 31 and 32 for the left and right eyes are installed separately in the horizontal direction, and the reflecting mirror group 6 is installed so as to look at the observation target 1 with a certain parallax in the horizontal direction. Therefore, the images formed on the image pickup elements (not shown) of the left and right cameras 31, 32 also have parallax in the horizontal direction. Therefore, if both images are presented to both eyes of the observer independently by a known appropriate means, the observer can perceive a stereoscopic image.

Of the two reflecting mirrors constituting the first reflecting mirror group 61, the reflecting mirror 612 is the left eye lens 51 in this embodiment.
Is fixedly installed immediately before, and the reflecting mirror 611 is the lens 51.
It rotates in the azimuth (γ ₁ ) direction around the axis 91 installed in the vicinity. This rotation operation is performed by the azimuth drive mechanism 101. Further, in the two reflecting mirrors constituting the first reflecting mirror group 62, the reflecting mirror 622 is fixedly installed immediately in front of the right eye lens 52, and the reflecting mirror 621 is provided with an axis 92 installed near the lens 52. Is driven in the elevation angle (γ ₂ ) direction by the elevation angle drive mechanism 102.

When a zoom lens is used as the lenses 51 and 52, the optical axis of the lens fluctuates due to the zoom operation, and a vertical position shift is likely to occur between the left and right eye monitor images presented to the observer. In this case, if the amount of deviation is too large, stereoscopic vision becomes impossible. Therefore, the deviation amount is compensated as follows. That is, by driving the reflecting mirror 621, the image forming position on the image pickup element of the right-eye camera 32 is moved in the vertical direction. For this reason, the reflecting mirror 621 is driven by the elevation angle drive mechanism 102, and the image forming position on the image pickup element is moved by the amount of vertical shift of both images caused by the zoom operation. As a result, it is possible to eliminate the relative vertical deviation between the left and right eye images, and the observer does not lose the stereoscopic effect.

If the relative vertical deviation of the left and right eye images is eliminated as described above, a basic stereoscopic image can be obtained. However, the relationship between the focal length of the lens and the distance to the observation target is It is necessary to adjust the parallax of both cameras 31 and 32 looking into the observation object depending on the pupil distance of the observer. In this case, the azimuth angle drive mechanism 101 is used to drive the reflecting mirror 611 by a necessary amount, whereby the left-eye camera 31
The image forming position of is moved in the horizontal direction. As a result, equivalent parallax adjustment between the cameras 31 and 32 becomes possible, and a stereoscopic image that is easier to observe can be presented to the observer.

The amount of change in the focal length of the lens due to the above zoom operation and the amount of change in the focal length due to the focusing operation are measured by a potentiometer or the like installed in the lens barrel. An appropriate correction amount is calculated by the drive mechanism control device 11 with respect to the focal length change amount measured by the potentiometer or the like, and then sent as a drive signal of a motor which constitutes a part of the elevation angle and azimuth angle drive mechanism. There are various known methods for calculating the correction amount, and an appropriate method is adopted according to the component parts that make up the stereoscopic camera.

In this embodiment, the left and right eye cameras 31,
Although one reflecting mirror (611 and 621) is driven by 32, each reflecting mirror (61 and 621) is fixed in this embodiment.
2 and 622) may be combined and driven cooperatively. In this case, if a two-degree-of-freedom joint is used instead of the axes (91 and 92) described above, both the elevation angle adjustment and the azimuth angle adjustment can be realized by one set of reflecting mirror groups. According to the configuration of the present embodiment, it is possible to easily perform the zoom operation, the focus adjustment, or the adjustment for the recovery even when the left-eye video image is misaligned in the vertical direction due to an unexpected cause.

Further, it is not necessary to prepare a large number of samples in advance in order for the stereoscopic camera device to have the desired characteristics.

Further, zoom operations, focus adjustments, and adjustments for restoration of vertical shifts of left and right eye images can be performed without giving an electromagnetic effect, so that the disturbance of the image signal can be minimized. You can

Next, a second embodiment of the stereoscopic camera device according to the present invention will be described with reference to FIGS.

FIG. 2 is a diagram schematically showing the outline of the second embodiment. The stereoscopic camera device of the present embodiment is installed on the pan head as in the case of the first embodiment shown in FIG. 1, but in this embodiment, the pan head is omitted for simplicity.

In the first embodiment shown in FIG. 1, a reflecting mirror group 6 having a drive mechanism for elevation angle and azimuth angle is installed immediately before the lenses 51 and 52 to facilitate the stereoscopic effect. In this embodiment, the drive mechanism is attached to the two image pickup devices in the cameras 31 and 32 without installing the above-described reflecting mirror group immediately before the lenses 51 and 52. Of these drive mechanisms, the drive mechanism 141 (described in detail in FIG. 3) attached to the image pickup device 131 of the left-eye camera 31 drives this image pickup device only in the horizontal (H) direction by a desired amount. Have a function. The drive mechanism 142 attached to the image pickup device 132 of the right-eye camera 32 has a function of driving the image pickup device only in the vertical (V) direction by a desired amount. These two
The two drive mechanisms 141 and 142 have basically the same structure, and their mounting directions are different from each other by 90 degrees. In FIG. 2, the image pickup elements 131 and 132 are shown by cutting out a part of the cameras 31 and 32, and description of other parts inside these cameras is omitted.

As described in the first embodiment, when the vertical position shift occurs between the left and right eye images due to the optical axis variation of the lens caused by the zoom operation or the focusing operation, the image pickup element 132 is driven. By driving the mechanism 142, it is possible to eliminate the relative vertical deviation of the images for the left and right eyes. Further, when it is desired for the cameras 31 and 32 to change the parallax in which the observation target is viewed, the driving mechanism 141 of the image pickup device 131 is driven to cause the image pickup device 1 to move.
It is possible to change the horizontal image forming position on 31 and realize equivalent parallax adjustment. In the present embodiment, each drive mechanism 141, 142 is allowed to move in only one direction, but it is also possible to provide one drive mechanism with two degrees of freedom in horizontal and vertical directions.

The drive mechanisms 141 and 142 are controlled by the drive mechanism controller 15 with reference to the potentiometer attached to the lens barrel and the personal characteristic data of the operation page registered in advance, as in the first embodiment. It

Although there are various means for realizing the driving mechanisms 141 and 142, FIG. 3 shows a system using a piezoelectric element as an example.

In FIG. 3, this drive mechanism 141 (14
2) is a guide plate 20, 21 which is a clamped body arranged parallel to each other, and the guide plate 20,
Piezoelectric element 22 for movement which is located between 21 and expands and contracts along the axial direction of guide plates 20, 21, and guide plates 20, 2 symmetrically arranged in front of and behind piezoelectric element 22 for movement.
1. Clamping piezoelectric element 23 that expands and contracts in the direction perpendicular to 1 and clamps the side walls 41 and 42 of the guide plates 20 and 21.
And 24, and springs 43, 44 for crimping the clamping piezoelectric elements 23, 24 and the side walls 41, 42. The moving piezoelectric element 22 and the clamping piezoelectric elements 23 and 24 are connected to each other via connecting blocks 25 and 26 to form a moving body 40, and the connecting block 25 further includes a base 27 of the image pickup device 131 (132). A mounting screw hole 28 for mounting is provided together with the base 27 side, and is fixed by a screw 29.
In addition, the guide plate 21 includes the drive mechanism 14 of this configuration.
Screw holes 46 and 47 for fixing 1 (142) to the camera 31 (32) are provided together with the camera 31 (32) side and fixed by bolts 45.

The operating principle of this embodiment having such a structure is shown in FIG.
And it demonstrates using FIG. Here, FIG. 4 is a schematic view of the operating principle of the drive mechanism of the present embodiment when the cross section is viewed from above. FIG. 5 is a graph showing changes with time of the voltages applied to the moving piezoelectric element 22 and the clamping piezoelectric elements 23 and 24. The upper graph shows the voltage waveforms applied to the clamping piezoelectric devices 23 and 24. Shows a voltage waveform applied to the moving piezoelectric element 22. In FIG. 5, the voltage 72 applied to the moving piezoelectric element 22 and the clamping piezoelectric element 2
The voltages 70 and 71 applied to 3, 24 are respectively a
It is assumed that the drive mechanism is in the state of (1) in FIG. 4 when it is a point. Next, when the voltage changes to the point b, the tip points of the clamping piezoelectric elements 23 and 24 also change according to the applied voltage as shown in (2) of FIG. Here, the tip of the clamping piezoelectric element 23 has an oscillation locus on the upper side of the drawing, and the tip of the clamping piezoelectric element 24 has a vibration locus on the lower surface of the figure. And finally the voltage is a
When returning to point c, which is the same as the point, the moving piezoelectric element 22 and the clamping piezoelectric elements 23 and 24 return to the state of (1) in FIG. 4 again, and a series of operations is completed. By repeating this series of operations, the loci drawn by the tips of the clamping piezoelectric elements 23 and 24 become elliptical motions 73 and 74 having the same rotation direction but different phases by 180 degrees. At this time, the guide plate 2
0 and 21 are clamping piezoelectric elements 23 and 24 by springs
, But due to the inertia of the guide plate 20,
Since the contact is made only in the states of elliptic motions b → c and a → b of the piezoelectric elements for clamping 23, 24 related to each other, only propulsive force in one direction is transmitted. That is, the clamp piezoelectric elements 23, 24 and the guide plates 20, 2
By the frictional force of both 1 and 1, the moving body is driven in the positive direction of the arrow shown in FIG. This time, the moving piezoelectric element 2
If the voltage 75 is applied to the second applied voltage 72 at a timing 180 degrees out of phase with the above, the elliptical loci 73, 7 of FIG.
Both 4 are drawn oppositely, and as a result, the moving body drives in the negative direction of the arrow shown in FIG. It should be noted that the amplitude 76 of the applied voltage to the clamping piezoelectric elements 23 and 24 can be selected as an optimum amount from the relationship with the crimping force acting between the guide plates 20 and 21, and the amplitude 7 of the applied voltage to the moving piezoelectric element 22 is 7
7 determines the moving speed of the moving body. Further, since the present drive mechanism is originally friction drive, the moving body is fixed by the frictional force due to the crimping force of the spring when the power is turned off, so that no new brake mechanism is required.

According to the structure of the present embodiment, it is possible to easily perform the adjustment for the restoration even when the vertical displacement of the left and right eye images occurs due to the zoom operation, the focus adjustment, or an unexpected cause.

Further, it is not necessary to prepare a large number of samples in advance in order for the stereoscopic camera device to have the desired characteristics.

Further, it is possible to provide a drive mechanism having a very simple structure, a small size and a light weight, and a high drive resolution.

Further, since the zoom operation, the focus adjustment, and the adjustment for the recovery of the vertical deviation of the left and right eye images can be performed without electromagnetic influence, the disturbance of the image signal can be minimized. You can

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

[0047]

As described above, according to the present invention,
Description of the Related Art In a stereoscopic television device that provides a stereoscopic image to an observer by shooting the same observation target from two directions with a parallax in the horizontal direction, a relative distance between left and right eye images, which is likely to occur during zoom lens operation or focus adjustment. Vertical deviation can be corrected quickly.

Further, since it is possible to easily perform parallax adjustment of both left and right eye images required for observing a stereoscopic image of an object at a short distance with a high magnification lens and parallax adjustment due to individual differences, It is possible to always provide good stereoscopic images.

Further, since it is possible to realize vertical direction deviation correction and parallax adjustment of both left and right eye images with a mechanism having relatively few constituent elements, the overall size of the stereoscopic camera device can be downsized and controlled. The mechanism can be simplified.

[Brief description of drawings]

FIG. 1 is a perspective view schematically showing a first embodiment of a stereoscopic camera device according to the present invention.

FIG. 2 is a perspective view schematically showing a second embodiment of the stereoscopic camera device according to the present invention.

3 is a perspective view showing in detail an image pickup element drive mechanism in FIG.

FIG. 4 is a schematic diagram showing the operating principle of the image sensor driving mechanism in FIG.

FIG. 5 is a diagram showing changes over time in the voltage waveform applied to the piezoelectric element shown in FIGS. 3 and 4.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Observed object 2 Stereoscopic camera device 4 Platform 6 Reflector group 11 Driving mechanism control device 15 Driving mechanism control device 20 Guide plate 21 Guide plate 22 Moving piezoelectric element 23 Clamping piezoelectric element 24 Clamping piezoelectric element 25 Coupling block 26 Connection block 27 Image sensor mounting base 31 Camera for right eye 32 Camera for left eye 33 Camera joint 51 Lens for right eye 52 Lens for left eye 61 Reflector group 62 Reflector group 91 Azimuth rotation axis 92 Elevation rotation axis 101 Azimuth Angle drive mechanism 102 Elevation drive mechanism 131 Right eye camera image sensor 132 Left eye camera image sensor 141 Right eye camera image sensor drive mechanism 142 Left eye camera image sensor drive mechanism 611 Reflector 612 Reflector 621 Reflector 622 Reflector

Claims (2)

[Claims] 1. A stereoscopic camera device for photographing an object from different directions by a plurality of cameras arranged in parallel to form an image on each image pickup surface of the camera, wherein light of a lens of at least one camera of the camera. Axial direction, elevation direction,
Alternatively, a stereoscopic camera device comprising an optical axis drive means for adjusting at least one of an elevation angle direction, an azimuth angle direction, and a horizontal translation direction. 2. A stereoscopic camera device for photographing an object from different directions by a plurality of cameras arranged in parallel and forming an image on each image pickup surface of the camera, wherein at least one camera of the camera has an image pickup surface. A stereoscopic camera device comprising: an image pickup surface driving unit that moves the image pickup unit in a vertical direction of the plane of the image pickup unit or in at least one of a vertical direction and a horizontal direction.